Add files using upload-large-folder tool

README.md

@@ -4,7 +4,7 @@ task_categories:
 - robotics
 tags:
 - LeRobot
-- omy_f3m
+- ffw_bg2_rev4
 - robotis
 configs:
 - config_name: default
@@ -27,16 +27,16 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
 ```json
 {
     "codebase_version": "v2.1",
-    "robot_type": "aiworker",
-    "total_episodes": 8,
-    "total_frames": 5334,
+    "robot_type": "ffw_bg2_rev4",
+    "total_episodes": 20,
+    "total_frames": 12007,
     "total_tasks": 1,
-    "total_videos": 32,
+    "total_videos": 80,
     "total_chunks": 1,
     "chunks_size": 1000,
-    "fps": 30,
+    "fps": 10,
     "splits": {
-        "train": "0:8"
+        "train": "0:20"
     },
     "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
     "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
@@ -76,7 +76,7 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             ],
             "names": null
         },
-        "observation.images.cam_top": {
+        "observation.images.cam_head": {
             "dtype": "video",
             "names": [
                 "height",
@@ -84,19 +84,19 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "channels"
             ],
             "shape": [
-                240,
-                424,
+                376,
+                672,
                 3
             ],
             "info": {
-                "video.height": 240,
-                "video.width": 424,
+                "video.height": 376,
+                "video.width": 672,
                 "video.channels": 3,
                 "video.codec": "libx264",
                 "video.pix_fmt": "yuv420p"
             }
         },
-        "observation.images.cam_top_depth": {
+        "observation.images.cam_head_right": {
             "dtype": "video",
             "names": [
                 "height",
@@ -104,19 +104,19 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "channels"
             ],
             "shape": [
-                270,
-                480,
+                376,
+                672,
                 3
             ],
             "info": {
-                "video.height": 270,
-                "video.width": 480,
+                "video.height": 376,
+                "video.width": 672,
                 "video.channels": 3,
                 "video.codec": "libx264",
                 "video.pix_fmt": "yuv420p"
             }
         },
-        "observation.images.cam_wrist_depth": {
+        "observation.images.cam_wrist_left": {
             "dtype": "video",
             "names": [
                 "height",
@@ -124,19 +124,19 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "channels"
             ],
             "shape": [
-                270,
-                480,
+                240,
+                424,
                 3
             ],
             "info": {
-                "video.height": 270,
-                "video.width": 480,
+                "video.height": 240,
+                "video.width": 424,
                 "video.channels": 3,
                 "video.codec": "libx264",
                 "video.pix_fmt": "yuv420p"
             }
         },
-        "observation.images.cam_wrist": {
+        "observation.images.cam_wrist_right": {
             "dtype": "video",
             "names": [
                 "height",
@@ -159,31 +159,55 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
         "observation.state": {
             "dtype": "float32",
             "names": [
-                "joint1",
-                "joint2",
-                "joint3",
-                "joint4",
-                "joint5",
-                "joint6",
-                "rh_r1_joint"
+                "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"
             ],
             "shape": [
-                7
+                19
             ]
         },
         "action": {
             "dtype": "float32",
             "names": [
-                "joint1",
-                "joint2",
-                "joint3",
-                "joint4",
-                "joint5",
-                "joint6",
-                "rh_r1_joint"
+                "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"
             ],
