Upload dataset Airbot_MMK2_take_cake_both_hands

README.md

@@ -0,0 +1,592 @@
+---
+task_categories:
+  - robotics
+
+language:
+  - en
+
+
+extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.'
+
+
+
+extra_gated_fields:
+
+  Company/Organization:
+    type: 'text'
+    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
+
+  Country:
+    type: 'country'
+    description: 'e.g., "Germany", "China", "United States"'
+
+
+
+tags:
+  - RoboCOIN
+  - LeRobot
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/chunk-{id}/episode_{id}.parquet
+---
+
+# Airbot_MMK2_take_cake_both_hands
+
+## Dataset Description
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+## Task Preview
+
+<video src="videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" controls width="640"></video>
+
+[View Video Directly](videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4)
+
+### Overview
+
+- **Total Episodes:** 48
+- **Total Frames:** 6044
+- **FPS:** 30
+- **Dataset Size:** 232.01 MB
+- **Robot Name:** `Airbot_MMK2`
+- **End-Effector Type:** `five_finger_gripper`
+- **Teleoperation Type:** `Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.`
+- **Sensors:** `cam_head_rgb`, 
+`cam_left_wrist_rgb`, 
+`cam_right_wrist_rgb`, 
+`cam_front_rgb`
+
+- **Camera Information:** cam_head_rgb; 
+cam_left_wrist_rgb; 
+cam_right_wrist_rgb; 
+cam_front_rgb
+
+- **Scene:** `household->living_room`
+- **Objects:** `chocolate_cake(unknown)`, 
+`lid(unknown)`, 
+`table(unknown)`
+
+- **Task Description:** take the cake out of the basket with both hands and place it on the table.
+
+
+### Primary Task Instruction
+> take the cake out of the basket with both hands and place it on the table.
+
+### Robot Configuration
+
+- **Robot Name:** `Airbot_MMK2`
+- **Codebase Version:** `v2.1`
+- **End-Effector Type:** `five_finger_gripper`
+- **Teleoperation Type:** `Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.`
+
+## Scene and Objects
+
+### Scene Type
+`household->living_room`
+
+### Objects
+- `chocolate_cake(unknown)`
+- `lid(unknown)`
+- `table(unknown)`
+
+
+## Task Descriptions
+
+- **Standardized Task Description:** `take the cake out of the basket with both hands and place it on the table.`
+- **Operation Type:** `Due to some reasons, this dataset temporarily cannot provide the operation type information.`
+
+- **Environment Type:** `Due to some reasons, this dataset temporarily cannot provide the environment type information.`
+
+### Sub-Tasks
+This dataset includes 6 distinct subtasks:
+
+1. **Place the cake on the table with the right gripper** (Index: 0)
+2. **Place the cake on the table with the left gripper** (Index: 1)
+3. **Grasp the cake from the white basket with the left gripper** (Index: 2)
+4. **Grasp the cake from the white basket with the right gripper** (Index: 3)
+5. **End** (Index: 4)
+6. **null** (Index: 5)
+
+
+### Atomic Actions
+- `grasp`
+- `pick`
+- `place`
+
+
+## Hardware and Sensors
+
+
+### Sensors
+
+- `cam_head_rgb`
+
+- `cam_left_wrist_rgb`
+
+- `cam_right_wrist_rgb`
+
+- `cam_front_rgb`
+
+
+
+
+### Camera Information
+
+
+- `cam_head_rgb`: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+
+- `cam_left_wrist_rgb`: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+
+- `cam_right_wrist_rgb`: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+
+- `cam_front_rgb`: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p
+
+
+
+
+### Coordinate System
+- **Definition:** `right-hand-frame`
+
+
+### Dimensions & Units
+- **Joint Rotation:** `radian`
+- **End-Effector Rotation:** `end_rotation_dim`
+- **End-Effector Translation:** `end_translation_dim`
+
+
+
+
+## Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 48 |
+| **Total Frames** | 6044 |
+| **Total Tasks** | 6 |
+| **Total Videos** | 192 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **State Dimensions** | 36 |
+| **Action Dimensions** | 36 |
+| **Camera Views** | 4 |
+| **Dataset Size** | 232.01 MB |
+
+
+## Data Splits
+
+The dataset is organized into the following splits:
+
+- **Training**: Episodes 0:47
+
+
+## Dataset Structure
+
+This dataset follows the LeRobot format and contains the following components:
+
+### Data Files
+- **Videos**: Compressed video files containing RGB camera observations
