Add files using upload-large-folder tool

README.md

@@ -0,0 +1,10 @@
+---
+tags:
+  - robotis
+  - cyclo_intelligence
+  - robotics
+---
+
+# Task_3_3_MCAP
+
+Created with [Cyclo Intelligence](https://github.com/ROBOTIS-GIT/cyclo_intelligence) by ROBOTIS.

annotations/task-000/episode_000000.json

@@ -0,0 +1,29 @@
+{
+    "task_name": "3",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 73,
+        "valid_duration": [
+            0,
+            73
+        ]
+    },
+    "sub_task_annotation": [
+        {
+            "sub_task_idx": 0,
+            "sub_task_instruction": "1",
+            "frame_duration": [
+                0,
+                44
+            ]
+        },
+        {
+            "sub_task_idx": 1,
+            "sub_task_instruction": "2",
+            "frame_duration": [
+                44,
+                73
+            ]
+        }
+    ]
+}

annotations/task-000/episode_000001.json

@@ -0,0 +1,29 @@
+{
+    "task_name": "3",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 61,
+        "valid_duration": [
+            0,
+            61
+        ]
+    },
+    "sub_task_annotation": [
+        {
+            "sub_task_idx": 0,
+            "sub_task_instruction": "1",
+            "frame_duration": [
+                0,
+                23
+            ]
+        },
+        {
+            "sub_task_idx": 1,
+            "sub_task_instruction": "2",
+            "frame_duration": [
+                23,
+                61
+            ]
+        }
+    ]
+}

annotations/task-000/episode_000002.json

@@ -0,0 +1,29 @@
+{
+    "task_name": "3",
+    "data_folder": "",
+    "meta_data": {
+        "task_duration": 65,
+        "valid_duration": [
+            0,
+            65
+        ]
+    },
+    "sub_task_annotation": [
+        {
+            "sub_task_idx": 0,
+            "sub_task_instruction": "1",
+            "frame_duration": [
+                0,
+                30
+            ]
+        },
+        {
+            "sub_task_idx": 1,
+            "sub_task_instruction": "2",
+            "frame_duration": [
+                30,
+                65
+            ]
+        }
+    ]
+}

data/task-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14fe9a306b3ce42e533309aca1b4c836910e70e94f69aff88a806e497ffe78a9
+size 10652

data/task-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69ae1865c20d1b423ca0c46ff325fbb228c704b73f92f34e7a2a437bcfd308ef
+size 9219

data/task-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ece362980ae5291bbe3154ecb624752f25641c4ff6ec76dd98b2af48e6acc6ba
+size 9595

info.json

@@ -0,0 +1,35 @@
+{
+  "source_rosbags": [
+    "Task_3_3_MCAP"
+  ],
+  "conversion_config": {
+    "robot_type": "ffw_sg2_rev1",
+    "task_name": "3",
+    "fps": 15,
+    "camera_rotations": {
+      "cam_left_wrist": 270,
+      "cam_right_wrist": 270
+    },
+    "selected_end_effector_topics": [],
+    "selected_cameras": [
+      "cam_left_head",
+      "cam_right_head",
+      "cam_left_wrist",
+      "cam_right_wrist"
+    ],
+    "output_dataset_name": "Task_3_3_MCAP_lerobot_v21",
+    "image_resize": null,
+    "selected_joint_state_topics": [
+      "upper_body",
+      "mobile"
+    ],
+    "primitive_instructions": [],
+    "selected_action_topics": [
+      "arm_left",
+      "arm_right",
+      "head",
+      "lift",
+      "mobile"
+    ]
+  }
+}

meta/episodes.jsonl

@@ -0,0 +1,3 @@
+{"episode_index": 0, "tasks": ["3"], "length": 73}
+{"episode_index": 1, "tasks": ["3"], "length": 61}
+{"episode_index": 2, "tasks": ["3"], "length": 65}

