diff --git a/G1WholebodyOpenTrashCanTeleop-v0/dr-level-hard/meta/info.json b/G1WholebodyOpenTrashCanTeleop-v0/dr-level-hard/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cb5c499891099cd262c2ef5513c42b58cc677ff
--- /dev/null
+++ b/G1WholebodyOpenTrashCanTeleop-v0/dr-level-hard/meta/info.json
@@ -0,0 +1,293 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 10,
+    "total_frames": 10,
+    "total_tasks": 1,
+    "total_videos": 10,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 50,
+    "splits": {
+        "train": "0:10"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.images.ego_view": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint"
+            ]
+        },
+        "observation.eef_state": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "action": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint"
+            ]
+        },
+        "action.eef": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "observation.img_state_delta": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": "img_state_delta"
+        },
+        "teleop.navigate_command": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "lin_vel_x",
+                "lin_vel_y",
+                "ang_vel_z",
+                "target_yaw"
+            ]
+        },
+        "teleop.base_height_command": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": "base_height_command"
+        },
+        "observation.base_pose": {
+            "dtype": "float64",
+            "shape": [
+                7
+            ],
+            "names": [
+                "pos_x",
+                "pos_y",
+                "pos_z",
+                "quat_w",
+                "quat_x",
+                "quat_y",
+                "quat_z"
+            ]
+        },
+        "observation.base_vel": {
+            "dtype": "float64",
+            "shape": [
+                6
+            ],
+            "names": [
+                "lin_vel_x",
+                "lin_vel_y",
+                "lin_vel_z",
+                "ang_vel_x",
+                "ang_vel_y",
+                "ang_vel_z"
+            ]
+        },
+        "observation.object_poses": {
+            "dtype": "float64",
+            "shape": [
+                28
+            ],
+            "names": [
+                "target.pos_x",
+                "target.pos_y",
+                "target.pos_z",
+                "target.quat_w",
+                "target.quat_x",
+                "target.quat_y",
+                "target.quat_z",
+                "distractor_0.pos_x",
+                "distractor_0.pos_y",
+                "distractor_0.pos_z",
+                "distractor_0.quat_w",
+                "distractor_0.quat_x",
+                "distractor_0.quat_y",
+                "distractor_0.quat_z",
+                "distractor_1.pos_x",
+                "distractor_1.pos_y",
+                "distractor_1.pos_z",
+                "distractor_1.quat_w",
+                "distractor_1.quat_x",
+                "distractor_1.quat_y",
+                "distractor_1.quat_z",
+                "distractor_2.pos_x",
+                "distractor_2.pos_y",
+                "distractor_2.pos_z",
+                "distractor_2.quat_w",
+                "distractor_2.quat_x",
+                "distractor_2.quat_y",
+                "distractor_2.quat_z"
+            ]
+        },
+        "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
+        }
+    },
+    "script_config": {},
+    "discarded_episode_indices": [],
+    "data_collection_info": {
+        "lower_body_policy": null,
+        "wbc_model_path": null,
+        "teleoperator_username": null,
+        "support_operator_username": null,
+        "robot_type": null,
+        "robot_id": null
+    }
+}
\ No newline at end of file
diff --git a/G1WholebodyOpenTrashCanTeleop-v0/dr-level-hard/meta/modality.json b/G1WholebodyOpenTrashCanTeleop-v0/dr-level-hard/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..00ba8ac0c2da04e7c8a9ff7759c4bb1ee1ed8b91
--- /dev/null
+++ b/G1WholebodyOpenTrashCanTeleop-v0/dr-level-hard/meta/modality.json
@@ -0,0 +1,147 @@
+{
+    "state": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 15
+        },
+        "left_arm": {
+            "start": 15,
+            "end": 22
+        },
+        "left_hand": {
+            "start": 22,
+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
+        "right_hand": {
+            "start": 36,
+            "end": 43
+        },
+        "left_wrist_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.eef_state"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "observation.eef_state"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "base_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.base_pose"
+        },
+        "base_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "observation.base_pose",
+            "rotation_type": "quaternion"
+        },
+        "base_lin_vel": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.base_vel"
+        },
+        "base_ang_vel": {
+            "start": 3,
+            "end": 6,
+            "original_key": "observation.base_vel"
+        }
+    },
+    "action": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 15
+        },
+        "left_arm": {
+            "start": 15,