             "shape": [
-                7
+                19
             ]
         }
     }

data/chunk-000/episode_000000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7e60020da9e50a1fd5a74a959cd037a3781a86a8ce9d94e592116a2c87055c25
-size 43758
+oid sha256:cd9d47214cf765aca1c7dbe7bdfc77e459a100e7ded7acf4cf7ac0b425f4fe36
+size 85834

data/chunk-000/episode_000001.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:81d2ffe5b97939f39320ba1bf6b2055203357bd9d6b646aad3ce8ff41499a7ea
-size 49263
+oid sha256:4071dd3a3feacfd408b31c2ac4aa9dc71a91e3d549e474fcadd5956e2d30c768
+size 87042

data/chunk-000/episode_000002.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bec0d9c89909082f2797277eaf9057b196cde07c7304bc0f883e7f0327db747a
-size 47815
+oid sha256:f1097ab1108e17b0039c326091862898e196ff1b2e1e4a00f2c39397d7de9853
+size 86868

data/chunk-000/episode_000003.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:56b952f55ef80c6d0a1937e7cf4ccb11d0fae7c5d76799a775635bcebc5cc992
-size 51157
+oid sha256:be0a75d15972a3c2317e54a0a14d1b64845d75bd9328fd83750aeb2fc1cbe9e7
+size 85689

data/chunk-000/episode_000004.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8fa368d878b495f66bc975940f842774ab07183485ae57f54d2616c305569d20
-size 44173
+oid sha256:5a1bb83c8b574c242965f0bacbc214dd2e9e4a927a0672eab17c0646f55eb91f
+size 87283

data/chunk-000/episode_000005.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:564b8e88c00b9d21c1e8ee36de57fa0cc662920e2a9111ed05b6f946cc8ee408
-size 45662
+oid sha256:903ab5a01891edda84b99ac447ec1f7a3776e95962c628f8bd630b06eb308b0c
+size 85868

data/chunk-000/episode_000006.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:210bb39c6c530ba550fdc34347ea77cbb189a3339de5def78f6e2e6599ca2de3
-size 56534
+oid sha256:d43e2bb5779b45ed798994de2275fa131680727a700c840a3c0b2aec8ed0db25
+size 86628

data/chunk-000/episode_000007.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0e54169049c4d6d52861db9186dce54d05e0400086326e1e957af3231be8e79d
-size 52891
+oid sha256:f055263289db6c2c28339a241ac91fa3e61406a93adf9275c1a93659f89d3da1
+size 87780

data/chunk-000/episode_000008.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:77eff9bddd17d0b9ed6233da910a5fb0e6afccbd1635590f6f2cedf414b8e380
-size 46584
+oid sha256:e948e8b5697121f2524ee6efaf306368513642c0c9ed19edcb21f8b817e87a42
+size 84582

data/chunk-000/episode_000009.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e7a90ef5c9d27896da998ee2f059256ad407665631ce066b35a9294e282038b3
-size 42525
+oid sha256:5a665dbffd7c70ef17eded058e5f0c570b5d9d25ab3398a42f511148873aae0b
+size 87621

data/chunk-000/episode_000010.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b85837f16da86806b0025322687df45431baaa638b7d2590e0f29dd84ef59968
-size 48089
+oid sha256:0260ebabae3e38224ca77674f73545aaefda813f460debeaa1531d575948875e
+size 86566

data/chunk-000/episode_000011.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:954eed1e3abf3ad5f8f59a843f48357c3130d9f129a8ae01a7ae816aed341415
-size 42636
+oid sha256:2e8e1c510ef16269ee4569baa6bcc64f2d324c9cdb12623f3a49c2130b53e18d
+size 87623

data/chunk-000/episode_000012.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0655c9557594f542991b1442fff20b8cb3a3e3fde774f7de3340eca8e42a61d1
-size 42027
+oid sha256:7d4a39540924b3c9c95f4443349fdd99ba657ddd4c0e754d35162d047f91f59a
+size 88268

data/chunk-000/episode_000013.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d43a4aabe3018644efc151923a7573fa9fac6dc91b39e0839177e45d4de102c5
-size 45445
+oid sha256:3125495865cba6ef50e0bb060a76342efe168dcff04e2b93127eaa73ba49a8c9
+size 85382

data/chunk-000/episode_000014.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a700cdfdad69e0ba6c6f46abef8113df5b367bce3c6be2571cce96a465c8b877
-size 41189
+oid sha256:30b039107440252c8eedd14f0c24bca893cfce80ecf18f38e39b97614de277e2
+size 86928

data/chunk-000/episode_000015.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0fcf3a3f07351f4cf784c3e03b0e8f058584e263e5168997d07a86b9b9079ffd
-size 41548
+oid sha256:1b4019a193868d2f1865c6c0fa0471a5ba74c864e47ab431ba13a09d8185a6b6
+size 87091

data/chunk-000/episode_000016.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c9e39b72c5efd4b0170c54b943366cf4e10955d34721ac5bcd7851d80624301e