meta/episodes_stats.jsonl

@@ -0,0 +1,3 @@
+{"episode_index": 0, "stats": {"observation.state": {"mean": [0.2090519815683365, 0.0, 0.6962606906890869, -0.253312349319458, -0.6538740992546082, -0.3539623022079468, -0.0374850295484066, 0.010800895281136036, 0.18245486915111542, -0.034032899886369705, -0.035981401801109314, -0.292692095041275, 0.060334499925374985, 0.03359358757734299, -0.03206205740571022, 0.058207206428050995, 6.304030830506235e-05, -2.0694557179012918e-13, 0.0, -1.1877773860911787e-18, -1.7968251122114498e-21, 8.110720456053817e-19], "std": [0.012070339173078537, 0.0010000000474974513, 0.0010000000474974513, 0.012143433094024658, 0.020378613844513893, 0.06660207360982895, 0.008340113796293736, 0.0010000000474974513, 0.006708685774356127, 0.003786664456129074, 0.0010000000474974513, 0.00118359737098217, 0.025699898600578308, 0.03971916809678078, 0.006901927758008242, 0.00630634231492877, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513], "min": [0.1986265480518341, 0.0, 0.6954445838928223, -0.26601383090019226, -0.6795295476913452, -0.43923383951187134, -0.05057576298713684, 0.01073786523193121, 0.17402292788028717, -0.04103398695588112, -0.03755855932831764, -0.2958305776119232, 0.011876367032527924, -0.02960103563964367, -0.04338759183883667, 0.04908738657832146, -2.0694557179012918e-13, -2.0694557179012918e-13, 0.0, -1.1926223897340549e-18, -1.805238888056371e-21, 7.9146760659393355e-19], "max": [0.2239372283220291, 0.0, 0.6963913440704346, -0.23775504529476166, -0.6307417154312134, -0.29364946484565735, -0.027573617175221443, 0.012271846644580364, 0.19204720854759216, -0.029325397685170174, -0.03525758907198906, -0.29143238067626953, 0.09213472157716751, 0.08790428936481476, -0.019930366426706314, 0.06902913749217987, 0.0015339808305725455, -2.0694557179012918e-13, 0.0, -1.1804250946140776e-18, -1.7840631855440484e-21, 8.239936407492257e-19], "count": [73]}, "action": {"mean": [0.20916762948036194, -0.09540092945098877, 0.6962165832519531, -0.2525813579559326, -0.655388355255127, -0.3558292090892792, -0.0369836688041687, -0.5641798377037048, 0.18227039277553558, -0.03328528255224228, -0.03586994856595993, -0.29301124811172485, 0.06551988422870636, 0.03661760687828064, -0.03315920755267143, 0.059549130499362946, -2.0694557179012918e-13, -2.0694557179012918e-13, 0.0, 0.0, 0.0, 0.0], "std": [0.012009983882308006, 0.003596674185246229, 0.0010000000474974513, 0.012057791464030743, 0.02068796567618847, 0.06758588552474976, 0.007832345552742481, 0.002210330916568637, 0.008460614830255508, 0.0037115945015102625, 0.0010000000474974513, 0.0024550703819841146, 0.022699393332004547, 0.05280926823616028, 0.007547597400844097, 0.008085017092525959, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513], "min": [0.19941750168800354, -0.09970875084400177, 0.6948933005332947, -0.2653786838054657, -0.6810874938964844, -0.4424467086791992, -0.05062136426568031, -0.568202018737793, 0.1672039031982422, -0.04448544234037399, -0.03681553900241852, -0.30066022276878357, 0.03374757617712021, -0.03440781310200691, -0.0613592304289341, 0.046003878116607666, -2.0694557179012918e-13, -2.0694557179012918e-13, 0.0, 0.0, 0.0, 0.0], "max": [0.22396118938922882, -0.0920388475060463, 0.6964272856712341, -0.2377670258283615, -0.6212621927261353, -0.29825249314308167, -0.02761165425181389, -0.5580777525901794, 0.19328157603740692, -0.02761165425181389, -0.03528155758976936, -0.29145634174346924, 0.09357282519340515, 0.14353395998477936, -0.023009711876511574, 0.08650097250938416, -2.0694557179012918e-13, -2.0694557179012918e-13, 0.0, 0.0, 0.0, 0.0], "count": [73]}, "observation.images.rgb.cam_left_head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9960784316062927]], [[1.0]]], "mean": [[[0.4758845567703247]], [[0.4761342406272888]], [[0.4635699987411499]]], "std": [[[0.24641911685466766]], [[0.2499612420797348]], [[0.24499180912971497]]], "count": [73]}, "observation.images.rgb.