+            "end": 22
+        },
+        "left_hand": {
+            "start": 22,
+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
+        "right_hand": {
+            "start": 36,
+            "end": 43
+        },
+        "left_wrist_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.eef"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "action.eef",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "action.eef"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "action.eef",
+            "rotation_type": "quaternion"
+        },
+        "base_height_command": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.base_height_command"
+        },
+        "navigate_command": {
+            "start": 0,
+            "end": 4,
+            "original_key": "teleop.navigate_command"
+        }
+    },
+    "video": {
+        "ego_view": {
+            "original_key": "observation.images.ego_view"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
diff --git a/G1WholebodyOpenTrashCanTeleop-v0/dr-level-hard/meta/tasks.jsonl b/G1WholebodyOpenTrashCanTeleop-v0/dr-level-hard/meta/tasks.jsonl
new file mode 100644
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--- /dev/null
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\"1\"}"}
diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-0/meta/episodes.jsonl.pre-dogbed b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-0/meta/episodes.jsonl.pre-dogbed
new file mode 100644
index 0000000000000000000000000000000000000000..ced4a3f3df421d4ca0a7490fa1c7bda173493e0f
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-0/meta/episodes.jsonl.pre-dogbed
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["pick up the cracker box, turn 180, and drop it in the cushion."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_pick_and_bend_place_mp\", \"label\": \"G1 Wholebody Pick and Bend Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to target position, and place it .\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"front_stereo\": {\"uid\": \"Realsense_D415\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [0.3, -0.1, 2], \"eulers\": [0.0, 0.8726646259971648, 1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.055}, \"wrist\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"wrist_left\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, 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{\"uid\": \"scene19\", \"data_dir\": \"scenes/hssd\", \"name\": \"103997403_171030405\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, -15], \"center_orientation_limit_down\": [90, 0, 15], \"table_size\": [1.4, 1, 0.9], \"table2_size\": [0.8, 0.8, 0.9], \"table2_position\": [-0.65, 3.5, 0.0], \"surface\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/node_f43112d6f35621565da3c1232ea940d7d9c555e\"}, \"surface2\": {\"category\": \"shelf\", \"prim_path\": \"/World/furniture/node_8ff1097f76976c669353c9e85003ebaed75f7b0\"}}, \"name\": \"103997403_171030405\", \"data_dir\": \"scenes/hssd/103997403_171030405\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 0.0], \"table\": {\"uid\": \"box\", \"size\": [1.4, 1.0, 0.1], \"pose\": {\"position\": [0.0, 0.25, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Brass.mdl\", \"name\": \"Brass_Gold_Rough_Worn\"}}}, \"scene_info\": {}}, \"container_uid\": \"0\"}"}
diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-0/meta/episodes.jsonl.pre-fk b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-0/meta/episodes.jsonl.pre-fk
new file mode 100644
index 0000000000000000000000000000000000000000..e4a09179bcc39c63a15679b485c9910715ed136b
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-0/meta/episodes.jsonl.pre-fk
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["pick up the cracker box, turn 180, and drop it in the cushion."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_pick_and_bend_place_mp\", \"label\": \"G1 Wholebody Pick and Bend Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to target position, and place it .\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"front_stereo\": {\"uid\": \"Realsense_D415\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [0.3, -0.1, 2], \"eulers\": [0.0, 0.8726646259971648, 1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.055}, \"wrist\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"wrist_left\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, 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{\"path\": \"data/vMaterials_2/Metal/Brass.mdl\", \"name\": \"Brass_Gold_Rough_Worn\"}}}, \"scene_info\": {}}, \"container_uid\": \"0\"}"}
diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-0/meta/episodes.jsonl.pre-instr b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-0/meta/episodes.jsonl.pre-instr
new file mode 100644
index 0000000000000000000000000000000000000000..e74e95ef820579e47b6cc4bce88db46faf918cf7
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-0/meta/episodes.jsonl.pre-instr