-size 36635
+oid sha256:1d1e15489292ad579c16e51a909dad3515eb2a2c8fea31f979c581c3aaeb3c01
+size 86510

data/chunk-000/episode_000017.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:81d03fe8f90b516457e3b43681c2edbebe0793c29f15b9107760f81c62707ebe
-size 45891
+oid sha256:a64fdfe95fc006397f894fd02625b3bef9073fb0eca2956f038474e5383e4c09
+size 87355

data/chunk-000/episode_000018.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c529ec743666fd2ed8178853f8ae45b0ce249355efdd27e637ed6edabcc49b83
-size 52900
+oid sha256:8ca8c38e85cdc93e295468562d922cd163dd94573f9e7b55dbd2542bf2a784df
+size 88865

data/chunk-000/episode_000019.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b11422ce3a749b1971039df44b10bf18e0f8297ea1d7787fc55d32c04f95376d
-size 47739
+oid sha256:21f6c8e63c0aae4bc74b4e0bee62383e44cf3a91ea892f294560495437c5b379
+size 88439

meta/episodes.jsonl

@@ -1,62 +1,20 @@
-{"episode_index": 0, "tasks": ["Stack yellow cup without red cup"], "length": 593}
-{"episode_index": 1, "tasks": ["Stack yellow cup without red cup"], "length": 681}
-{"episode_index": 2, "tasks": ["Stack yellow cup without red cup"], "length": 658}
-{"episode_index": 3, "tasks": ["Stack yellow cup without red cup"], "length": 694}
-{"episode_index": 4, "tasks": ["Stack yellow cup without red cup"], "length": 584}
-{"episode_index": 5, "tasks": ["Stack yellow cup without red cup"], "length": 608}
-{"episode_index": 6, "tasks": ["Stack yellow cup without red cup"], "length": 793}
-{"episode_index": 7, "tasks": ["Stack yellow cup without red cup"], "length": 723}
-{"episode_index": 8, "tasks": ["Stack yellow cup without red cup"], "length": 653}
-{"episode_index": 9, "tasks": ["Stack yellow cup without red cup"], "length": 562}
-{"episode_index": 10, "tasks": ["Stack yellow cup without red cup"], "length": 678}
-{"episode_index": 11, "tasks": ["Stack yellow cup without red cup"], "length": 584}
-{"episode_index": 12, "tasks": ["Stack yellow cup without red cup"], "length": 554}
-{"episode_index": 13, "tasks": ["Stack yellow cup without red cup"], "length": 610}
-{"episode_index": 14, "tasks": ["Stack yellow cup without red cup"], "length": 546}
-{"episode_index": 15, "tasks": ["Stack yellow cup without red cup"], "length": 563}
-{"episode_index": 16, "tasks": ["Stack yellow cup without red cup"], "length": 469}
-{"episode_index": 17, "tasks": ["Stack yellow cup without red cup"], "length": 612}
-{"episode_index": 18, "tasks": ["Stack yellow cup without red cup"], "length": 721}
-{"episode_index": 19, "tasks": ["Stack yellow cup without red cup"], "length": 654}
-{"episode_index": 20, "tasks": ["Stack yellow cup without red cup"], "length": 735}
-{"episode_index": 21, "tasks": ["Stack yellow cup without red cup"], "length": 730}
-{"episode_index": 22, "tasks": ["Stack yellow cup without red cup"], "length": 641}
-{"episode_index": 23, "tasks": ["Stack yellow cup without red cup"], "length": 529}
-{"episode_index": 24, "tasks": ["Stack yellow cup without red cup"], "length": 637}
-{"episode_index": 25, "tasks": ["Stack yellow cup without red cup"], "length": 602}
-{"episode_index": 26, "tasks": ["Stack yellow cup without red cup"], "length": 688}
-{"episode_index": 27, "tasks": ["Stack yellow cup without red cup"], "length": 619}
-{"episode_index": 28, "tasks": ["Stack yellow cup without red cup"], "length": 636}
-{"episode_index": 29, "tasks": ["Stack yellow cup without red cup"], "length": 558}
-{"episode_index": 30, "tasks": ["Stack yellow cup without red cup"], "length": 528}
-{"episode_index": 31, "tasks": ["Stack yellow cup without red cup"], "length": 484}
-{"episode_index": 32, "tasks": ["Stack yellow cup without red cup"], "length": 540}
-{"episode_index": 33, "tasks": ["Stack yellow cup without red cup"], "length": 496}
-{"episode_index": 34, "tasks": ["Stack yellow cup without red cup"], "length": 548}
-{"episode_index": 35, "tasks": ["Stack yellow cup without red cup"], "length": 566}
-{"episode_index": 36, "tasks": ["Stack yellow cup without red cup"], "length": 510}
-{"episode_index": 37, "tasks": ["Stack yellow cup without red cup"], "length": 664}
-{"episode_index": 38, "tasks": ["Stack yellow cup without red cup"], "length": 505}