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3984348177909851]], [[0.4059189558029175]], [[0.3941158354282379]]], "std": [[[0.211665078997612]], [[0.20046602189540863]], [[0.20529679954051971]]], "count": [73]}, "observation.images.rgb.cam_right_head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9882352948188782]], [[0.9921568632125854]]], "mean": [[[0.49978506565093994]], [[0.499587744474411]], [[0.4849441647529602]]], "std": [[[0.2550162076950073]], [[0.25718557834625244]], [[0.2497558742761612]]], "count": [73]}, "observation.images.rgb.cam_right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4254745841026306]], [[0.4307258725166321]], [[0.422085165977478]]], "std": [[[0.19916415214538574]], [[0.1860799491405487]], [[0.18718275427818298]]], "count": [73]}, "timestamp": {"min": [0.0], "max": [4.8], "mean": [2.4000000000000004], "std": [1.4047538337136984], "count": [73]}, "frame_index": {"min": [0], "max": [72], "mean": [36.0], "std": [21.071307505705477], "count": [73]}, "index": {"min": [0], "max": [72], "mean": [36.0], "std": [21.071307505705477], "count": [73]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [73]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [73]}}}
+{"episode_index": 1, "stats": {"observation.state": {"mean": [0.22892943024635315, 0.0, 0.6963993906974792, -0.23145407438278198, -0.6765060424804688, -0.47280222177505493, -0.028689272701740265, 0.010763006284832954, 0.16653063893318176, -0.03752162307500839, -0.03525758162140846, -0.29417985677719116, 0.08196443319320679, 0.11842496693134308, 0.016612909734249115, 0.0610574372112751, -2.0694557179012918e-13, -2.0694557179012918e-13, 0.0, -1.1804258183971136e-18, -1.784061973853698e-21, 7.914671930036273e-19], "std": [0.003660517279058695, 0.0010000000474974513, 0.0010000000474974513, 0.002095466013997793, 0.004641151987016201, 0.016629215329885483, 0.0019083247752860188, 0.0010000000474974513, 0.004310202319175005, 0.0011626252671703696, 0.0010000000474974513, 0.0012217056937515736, 0.0029211698565632105, 0.01617600955069065, 0.014181181788444519, 0.001591245410963893, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513], "min": [0.22404508292675018, 0.0, 0.6963913440704346, -0.23466311395168304, -0.6832206845283508, -0.4874703288078308, -0.03170035034418106, 0.01073786523193121, 0.16255402565002441, -0.03942809998989105, -0.03525758907198906, -0.29826340079307556, 0.07916779071092606, 0.09016931056976318, -0.011490730568766594, 0.05982524901628494, -2.0694557179012918e-13, -2.0694557179012918e-13, 0.0, -1.1804250946140776e-18, -1.7840631855440484e-21, 7.9146760659393355e-19], "max": [0.231978639960289, 0.0, 0.6964632272720337, -0.22937805950641632, -0.6718955636024475, -0.45108622312545776, -0.02606358379125595, 0.012271846644580364, 0.1723211705684662, -0.03567703813314438, -0.03525758907198906, -0.29320603609085083, 0.08870723098516464, 0.13905295729637146, 0.028597543016076088, 0.06749515235424042, -2.0694557179012918e-13, -2.0694557179012918e-13, 0.0, -1.1804250946140776e-18, -1.7840631855440484e-21, 7.9146760659393355e-19], "count": [61]}, "action": {"mean": [0.22904101014137268, -0.09892913699150085, 0.6964267492294312, -0.23165616393089294, -0.6769376397132874, -0.47292494773864746, -0.028718121349811554, -0.5648270845413208, 0.16592149436473846, -0.03792202100157738, -0.035281553864479065, -0.29399624466896057, 0.08157764375209808, 0.1221085712313652, 0.017854532226920128, 0.06343091279268265, -2.0694557179012918e-13, -2.0694557179012918e-13, 0.0, 0.0, 0.0, 0.0], "std": [0.0036905664019286633, 0.0010000000474974513, 0.0010000000474974513, 0.0021957431454211473, 0.004732899367809296, 0.016903428360819817, 0.0018451964715495706, 