| [ |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/chunk_0/0/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/chunk_0/0/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/chunk_0/0/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Use the right arm to grab and lift the bottle with narrow top head-up." |
| ], |
| "fps": 50, |
| "num_frames": 143, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "adjust_bottle-aloha-agilex_randomized_500-1000", |
| "episode_index": 0, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/chunk_0/0/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/chunk_0/0/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/chunk_0/349/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/chunk_0/349/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/chunk_0/349/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Lift the bottle with white printed label from the table with the left arm" |
| ], |
| "fps": 50, |
| "num_frames": 143, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "adjust_bottle-aloha-agilex_randomized_500-1000", |
| "episode_index": 349, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/chunk_0/349/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/adjust_bottle-aloha-agilex_randomized_500-1000/chunk_0/349/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/beat_block_hammer-aloha-agilex_randomized_500-1000/chunk_0/149/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/beat_block_hammer-aloha-agilex_randomized_500-1000/chunk_0/149/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/beat_block_hammer-aloha-agilex_randomized_500-1000/chunk_0/149/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Grab the silver hammer using the right arm then pound block" |
| ], |
| "fps": 50, |
| "num_frames": 113, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "beat_block_hammer-aloha-agilex_randomized_500-1000", |
| "episode_index": 149, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/beat_block_hammer-aloha-agilex_randomized_500-1000/chunk_0/149/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/beat_block_hammer-aloha-agilex_randomized_500-1000/chunk_0/149/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/beat_block_hammer-aloha-agilex_randomized_500-1000/chunk_0/399/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/beat_block_hammer-aloha-agilex_randomized_500-1000/chunk_0/399/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/beat_block_hammer-aloha-agilex_randomized_500-1000/chunk_0/399/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Utilize the left arm to hold the yellow and black hammer grip and strike." |
| ], |
| "fps": 50, |
| "num_frames": 114, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "beat_block_hammer-aloha-agilex_randomized_500-1000", |
| "episode_index": 399, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/beat_block_hammer-aloha-agilex_randomized_500-1000/chunk_0/399/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/beat_block_hammer-aloha-agilex_randomized_500-1000/chunk_0/399/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/chunk_0/199/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/chunk_0/199/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/chunk_0/199/cam_high.mp4" |
| }, |
| "instructions": [ |
| "First, place red block on the far left, then green block in the middle, and finish with blue block on the right." |
| ], |
| "fps": 50, |
| "num_frames": 432, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "blocks_ranking_rgb-aloha-agilex_randomized_500-1000", |
| "episode_index": 199, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/chunk_0/199/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/chunk_0/199/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/chunk_0/449/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/chunk_0/449/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/chunk_0/449/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Arrange red block, green block, and blue block in sequence from leftmost to rightmost positions." |
| ], |
| "fps": 50, |
| "num_frames": 468, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "blocks_ranking_rgb-aloha-agilex_randomized_500-1000", |
| "episode_index": 449, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/chunk_0/449/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/blocks_ranking_rgb-aloha-agilex_randomized_500-1000/chunk_0/449/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/blocks_ranking_size/chunk_0/249/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/blocks_ranking_size/chunk_0/249/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/blocks_ranking_size/chunk_0/249/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Pull open the rectangular cabinet's drawer and place the glossy bright tea-box inside it." |
| ], |
| "fps": 50, |
| "num_frames": 269, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "blocks_ranking_size", |
| "episode_index": 249, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/blocks_ranking_size/chunk_0/249/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/blocks_ranking_size/chunk_0/249/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/blocks_ranking_size/chunk_0/499/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/blocks_ranking_size/chunk_0/499/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/blocks_ranking_size/chunk_0/499/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Put the black playing cards box into the smooth-surface cabinet's drawer once it is opened." |
| ], |
| "fps": 50, |
| "num_frames": 269, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "blocks_ranking_size", |
| "episode_index": 499, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/blocks_ranking_size/chunk_0/499/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/blocks_ranking_size/chunk_0/499/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/click_alarmclock-aloha-agilex_randomized_500-1000/chunk_0/299/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/click_alarmclock-aloha-agilex_randomized_500-1000/chunk_0/299/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/click_alarmclock-aloha-agilex_randomized_500-1000/chunk_0/299/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Press the top button at the smooth black alarm-clock's center." |
| ], |
| "fps": 50, |
| "num_frames": 86, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "click_alarmclock-aloha-agilex_randomized_500-1000", |
| "episode_index": 299, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/click_alarmclock-aloha-agilex_randomized_500-1000/chunk_0/299/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/click_alarmclock-aloha-agilex_randomized_500-1000/chunk_0/299/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/click_bell-aloha-agilex_randomized_500-1000/chunk_0/0/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/click_bell-aloha-agilex_randomized_500-1000/chunk_0/0/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/click_bell-aloha-agilex_randomized_500-1000/chunk_0/0/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Click the blue dome-shaped bell's top center using the right arm." |
| ], |
| "fps": 50, |
| "num_frames": 77, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "click_bell-aloha-agilex_randomized_500-1000", |
| "episode_index": 0, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/click_bell-aloha-agilex_randomized_500-1000/chunk_0/0/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/click_bell-aloha-agilex_randomized_500-1000/chunk_0/0/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/click_bell-aloha-agilex_randomized_500-1000/chunk_0/349/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/click_bell-aloha-agilex_randomized_500-1000/chunk_0/349/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/click_bell-aloha-agilex_randomized_500-1000/chunk_0/349/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Make the left arm interact with the bell with circular body's top center." |
| ], |
| "fps": 50, |
| "num_frames": 77, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "click_bell-aloha-agilex_randomized_500-1000", |
| "episode_index": 349, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/click_bell-aloha-agilex_randomized_500-1000/chunk_0/349/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/click_bell-aloha-agilex_randomized_500-1000/chunk_0/349/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/dump_bin_bigbin-aloha-agilex_randomized_500-1000/chunk_0/148/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/dump_bin_bigbin-aloha-agilex_randomized_500-1000/chunk_0/148/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/dump_bin_bigbin-aloha-agilex_randomized_500-1000/chunk_0/148/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Use arm to pick the rectangular tabletop waste container, pour in bin" |
| ], |
| "fps": 50, |
| "num_frames": 170, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "dump_bin_bigbin-aloha-agilex_randomized_500-1000", |
| "episode_index": 148, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/dump_bin_bigbin-aloha-agilex_randomized_500-1000/chunk_0/148/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/dump_bin_bigbin-aloha-agilex_randomized_500-1000/chunk_0/148/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/dump_bin_bigbin-aloha-agilex_randomized_500-1000/chunk_0/399/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/dump_bin_bigbin-aloha-agilex_randomized_500-1000/chunk_0/399/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/dump_bin_bigbin-aloha-agilex_randomized_500-1000/chunk_0/399/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Lift up the light gray trashbin with open top, then pour balls." |
| ], |
| "fps": 50, |
| "num_frames": 342, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "dump_bin_bigbin-aloha-agilex_randomized_500-1000", |
| "episode_index": 399, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/dump_bin_bigbin-aloha-agilex_randomized_500-1000/chunk_0/399/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/dump_bin_bigbin-aloha-agilex_randomized_500-1000/chunk_0/399/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/grab_roller-aloha-agilex_randomized_500-1000/chunk_0/199/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/grab_roller-aloha-agilex_randomized_500-1000/chunk_0/199/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/grab_roller-aloha-agilex_randomized_500-1000/chunk_0/199/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Grab the narrow tapered roller directly from the table." |
| ], |
| "fps": 50, |
| "num_frames": 94, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "grab_roller-aloha-agilex_randomized_500-1000", |