-{"episode_index": 39, "tasks": ["Stack yellow cup without red cup"], "length": 651}
-{"episode_index": 40, "tasks": ["Stack yellow cup without red cup"], "length": 550}
-{"episode_index": 41, "tasks": ["Stack yellow cup without red cup"], "length": 574}
-{"episode_index": 42, "tasks": ["Stack yellow cup without red cup"], "length": 568}
-{"episode_index": 43, "tasks": ["Stack yellow cup without red cup"], "length": 484}
-{"episode_index": 44, "tasks": ["Stack yellow cup without red cup"], "length": 521}
-{"episode_index": 45, "tasks": ["Stack yellow cup without red cup"], "length": 481}
-{"episode_index": 46, "tasks": ["Stack yellow cup without red cup"], "length": 460}
-{"episode_index": 47, "tasks": ["Stack yellow cup without red cup"], "length": 449}
-{"episode_index": 48, "tasks": ["Stack yellow cup without red cup"], "length": 559}
-{"episode_index": 49, "tasks": ["Stack yellow cup without red cup"], "length": 462}
-{"episode_index": 50, "tasks": ["Stack yellow cup without red cup"], "length": 449}
-{"episode_index": 51, "tasks": ["Stack yellow cup without red cup"], "length": 482}
-{"episode_index": 52, "tasks": ["Stack yellow cup without red cup"], "length": 511}
-{"episode_index": 53, "tasks": ["Stack yellow cup without red cup"], "length": 457}
-{"episode_index": 54, "tasks": ["Stack yellow cup without red cup"], "length": 477}
-{"episode_index": 55, "tasks": ["Stack yellow cup without red cup"], "length": 531}
-{"episode_index": 56, "tasks": ["Stack yellow cup without red cup"], "length": 478}
-{"episode_index": 57, "tasks": ["Stack yellow cup without red cup"], "length": 547}
-{"episode_index": 58, "tasks": ["Pick a yellow cup and stack it on a green bowl."], "length": 600}
-{"episode_index": 59, "tasks": ["Pick a yellow cup and stack it on a green bowl."], "length": 601}
-{"episode_index": 60, "tasks": ["Pick a yellow cup and stack it on a green bowl."], "length": 486}
-{"episode_index": 61, "tasks": ["Pick a yellow cup and stack it on a green bowl."], "length": 550}
+{"episode_index": 0, "tasks": ["Pick up the coffee and place it into the carton"], "length": 600}
+{"episode_index": 1, "tasks": ["Pick up the coffee and place it into the carton"], "length": 600}
+{"episode_index": 2, "tasks": ["Pick up the coffee and place it into the carton"], "length": 600}
+{"episode_index": 3, "tasks": ["Pick up the coffee and place it into the carton"], "length": 600}
+{"episode_index": 4, "tasks": ["Pick up the coffee and place it into the carton"], "length": 601}
+{"episode_index": 5, "tasks": ["Pick up the coffee and place it into the carton"], "length": 600}
+{"episode_index": 6, "tasks": ["Pick up the coffee and place it into the carton"], "length": 600}
+{"episode_index": 7, "tasks": ["Pick up the coffee and place it into the carton"], "length": 600}
+{"episode_index": 8, "tasks": ["Pick up the coffee and place it into the carton"], "length": 600}
+{"episode_index": 9, "tasks": ["Pick up the coffee and place it into the carton"], "length": 601}
+{"episode_index": 10, "tasks": ["Pick up the coffee and place it into the carton"], "length": 601}
+{"episode_index": 11, "tasks": ["Pick up the coffee and place it into the carton"], "length": 601}
+{"episode_index": 12, "tasks": ["Pick up the coffee and place it into the carton"], "length": 601}
+{"episode_index": 13, "tasks": ["Pick up the coffee and place it into the carton"], "length": 600}
+{"episode_index": 14, "tasks": ["Pick up the coffee and place it into the carton"], "length": 600}
+{"episode_index": 15, "tasks": ["Pick up the coffee and place it into the carton"], "length": 601}
+{"episode_index": 16, "tasks": ["Pick up the coffee and place it into the carton"], "length": 601}
+{"episode_index": 17, "tasks": ["Pick up the coffee and place it into the carton"], "length": 600}
+{"episode_index": 18, "tasks": ["Pick up the coffee and place it into the carton"], "length": 600}
+{"episode_index": 19, "tasks": ["Pick up the coffee and place it into the carton"], "length": 600}

meta/info.json

@@ -1,15 +1,15 @@
 {
     "codebase_version": "v2.1",
-    "robot_type": "aiworker",
-    "total_episodes": 62,
-    "total_frames": 35684,
-    "total_tasks": 2,
-    "total_videos": 248,
+    "robot_type": "ffw_bg2_rev4",
+    "total_episodes": 20,