0.0010000000474974513, 0.004419619217514992, 0.0015246779657900333, 0.0010000000474974513, 0.0014928238233551383, 0.002866563620045781, 0.018603645265102386, 0.012353409081697464, 0.004061695653945208, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513], "min": [0.22396118938922882, -0.09970875084400177, 0.6964272856712341, -0.23623304069042206, -0.6841554045677185, -0.4884661138057709, -0.032213594764471054, -0.5648272633552551, 0.16106797754764557, -0.03988350182771683, -0.03528155758976936, -0.30066022276878357, 0.0782330185174942, 0.09751453250646591, -0.0015339808305725455, 0.05950290709733963, -2.0694557179012918e-13, -2.0694557179012918e-13, 0.0, 0.0, 0.0, 0.0], "max": [0.23316508531570435, -0.09664078801870346, 0.6964272856712341, -0.22856314480304718, -0.6718835830688477, -0.44858261942863464, -0.026077672839164734, -0.5648272633552551, 0.17180584371089935, -0.03528155758976936, -0.03528155758976936, -0.2929903268814087, 0.09357282519340515, 0.17421357333660126, 0.029145635664463043, 0.089875727891922, -2.0694557179012918e-13, -2.0694557179012918e-13, 0.0, 0.0, 0.0, 0.0], "count": [61]}, "observation.images.rgb.cam_left_head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4760136008262634]], [[0.4761011600494385]], [[0.4633108377456665]]], "std": [[[0.24661020934581757]], [[0.24991963803768158]], [[0.24469877779483795]]], "count": [61]}, "observation.images.rgb.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3908512592315674]], [[0.3981517255306244]], [[0.38503599166870117]]], "std": [[[0.20856136083602905]], [[0.19698864221572876]], [[0.20166468620300293]]], "count": [61]}, "observation.images.rgb.cam_right_head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9764705896377563]], [[0.9921568632125854]]], "mean": [[[0.49993592500686646]], [[0.49962443113327026]], [[0.48485085368156433]]], "std": [[[0.25507843494415283]], [[0.25723370909690857]], [[0.2496824860572815]]], "count": [61]}, "observation.images.rgb.cam_right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4161152243614197]], [[0.42215076088905334]], [[0.4145233929157257]]], "std": [[[0.20953135192394257]], [[0.19675567746162415]], [[0.1983039230108261]]], "count": [61]}, "timestamp": {"min": [0.0], "max": [4.0], "mean": [1.9999999999999998], "std": [1.1737877907772674], "count": [61]}, "frame_index": {"min": [0], "max": [60], "mean": [30.0], "std": [17.60681686165901], "count": [61]}, "index": {"min": [73], "max": [133], "mean": [103.0], "std": [17.60681686165901], "count": [61]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [61]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [61]}}}
+{"episode_index": 2, "stats": {"observation.state": {"mean": [0.23250281810760498, 0.0, 0.6954629421234131, -0.21831361949443817, -0.6784847974777222, -0.511985719203949, -0.020593887194991112, 0.010785057209432125, 0.15996503829956055, -0.04228956252336502, -0.03639552369713783, -0.29505234956741333, 0.05976073071360588, 0.14981567859649658, 0.036889828741550446, 0.05548287183046341, -2.0694557179012918e-13, -2.0694557179012918e-13, 0.0, -1.1804258183971136e-18, -1.784061973853698e-21, 7.91467141304839e-19], "std": [0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0011584438616409898, 0.0010000000474974513, 0.0010000000474974513, 0.003104465315118432, 0.0011943532153964043, 0.0010000000474974513, 0.0010000000474974513, 0.009812998585402966, 0.013715025968849659, 0.003058649366721511, 0.0032464826945215464, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513], "min": [0.231607124209404, 0.0, 0.6951449513435364, -0.21903568506240845, -0.6793257594108582, -0.5130446553230286, -0.02128526009619236, 0.01073786523193121, 0.1564180999994278, -0.0442337729036808, -0.03676760196685791, -0.29726868867874146, 0.0487518273293972, 0.13151487708091736, 0.02412950061261654, 