| "episode_index": 199, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/grab_roller-aloha-agilex_randomized_500-1000/chunk_0/199/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/grab_roller-aloha-agilex_randomized_500-1000/chunk_0/199/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/grab_roller-aloha-agilex_randomized_500-1000/chunk_0/449/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/grab_roller-aloha-agilex_randomized_500-1000/chunk_0/449/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/grab_roller-aloha-agilex_randomized_500-1000/chunk_0/449/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Secure the brown roller from the table using arms" |
| ], |
| "fps": 50, |
| "num_frames": 94, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "grab_roller-aloha-agilex_randomized_500-1000", |
| "episode_index": 449, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/grab_roller-aloha-agilex_randomized_500-1000/chunk_0/449/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/grab_roller-aloha-agilex_randomized_500-1000/chunk_0/449/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/handover_block-aloha-agilex_randomized_500-1000/chunk_0/249/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/handover_block-aloha-agilex_randomized_500-1000/chunk_0/249/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/handover_block-aloha-agilex_randomized_500-1000/chunk_0/249/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad." |
| ], |
| "fps": 50, |
| "num_frames": 280, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "handover_block-aloha-agilex_randomized_500-1000", |
| "episode_index": 249, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/handover_block-aloha-agilex_randomized_500-1000/chunk_0/249/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/handover_block-aloha-agilex_randomized_500-1000/chunk_0/249/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/handover_block-aloha-agilex_randomized_500-1000/chunk_0/499/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/handover_block-aloha-agilex_randomized_500-1000/chunk_0/499/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/handover_block-aloha-agilex_randomized_500-1000/chunk_0/499/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Take the red block and move it to the pad." |
| ], |
| "fps": 50, |
| "num_frames": 281, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "handover_block-aloha-agilex_randomized_500-1000", |
| "episode_index": 499, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/handover_block-aloha-agilex_randomized_500-1000/chunk_0/499/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/handover_block-aloha-agilex_randomized_500-1000/chunk_0/499/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/handover_mic-aloha-agilex_randomized_500-1000/chunk_0/299/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/handover_mic-aloha-agilex_randomized_500-1000/chunk_0/299/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/handover_mic-aloha-agilex_randomized_500-1000/chunk_0/299/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Pick up the medium microphone with two-tone color and transfer it to the opposite side." |
| ], |
| "fps": 50, |
| "num_frames": 220, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "handover_mic-aloha-agilex_randomized_500-1000", |
| "episode_index": 299, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/handover_mic-aloha-agilex_randomized_500-1000/chunk_0/299/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/handover_mic-aloha-agilex_randomized_500-1000/chunk_0/299/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/hanging_mug-aloha-agilex_randomized_500-1000/chunk_0/0/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/hanging_mug-aloha-agilex_randomized_500-1000/chunk_0/0/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/hanging_mug-aloha-agilex_randomized_500-1000/chunk_0/0/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Use the left arm to grab the black mug with rounded sturdy handle, rotate it, place it in the middle, then use the right arm to hang it onto the rack with angular body." |
| ], |
| "fps": 50, |
| "num_frames": 337, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "hanging_mug-aloha-agilex_randomized_500-1000", |
| "episode_index": 0, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/hanging_mug-aloha-agilex_randomized_500-1000/chunk_0/0/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/hanging_mug-aloha-agilex_randomized_500-1000/chunk_0/0/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/hanging_mug-aloha-agilex_randomized_500-1000/chunk_0/349/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/hanging_mug-aloha-agilex_randomized_500-1000/chunk_0/349/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/hanging_mug-aloha-agilex_randomized_500-1000/chunk_0/349/cam_high.mp4" |
| }, |
| "instructions": [ |
| "With the left arm, pick the mug with glossy surface, rotate it, place it, then hang it onto the rack with two rods sticking out." |
| ], |
| "fps": 50, |
| "num_frames": 344, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "hanging_mug-aloha-agilex_randomized_500-1000", |
| "episode_index": 349, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/hanging_mug-aloha-agilex_randomized_500-1000/chunk_0/349/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/hanging_mug-aloha-agilex_randomized_500-1000/chunk_0/349/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/lift_pot-aloha-agilex_randomized_500-1000/chunk_0/148/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/lift_pot-aloha-agilex_randomized_500-1000/chunk_0/148/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/lift_pot-aloha-agilex_randomized_500-1000/chunk_0/148/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Pick up the medium kitchenpot made of metal with both arms" |
| ], |
| "fps": 50, |
| "num_frames": 118, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "lift_pot-aloha-agilex_randomized_500-1000", |
| "episode_index": 148, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/lift_pot-aloha-agilex_randomized_500-1000/chunk_0/148/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/lift_pot-aloha-agilex_randomized_500-1000/chunk_0/148/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/lift_pot-aloha-agilex_randomized_500-1000/chunk_0/399/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/lift_pot-aloha-agilex_randomized_500-1000/chunk_0/399/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/lift_pot-aloha-agilex_randomized_500-1000/chunk_0/399/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Raise the round kitchenpot with handles evenly with arms" |
| ], |
| "fps": 50, |
| "num_frames": 110, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "lift_pot-aloha-agilex_randomized_500-1000", |
| "episode_index": 399, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/lift_pot-aloha-agilex_randomized_500-1000/chunk_0/399/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/lift_pot-aloha-agilex_randomized_500-1000/chunk_0/399/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/move_can_pot-aloha-agilex_randomized_500-1000/chunk_0/199/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/move_can_pot-aloha-agilex_randomized_500-1000/chunk_0/199/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/move_can_pot-aloha-agilex_randomized_500-1000/chunk_0/199/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Use the right arm to grab the smooth metal sauce can white, move it beside the teal pot for boiling and cooking" |
| ], |
| "fps": 50, |
| "num_frames": 155, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "move_can_pot-aloha-agilex_randomized_500-1000", |
| "episode_index": 199, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/move_can_pot-aloha-agilex_randomized_500-1000/chunk_0/199/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/move_can_pot-aloha-agilex_randomized_500-1000/chunk_0/199/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/move_can_pot-aloha-agilex_randomized_500-1000/chunk_0/449/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/move_can_pot-aloha-agilex_randomized_500-1000/chunk_0/449/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/move_can_pot-aloha-agilex_randomized_500-1000/chunk_0/449/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Pick the sturdy sauce can with glossy finish up and carefully position it beside the cooking pot with snug-fitting lid" |
| ], |
| "fps": 50, |
| "num_frames": 145, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "move_can_pot-aloha-agilex_randomized_500-1000", |
| "episode_index": 449, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/move_can_pot-aloha-agilex_randomized_500-1000/chunk_0/449/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/move_can_pot-aloha-agilex_randomized_500-1000/chunk_0/449/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/move_pillbottle_pad-aloha-agilex_randomized_500-1000/chunk_0/248/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/move_pillbottle_pad-aloha-agilex_randomized_500-1000/chunk_0/248/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/move_pillbottle_pad-aloha-agilex_randomized_500-1000/chunk_0/248/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Grab the small bottle with ridged orange cap and position it on the pad" |
| ], |
| "fps": 50, |
| "num_frames": 138, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "move_pillbottle_pad-aloha-agilex_randomized_500-1000", |
| "episode_index": 248, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/move_pillbottle_pad-aloha-agilex_randomized_500-1000/chunk_0/248/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/move_pillbottle_pad-aloha-agilex_randomized_500-1000/chunk_0/248/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/move_pillbottle_pad-aloha-agilex_randomized_500-1000/chunk_0/499/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/move_pillbottle_pad-aloha-agilex_randomized_500-1000/chunk_0/499/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/move_pillbottle_pad-aloha-agilex_randomized_500-1000/chunk_0/499/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Pick the plastic bottle with labeled surface with the left arm and place it down" |
| ], |
| "fps": 50, |
| "num_frames": 154, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "move_pillbottle_pad-aloha-agilex_randomized_500-1000", |
| "episode_index": 499, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/move_pillbottle_pad-aloha-agilex_randomized_500-1000/chunk_0/499/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/move_pillbottle_pad-aloha-agilex_randomized_500-1000/chunk_0/499/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/move_playingcard_away-aloha-agilex_randomized_500-1000/chunk_0/299/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/move_playingcard_away-aloha-agilex_randomized_500-1000/chunk_0/299/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/move_playingcard_away-aloha-agilex_randomized_500-1000/chunk_0/299/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Pick up the rectangular playingcards case and move it away." |