+    "total_frames": 12007,
+    "total_tasks": 1,
+    "total_videos": 80,
     "total_chunks": 1,
     "chunks_size": 1000,
-    "fps": 30,
+    "fps": 10,
     "splits": {
-        "train": "0:62"
+        "train": "0:20"
     },
     "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
     "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
@@ -49,7 +49,7 @@
             ],
             "names": null
         },
-        "observation.images.cam_top": {
+        "observation.images.cam_head": {
             "dtype": "video",
             "names": [
                 "height",
@@ -57,19 +57,19 @@
                 "channels"
             ],
             "shape": [
-                240,
-                424,
+                376,
+                672,
                 3
             ],
             "info": {
-                "video.height": 240,
-                "video.width": 424,
+                "video.height": 376,
+                "video.width": 672,
                 "video.channels": 3,
                 "video.codec": "libx264",
                 "video.pix_fmt": "yuv420p"
             }
         },
-        "observation.images.cam_top_depth": {
+        "observation.images.cam_head_right": {
             "dtype": "video",
             "names": [
                 "height",
@@ -77,19 +77,19 @@
                 "channels"
             ],
             "shape": [
-                270,
-                480,
+                376,
+                672,
                 3
             ],
             "info": {
-                "video.height": 270,
-                "video.width": 480,
+                "video.height": 376,
+                "video.width": 672,
                 "video.channels": 3,
                 "video.codec": "libx264",
                 "video.pix_fmt": "yuv420p"
             }
         },
-        "observation.images.cam_wrist_depth": {
+        "observation.images.cam_wrist_left": {
             "dtype": "video",
             "names": [
                 "height",
@@ -97,19 +97,19 @@
                 "channels"
             ],
             "shape": [
-                270,
-                480,
+                240,
+                424,
                 3
             ],
             "info": {
-                "video.height": 270,
-                "video.width": 480,
+                "video.height": 240,
+                "video.width": 424,
                 "video.channels": 3,
                 "video.codec": "libx264",
                 "video.pix_fmt": "yuv420p"
             }
         },
-        "observation.images.cam_wrist": {
+        "observation.images.cam_wrist_right": {
             "dtype": "video",
             "names": [
                 "height",
@@ -132,31 +132,55 @@
         "observation.state": {
             "dtype": "float32",
             "names": [
-                "joint1",
-                "joint2",
-                "joint3",
-                "joint4",
-                "joint5",
-                "joint6",
-                "rh_r1_joint"
+                "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"
             ],
             "shape": [
-                7
+                19
             ]
         },
         "action": {
             "dtype": "float32",
             "names": [
-                "joint1",
-                "joint2",
-                "joint3",
-                "joint4",
-                "joint5",
-                "joint6",
-                "rh_r1_joint"
+                "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"
             ],
             "shape": [
-                7
+                19
             ]
         }
     }

meta/tasks.jsonl

@@ -1,2 +1 @@
-{"task_index": 0, "task": "Stack yellow cup without red cup"}
-{"task_index": 1, "task": "Pick a yellow cup and stack it on a green bowl."}
+{"task_index": 0, "task": "Pick up the coffee and place it into the carton"}

videos/chunk-000/observation.images.cam_head/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e37275ce9ea4ab74ee1ff992a0ae3de1b95b1dea958bb1baba8602745dbd8461
+size 7847919

videos/chunk-000/observation.images.cam_head/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5ccd50cc095c7b22b778021051ad2a79fa5781ba7034e4df7fd02ea1fd1f1df