0.05215534567832947, -2.0694557179012918e-13, -2.0694557179012918e-13, 0.0, -1.1804250946140776e-18, -1.7840631855440484e-21, 7.9146760659393355e-19], "max": [0.23314110934734344, 0.0, 0.6959119439125061, -0.21781328320503235, -0.6779955625534058, -0.5099766850471497, -0.019806254655122757, 0.012271846644580364, 0.16353672742843628, -0.040590569376945496, -0.03555719554424286, -0.2944404184818268, 0.0719173327088356, 0.16770724952220917, 0.03925051540136337, 0.06596117466688156, -2.0694557179012918e-13, -2.0694557179012918e-13, 0.0, -1.1804250946140776e-18, -1.7840631855440484e-21, 7.9146760659393355e-19], "count": [65]}, "action": {"mean": [0.2326693832874298, -0.09909510612487793, 0.6955065131187439, -0.21820275485515594, -0.6786099076271057, -0.5123019218444824, -0.020696934312582016, -0.5648270845413208, 0.15939249098300934, -0.04255024716258049, -0.0363907516002655, -0.29506716132164, 0.058314815163612366, 0.1526433378458023, 0.03785393759608269, 0.05654352903366089, -2.0694557179012918e-13, -2.0694557179012918e-13, 0.0, 0.0, 0.0, 0.0], "std": [0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.001500019570812583, 0.0010000000474974513, 0.0010000000474974513, 0.0035158046521246433, 0.0015522072790190578, 0.0010000000474974513, 0.0018725742120295763, 0.0106871472671628, 0.02047094516456127, 0.002187783597037196, 0.00572432903572917, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513, 0.0010000000474974513], "min": [0.2316311001777649, -0.10124272853136063, 0.6948933005332947, -0.21935924887657166, -0.6795535087585449, -0.5160777568817139, -0.02147573046386242, -0.5648272633552551, 0.15493206679821014, -0.04448544234037399, -0.03681553900241852, -0.3037281930446625, 0.0475534051656723, 0.1281941533088684, 0.032213594764471054, 0.05275339260697365, -2.0694557179012918e-13, -2.0694557179012918e-13, 0.0, 0.0, 0.0, 0.0], "max": [0.2346990555524826, -0.09817477315664291, 0.6964272856712341, -0.2178252786397934, -0.6780195236206055, -0.5099418759346008, -0.01840776950120926, -0.5648272633552551, 0.16413594782352448, -0.03988350182771683, -0.03528155758976936, -0.29452431201934814, 0.07516505569219589, 0.2171650379896164, 0.04295146092772484, 0.07637669891119003, -2.0694557179012918e-13, -2.0694557179012918e-13, 0.0, 0.0, 0.0, 0.0], "count": [65]}, "observation.images.rgb.cam_left_head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4761457145214081]], [[0.4767650365829468]], [[0.4646473824977875]]], "std": [[[0.24656406044960022]], [[0.2501642405986786]], [[0.24535629153251648]]], "count": [65]}, "observation.images.rgb.cam_left_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3876512050628662]], [[0.39563849568367004]], [[0.3815664052963257]]], "std": [[[0.21104796230793]], [[0.19918939471244812]], [[0.20415674149990082]]], "count": [65]}, "observation.images.rgb.cam_right_head": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9803921580314636]], [[0.9921568632125854]]], "mean": [[[0.49981966614723206]], [[0.4998756945133209]], [[0.48558878898620605]]], "std": [[[0.25506049394607544]], [[0.25733935832977295]], [[0.2499799132347107]]], "count": [65]}, "observation.images.rgb.cam_right_wrist": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41407424211502075]], [[0.4206196367740631]], [[0.4132068455219269]]], "std": [[[0.21350203454494476]], [[0.20081128180027008]], [[0.20236822962760925]]], "count": [65]}, "timestamp": {"min": [0.0], "max": [4.266666666666667], "mean": [2.1333333333333337], "std": [1.2507775359529145], "count": [65]}, "frame_index": {"min": [0], "max": [64], "mean": [32.0], "std": [18.76166303929372], "count": [65]}, "index": {"min": [134], "max": [198], "mean": [166.0], "std": [18.76166303929372], "count": [65]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [65]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [65]}}}