| ], |
| "fps": 50, |
| "num_frames": 116, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "move_playingcard_away-aloha-agilex_randomized_500-1000", |
| "episode_index": 299, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/move_playingcard_away-aloha-agilex_randomized_500-1000/chunk_0/299/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/move_playingcard_away-aloha-agilex_randomized_500-1000/chunk_0/299/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/move_stapler_pad-aloha-agilex_randomized_500-1000/chunk_0/0/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/move_stapler_pad-aloha-agilex_randomized_500-1000/chunk_0/0/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/move_stapler_pad-aloha-agilex_randomized_500-1000/chunk_0/0/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Carry the manual blue stapler to the Blue colored mat" |
| ], |
| "fps": 50, |
| "num_frames": 162, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "move_stapler_pad-aloha-agilex_randomized_500-1000", |
| "episode_index": 0, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/move_stapler_pad-aloha-agilex_randomized_500-1000/chunk_0/0/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/move_stapler_pad-aloha-agilex_randomized_500-1000/chunk_0/0/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/move_stapler_pad-aloha-agilex_randomized_500-1000/chunk_0/348/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/move_stapler_pad-aloha-agilex_randomized_500-1000/chunk_0/348/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/move_stapler_pad-aloha-agilex_randomized_500-1000/chunk_0/348/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Drop the stapler with metallic staple slot carefully on the Blue mat" |
| ], |
| "fps": 50, |
| "num_frames": 161, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "move_stapler_pad-aloha-agilex_randomized_500-1000", |
| "episode_index": 348, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/move_stapler_pad-aloha-agilex_randomized_500-1000/chunk_0/348/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/move_stapler_pad-aloha-agilex_randomized_500-1000/chunk_0/348/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/open_laptop-aloha-agilex_randomized_500-1000/chunk_0/148/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/open_laptop-aloha-agilex_randomized_500-1000/chunk_0/148/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/open_laptop-aloha-agilex_randomized_500-1000/chunk_0/148/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Slide the laptop with black textured screen open with the left arm." |
| ], |
| "fps": 50, |
| "num_frames": 186, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "open_laptop-aloha-agilex_randomized_500-1000", |
| "episode_index": 148, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/open_laptop-aloha-agilex_randomized_500-1000/chunk_0/148/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/open_laptop-aloha-agilex_randomized_500-1000/chunk_0/148/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/open_laptop-aloha-agilex_randomized_500-1000/chunk_0/399/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/open_laptop-aloha-agilex_randomized_500-1000/chunk_0/399/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/open_laptop-aloha-agilex_randomized_500-1000/chunk_0/399/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Raise the laptop featuring built-in keyboard lid with the left arm." |
| ], |
| "fps": 50, |
| "num_frames": 228, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "open_laptop-aloha-agilex_randomized_500-1000", |
| "episode_index": 399, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/open_laptop-aloha-agilex_randomized_500-1000/chunk_0/399/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/open_laptop-aloha-agilex_randomized_500-1000/chunk_0/399/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/open_microwave-aloha-agilex_randomized_500-1000/chunk_0/199/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/open_microwave-aloha-agilex_randomized_500-1000/chunk_0/199/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/open_microwave-aloha-agilex_randomized_500-1000/chunk_0/199/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Get the dark gray slanted microwave box open." |
| ], |
| "fps": 50, |
| "num_frames": 951, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "open_microwave-aloha-agilex_randomized_500-1000", |
| "episode_index": 199, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/open_microwave-aloha-agilex_randomized_500-1000/chunk_0/199/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/open_microwave-aloha-agilex_randomized_500-1000/chunk_0/199/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/open_microwave-aloha-agilex_randomized_500-1000/chunk_0/449/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/open_microwave-aloha-agilex_randomized_500-1000/chunk_0/449/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/open_microwave-aloha-agilex_randomized_500-1000/chunk_0/449/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Get the rectangular microwave open." |
| ], |
| "fps": 50, |
| "num_frames": 460, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "open_microwave-aloha-agilex_randomized_500-1000", |
| "episode_index": 449, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/open_microwave-aloha-agilex_randomized_500-1000/chunk_0/449/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/open_microwave-aloha-agilex_randomized_500-1000/chunk_0/449/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/pick_diverse_bottles-aloha-agilex_randomized_500-1000/chunk_0/248/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/pick_diverse_bottles-aloha-agilex_randomized_500-1000/chunk_0/248/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/pick_diverse_bottles-aloha-agilex_randomized_500-1000/chunk_0/248/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Use both arms to pick up the cylindrical orange plastic bottle and the hand-sized soda bottle." |
| ], |
| "fps": 50, |
| "num_frames": 120, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "pick_diverse_bottles-aloha-agilex_randomized_500-1000", |
| "episode_index": 248, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/pick_diverse_bottles-aloha-agilex_randomized_500-1000/chunk_0/248/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/pick_diverse_bottles-aloha-agilex_randomized_500-1000/chunk_0/248/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/pick_diverse_bottles-aloha-agilex_randomized_500-1000/chunk_0/499/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/pick_diverse_bottles-aloha-agilex_randomized_500-1000/chunk_0/499/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/pick_diverse_bottles-aloha-agilex_randomized_500-1000/chunk_0/499/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Grab the plastic bottle using one arm and the drinking bottle with yellow label using the other." |
| ], |
| "fps": 50, |
| "num_frames": 120, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "pick_diverse_bottles-aloha-agilex_randomized_500-1000", |
| "episode_index": 499, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/pick_diverse_bottles-aloha-agilex_randomized_500-1000/chunk_0/499/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/pick_diverse_bottles-aloha-agilex_randomized_500-1000/chunk_0/499/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/pick_dual_bottles-aloha-agilex_randomized_500-1000/chunk_0/299/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/pick_dual_bottles-aloha-agilex_randomized_500-1000/chunk_0/299/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/pick_dual_bottles-aloha-agilex_randomized_500-1000/chunk_0/299/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Lift the Coca-Cola bottle in one hand and the medium-sized green bottle in the other." |
| ], |
| "fps": 50, |
| "num_frames": 129, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "pick_dual_bottles-aloha-agilex_randomized_500-1000", |
| "episode_index": 299, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/pick_dual_bottles-aloha-agilex_randomized_500-1000/chunk_0/299/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/pick_dual_bottles-aloha-agilex_randomized_500-1000/chunk_0/299/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_a2b_left-aloha-agilex_randomized_500-1000/chunk_0/0/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_a2b_left-aloha-agilex_randomized_500-1000/chunk_0/0/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_a2b_left-aloha-agilex_randomized_500-1000/chunk_0/0/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Place the square-shaped tea box on the left of the playingcards box with white accents." |
| ], |
| "fps": 50, |
| "num_frames": 158, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_a2b_left-aloha-agilex_randomized_500-1000", |
| "episode_index": 0, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_a2b_left-aloha-agilex_randomized_500-1000/chunk_0/0/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_a2b_left-aloha-agilex_randomized_500-1000/chunk_0/0/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_a2b_left-aloha-agilex_randomized_500-1000/chunk_0/348/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_a2b_left-aloha-agilex_randomized_500-1000/chunk_0/348/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_a2b_left-aloha-agilex_randomized_500-1000/chunk_0/348/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Place the palm-sized phone to rest left of the cube tea box with gold designs using the left arm" |
| ], |
| "fps": 50, |
| "num_frames": 163, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_a2b_left-aloha-agilex_randomized_500-1000", |
| "episode_index": 348, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_a2b_left-aloha-agilex_randomized_500-1000/chunk_0/348/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_a2b_left-aloha-agilex_randomized_500-1000/chunk_0/348/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_a2b_right-aloha-agilex_randomized_500-1000/chunk_0/148/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_a2b_right-aloha-agilex_randomized_500-1000/chunk_0/148/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_a2b_right-aloha-agilex_randomized_500-1000/chunk_0/148/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Move the light brown coffee box and place it to the rubikscube with rotating rows and columns's right." |
| ], |
| "fps": 50, |