+- **State Data**: Robot joint positions, velocities, and other state information
+- **Action Data**: Robot action commands and trajectories
+- **Metadata**: Episode metadata, timestamps, and annotations
+
+### File Organization
+- **Data Path Pattern**: `data/chunk-{id}/episode_{id}.parquet`
+- **Video Path Pattern**: `videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}`
+- **Chunking**: Data is organized into 1 chunk(s)
+of size 1000
+
+### Data Structure (Tree)
+
+```
+Airbot_MMK2_take_cake_both_hands_qced_hardlink/
+|-- annotations
+|   |-- eef_acc_mag_annotation.jsonl
+|   |-- eef_direction_annotation.jsonl
+|   |-- eef_velocity_annotation.jsonl
+|   |-- gripper_activity_annotation.jsonl
+|   |-- gripper_mode_annotation.jsonl
+|   |-- scene_annotations.jsonl
+|   `-- subtask_annotations.jsonl
+|-- data
+|   `-- chunk-000
+|       |-- episode_000000.parquet
+|       |-- episode_000001.parquet
+|       |-- episode_000002.parquet
+|       |-- episode_000003.parquet
+|       |-- episode_000004.parquet
+|       |-- episode_000005.parquet
+|       |-- episode_000006.parquet
+|       |-- episode_000007.parquet
+|       |-- episode_000008.parquet
+|       |-- episode_000009.parquet
+|       |-- episode_000010.parquet
+|       `-- episode_000011.parquet
+|       `-- ... (36 more entries)
+|-- meta
+|   |-- episodes.jsonl
+|   |-- episodes_stats.jsonl
+|   |-- info.json
+|   `-- tasks.jsonl
+`-- videos
+    `-- chunk-000
+        |-- observation.images.cam_front_rgb
+        |-- observation.images.cam_head_rgb
+        |-- observation.images.cam_left_wrist_rgb
+        `-- observation.images.cam_right_wrist_rgb
+```
+
+## Camera Views
+
+
+
+
+
+
+This dataset includes 4 camera views: `cam_head_rgb`, `cam_left_wrist_rgb`, `cam_right_wrist_rgb`, `cam_front_rgb`.
+
+
+## Features (Full YAML)
+
+```yaml
+observation.images.cam_head_rgb:
+  dtype: video
+  shape:
+  - 480
+  - 640
+  - 3
+  names:
+  - height
+  - width
+  - channels
+  info:
+    video.height: 480
+    video.width: 640
+    video.codec: av1
+    video.pix_fmt: yuv420p
+    video.is_depth_map: false
+    video.fps: 30
+    video.channels: 3
+    has_audio: false
+observation.images.cam_left_wrist_rgb:
+  dtype: video
+  shape:
+  - 480
+  - 640
+  - 3
+  names:
+  - height
+  - width
+  - channels
+  info:
+    video.height: 480
+    video.width: 640
+    video.codec: av1
+    video.pix_fmt: yuv420p
+    video.is_depth_map: false
+    video.fps: 30
+    video.channels: 3
+    has_audio: false
+observation.images.cam_right_wrist_rgb:
+  dtype: video
+  shape:
+  - 480
+  - 640
+  - 3
+  names:
+  - height
+  - width
+  - channels
+  info:
+    video.height: 480
+    video.width: 640
+    video.codec: av1
+    video.pix_fmt: yuv420p
+    video.is_depth_map: false
+    video.fps: 30
+    video.channels: 3
+    has_audio: false
+observation.images.cam_front_rgb:
+  dtype: video
+  shape:
+  - 480
+  - 640
+  - 3
+  names:
+  - height
+  - width
+  - channels
+  info:
+    video.height: 480
+    video.width: 640
+    video.codec: av1
+    video.pix_fmt: yuv420p
+    video.is_depth_map: false
+    video.fps: 30
+    video.channels: 3
+    has_audio: false
+observation.state:
+  dtype: float32
+  shape:
+  - 36
+  names:
+  - left_arm_joint_1_rad
+  - left_arm_joint_2_rad
+  - left_arm_joint_3_rad
+  - left_arm_joint_4_rad
+  - left_arm_joint_5_rad
+  - left_arm_joint_6_rad
+  - right_arm_joint_1_rad
+  - right_arm_joint_2_rad
+  - right_arm_joint_3_rad
+  - right_arm_joint_4_rad
+  - right_arm_joint_5_rad
+  - right_arm_joint_6_rad
+  - left_hand_joint_1_rad
+  - left_hand_joint_2_rad
+  - left_hand_joint_3_rad
+  - left_hand_joint_4_rad
+  - left_hand_joint_5_rad
+  - left_hand_joint_6_rad
+  - left_hand_joint_7_rad
+  - left_hand_joint_8_rad
+  - left_hand_joint_9_rad
+  - left_hand_joint_10_rad
+  - left_hand_joint_11_rad
+  - left_hand_joint_12_rad
+  - right_hand_joint_1_rad
+  - right_hand_joint_2_rad
+  - right_hand_joint_3_rad
+  - right_hand_joint_4_rad
+  - right_hand_joint_5_rad
+  - right_hand_joint_6_rad
+  - right_hand_joint_7_rad
+  - right_hand_joint_8_rad
+  - right_hand_joint_9_rad
+  - right_hand_joint_10_rad
+  - right_hand_joint_11_rad
+  - right_hand_joint_12_rad