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["pick up the cracker box, turn 180, and drop it in the cushion."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_pick_and_bend_place_mp\", \"label\": \"G1 Wholebody Pick and Bend Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to target position, and place it .\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"front_stereo\": {\"uid\": \"Realsense_D415\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [0.3, -0.1, 2], \"eulers\": [0.0, 0.8726646259971648, 1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.055}, \"wrist\": {\"uid\": 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diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-0/meta/episodes_stats.jsonl b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-0/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..baa2743fe4f7805a7610b510f792155ca3ed8750
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-0/meta/episodes_stats.jsonl
@@ -0,0 +1,10 @@
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diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-0/meta/info.json b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-0/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcd1aba336d42d3815264d2efff3441572b7a262
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-0/meta/info.json
@@ -0,0 +1,292 @@
+{
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+    "total_frames": 10,
+    "total_tasks": 1,
+    "total_videos": 70,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 50,
+    "splits": {
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+            ]
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+                640,
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+        },
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+        "observation.amo_policy_turning_flag": {
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+        "observation.amo_policy_target_yaw": {
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+        },
+        "timestamp": {
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+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
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+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
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+        },
+        "task_index": {
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-0/meta/tasks.jsonl b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-0/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b0b036d06d7bd7551c0a8689ba26491581b780c
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-0/meta/tasks.jsonl
@@ -0,0 +1 @@
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new file mode 100644
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diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/meta/episodes.jsonl.pre-dogbed b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/meta/episodes.jsonl.pre-dogbed
new file mode 100644
index 0000000000000000000000000000000000000000..30b98ae6dde89e92789392bcb12d9cabcdb9537a
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/meta/episodes.jsonl.pre-dogbed
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["pick up the cracker box, turn 180, and drop it in the cushion."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_pick_and_bend_place_mp\", \"label\": \"G1 Wholebody Pick and Bend Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to target position, and place it .\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"front_stereo\": {\"uid\": \"Realsense_D415\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [0.3, -0.1, 2], \"eulers\": [0.0, 0.8726646259971648, 1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.055}, \"wrist\": {\"uid\": 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diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/meta/episodes.jsonl.pre-fk b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/meta/episodes.jsonl.pre-fk
new file mode 100644
index 0000000000000000000000000000000000000000..be298e07abe84df9a6149897f3559c2da8a577e0
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/meta/episodes.jsonl.pre-fk
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["pick up the cracker box, turn 180, and drop it in the cushion."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_pick_and_bend_place_mp\", \"label\": \"G1 Wholebody Pick and Bend Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to target position, and place it .\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"front_stereo\": {\"uid\": \"Realsense_D415\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [0.3, -0.1, 2], \"eulers\": [0.0, 0.8726646259971648, 1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.055}, \"wrist\": {\"uid\": 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diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/meta/episodes.jsonl.pre-instr b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/meta/episodes.jsonl.pre-instr
new file mode 100644
index 0000000000000000000000000000000000000000..098ad376542911b276df81b8f2742d7cdb6aaab4
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/meta/episodes.jsonl.pre-instr
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["pick up the cracker box, turn 180, and drop it in the cushion."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_pick_and_bend_place_mp\", \"label\": \"G1 Wholebody Pick and Bend Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to target position, and place it .\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"front_stereo\": {\"uid\": \"Realsense_D415\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [0.3, -0.1, 2], \"eulers\": [0.0, 0.8726646259971648, 1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.055}, \"wrist\": {\"uid\": 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diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/meta/episodes_stats.jsonl b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0085d3a33abb5f5507692875d9fbee6cf2e08e58