| "num_frames": 155, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_a2b_right-aloha-agilex_randomized_500-1000", |
| "episode_index": 148, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_a2b_right-aloha-agilex_randomized_500-1000/chunk_0/148/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_a2b_right-aloha-agilex_randomized_500-1000/chunk_0/148/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_a2b_right-aloha-agilex_randomized_500-1000/chunk_0/399/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_a2b_right-aloha-agilex_randomized_500-1000/chunk_0/399/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_a2b_right-aloha-agilex_randomized_500-1000/chunk_0/399/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Set the rubikscube with rotating rows and columns right next to the gray mouse's right side." |
| ], |
| "fps": 50, |
| "num_frames": 148, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_a2b_right-aloha-agilex_randomized_500-1000", |
| "episode_index": 399, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_a2b_right-aloha-agilex_randomized_500-1000/chunk_0/399/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_a2b_right-aloha-agilex_randomized_500-1000/chunk_0/399/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_bread_basket-aloha-agilex_randomized_500-1000/chunk_0/199/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_bread_basket-aloha-agilex_randomized_500-1000/chunk_0/199/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_bread_basket-aloha-agilex_randomized_500-1000/chunk_0/199/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Take the golden bread and the golden brown loaf-shaped bread together and place them into the breadbasket with flat base." |
| ], |
| "fps": 50, |
| "num_frames": 229, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_bread_basket-aloha-agilex_randomized_500-1000", |
| "episode_index": 199, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_bread_basket-aloha-agilex_randomized_500-1000/chunk_0/199/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_bread_basket-aloha-agilex_randomized_500-1000/chunk_0/199/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_bread_basket-aloha-agilex_randomized_500-1000/chunk_0/448/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_bread_basket-aloha-agilex_randomized_500-1000/chunk_0/448/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_bread_basket-aloha-agilex_randomized_500-1000/chunk_0/448/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Lift the golden brown loaf-shaped bread and the bread with warm golden color with two arms, put in the medium breadbasket with perforated sides." |
| ], |
| "fps": 50, |
| "num_frames": 228, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_bread_basket-aloha-agilex_randomized_500-1000", |
| "episode_index": 448, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_bread_basket-aloha-agilex_randomized_500-1000/chunk_0/448/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_bread_basket-aloha-agilex_randomized_500-1000/chunk_0/448/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_bread_skillet-aloha-agilex_randomized_500-1000/chunk_0/248/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_bread_skillet-aloha-agilex_randomized_500-1000/chunk_0/248/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_bread_skillet-aloha-agilex_randomized_500-1000/chunk_0/248/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Put the golden baked bread into the flat-bottom skillet." |
| ], |
| "fps": 50, |
| "num_frames": 162, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_bread_skillet-aloha-agilex_randomized_500-1000", |
| "episode_index": 248, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_bread_skillet-aloha-agilex_randomized_500-1000/chunk_0/248/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_bread_skillet-aloha-agilex_randomized_500-1000/chunk_0/248/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_bread_skillet-aloha-agilex_randomized_500-1000/chunk_0/499/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_bread_skillet-aloha-agilex_randomized_500-1000/chunk_0/499/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_bread_skillet-aloha-agilex_randomized_500-1000/chunk_0/499/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Use the right arm to pick the medium bread with rounded sides and put it in the dark pan with sturdy grip" |
| ], |
| "fps": 50, |
| "num_frames": 163, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_bread_skillet-aloha-agilex_randomized_500-1000", |
| "episode_index": 499, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_bread_skillet-aloha-agilex_randomized_500-1000/chunk_0/499/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_bread_skillet-aloha-agilex_randomized_500-1000/chunk_0/499/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_burger_fries-aloha-agilex_randomized_500-1000/chunk_0/299/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_burger_fries-aloha-agilex_randomized_500-1000/chunk_0/299/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_burger_fries-aloha-agilex_randomized_500-1000/chunk_0/299/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Take the irregular shaped hamburg and the Golden fries sticks in red carton to the medium plastic tray and set them there." |
| ], |
| "fps": 50, |
| "num_frames": 241, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_burger_fries-aloha-agilex_randomized_500-1000", |
| "episode_index": 299, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_burger_fries-aloha-agilex_randomized_500-1000/chunk_0/299/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_burger_fries-aloha-agilex_randomized_500-1000/chunk_0/299/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_can_basket-aloha-agilex_randomized_500-1000/chunk_0/0/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_can_basket-aloha-agilex_randomized_500-1000/chunk_0/0/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_can_basket-aloha-agilex_randomized_500-1000/chunk_0/0/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Pick the small soda can with lime graphics with the right arm, set it in the handheld basket, and lift the handheld basket using another arm." |
| ], |
| "fps": 50, |
| "num_frames": 253, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_can_basket-aloha-agilex_randomized_500-1000", |
| "episode_index": 0, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_can_basket-aloha-agilex_randomized_500-1000/chunk_0/0/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_can_basket-aloha-agilex_randomized_500-1000/chunk_0/0/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_can_basket-aloha-agilex_randomized_500-1000/chunk_0/348/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_can_basket-aloha-agilex_randomized_500-1000/chunk_0/348/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_can_basket-aloha-agilex_randomized_500-1000/chunk_0/348/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Grab the rounded red Coca-Cola soda container, put it in the basket with handle, then raise the basket with handle." |
| ], |
| "fps": 50, |
| "num_frames": 249, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_can_basket-aloha-agilex_randomized_500-1000", |
| "episode_index": 348, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_can_basket-aloha-agilex_randomized_500-1000/chunk_0/348/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_can_basket-aloha-agilex_randomized_500-1000/chunk_0/348/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_cans_plasticbox-aloha-agilex_randomized_500-1000/chunk_0/148/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_cans_plasticbox-aloha-agilex_randomized_500-1000/chunk_0/148/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_cans_plasticbox-aloha-agilex_randomized_500-1000/chunk_0/148/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Move the small cylindrical drink container into the blue box with angled edges, then pick and drop the red and gold cylindrical can into the same box." |
| ], |
| "fps": 50, |
| "num_frames": 284, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_cans_plasticbox-aloha-agilex_randomized_500-1000", |
| "episode_index": 148, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_cans_plasticbox-aloha-agilex_randomized_500-1000/chunk_0/148/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_cans_plasticbox-aloha-agilex_randomized_500-1000/chunk_0/148/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_cans_plasticbox-aloha-agilex_randomized_500-1000/chunk_0/399/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_cans_plasticbox-aloha-agilex_randomized_500-1000/chunk_0/399/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_cans_plasticbox-aloha-agilex_randomized_500-1000/chunk_0/399/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Move the smooth red can and the red can with white lettering one at a time into the medium blue plasticbox." |
| ], |
| "fps": 50, |
| "num_frames": 281, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_cans_plasticbox-aloha-agilex_randomized_500-1000", |
| "episode_index": 399, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_cans_plasticbox-aloha-agilex_randomized_500-1000/chunk_0/399/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_cans_plasticbox-aloha-agilex_randomized_500-1000/chunk_0/399/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_container_plate-aloha-agilex_randomized_500-1000/chunk_0/199/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_container_plate-aloha-agilex_randomized_500-1000/chunk_0/199/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_container_plate-aloha-agilex_randomized_500-1000/chunk_0/199/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Use the cup with black circular base to place the container into the dish plate" |
| ], |
| "fps": 50, |
| "num_frames": 154, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_container_plate-aloha-agilex_randomized_500-1000", |
| "episode_index": 199, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_container_plate-aloha-agilex_randomized_500-1000/chunk_0/199/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_container_plate-aloha-agilex_randomized_500-1000/chunk_0/199/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_container_plate-aloha-agilex_randomized_500-1000/chunk_0/448/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_container_plate-aloha-agilex_randomized_500-1000/chunk_0/448/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_container_plate-aloha-agilex_randomized_500-1000/chunk_0/448/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Move the container with the cup with ribbed sides to the round plate." |
| ], |
| "fps": 50, |
| "num_frames": 156, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_container_plate-aloha-agilex_randomized_500-1000", |