+action:
+  dtype: float32
+  shape:
+  - 36
+  names:
+  - left_arm_joint_1_rad
+  - left_arm_joint_2_rad
+  - left_arm_joint_3_rad
+  - left_arm_joint_4_rad
+  - left_arm_joint_5_rad
+  - left_arm_joint_6_rad
+  - right_arm_joint_1_rad
+  - right_arm_joint_2_rad
+  - right_arm_joint_3_rad
+  - right_arm_joint_4_rad
+  - right_arm_joint_5_rad
+  - right_arm_joint_6_rad
+  - left_hand_joint_1_rad
+  - left_hand_joint_2_rad
+  - left_hand_joint_3_rad
+  - left_hand_joint_4_rad
+  - left_hand_joint_5_rad
+  - left_hand_joint_6_rad
+  - left_hand_joint_7_rad
+  - left_hand_joint_8_rad
+  - left_hand_joint_9_rad
+  - left_hand_joint_10_rad
+  - left_hand_joint_11_rad
+  - left_hand_joint_12_rad
+  - right_hand_joint_1_rad
+  - right_hand_joint_2_rad
+  - right_hand_joint_3_rad
+  - right_hand_joint_4_rad
+  - right_hand_joint_5_rad
+  - right_hand_joint_6_rad
+  - right_hand_joint_7_rad
+  - right_hand_joint_8_rad
+  - right_hand_joint_9_rad
+  - right_hand_joint_10_rad
+  - right_hand_joint_11_rad
+  - right_hand_joint_12_rad
+timestamp:
+  dtype: float32
+  shape:
+  - 1
+  names: null
+frame_index:
+  dtype: int64
+  shape:
+  - 1
+  names: null
+episode_index:
+  dtype: int64
+  shape:
+  - 1
+  names: null
+index:
+  dtype: int64
+  shape:
+  - 1
+  names: null
+task_index:
+  dtype: int64
+  shape:
+  - 1
+  names: null
+subtask_annotation:
+  names: null
+  shape:
+  - 5
+  dtype: int32
+scene_annotation:
+  names: null
+  shape:
+  - 1
+  dtype: int32
+eef_sim_pose_state:
+  names:
+  - left_eef_pos_x
+  - left_eef_pos_y
+  - left_eef_pos_z
+  - left_eef_rot_x
+  - left_eef_rot_y
+  - left_eef_rot_z
+  - right_eef_pos_x
+  - right_eef_pos_y
+  - right_eef_pos_z
+  - right_eef_rot_x
+  - right_eef_rot_y
+  - right_eef_rot_z
+  shape:
+  - 12
+  dtype: float32
+eef_sim_pose_action:
+  names:
+  - left_eef_pos_x
+  - left_eef_pos_y
+  - left_eef_pos_z
+  - left_eef_rot_x
+  - left_eef_rot_y
+  - left_eef_rot_z
+  - right_eef_pos_x
+  - right_eef_pos_y
+  - right_eef_pos_z
+  - right_eef_rot_x
+  - right_eef_rot_y
+  - right_eef_rot_z
+  shape:
+  - 12
+  dtype: float32
+eef_direction_state:
+  names:
+  - left_eef_direction
+  - right_eef_direction
+  shape:
+  - 2
+  dtype: int32
+eef_direction_action:
+  names:
+  - left_eef_direction
+  - right_eef_direction
+  shape:
+  - 2
+  dtype: int32
+eef_velocity_state:
+  names:
+  - left_eef_velocity
+  - right_eef_velocity
+  shape:
+  - 2
+  dtype: int32
+eef_velocity_action:
+  names:
+  - left_eef_velocity
+  - right_eef_velocity
+  shape:
+  - 2
+  dtype: int32
+eef_acc_mag_state:
+  names:
+  - left_eef_acc_mag
+  - right_eef_acc_mag
+  shape:
+  - 2
+  dtype: int32
+eef_acc_mag_action:
+  names:
+  - left_eef_acc_mag
+  - right_eef_acc_mag
+  shape:
+  - 2
+  dtype: int32
+
+```
+
+## Available Annotations
+
+This dataset includes rich annotations to support diverse learning approaches:
+
+- `eef_acc_mag_annotation.jsonl`
+- `eef_direction_annotation.jsonl`
+- `eef_velocity_annotation.jsonl`
+- `gripper_activity_annotation.jsonl`
+- `gripper_mode_annotation.jsonl`
+- `scene_annotations.jsonl`
+- `subtask_annotations.jsonl`
+
+
+## Dataset Tags
+
+- `RoboCOIN`
+- `LeRobot`
+
+
+## Authors
+
+### Contributors
+This dataset is contributed by:-RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)
+
+### Annotators
+No annotator information available.
+
+## Links
+
+- **Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
+- **Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
+## Contact and Support
+
+For questions, issues, or feedback regarding this dataset, please contact us.
+### Support
+For technical support, please open an issue on our GitHub repository.
+
+## License
+
+apache-2.0
+
+## Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@article{robocoin,
+  title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
+  author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
+  journal={arXiv preprint arXiv:2511.17441},
+  url = {https://arxiv.org/abs/2511.17441},
+  year={2025},
+  }
+
+```
+
+### Additional References
+
+If you use this dataset, please also consider citing:
+LeRobot Framework: https://github.com/huggingface/lerobot
+
+
+## Version Information
+
+Initial Release

