RoboDyna LeRobot v2.1: 4 tasks x 100 episodes (re-indexed standard)

.gitattributes

@@ -0,0 +1,2 @@
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.mp4 filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,14 @@
+---
+license: apache-2.0
+task_categories: [robotics]
+tags: [robotics, manipulation, lerobot, dual-arm, dynamic]
+---
+
+# RoboDyna — LeRobot dataset
+
+Expert demonstrations for the **RoboDyna** dynamic dual-arm manipulation benchmark
+(forked from [DOMINO](https://github.com/h-embodvis/DOMINO), RoboTwin 2.0 + SAPIEN 3.0.3),
+in **LeRobot v2.1** format. Project: https://github.com/EAI-RSM/RoboDyna · site: https://eai-rsm.github.io/RoboDyna/
+
+**4 tasks × 100 episodes** (dual-UR5 + WSG, 16.67 Hz): `cook_meat`, `sort_apples_belt`,
+`pick_ripe_apple`, `catch_ramp_ball`. Cameras: head, countertop, left_wrist, right_wrist.

annotations/chunk-000/episode_000000.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        350
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 0,
+  "meta_data": {
+    "length": 350,
+    "valid_range": [
+      0,
+      350
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000001.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        430
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 1,
+  "meta_data": {
+    "length": 430,
+    "valid_range": [
+      0,
+      430
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000002.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        317
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 2,
+  "meta_data": {
+    "length": 317,
+    "valid_range": [
+      0,
+      317
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000003.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        346
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 3,
+  "meta_data": {
+    "length": 346,
+    "valid_range": [
+      0,
+      346
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000004.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        317
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 4,
+  "meta_data": {
+    "length": 317,
+    "valid_range": [
+      0,
+      317
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000005.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        414
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 5,
+  "meta_data": {
+    "length": 414,
+    "valid_range": [
+      0,
+      414
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000006.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        467
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 6,
+  "meta_data": {
+    "length": 467,
+    "valid_range": [
+      0,
+      467
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000007.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        278
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 7,
+  "meta_data": {
+    "length": 278,
+    "valid_range": [
+      0,
+      278
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000008.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        443
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 8,
+  "meta_data": {
+    "length": 443,
+    "valid_range": [
+      0,
+      443
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000009.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        419
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 9,
+  "meta_data": {
+    "length": 419,
+    "valid_range": [
+      0,
+      419
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000010.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        346
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 10,
+  "meta_data": {
+    "length": 346,
+    "valid_range": [
+      0,
+      346
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000011.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        324
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 11,
+  "meta_data": {
+    "length": 324,
+    "valid_range": [
+      0,
+      324
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000012.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        458
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 12,
+  "meta_data": {
+    "length": 458,
+    "valid_range": [
+      0,
+      458
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000013.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        281
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 13,
+  "meta_data": {
+    "length": 281,
+    "valid_range": [
+      0,
+      281
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000014.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        394
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 14,
+  "meta_data": {
+    "length": 394,
+    "valid_range": [
+      0,
+      394
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000015.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        423
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 15,
+  "meta_data": {
+    "length": 423,
+    "valid_range": [
+      0,
+      423
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000016.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        404
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 16,
+  "meta_data": {
+    "length": 404,
+    "valid_range": [
+      0,
+      404
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000017.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        441
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 17,
+  "meta_data": {
+    "length": 441,
+    "valid_range": [
+      0,
+      441
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000018.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        313
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 18,
+  "meta_data": {
+    "length": 313,
+    "valid_range": [
+      0,
+      313
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000019.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        444
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 19,
+  "meta_data": {
+    "length": 444,
+    "valid_range": [
+      0,
+      444
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000020.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        441
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 20,
+  "meta_data": {
+    "length": 441,
+    "valid_range": [
+      0,
+      441
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000021.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        442
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 21,
+  "meta_data": {
+    "length": 442,
+    "valid_range": [
+      0,
+      442
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000022.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        358
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 22,
+  "meta_data": {
+    "length": 358,
+    "valid_range": [
+      0,
+      358
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000023.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        330
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 23,