+size 7953419

videos/chunk-000/observation.images.cam_head/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9741e58e4b08a3996045e15479bb27accd62de20f2399353f364425946269b8d
+size 8141420

videos/chunk-000/observation.images.cam_head/episode_000006.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec8e5da73aafd78c457d47763d78f09ba2347efdfc88e23d47823e89e8b7702e
+size 8039461

videos/chunk-000/observation.images.cam_head/episode_000007.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:802282320c520ac93ef3134b7b391bdd009aae42ab96093209ba2d5b4bfa3aa7
+size 7990540

videos/chunk-000/observation.images.cam_head/episode_000009.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de4c646bb1e6abfb0da2d349312dc75a0cde2fee03f2328873010e91ccb30965
+size 7854805

videos/chunk-000/observation.images.cam_head/episode_000010.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e866199051e16f776e04c034ad9cf6052f5c8cadc0af8a110354eb286b58eb55
+size 7969159

videos/chunk-000/observation.images.cam_head/episode_000011.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e916ebd8c744f1beeb625a573ac871fc40257f3c861ca7259c1dad74a5648095
+size 7860904

videos/chunk-000/observation.images.cam_head/episode_000012.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01badee351441b0a026a6ef6b7bf0cacdbcb3b617750e09bd9b3bf92496933ac
+size 7922401

videos/chunk-000/observation.images.cam_head/episode_000013.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e408178ad279af8492be6b3152c22083315ea6360cbdc3d77fb0be5d19a4e91
+size 8007153

videos/chunk-000/observation.images.cam_head/episode_000014.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78d368f8081e2c317656788e47c5e6ba215b40d0c1c30554471ce2268f47a5f6
+size 7838099

videos/chunk-000/observation.images.cam_head/episode_000015.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca11362afbe1ba63f1b3fa617450eec7a908c7cb7ef9897b8f6debd2bf4b6cc0
+size 7712213

videos/chunk-000/observation.images.cam_head/episode_000016.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff28ea4e0ef39630074f5bd550ddd3b47bdb4eb944dd41b0b94038c87e667943
+size 7797833

videos/chunk-000/observation.images.cam_head/episode_000017.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10c7a4b128b85e155a7568a437d57e11353cb101afe0e886bc798eba1ef509ea
+size 7840368

videos/chunk-000/observation.images.cam_head/episode_000018.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f308076370a84d7be2fd25ba8e33e4ae907bad9e920ac16bb0a41f941dbc70
+size 8303804

videos/chunk-000/observation.images.cam_head/episode_000019.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2103f9a21249ae49eb53da4cbe6eb21cc13d56b042d30b0fb0534a5273ed7243
+size 8189901

videos/chunk-000/observation.images.cam_wrist_left/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:147d9ededcb43b41ea7e8549a81bc43cb4447f9aa8f021d905c233ab1b4f25e3
+size 5404306

videos/chunk-000/observation.images.cam_wrist_left/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1116c544445f84a7cc329360d893943544508e41e77611fc30ea41da1fd6441
+size 5461011

videos/chunk-000/observation.images.cam_wrist_left/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dee1284c59cbfd69853ef873c9a3ef52e424b8bf6af12cde78d69275d996f990
+size 5465115

videos/chunk-000/observation.images.cam_wrist_left/episode_000005.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90afd59948c7b01b09ad3855e68e8d88311571fec8571192b261e5c3889a1076
+size 5339764

videos/chunk-000/observation.images.cam_wrist_left/episode_000008.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ca57ec8b2f383a5d65d5fed48a3512c08a673248f0765c6ca8847866a0d5336
+size 5467662

videos/chunk-000/observation.images.cam_wrist_left/episode_000010.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbbfe7e477ddd0430f56d1498f20e70d03dfd1fd0f132efd5387b58dbc992281
+size 5707117

videos/chunk-000/observation.images.cam_wrist_left/episode_000014.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d47b9da75d0a4928720875ad2152fae64a0c83adf2b5202533da6fdb4b30a0ad
+size 5675812

videos/chunk-000/observation.images.cam_wrist_left/episode_000018.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48cc9d843232d2fb9d6535e5a47d21e34ca2f846b2824adb32241cc27ca5ce5f
+size 5745197