| "episode_index": 448, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_container_plate-aloha-agilex_randomized_500-1000/chunk_0/448/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_container_plate-aloha-agilex_randomized_500-1000/chunk_0/448/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_dual_shoes-aloha-agilex_randomized_500-1000/chunk_0/248/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_dual_shoes-aloha-agilex_randomized_500-1000/chunk_0/248/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_dual_shoes-aloha-agilex_randomized_500-1000/chunk_0/248/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Make sure tips point left, then place the shoe with lace-up front in the bright orange shoe-box." |
| ], |
| "fps": 50, |
| "num_frames": 220, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_dual_shoes-aloha-agilex_randomized_500-1000", |
| "episode_index": 248, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_dual_shoes-aloha-agilex_randomized_500-1000/chunk_0/248/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_dual_shoes-aloha-agilex_randomized_500-1000/chunk_0/248/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_dual_shoes-aloha-agilex_randomized_500-1000/chunk_0/499/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_dual_shoes-aloha-agilex_randomized_500-1000/chunk_0/499/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_dual_shoes-aloha-agilex_randomized_500-1000/chunk_0/499/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Transfer two the wearable foot protector shoe, tips left-aligned, into the rectangular shoe-box with orange lid." |
| ], |
| "fps": 50, |
| "num_frames": 219, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_dual_shoes-aloha-agilex_randomized_500-1000", |
| "episode_index": 499, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_dual_shoes-aloha-agilex_randomized_500-1000/chunk_0/499/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_dual_shoes-aloha-agilex_randomized_500-1000/chunk_0/499/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_empty_cup-aloha-agilex_randomized_500-1000/chunk_0/299/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_empty_cup-aloha-agilex_randomized_500-1000/chunk_0/299/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_empty_cup-aloha-agilex_randomized_500-1000/chunk_0/299/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Slide the cup with light blue color onto the coaster made of smooth wood with the arm." |
| ], |
| "fps": 50, |
| "num_frames": 182, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_empty_cup-aloha-agilex_randomized_500-1000", |
| "episode_index": 299, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_empty_cup-aloha-agilex_randomized_500-1000/chunk_0/299/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_empty_cup-aloha-agilex_randomized_500-1000/chunk_0/299/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_empty_cup-aloha-agilex_randomized_500-1000/chunk_0/99/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_empty_cup-aloha-agilex_randomized_500-1000/chunk_0/99/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_empty_cup-aloha-agilex_randomized_500-1000/chunk_0/99/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Lift the medium-sized plastic blue cup and place it onto the coaster with circular shape." |
| ], |
| "fps": 50, |
| "num_frames": 178, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_empty_cup-aloha-agilex_randomized_500-1000", |
| "episode_index": 99, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_empty_cup-aloha-agilex_randomized_500-1000/chunk_0/99/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_empty_cup-aloha-agilex_randomized_500-1000/chunk_0/99/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_fan-aloha-agilex_randomized_500-1000/chunk_0/348/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_fan-aloha-agilex_randomized_500-1000/chunk_0/348/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_fan-aloha-agilex_randomized_500-1000/chunk_0/348/cam_high.mp4" |
| }, |
| "instructions": [ |
| "With the right arm, grab the lightweight plastic adjustable fan, align it to face the robot, and put it on the Silver mat." |
| ], |
| "fps": 50, |
| "num_frames": 143, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_fan-aloha-agilex_randomized_500-1000", |
| "episode_index": 348, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_fan-aloha-agilex_randomized_500-1000/chunk_0/348/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_fan-aloha-agilex_randomized_500-1000/chunk_0/348/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_mouse_pad-aloha-agilex_randomized_500-1000/chunk_0/148/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_mouse_pad-aloha-agilex_randomized_500-1000/chunk_0/148/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_mouse_pad-aloha-agilex_randomized_500-1000/chunk_0/148/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Pick the mouse with two buttons and a scroll wheel with the right arm and move it to the Yellow mat." |
| ], |
| "fps": 50, |
| "num_frames": 169, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_mouse_pad-aloha-agilex_randomized_500-1000", |
| "episode_index": 148, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_mouse_pad-aloha-agilex_randomized_500-1000/chunk_0/148/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_mouse_pad-aloha-agilex_randomized_500-1000/chunk_0/148/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_mouse_pad-aloha-agilex_randomized_500-1000/chunk_0/399/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_mouse_pad-aloha-agilex_randomized_500-1000/chunk_0/399/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_mouse_pad-aloha-agilex_randomized_500-1000/chunk_0/399/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Take the palm-fitting mouse and put it onto Red mat." |
| ], |
| "fps": 50, |
| "num_frames": 139, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_mouse_pad-aloha-agilex_randomized_500-1000", |
| "episode_index": 399, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_mouse_pad-aloha-agilex_randomized_500-1000/chunk_0/399/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_mouse_pad-aloha-agilex_randomized_500-1000/chunk_0/399/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_object_basket-aloha-agilex_randomized_500-1000/chunk_0/199/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_object_basket-aloha-agilex_randomized_500-1000/chunk_0/199/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_object_basket-aloha-agilex_randomized_500-1000/chunk_0/199/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Pick the small playingcards container, drop the small playingcards container in the medium yellow basket with slots, slide the medium yellow basket with slots lightly." |
| ], |
| "fps": 50, |
| "num_frames": 242, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_object_basket-aloha-agilex_randomized_500-1000", |
| "episode_index": 199, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_object_basket-aloha-agilex_randomized_500-1000/chunk_0/199/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_object_basket-aloha-agilex_randomized_500-1000/chunk_0/199/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_object_basket-aloha-agilex_randomized_500-1000/chunk_0/448/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_object_basket-aloha-agilex_randomized_500-1000/chunk_0/448/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_object_basket-aloha-agilex_randomized_500-1000/chunk_0/448/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Move the small blue car-shaped toycar to the carrying basket with black plastic handle, then shift the carrying basket with black plastic handle." |
| ], |
| "fps": 50, |
| "num_frames": 281, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_object_basket-aloha-agilex_randomized_500-1000", |
| "episode_index": 448, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_object_basket-aloha-agilex_randomized_500-1000/chunk_0/448/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_object_basket-aloha-agilex_randomized_500-1000/chunk_0/448/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_object_scale-aloha-agilex_randomized_500-1000/chunk_0/248/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_object_scale-aloha-agilex_randomized_500-1000/chunk_0/248/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_object_scale-aloha-agilex_randomized_500-1000/chunk_0/248/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Using the right arm, grab the handheld red stapler and transfer it to the electronicscale with clear digital screen." |
| ], |
| "fps": 50, |
| "num_frames": 139, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_object_scale-aloha-agilex_randomized_500-1000", |
| "episode_index": 248, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_object_scale-aloha-agilex_randomized_500-1000/chunk_0/248/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_object_scale-aloha-agilex_randomized_500-1000/chunk_0/248/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_object_scale-aloha-agilex_randomized_500-1000/chunk_0/499/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_object_scale-aloha-agilex_randomized_500-1000/chunk_0/499/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_object_scale-aloha-agilex_randomized_500-1000/chunk_0/499/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Use the left arm to hold the bell with circular body and drop it on the small rectangular electronicscale" |
| ], |
| "fps": 50, |
| "num_frames": 157, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_object_scale-aloha-agilex_randomized_500-1000", |
| "episode_index": 499, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_object_scale-aloha-agilex_randomized_500-1000/chunk_0/499/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_object_scale-aloha-agilex_randomized_500-1000/chunk_0/499/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_object_stand-aloha-agilex_randomized_500-1000/chunk_0/299/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_object_stand-aloha-agilex_randomized_500-1000/chunk_0/299/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_object_stand-aloha-agilex_randomized_500-1000/chunk_0/299/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Grab and place the black stapler with shiny interior directly on the rectangular displaystand." |
| ], |
| "fps": 50, |
| "num_frames": 139, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_object_stand-aloha-agilex_randomized_500-1000", |