+  "meta_data": {
+    "length": 330,
+    "valid_range": [
+      0,
+      330
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000024.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        419
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 24,
+  "meta_data": {
+    "length": 419,
+    "valid_range": [
+      0,
+      419
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000025.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        276
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 25,
+  "meta_data": {
+    "length": 276,
+    "valid_range": [
+      0,
+      276
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000026.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        435
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 26,
+  "meta_data": {
+    "length": 435,
+    "valid_range": [
+      0,
+      435
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000027.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        397
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 27,
+  "meta_data": {
+    "length": 397,
+    "valid_range": [
+      0,
+      397
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000028.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        300
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 28,
+  "meta_data": {
+    "length": 300,
+    "valid_range": [
+      0,
+      300
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000029.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        412
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 29,
+  "meta_data": {
+    "length": 412,
+    "valid_range": [
+      0,
+      412
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000030.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        361
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 30,
+  "meta_data": {
+    "length": 361,
+    "valid_range": [
+      0,
+      361
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000031.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        326
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 31,
+  "meta_data": {
+    "length": 326,
+    "valid_range": [
+      0,
+      326
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000032.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        321
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 32,
+  "meta_data": {
+    "length": 321,
+    "valid_range": [
+      0,
+      321
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000033.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        352
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 33,
+  "meta_data": {
+    "length": 352,
+    "valid_range": [
+      0,
+      352
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000034.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        434
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 34,
+  "meta_data": {
+    "length": 434,
+    "valid_range": [
+      0,
+      434
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000035.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        268
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 35,
+  "meta_data": {
+    "length": 268,
+    "valid_range": [
+      0,
+      268
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000036.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        353
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 36,
+  "meta_data": {
+    "length": 353,
+    "valid_range": [
+      0,
+      353
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000037.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        485
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 37,
+  "meta_data": {
+    "length": 485,
+    "valid_range": [
+      0,
+      485
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000038.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        347
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 38,
+  "meta_data": {
+    "length": 347,
+    "valid_range": [
+      0,
+      347
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000039.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        324
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 39,
+  "meta_data": {
+    "length": 324,
+    "valid_range": [
+      0,
+      324
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000040.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        462
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 40,
+  "meta_data": {
+    "length": 462,
+    "valid_range": [
+      0,
+      462
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000041.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        358
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 41,
+  "meta_data": {
+    "length": 358,
+    "valid_range": [
+      0,
+      358
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000042.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        356
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 42,
+  "meta_data": {
+    "length": 356,
+    "valid_range": [
+      0,
+      356
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000043.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        362
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 43,
+  "meta_data": {
+    "length": 362,
+    "valid_range": [
+      0,
+      362
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000044.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        320
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 44,
+  "meta_data": {
+    "length": 320,
+    "valid_range": [
+      0,
+      320
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000045.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        446
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 45,
+  "meta_data": {
+    "length": 446,
+    "valid_range": [
+      0,
+      446
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000046.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        400
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 46,
+  "meta_data": {
+    "length": 400,
+    "valid_range": [
+      0,
+      400
+    ],
+    "success": true
+  }
+}

annotations/chunk-000/episode_000047.json

@@ -0,0 +1,36 @@
+{
+  "instruction": "pick up the raw meat from the table, cook it on the pan until done, then put it back on the table",
+  "primitive_annotation": [
+    {
+      "label": "demo",
+      "frame_duration": [
+        0,
+        432
+      ]
+    }
+  ],
+  "dynamic_state": {
+    "schema": [
+      "cooking.cook_steps",
+      "cooking.doneness",
+      "cooking.pan_xy[0]",
+      "cooking.pan_xy[1]",
+      "cooking.place_offset[0]",
+      "cooking.place_offset[1]",
+      "cooking.steak_xy[0]",
+      "cooking.steak_xy[1]",
+      "cooking.target_doneness"
+    ],
+    "dim": 32
+  },
+  "task_name": "cook_meat",
+  "episode_index": 47,
+  "meta_data": {
+    "length": 432,
+    "valid_range": [
+      0,
+      432
+    ],
+    "success": true
+  }
+}