annotations/eef_acc_mag_annotation.jsonl

@@ -0,0 +1,3 @@
+{"eef_acc_mag_index": 0, "eef_acc_mag": "constant"}
+{"eef_acc_mag_index": 1, "eef_acc_mag": "accelerating"}
+{"eef_acc_mag_index": 2, "eef_acc_mag": "decelerating"}

annotations/eef_direction_annotation.jsonl

@@ -0,0 +1,7 @@
+{"eef_direction_index": 0, "eef_direction": "forward"}
+{"eef_direction_index": 1, "eef_direction": "backward"}
+{"eef_direction_index": 2, "eef_direction": "left"}
+{"eef_direction_index": 3, "eef_direction": "right"}
+{"eef_direction_index": 4, "eef_direction": "up"}
+{"eef_direction_index": 5, "eef_direction": "down"}
+{"eef_direction_index": 6, "eef_direction": "still"}

annotations/eef_velocity_annotation.jsonl

@@ -0,0 +1,3 @@
+{"eef_velocity_index": 0, "eef_velocity": "still"}
+{"eef_velocity_index": 1, "eef_velocity": "slow"}
+{"eef_velocity_index": 2, "eef_velocity": "fast"}

annotations/gripper_activity_annotation.jsonl

@@ -0,0 +1,4 @@
+{"gripper_activity_index": 0, "gripper_activity": "openning"}
+{"gripper_activity_index": 1, "gripper_activity": "closing"}
+{"gripper_activity_index": 2, "gripper_activity": "holding"}
+{"gripper_activity_index": 3, "gripper_activity": "unknown"}