meta/info.json

@@ -0,0 +1,206 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "ffw_sg2_rev1",
+    "total_episodes": 3,
+    "total_frames": 199,
+    "total_tasks": 1,
+    "total_videos": 12,
+    "total_chunks": 1,
+    "chunks_size": 10000,
+    "fps": 15,
+    "splits": {
+        "train": "0:3"
+    },
+    "data_path": "data/task-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/task-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                22
+            ],
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "gripper_l_joint1",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "gripper_r_joint1",
+                "head_joint1",
+                "head_joint2",
+                "lift_joint",
+                "linear_x",
+                "linear_y",
+                "angular_z"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                22
+            ],
+            "names": [
+                "arm_l_joint1",
+                "arm_l_joint2",
+                "arm_l_joint3",
+                "arm_l_joint4",
+                "arm_l_joint5",
+                "arm_l_joint6",
+                "arm_l_joint7",
+                "gripper_l_joint1",
+                "arm_r_joint1",
+                "arm_r_joint2",
+                "arm_r_joint3",
+                "arm_r_joint4",
+                "arm_r_joint5",
+                "arm_r_joint6",
+                "arm_r_joint7",
+                "gripper_r_joint1",
+                "head_joint1",
+                "head_joint2",
+                "lift_joint",
+                "linear_x",
+                "linear_y",
+                "angular_z"
+            ]
+        },
+        "observation.images.rgb.cam_left_head": {
+            "dtype": "video",
+            "shape": [
+                3,
+                720,
+                1280
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.fps": 15.0,
+                "video.height": 720,
+                "video.width": 1280,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.rgb.cam_left_wrist": {
+            "dtype": "video",
+            "shape": [
+                3,
+                640,
+                480
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.fps": 15.0,
+                "video.height": 640,
+                "video.width": 480,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.rgb.cam_right_head": {
+            "dtype": "video",
+            "shape": [
+                3,
+                720,
+                1280
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.fps": 15.0,
+                "video.height": 720,
+                "video.width": 1280,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.rgb.cam_right_wrist": {
+            "dtype": "video",
+            "shape": [
+                3,
+                640,
+                480
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.fps": 15.0,
+                "video.height": 640,
+                "video.width": 480,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    },
+    "annotation_path": "annotations/task-{episode_chunk:03d}/episode_{episode_index:06d}.json"
+}

meta/subtasks.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fb45501c0c9e4e27e6eaedadc4d50a633044a809cf6756cfed1080adb124fde
+size 764

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "3", "task_name": "3"}

videos/task-000/observation.images.rgb.cam_left_head/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f05d2e9ada4fcbfbc2ca116d0d0676e704603d7d0366ec8a6bd3ccbf6cf0a8e
+size 425799

videos/task-000/observation.images.rgb.cam_left_head/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f117e531165bd0da02d0018b0bf980252a6144f4026b3496c3832ad9f42902a8
+size 354812

videos/task-000/observation.images.rgb.cam_left_head/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:684d039ea722c79810082bac7ae044d98d7e3b31d9d0b6fbd82e019e8d2060ca
+size 383298

videos/task-000/observation.images.rgb.cam_left_wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3122594d27598ac1033a12c120ffd01a7448b57d5a74fc7739198aca5d8d36f3
+size 647282

videos/task-000/observation.images.rgb.cam_left_wrist/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2286a4abe8aab407e94c54f2b81fe6fdff646c67a167cf87ea03349d0bd378cc
+size 454201

videos/task-000/observation.images.rgb.cam_left_wrist/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d602b156da8a9bba8f1414aba213547d55c3daea944d0484f31e24a4ed73505e
+size 439348

videos/task-000/observation.images.rgb.cam_right_head/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fbc536de1c22b3f0ec9b464ebaa3b22e431cc4395978d691e87b30843bad840
+size 417366

videos/task-000/observation.images.rgb.cam_right_head/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4b48deaa0d1bec71970ad332e6131b551fd2e70a8e58dd55bca48f197aafd93
+size 360527

videos/task-000/observation.images.rgb.cam_right_head/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40fb1731bf325c7d80e872e16b62e2599c4b7746ef211949d4250d075aa9fa73
+size 397167

videos/task-000/observation.images.rgb.cam_right_wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68f9387e8be593197b128c0a144885eb5aec31096ddcf295ecae5585a6241769
+size 514495

videos/task-000/observation.images.rgb.cam_right_wrist/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ea4a7691bf273633eeec25385c2b867f343c3c9f4ada4e76f0f53efa5eeca39
+size 450573

videos/task-000/observation.images.rgb.cam_right_wrist/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6ab05842805be5eeabc7c8655389793e47dc844f1f6de7f9da4739424972bad
+size 480427