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/meta/episodes_stats.jsonl
@@ -0,0 +1,10 @@
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diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/meta/info.json b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcd1aba336d42d3815264d2efff3441572b7a262
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/meta/info.json
@@ -0,0 +1,292 @@
+{
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+        },
+        "observation.amo_policy_turning_flag": {
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+            "names": [
+                "amo_policy_target_yaw"
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+        "timestamp": {
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+            "shape": [
+                1
+            ],
+            "names": null
+        },
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+            "names": null
+        },
+        "episode_index": {
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+                1
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+            "names": null
+        },
+        "index": {
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+        },
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/meta/tasks.jsonl b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b0b036d06d7bd7551c0a8689ba26491581b780c
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index":0,"task":"pick up the cracker box, turn 180, and drop it in the cushion."}
diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/videos/chunk-000/observation.rgb_front_stereo_left/episode_000000.mp4 b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/videos/chunk-000/observation.rgb_front_stereo_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1379aecb406573f535cb48b0874f3636f57d687c
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/videos/chunk-000/observation.rgb_front_stereo_left/episode_000000.mp4
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+size 7757
diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/videos/chunk-000/observation.rgb_front_stereo_left/episode_000001.mp4 b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-1/videos/chunk-000/observation.rgb_front_stereo_left/episode_000001.mp4
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diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-2/meta/episodes.jsonl.pre-dogbed b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-2/meta/episodes.jsonl.pre-dogbed
new file mode 100644
index 0000000000000000000000000000000000000000..406ca5de72628b5c16f0e6842c9b902f1ad8a4c4
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-2/meta/episodes.jsonl.pre-dogbed
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["pick up the cracker box, turn 180, and drop it in the cushion."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_pick_and_bend_place_mp\", \"label\": \"G1 Wholebody Pick and Bend Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to target position, and place it .\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"front_stereo\": {\"uid\": \"Realsense_D415\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [0.3, -0.1, 2], \"eulers\": [0.0, 0.8726646259971648, 1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.055}, \"wrist\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"wrist_left\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, 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diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-2/meta/episodes.jsonl.pre-fk b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-2/meta/episodes.jsonl.pre-fk
new file mode 100644
index 0000000000000000000000000000000000000000..476faeaf6fa87e7444d7576d4c2dcbfae9891f35
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-2/meta/episodes.jsonl.pre-fk
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["pick up the cracker box, turn 180, and drop it in the cushion."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_pick_and_bend_place_mp\", \"label\": \"G1 Wholebody Pick and Bend Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to target position, and place it .\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"front_stereo\": {\"uid\": \"Realsense_D415\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [0.3, -0.1, 2], \"eulers\": [0.0, 0.8726646259971648, 1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.055}, \"wrist\": {\"uid\": 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diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-2/meta/episodes.jsonl.pre-instr b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-2/meta/episodes.jsonl.pre-instr
new file mode 100644
index 0000000000000000000000000000000000000000..ec2fe7141109d72e46aa170dadc361bb00da4bc3
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-2/meta/episodes.jsonl.pre-instr