| "episode_index": 299, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_object_stand-aloha-agilex_randomized_500-1000/chunk_0/299/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_object_stand-aloha-agilex_randomized_500-1000/chunk_0/299/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_object_stand-aloha-agilex_randomized_500-1000/chunk_0/99/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_object_stand-aloha-agilex_randomized_500-1000/chunk_0/99/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_object_stand-aloha-agilex_randomized_500-1000/chunk_0/99/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Grab the simple stapler with the left arm and move to the black displaystand for showcasing things" |
| ], |
| "fps": 50, |
| "num_frames": 137, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_object_stand-aloha-agilex_randomized_500-1000", |
| "episode_index": 99, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_object_stand-aloha-agilex_randomized_500-1000/chunk_0/99/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_object_stand-aloha-agilex_randomized_500-1000/chunk_0/99/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_phone_stand-aloha-agilex_randomized_500-1000/chunk_0/348/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_phone_stand-aloha-agilex_randomized_500-1000/chunk_0/348/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_phone_stand-aloha-agilex_randomized_500-1000/chunk_0/348/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Carry the sleek black phone to the dark green holder with clamp." |
| ], |
| "fps": 50, |
| "num_frames": 126, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_phone_stand-aloha-agilex_randomized_500-1000", |
| "episode_index": 348, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_phone_stand-aloha-agilex_randomized_500-1000/chunk_0/348/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_phone_stand-aloha-agilex_randomized_500-1000/chunk_0/348/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_shoe-aloha-agilex_randomized_500-1000/chunk_0/148/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_shoe-aloha-agilex_randomized_500-1000/chunk_0/148/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_shoe-aloha-agilex_randomized_500-1000/chunk_0/148/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Lift the black shoe with white accents off the table using the left arm and drop it on the mat" |
| ], |
| "fps": 50, |
| "num_frames": 160, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_shoe-aloha-agilex_randomized_500-1000", |
| "episode_index": 148, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_shoe-aloha-agilex_randomized_500-1000/chunk_0/148/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_shoe-aloha-agilex_randomized_500-1000/chunk_0/148/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/place_shoe-aloha-agilex_randomized_500-1000/chunk_0/399/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/place_shoe-aloha-agilex_randomized_500-1000/chunk_0/399/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/place_shoe-aloha-agilex_randomized_500-1000/chunk_0/399/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Lift the the rounded shoe with visible straps from the table using the left arm and place it on the mat" |
| ], |
| "fps": 50, |
| "num_frames": 163, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_shoe-aloha-agilex_randomized_500-1000", |
| "episode_index": 399, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/place_shoe-aloha-agilex_randomized_500-1000/chunk_0/399/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/place_shoe-aloha-agilex_randomized_500-1000/chunk_0/399/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/press_stapler-aloha-agilex_randomized_500-1000/chunk_0/198/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/press_stapler-aloha-agilex_randomized_500-1000/chunk_0/198/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/press_stapler-aloha-agilex_randomized_500-1000/chunk_0/198/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Push the blue stapler with ergonomic curve using one arm" |
| ], |
| "fps": 50, |
| "num_frames": 116, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "press_stapler-aloha-agilex_randomized_500-1000", |
| "episode_index": 198, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/press_stapler-aloha-agilex_randomized_500-1000/chunk_0/198/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/press_stapler-aloha-agilex_randomized_500-1000/chunk_0/198/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/press_stapler-aloha-agilex_randomized_500-1000/chunk_0/448/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/press_stapler-aloha-agilex_randomized_500-1000/chunk_0/448/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/press_stapler-aloha-agilex_randomized_500-1000/chunk_0/448/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Press on the compact red stapler with silver accents using the right arm." |
| ], |
| "fps": 50, |
| "num_frames": 114, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "press_stapler-aloha-agilex_randomized_500-1000", |
| "episode_index": 448, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/press_stapler-aloha-agilex_randomized_500-1000/chunk_0/448/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/press_stapler-aloha-agilex_randomized_500-1000/chunk_0/448/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/put_bottles_dustbin-aloha-agilex_randomized_500-1000/chunk_0/248/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/put_bottles_dustbin-aloha-agilex_randomized_500-1000/chunk_0/248/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/put_bottles_dustbin-aloha-agilex_randomized_500-1000/chunk_0/248/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Using arms, grab the bottle with small ridged green cap and put it in the black and white trash holder, repeat for the bottle for holding liquids and the plastic bottle with red cap." |
| ], |
| "fps": 50, |
| "num_frames": 531, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "put_bottles_dustbin-aloha-agilex_randomized_500-1000", |
| "episode_index": 248, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/put_bottles_dustbin-aloha-agilex_randomized_500-1000/chunk_0/248/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/put_bottles_dustbin-aloha-agilex_randomized_500-1000/chunk_0/248/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/put_bottles_dustbin-aloha-agilex_randomized_500-1000/chunk_0/499/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/put_bottles_dustbin-aloha-agilex_randomized_500-1000/chunk_0/499/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/put_bottles_dustbin-aloha-agilex_randomized_500-1000/chunk_0/499/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Use the arms to move the yellow liquid container with green top into the dustbin with white inner bag, then repeat for the clear bottle with blue sections and the plastic bottle with red cap." |
| ], |
| "fps": 50, |
| "num_frames": 669, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "put_bottles_dustbin-aloha-agilex_randomized_500-1000", |
| "episode_index": 499, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/put_bottles_dustbin-aloha-agilex_randomized_500-1000/chunk_0/499/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/put_bottles_dustbin-aloha-agilex_randomized_500-1000/chunk_0/499/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/put_object_cabinet/chunk_0/299/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/put_object_cabinet/chunk_0/299/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/put_object_cabinet/chunk_0/299/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Arrange large block, medium block, small block in size order, largest on the left." |
| ], |
| "fps": 50, |
| "num_frames": 467, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "put_object_cabinet", |
| "episode_index": 299, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/put_object_cabinet/chunk_0/299/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/put_object_cabinet/chunk_0/299/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/put_object_cabinet/chunk_0/99/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/put_object_cabinet/chunk_0/99/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/put_object_cabinet/chunk_0/99/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Position large block, medium block, and small block centrally, ordered from largest to smallest." |
| ], |
| "fps": 50, |
| "num_frames": 466, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "put_object_cabinet", |
| "episode_index": 99, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/put_object_cabinet/chunk_0/99/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/put_object_cabinet/chunk_0/99/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/rotate_qrcode-aloha-agilex_randomized_500-1000/chunk_0/348/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/rotate_qrcode-aloha-agilex_randomized_500-1000/chunk_0/348/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/rotate_qrcode-aloha-agilex_randomized_500-1000/chunk_0/348/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Use the right arm to pick the paymentsign resting on angled base and turn it towards you." |
| ], |
| "fps": 50, |
| "num_frames": 154, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "rotate_qrcode-aloha-agilex_randomized_500-1000", |
| "episode_index": 348, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/rotate_qrcode-aloha-agilex_randomized_500-1000/chunk_0/348/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/rotate_qrcode-aloha-agilex_randomized_500-1000/chunk_0/348/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/scan_object/chunk_0/148/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/scan_object/chunk_0/148/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/scan_object/chunk_0/148/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Grab the black scanner with gray handle using one arm, pick the tea box with printed leaves using the other arm, then scan the tea box with printed leaves with the black scanner with gray handle" |
| ], |
| "fps": 50, |
| "num_frames": 163, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "scan_object", |
| "episode_index": 148, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/scan_object/chunk_0/148/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/scan_object/chunk_0/148/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/scan_object/chunk_0/399/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/scan_object/chunk_0/399/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/scan_object/chunk_0/399/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Grab the barcode scanner with yellow body with one arm, the tea-box with the other, and use the barcode scanner with yellow body to scan." |
| ], |
| "fps": 50, |
| "num_frames": 159, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "scan_object", |