annotations/gripper_mode_annotation.jsonl

@@ -0,0 +1,3 @@
+{"gripper_mode_index": 0, "gripper_mode": "open"}
+{"gripper_mode_index": 1, "gripper_mode": "closed"}
+{"gripper_mode_index": 2, "gripper_mode": "unknown"}

annotations/scene_annotations.jsonl

@@ -0,0 +1,48 @@
+{"scene_index": 0, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 1, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 2, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 3, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 4, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 5, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 6, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 7, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 8, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 9, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 10, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 11, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 12, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 13, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 14, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 15, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 16, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 17, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 18, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 19, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 20, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 21, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 22, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 23, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 24, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 25, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 26, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 27, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 28, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 29, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 30, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 31, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 32, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 33, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 34, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 35, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 36, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 37, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 38, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 39, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 40, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 41, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 42, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 43, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 44, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 45, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 46, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}
+{"scene_index": 47, "scene": "The strawberry cake is in the front-left, the cherry cake is in the front-right, and the white basket is in the front"}

annotations/subtask_annotations.jsonl

@@ -0,0 +1,6 @@
+{"subtask_index": 0, "subtask": "Place the cake on the table with the right gripper"}
+{"subtask_index": 1, "subtask": "Place the cake on the table with the left gripper"}
+{"subtask_index": 2, "subtask": "Grasp the cake from the white basket with the left gripper"}
+{"subtask_index": 3, "subtask": "Grasp the cake from the white basket with the right gripper"}
+{"subtask_index": 4, "subtask": "End"}
+{"subtask_index": 5, "subtask": "null"}

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e4671b7580b550e5a815b1dab0c74be1b6ee240f03bd0483da7a688b0d0aeac
+size 105090

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8472f6aca1624dd5b1f6eeaf2648d447552e53d917e63fc81787f5f9ce239334
+size 88967

data/chunk-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d56967500d540cd18da4695669668a6517af927d1949ff732e01ab56b502dc9b
+size 78039

data/chunk-000/episode_000003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:314e7384f04ca6e626643aa885db2027f1c37300760c5241a4a9b486cbb51b85
+size 80648

data/chunk-000/episode_000004.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e31d246bf207ab6bf61618f9aee7b8d35abb7b082a066b1a31457171d29ecc6
+size 79690

data/chunk-000/episode_000005.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab1b63713a4008cd14f7c4131b9f17327b65da32a1d32b62b00038dda1aa9deb
+size 78539

data/chunk-000/episode_000006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcbb29b6741bca23ca3792aeb4fa5c557228904fd8da6c709f98a7c9143d1dac
+size 84226

data/chunk-000/episode_000007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:362f3414a2623ec70af8608141a6581c6315545ba3a72a20daf4c3d539339eac
+size 75698

data/chunk-000/episode_000008.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:124e3abe9f8249c6fd46d6fc45abe59416f2aa1318616f660c6eca3359f8b5be
+size 83788

data/chunk-000/episode_000009.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:285aff86d22cb0189972ff0abf5747dae2c25ee4885bf017a82b3a5d28be65b5
+size 77970

data/chunk-000/episode_000010.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e31d3bb2ded90c1b282a971948edfd9af75b17ff62e5b416ff2dfa3a48af1b09
+size 76324

data/chunk-000/episode_000011.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84034c34fed5b2926ccddc57990fb73cbbe9330b103f255154146f12db48192a
+size 81991

data/chunk-000/episode_000012.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99f44cb3703a26210527f49ec11dd5344951317fcb8abe82c0f95aa48e2ebe07
+size 89956

data/chunk-000/episode_000013.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:051b9f6a0d7be6117ea87f67cadeccd60e336907ee72d5a1f82143ccd1c6df30
+size 72848

data/chunk-000/episode_000014.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac271dce1f6ed2ebf11e4301491e804217a321d3d3f5c9c9504774571efed842
+size 72482

data/chunk-000/episode_000015.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edcb424c73d632fe8f4c43c7beda69156c750cbb241f1e6a062b239b84045846
+size 79132

