Datasets:

InternRobotics
/

WET-OP-Bench-Train

+{
+    "codebase_version": "v2.1",
+    "robot_type": "lift2",
+    "total_episodes": 500,
+    "total_frames": 1732500,
+    "total_tasks": 20,
+    "total_videos": 2000,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
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+    },
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
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+            "shape": [
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+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints_delta": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "state.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "action.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "state.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
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+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
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+            "names": [
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+                    "ee0_x",
+                    "ee0_y",
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+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
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+                [
+                    "ee0_x",
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+                    "ee0_z",
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+                    "ee0_qx",
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+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "state.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base_delta": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
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+            "names": null
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+        "episode_index": {
+            "dtype": "int64",
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+            "names": null
+        },
+        "index": {
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+        "task_index": {
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+            "names": null
+        }
+    }
+}

task_04_pour_liquid_with_funnel/meta/tasks.jsonl ADDED Viewed

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+{"task_index": 0, "task": "Place the funnel on the reagent bottle and pour the graduated cylinder liquid through the funnel into the bottle."}
+{"task_index": 1, "task": "Transfer the funnel from its stand to the reagent bottle, then add the liquid from the graduated cylinder through the funnel."}
+{"task_index": 2, "task": "Position the funnel over the reagent bottle with its stem inserted into the bottle opening, and pour the graduated cylinder contents into the bottle through the funnel."}
+{"task_index": 3, "task": "Use the right robotic arm to pick up the funnel from the funnel stand and place it on the reagent bottle."}
+{"task_index": 4, "task": "Insert the funnel stem into the reagent bottle opening, then use the left robotic arm to pour liquid from the graduated cylinder into the funnel."}
+{"task_index": 5, "task": "Place the funnel securely on the reagent bottle, ensuring that the funnel stem extends into the bottle, and transfer the liquid from the graduated cylinder through the funnel."}
+{"task_index": 6, "task": "With the right robotic arm, grasp the funnel and move it above the reagent bottle. Lower it until the funnel stem enters the bottle opening."}
+{"task_index": 7, "task": "Use the left robotic arm to lift the graduated cylinder and tilt it gradually so that its liquid flows into the funnel and then into the reagent bottle."}
+{"task_index": 8, "task": "Set the funnel onto the reagent bottle before transferring any liquid. Align the graduated cylinder mouth with the center of the funnel opening during pouring."}
+{"task_index": 9, "task": "Pick up the funnel from the funnel rack with the right robotic arm, place it on the reagent bottle, and keep the funnel stem inside the bottle neck."}
+{"task_index": 10, "task": "Grasp the graduated cylinder with the left robotic arm and pour its liquid slowly into the funnel without spilling liquid outside the funnel."}
+{"task_index": 11, "task": "Place the funnel on the reagent bottle, then tilt the graduated cylinder so that the liquid passes through the funnel and enters the reagent bottle."}
+{"task_index": 12, "task": "Use the right arm to position the funnel vertically on the reagent bottle. Use the left arm to pour the graduated cylinder liquid into the funnel at a controlled rate."}
+{"task_index": 13, "task": "Move the funnel from the funnel stand to the reagent bottle and align its stem with the bottle opening. After positioning the funnel, transfer the graduated cylinder liquid into it."}
+{"task_index": 14, "task": "Hold the graduated cylinder above the funnel opening and pour slowly. Ensure that all transferred liquid flows through the funnel into the reagent bottle."}
+{"task_index": 15, "task": "First install the funnel on the reagent bottle with the stem inserted into the neck. Then pour the liquid from the graduated cylinder into the funnel."}
+{"task_index": 16, "task": "Using the right robotic arm, place the funnel centrally over the reagent bottle opening. Using the left robotic arm, pour the graduated cylinder liquid into the funnel."}
+{"task_index": 17, "task": "Lift the funnel from its stand, place it on the reagent bottle, and verify that the funnel stem is inside the bottle before beginning liquid transfer."}
+{"task_index": 18, "task": "Tilt the graduated cylinder toward the funnel while keeping its mouth aligned with the funnel opening, allowing the liquid to flow into the reagent bottle through the funnel."}
+{"task_index": 19, "task": "Complete the liquid addition by placing the funnel on the reagent bottle, positioning the graduated cylinder above the funnel, and pouring the graduated cylinder contents into the funnel under controlled motion."}

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