| "episode_index": 399, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/scan_object/chunk_0/399/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/scan_object/chunk_0/399/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/shake_bottle-aloha-agilex_randomized_500-1000/chunk_0/198/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/shake_bottle-aloha-agilex_randomized_500-1000/chunk_0/198/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/shake_bottle-aloha-agilex_randomized_500-1000/chunk_0/198/cam_high.mp4" |
| }, |
| "instructions": [ |
| "With the right arm, pick the rectangular bottle and shake properly." |
| ], |
| "fps": 50, |
| "num_frames": 242, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "shake_bottle-aloha-agilex_randomized_500-1000", |
| "episode_index": 198, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/shake_bottle-aloha-agilex_randomized_500-1000/chunk_0/198/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/shake_bottle-aloha-agilex_randomized_500-1000/chunk_0/198/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/shake_bottle-aloha-agilex_randomized_500-1000/chunk_0/448/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/shake_bottle-aloha-agilex_randomized_500-1000/chunk_0/448/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/shake_bottle-aloha-agilex_randomized_500-1000/chunk_0/448/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Grab the yellow bottle with green label carefully and shake." |
| ], |
| "fps": 50, |
| "num_frames": 255, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "shake_bottle-aloha-agilex_randomized_500-1000", |
| "episode_index": 448, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/shake_bottle-aloha-agilex_randomized_500-1000/chunk_0/448/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/shake_bottle-aloha-agilex_randomized_500-1000/chunk_0/448/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/shake_bottle_horizontally-aloha-agilex_randomized_500-1000/chunk_0/248/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/shake_bottle_horizontally-aloha-agilex_randomized_500-1000/chunk_0/248/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/shake_bottle_horizontally-aloha-agilex_randomized_500-1000/chunk_0/248/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Use the left arm to hold the white bottle with orange lid firmly and shake horizontally." |
| ], |
| "fps": 50, |
| "num_frames": 278, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "shake_bottle_horizontally-aloha-agilex_randomized_500-1000", |
| "episode_index": 248, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/shake_bottle_horizontally-aloha-agilex_randomized_500-1000/chunk_0/248/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/shake_bottle_horizontally-aloha-agilex_randomized_500-1000/chunk_0/248/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/shake_bottle_horizontally-aloha-agilex_randomized_500-1000/chunk_0/499/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/shake_bottle_horizontally-aloha-agilex_randomized_500-1000/chunk_0/499/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/shake_bottle_horizontally-aloha-agilex_randomized_500-1000/chunk_0/499/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Hold the brown bottle with rounded rectangular shape using the right arm and shake it horizontally." |
| ], |
| "fps": 50, |
| "num_frames": 276, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "shake_bottle_horizontally-aloha-agilex_randomized_500-1000", |
| "episode_index": 499, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/shake_bottle_horizontally-aloha-agilex_randomized_500-1000/chunk_0/499/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/shake_bottle_horizontally-aloha-agilex_randomized_500-1000/chunk_0/499/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/stack_blocks_three-aloha-agilex_randomized_500-1000/chunk_0/298/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/stack_blocks_three-aloha-agilex_randomized_500-1000/chunk_0/298/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/stack_blocks_three-aloha-agilex_randomized_500-1000/chunk_0/298/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block." |
| ], |
| "fps": 50, |
| "num_frames": 436, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "stack_blocks_three-aloha-agilex_randomized_500-1000", |
| "episode_index": 298, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/stack_blocks_three-aloha-agilex_randomized_500-1000/chunk_0/298/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/stack_blocks_three-aloha-agilex_randomized_500-1000/chunk_0/298/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/stack_blocks_three-aloha-agilex_randomized_500-1000/chunk_0/99/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/stack_blocks_three-aloha-agilex_randomized_500-1000/chunk_0/99/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/stack_blocks_three-aloha-agilex_randomized_500-1000/chunk_0/99/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Move red block, green block, and blue block to the center and stack green block on red block, blue block on green block." |
| ], |
| "fps": 50, |
| "num_frames": 471, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "stack_blocks_three-aloha-agilex_randomized_500-1000", |
| "episode_index": 99, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/stack_blocks_three-aloha-agilex_randomized_500-1000/chunk_0/99/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/stack_blocks_three-aloha-agilex_randomized_500-1000/chunk_0/99/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/stack_blocks_two-aloha-agilex_randomized_500-1000/chunk_0/348/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/stack_blocks_two-aloha-agilex_randomized_500-1000/chunk_0/348/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/stack_blocks_two-aloha-agilex_randomized_500-1000/chunk_0/348/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Use the right arm to center red block, then stack green block with the left arm." |
| ], |
| "fps": 50, |
| "num_frames": 305, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "stack_blocks_two-aloha-agilex_randomized_500-1000", |
| "episode_index": 348, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/stack_blocks_two-aloha-agilex_randomized_500-1000/chunk_0/348/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/stack_blocks_two-aloha-agilex_randomized_500-1000/chunk_0/348/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/stack_bowls_three-aloha-agilex_randomized_500-1000/chunk_0/148/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/stack_bowls_three-aloha-agilex_randomized_500-1000/chunk_0/148/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/stack_bowls_three-aloha-agilex_randomized_500-1000/chunk_0/148/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Grab the curved bowl light blue shade, stack from largest at the base to the smallest." |
| ], |
| "fps": 50, |
| "num_frames": 478, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "stack_bowls_three-aloha-agilex_randomized_500-1000", |
| "episode_index": 148, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/stack_bowls_three-aloha-agilex_randomized_500-1000/chunk_0/148/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/stack_bowls_three-aloha-agilex_randomized_500-1000/chunk_0/148/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/stack_bowls_three-aloha-agilex_randomized_500-1000/chunk_0/398/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/stack_bowls_three-aloha-agilex_randomized_500-1000/chunk_0/398/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/stack_bowls_three-aloha-agilex_randomized_500-1000/chunk_0/398/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Grab the first the bowl with brown outer rim, position the second, then add the third." |
| ], |
| "fps": 50, |
| "num_frames": 483, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "stack_bowls_three-aloha-agilex_randomized_500-1000", |
| "episode_index": 398, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/stack_bowls_three-aloha-agilex_randomized_500-1000/chunk_0/398/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/stack_bowls_three-aloha-agilex_randomized_500-1000/chunk_0/398/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/stack_bowls_two-aloha-agilex_randomized_500-1000/chunk_0/198/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/stack_bowls_two-aloha-agilex_randomized_500-1000/chunk_0/198/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/stack_bowls_two-aloha-agilex_randomized_500-1000/chunk_0/198/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Arrange the bowl with shiny texture, lift the bowl with brown outer rim with the arm, and stack them." |
| ], |
| "fps": 50, |
| "num_frames": 308, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "stack_bowls_two-aloha-agilex_randomized_500-1000", |
| "episode_index": 198, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/stack_bowls_two-aloha-agilex_randomized_500-1000/chunk_0/198/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/stack_bowls_two-aloha-agilex_randomized_500-1000/chunk_0/198/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/stack_bowls_two-aloha-agilex_randomized_500-1000/chunk_0/448/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/stack_bowls_two-aloha-agilex_randomized_500-1000/chunk_0/448/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/stack_bowls_two-aloha-agilex_randomized_500-1000/chunk_0/448/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Use the arm to place the dark inside bowl light blue outside, then stack the medium-sized bowl for holding food on top." |
| ], |
| "fps": 50, |
| "num_frames": 294, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "stack_bowls_two-aloha-agilex_randomized_500-1000", |
| "episode_index": 448, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/stack_bowls_two-aloha-agilex_randomized_500-1000/chunk_0/448/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/stack_bowls_two-aloha-agilex_randomized_500-1000/chunk_0/448/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/stamp_seal-aloha-agilex_randomized_500-1000/chunk_0/248/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/stamp_seal-aloha-agilex_randomized_500-1000/chunk_0/248/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/stamp_seal-aloha-agilex_randomized_500-1000/chunk_0/248/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Use the left arm to grab the compact seal with matte base, press Yellow" |
| ], |
| "fps": 50, |
| "num_frames": 151, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "stamp_seal-aloha-agilex_randomized_500-1000", |