data/chunk-000/episode_000016.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a02ac46a419a9b4ae1c26bafd3d7ee006530e0501f67a319e6d8c84fa554b45e
+size 72710

data/chunk-000/episode_000017.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c96eb6581517490daa381fbba86d69acd786f904c0db48436cebe3e40e2bff8e
+size 81303

data/chunk-000/episode_000018.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d88a7e516fdc78c12bfd1b39a37b3def88418264a40936ff69c7edc33df33bc9
+size 80617

data/chunk-000/episode_000019.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b6724d905147a9fc3431bf64c6eb4f7d1db4e7fd8db81ecf4a8cdf3766efda7
+size 73936

data/chunk-000/episode_000020.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2c4afcd2d9c865f47aa1fcbf630a1031228b773156c5363cdbe5054eeb862c1
+size 70121

data/chunk-000/episode_000021.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dff6181dbcb888a542e569076823d9cde3b3881a85960e82c1497889130c43e
+size 81485

data/chunk-000/episode_000022.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4eb3a6958ac5cbeb43d95fe7609f60ebd80e6d1c7ca9a6270f5e4f9978a3f0c
+size 88819

data/chunk-000/episode_000023.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60f77cbc368f39f33465711826a7cc8c9a147a7a617234c1cb93ab3dde0b8a3f
+size 91631

data/chunk-000/episode_000024.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12ccbf66d962f351f9832bed1cb61a850d1816f9dbdb7515f690c5ad5e5e7011
+size 68245

data/chunk-000/episode_000025.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c176cfea4a02beaf80c4ab1dfe1c21fb14602f8906d3151922d8a79d6b531b61
+size 81439

data/chunk-000/episode_000026.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:272fbe2c77acea0a56e7d2c6766fe17a46f913b80d00f257cf0d729527e979c8
+size 101210

data/chunk-000/episode_000027.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aab4ad2d8f957a03d8462beb71b706b3873183e10212f1d510dd7a40cd541c8c
+size 90075

data/chunk-000/episode_000028.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69ec6706e504ad763ecb4b15ec5a63fbd01bf90b177c6224f93c39ea6dd5397f
+size 67147

data/chunk-000/episode_000029.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28addb9a11ba461862c4a45aabe87d096d1a9a499d7f42d0116709843fb959fe
+size 87655

data/chunk-000/episode_000030.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b0e6f9695dd0bcfdf43c5161757b79c92472cd6797ed9f6285e1858d2cfa21c
+size 69653

data/chunk-000/episode_000031.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e30432bc462d56cbc253c9d878740d1a1214255b1544fa3ad5c0c9b651234a76
+size 93995

data/chunk-000/episode_000032.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:313c30ca68951de7c550a91a368d8fb8edb151f6ebb26e40a53edd2cf978ef48
+size 92406

data/chunk-000/episode_000033.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5eaef976f483def51b048c55767d43b258a7ad38f2c9920243476864e1c798df
+size 68614

data/chunk-000/episode_000034.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7d86363e1f9a15ccd6e98d1020cff1e5ab5411c121dcc7c86aa695b896163f7
+size 80649

data/chunk-000/episode_000035.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b6e845cefa3b9bd609bd5b4c12c2cdfb39740a9f166541118dc4c99bd5c516e
+size 76268

data/chunk-000/episode_000036.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d690e0fe92a1b6f392c1ea93f6cb5eb2b0c5278d1420e6abcc3204cef66cb3d5
+size 73724

data/chunk-000/episode_000037.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:811c8c84d77f795bb93c892e1986818fb027687814c4538baef627a33450f574
+size 71002

data/chunk-000/episode_000038.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:675e17e9ad74043216d8090099b25c4a58ed6449733d3ed130f6daf37e6555fb
+size 74245

data/chunk-000/episode_000039.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbc529b2cc518db9352da3696eba8bbc455fc54e724a31c72a19ca0c5f766e81
+size 76104

data/chunk-000/episode_000040.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86077bc115ed46ad2b264ea3ab198d523d5480584c19b30999245bb771e176f8
+size 71309

data/chunk-000/episode_000041.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6356cd3af5a52e17ec72ef7aa63f11e47817f459a195abdd2f104000c37ee639
+size 80151