| "episode_index": 248, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/stamp_seal-aloha-agilex_randomized_500-1000/chunk_0/248/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/stamp_seal-aloha-agilex_randomized_500-1000/chunk_0/248/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/stamp_seal-aloha-agilex_randomized_500-1000/chunk_0/499/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/stamp_seal-aloha-agilex_randomized_500-1000/chunk_0/499/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/stamp_seal-aloha-agilex_randomized_500-1000/chunk_0/499/cam_high.mp4" |
| }, |
| "instructions": [ |
| "the right arm holds the seal showing carved detailed textures, presses Pink" |
| ], |
| "fps": 50, |
| "num_frames": 139, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "stamp_seal-aloha-agilex_randomized_500-1000", |
| "episode_index": 499, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/stamp_seal-aloha-agilex_randomized_500-1000/chunk_0/499/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/stamp_seal-aloha-agilex_randomized_500-1000/chunk_0/499/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/turn_switch-aloha-agilex_randomized_500-1000/chunk_0/298/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/turn_switch-aloha-agilex_randomized_500-1000/chunk_0/298/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/turn_switch-aloha-agilex_randomized_500-1000/chunk_0/298/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Click on the gray smooth surface switch precisely" |
| ], |
| "fps": 50, |
| "num_frames": 98, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "turn_switch-aloha-agilex_randomized_500-1000", |
| "episode_index": 298, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/turn_switch-aloha-agilex_randomized_500-1000/chunk_0/298/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/turn_switch-aloha-agilex_randomized_500-1000/chunk_0/298/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_aug_500/turn_switch-aloha-agilex_randomized_500-1000/chunk_0/99/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_aug_500/turn_switch-aloha-agilex_randomized_500-1000/chunk_0/99/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_aug_500/turn_switch-aloha-agilex_randomized_500-1000/chunk_0/99/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Direct the right arm to operate the rectangular switch with slanted sides" |
| ], |
| "fps": 50, |
| "num_frames": 98, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "turn_switch-aloha-agilex_randomized_500-1000", |
| "episode_index": 99, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_aug_500/turn_switch-aloha-agilex_randomized_500-1000/chunk_0/99/actions.npy", |
| "states": "lerobot_robotwin_eef_aug_500/turn_switch-aloha-agilex_randomized_500-1000/chunk_0/99/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_clean_50/click_bell-demo_clean_collect_200-50/chunk_0/33/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_clean_50/click_bell-demo_clean_collect_200-50/chunk_0/33/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_clean_50/click_bell-demo_clean_collect_200-50/chunk_0/33/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Click the smooth blue bell's top center using the left arm." |
| ], |
| "fps": 50, |
| "num_frames": 75, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "click_bell-demo_clean_collect_200-50", |
| "episode_index": 33, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_clean_50/click_bell-demo_clean_collect_200-50/chunk_0/33/actions.npy", |
| "states": "lerobot_robotwin_eef_clean_50/click_bell-demo_clean_collect_200-50/chunk_0/33/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_clean_50/lift_pot-demo_clean_collect_200-50/chunk_0/13/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_clean_50/lift_pot-demo_clean_collect_200-50/chunk_0/13/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_clean_50/lift_pot-demo_clean_collect_200-50/chunk_0/13/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Raise the gray kitchenpot upward with both hands" |
| ], |
| "fps": 50, |
| "num_frames": 120, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "lift_pot-demo_clean_collect_200-50", |
| "episode_index": 13, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_clean_50/lift_pot-demo_clean_collect_200-50/chunk_0/13/actions.npy", |
| "states": "lerobot_robotwin_eef_clean_50/lift_pot-demo_clean_collect_200-50/chunk_0/13/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_clean_50/open_laptop-demo_clean_collect_200-50/chunk_0/38/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_clean_50/open_laptop-demo_clean_collect_200-50/chunk_0/38/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_clean_50/open_laptop-demo_clean_collect_200-50/chunk_0/38/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Lift the laptop with wood panel background to open it up" |
| ], |
| "fps": 50, |
| "num_frames": 182, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "open_laptop-demo_clean_collect_200-50", |
| "episode_index": 38, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_clean_50/open_laptop-demo_clean_collect_200-50/chunk_0/38/actions.npy", |
| "states": "lerobot_robotwin_eef_clean_50/open_laptop-demo_clean_collect_200-50/chunk_0/38/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_clean_50/place_bread_basket-demo_clean_collect_200-50/chunk_0/18/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_clean_50/place_bread_basket-demo_clean_collect_200-50/chunk_0/18/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_clean_50/place_bread_basket-demo_clean_collect_200-50/chunk_0/18/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Shift the golden bread loaf with soft inside and the golden bread loaf into the rectangular breadbasket" |
| ], |
| "fps": 50, |
| "num_frames": 228, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_bread_basket-demo_clean_collect_200-50", |
| "episode_index": 18, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_clean_50/place_bread_basket-demo_clean_collect_200-50/chunk_0/18/actions.npy", |
| "states": "lerobot_robotwin_eef_clean_50/place_bread_basket-demo_clean_collect_200-50/chunk_0/18/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_clean_50/place_container_plate-demo_clean_collect_200-50/chunk_0/43/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_clean_50/place_container_plate-demo_clean_collect_200-50/chunk_0/43/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_clean_50/place_container_plate-demo_clean_collect_200-50/chunk_0/43/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Drop the container onto the medium round ceramic plate using the ceramic bowl light gray" |
| ], |
| "fps": 50, |
| "num_frames": 154, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_container_plate-demo_clean_collect_200-50", |
| "episode_index": 43, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_clean_50/place_container_plate-demo_clean_collect_200-50/chunk_0/43/actions.npy", |
| "states": "lerobot_robotwin_eef_clean_50/place_container_plate-demo_clean_collect_200-50/chunk_0/43/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_clean_50/place_object_scale-demo_clean_collect_200-50/chunk_0/23/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_clean_50/place_object_scale-demo_clean_collect_200-50/chunk_0/23/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_clean_50/place_object_scale-demo_clean_collect_200-50/chunk_0/23/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Using the right arm, grasp the palm-fitting mouse and position it on the electronicscale white main body" |
| ], |
| "fps": 50, |
| "num_frames": 141, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "place_object_scale-demo_clean_collect_200-50", |
| "episode_index": 23, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_clean_50/place_object_scale-demo_clean_collect_200-50/chunk_0/23/actions.npy", |
| "states": "lerobot_robotwin_eef_clean_50/place_object_scale-demo_clean_collect_200-50/chunk_0/23/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_clean_50/put_bottles_dustbin-piper_clean_50-50/chunk_0/48/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_clean_50/put_bottles_dustbin-piper_clean_50-50/chunk_0/48/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_clean_50/put_bottles_dustbin-piper_clean_50-50/chunk_0/48/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Use arms to pick the yellow bottle with smooth texture, the cylindrical bottle, and the plastic bottle with red cap, dropping them into the dustbin with lid and bag." |
| ], |
| "fps": 50, |
| "num_frames": 664, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "put_bottles_dustbin-piper_clean_50-50", |
| "episode_index": 48, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_clean_50/put_bottles_dustbin-piper_clean_50-50/chunk_0/48/actions.npy", |
| "states": "lerobot_robotwin_eef_clean_50/put_bottles_dustbin-piper_clean_50-50/chunk_0/48/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_clean_50/stack_blocks_three-demo_clean_collect_200-50/chunk_0/28/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_clean_50/stack_blocks_three-demo_clean_collect_200-50/chunk_0/28/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_clean_50/stack_blocks_three-demo_clean_collect_200-50/chunk_0/28/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Move red block, green block, and blue block to the middle and position blue block on green block, green block on top of red block." |
| ], |
| "fps": 50, |
| "num_frames": 484, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "stack_blocks_three-demo_clean_collect_200-50", |
| "episode_index": 28, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_clean_50/stack_blocks_three-demo_clean_collect_200-50/chunk_0/28/actions.npy", |
| "states": "lerobot_robotwin_eef_clean_50/stack_blocks_three-demo_clean_collect_200-50/chunk_0/28/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| }, |
| { |
| "videos": { |
| "cam_right_wrist": "lerobot_robotwin_eef_clean_50/turn_switch-demo_clean_collect_200-50/chunk_0/9/cam_right_wrist.mp4", |
| "cam_left_wrist": "lerobot_robotwin_eef_clean_50/turn_switch-demo_clean_collect_200-50/chunk_0/9/cam_left_wrist.mp4", |
| "cam_high": "lerobot_robotwin_eef_clean_50/turn_switch-demo_clean_collect_200-50/chunk_0/9/cam_high.mp4" |
| }, |
| "instructions": [ |
| "Set the switch at the electrical switch with protruding toggle" |
| ], |
| "fps": 50, |
| "num_frames": 95, |
| "source": "robotwin_lingbot", |
| "meta": { |
| "task_name": "turn_switch-demo_clean_collect_200-50", |
| "episode_index": 9, |
| "chunk_id": 0 |
| }, |
| "actions": "lerobot_robotwin_eef_clean_50/turn_switch-demo_clean_collect_200-50/chunk_0/9/actions.npy", |
| "states": "lerobot_robotwin_eef_clean_50/turn_switch-demo_clean_collect_200-50/chunk_0/9/states.npy", |
| "camera_order": [ |
| "cam_high", |
| "cam_left_wrist", |
| "cam_right_wrist" |
| ] |
| } |
| ] |
|
|