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["pick up the cracker box, turn 180, and drop it in the cushion."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_pick_and_bend_place_mp\", \"label\": \"G1 Wholebody Pick and Bend Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to target position, and place it .\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"front_stereo\": {\"uid\": \"Realsense_D415\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [0.3, -0.1, 2], \"eulers\": [0.0, 0.8726646259971648, 1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.055}, \"wrist\": {\"uid\": 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diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-2/meta/episodes_stats.jsonl b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-2/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cf231c8a2d288527f662c0b76f365a90d4beb17c
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-2/meta/episodes_stats.jsonl
@@ -0,0 +1,10 @@
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diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-2/meta/info.json b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-2/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcd1aba336d42d3815264d2efff3441572b7a262
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-2/meta/info.json
@@ -0,0 +1,292 @@
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+{"episode_index": 0, "tasks": ["pick up the cracker box, turn 180, and drop it in the cushion."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_pick_and_bend_place_mp\", \"label\": \"G1 Wholebody Pick and Bend Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to target position, and place it .\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"max_episode_steps\": 1000, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"front_stereo\": {\"uid\": \"Realsense_D415\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [0.3, -0.1, 2], \"eulers\": [0.0, 0.8726646259971648, 1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.055}, \"wrist\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"wrist_left\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.05}, \"side_left\": {\"uid\": \"Realsense_D415_mono\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.2440706908215582, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [-1.5, 3.0, 1.875], \"eulers\": [0.0, 0.6981317007977318, -1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick up the cracker box, turn 180, and drop it in the cushion.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:0\", \"size\": null}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:1\", \"size\": null}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 4, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.0, 1.0], \"high\": [-0.0, 1.05]}, \"robot_orientation_region\": {\"low\": [0.717, 0, 0, -0.717], \"high\": [0.717, 0, 0, -0.717]}, \"target_region\": {\"low\": [-0.09, 0.63], \"high\": [0.05, 0.72]}, \"container_region\": {\"low\": [-1.06, 3.1], \"high\": [-1.15, 3.15]}, \"distractors_region\": [{\"low\": [0.4, 0.1], \"high\": [0.6, 0.4]}, {\"low\": [-0.1, 0.1], \"high\": [0.6, 0.4]}, {\"low\": [-0.1, -0.3], \"high\": [0.6, 0.3]}, {\"low\": [0.6, 3.1], \"high\": [1.2, 3.4]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"placement_attempts\": 100, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -1.88, \"high\": -1.28}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": 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\"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fx\": 224.06641222710715, \"fy\": 224.06641222710715, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"side_left\": {\"cam_id\": \"side_left\", \"cam_cfg\": {\"uid\": \"Realsense_D415_mono\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.2440706908215582, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [-1.5, 3.0, 1.875], \"eulers\": [0.0, 0.6981317007977318, -1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"pose\": {\"position\": [-1.5, 3.0, 1.875], \"quaternion\": [0.6644630243886748, 0.24184476264797522, 0.24184476264797528, -0.6644630243886747]}, \"fx\": 446.31265087170937, \"fy\": 446.31265087170937, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_on_base\", \"resolution\": [640, 360], \"focal_length\": 1.88}}, \"scene\": {\"uid\": \"hssd:scene19\", \"conf\": {\"uid\": \"scene19\", \"data_dir\": \"scenes/hssd\", \"name\": \"103997403_171030405\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, -15], \"center_orientation_limit_down\": [90, 0, 15], \"table_size\": [1.4, 1, 0.9], \"table2_size\": [0.8, 0.8, 0.9], \"table2_position\": [-0.65, 3.5, 0.0], \"surface\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/node_f43112d6f35621565da3c1232ea940d7d9c555e\"}, \"surface2\": {\"category\": \"shelf\", \"prim_path\": \"/World/furniture/node_8ff1097f76976c669353c9e85003ebaed75f7b0\"}}, \"name\": \"103997403_171030405\", \"data_dir\": \"scenes/hssd/103997403_171030405\", \"center_offset\": [0.0, 0.3781635422119354, 0.0], \"center_orientation\": [90.0, 0.0, 11.351174861399823], \"table\": {\"uid\": \"box\", \"size\": [1.4, 1.0, 0.1], \"pose\": {\"position\": [0.0, 0.25, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Liquids/Water_Murky_Perlinwaves.mdl\", \"name\": \"Water_Murky_Perlinwaves_Clear_Broth\"}}}, \"scene_info\": {}}, \"container_uid\": \"1\"}"}
diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/meta/episodes.jsonl.pre-dogbed b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/meta/episodes.jsonl.pre-dogbed
new file mode 100644
index 0000000000000000000000000000000000000000..0a6fb445e91817e1b8c90c896adebe4d01a7e099
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/meta/episodes.jsonl.pre-dogbed
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["pick up the cracker box, turn 180, and drop it in the cushion."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_pick_and_bend_place_mp\", \"label\": \"G1 Wholebody Pick and Bend Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to target position, and place it .\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"max_episode_steps\": 1000, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"front_stereo\": {\"uid\": \"Realsense_D415\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [0.3, -0.1, 2], \"eulers\": [0.0, 0.8726646259971648, 1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.055}, \"wrist\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"wrist_left\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.05}, \"side_left\": {\"uid\": \"Realsense_D415_mono\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.2440706908215582, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [-1.5, 3.0, 1.875], \"eulers\": [0.0, 0.6981317007977318, -1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick up the cracker box, turn 180, and drop it in the cushion.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:0\", \"size\": null}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\", \"size\": null}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 4, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.0, 1.0], \"high\": [-0.0, 1.05]}, \"robot_orientation_region\": {\"low\": [0.717, 0, 0, -0.717], \"high\": [0.717, 0, 0, -0.717]}, \"target_region\": {\"low\": [-0.09, 0.63], \"high\": [0.05, 0.72]}, \"container_region\": {\"low\": [-1.06, 3.1], \"high\": [-1.15, 3.15]}, \"distractors_region\": [{\"low\": [0.4, 0.1], \"high\": [0.6, 0.4]}, {\"low\": [-0.1, 0.1], \"high\": [0.6, 0.4]}, {\"low\": [-0.1, -0.3], \"high\": [0.6, 0.3]}, {\"low\": [0.6, 3.1], \"high\": [1.2, 3.4]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"placement_attempts\": 100, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -1.88, \"high\": -1.28}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": {\"low\": 0, \"high\": 0}, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": {\"low\": [0.0, 0.25], \"high\": [0.0, 0.25]}, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene19\"], \"scene_manager\": \"hssd\", \"enable_table2\": false, \"table2_size\": null, \"table2_position\": null, \"table2_height\": null, \"table2_rotation_z\": null, \"randomize_scene_pose\": true}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [1, 4], \"light_color_temperature\": {\"low\": 3500, \"high\": 9000}, \"light_intensity\": {\"low\": 3000.0, \"high\": 30000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.6, -1.6, 1.1], \"high\": [1.6, 1.6, 1.8]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\", \"table_material\": null}}, \"dr_state_dict\": {\"language\": \"pick up the cracker box, turn 180, and drop it in the cushion.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"0\", \"label\": \"cracker_box\", \"name\": \"cracker box\", \"usd_path\": \"/workspace/simple/data/assets/graspnet/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"/workspace/simple/data/assets/objects/ruled_models/000_ruled.usd\", 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-0.005922010687181962, -0.0021454326450902617, 0.8963328899330185]}, \"44\": {\"position\": [0.7592337131500244, 3.256974458694458, 0.03155091032385826], \"quaternion\": [0.3478353730635136, -0.11163903864147103, -0.13546222943402142, -0.920976255227972]}}, \"camera\": null, \"scene\": {\"uid\": \"hssd:scene19\", \"conf\": {\"uid\": \"scene19\", \"data_dir\": \"scenes/hssd\", \"name\": \"103997403_171030405\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, -15], \"center_orientation_limit_down\": [90, 0, 15], \"table_size\": [1.4, 1, 0.9], \"table2_size\": [0.8, 0.8, 0.9], \"table2_position\": [-0.65, 3.5, 0.0], \"surface\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/node_f43112d6f35621565da3c1232ea940d7d9c555e\"}, \"surface2\": {\"category\": \"shelf\", \"prim_path\": 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{\"position\": [-1.5, 3.0, 1.875], \"eulers\": [0.0, 0.6981317007977318, -1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"pose\": {\"position\": [-1.5, 3.0, 1.875], \"quaternion\": [0.6644630243886748, 0.24184476264797522, 0.24184476264797528, -0.6644630243886747]}, \"fx\": 446.31265087170937, \"fy\": 446.31265087170937, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_on_base\", \"resolution\": [640, 360], \"focal_length\": 1.88}}, \"scene\": {\"uid\": \"hssd:scene19\", \"conf\": {\"uid\": \"scene19\", \"data_dir\": \"scenes/hssd\", \"name\": \"103997403_171030405\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, -15], \"center_orientation_limit_down\": [90, 0, 15], \"table_size\": [1.4, 1, 0.9], \"table2_size\": [0.8, 0.8, 0.9], \"table2_position\": [-0.65, 3.5, 0.0], \"surface\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/node_f43112d6f35621565da3c1232ea940d7d9c555e\"}, \"surface2\": {\"category\": \"shelf\", \"prim_path\": \"/World/furniture/node_8ff1097f76976c669353c9e85003ebaed75f7b0\"}}, \"name\": \"103997403_171030405\", \"data_dir\": \"scenes/hssd/103997403_171030405\", \"center_offset\": [0.0, 0.3781635422119354, 0.0], \"center_orientation\": [90.0, 0.0, 11.351174861399823], \"table\": {\"uid\": \"box\", \"size\": [1.4, 1.0, 0.1], \"pose\": {\"position\": [0.0, 0.25, -0.05], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Liquids/Water_Murky_Perlinwaves.mdl\", \"name\": \"Water_Murky_Perlinwaves_Clear_Broth\"}}}, \"scene_info\": {}}, \"container_uid\": \"0\"}"}
diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/meta/episodes.jsonl.pre-fk b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/meta/episodes.jsonl.pre-fk
new file mode 100644
index 0000000000000000000000000000000000000000..7699aaf6910e684d89ccca10c0d499e9c3895dbc
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/meta/episodes.jsonl.pre-fk
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": ["pick up the cracker box, turn 180, and drop it in the cushion."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_pick_and_bend_place_mp\", \"label\": \"G1 Wholebody Pick and Bend Place MP\", \"description\": \"A task where the G1 robot must pick an object from table1, locomote to target position, and place it .\", \"metadata\": {\"physics_dt\": 0.002, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"need_gravity\": true, \"max_episode_steps\": 1000, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_wholebody\"}, \"sensor_cfgs\": {\"front_stereo\": {\"uid\": \"Realsense_D415\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.5707963267948966, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [0.3, -0.1, 2], \"eulers\": [0.0, 0.8726646259971648, 1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.055}, \"wrist\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"wrist_left\": {\"uid\": \"Logitech_C930e\", \"mount\": \"eye_in_hand\", \"width\": 480, \"height\": 270, \"fov\": 1.5707963267948966, \"near\": 0.1, \"far\": 5, \"focal_length\": 0.94, \"pose\": {\"position\": [0.0, 0.0, 0.05], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}, \"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null, \"baseline\": 0.05}, \"side_left\": {\"uid\": \"Realsense_D415_mono\", \"mount\": \"eye_on_base\", \"width\": 640, \"height\": 360, \"fov\": 1.2440706908215582, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.88, \"pose\": {\"position\": [-1.5, 3.0, 1.875], \"eulers\": [0.0, 0.6981317007977318, -1.5707963267948966]}, \"intrinsics\": null, \"depth_intrinsics\": null, \"depth_to_color_extrinsics\": null}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\"pick up the cracker box, turn 180, and drop it in the cushion.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:0\", \"size\": null}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\", \"size\": null}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 4, \"allow_duplicates\": false, \"include\": null, \"exclude\": [\"0\", \"12\", \"46\", \"6\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [-0.0, 1.0], \"high\": [-0.0, 1.05]}, \"robot_orientation_region\": {\"low\": [0.717, 0, 0, -0.717], \"high\": [0.717, 0, 0, -0.717]}, \"target_region\": {\"low\": [-0.09, 0.63], \"high\": [0.05, 0.72]}, \"container_region\": {\"low\": [-1.06, 3.1], \"high\": [-1.15, 3.15]}, \"distractors_region\": [{\"low\": [0.4, 0.1], \"high\": [0.6, 0.4]}, {\"low\": [-0.1, 0.1], \"high\": [0.6, 0.4]}, {\"low\": [-0.1, -0.3], \"high\": [0.6, 0.3]}, {\"low\": [0.6, 3.1], \"high\": [1.2, 3.4]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"placement_attempts\": 100, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": -1.88, \"high\": -1.28}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": {\"low\": 0, \"high\": 0}, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": {\"low\": [0.0, 0.25], \"high\": [0.0, 0.25]}, \"table_height\": {\"low\": 0.0, \"high\": 0.0}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene19\"], \"scene_manager\": \"hssd\", \"enable_table2\": false, \"table2_size\": null, \"table2_position\": null, \"table2_height\": null, \"table2_rotation_z\": null, \"randomize_scene_pose\": true}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [1, 4], \"light_color_temperature\": {\"low\": 3500, \"high\": 9000}, \"light_intensity\": {\"low\": 3000.0, \"high\": 30000.0}, 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diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/meta/episodes_stats.jsonl b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cf231c8a2d288527f662c0b76f365a90d4beb17c
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/meta/episodes_stats.jsonl
@@ -0,0 +1,10 @@
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diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/meta/generation.json b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/meta/generation.json
new file mode 100644
index 0000000000000000000000000000000000000000..fda25e0430c4a079ac6ca209c488b571d13f6df3
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/meta/generation.json
@@ -0,0 +1,26 @@
+{
+  "env_id": "simple/G1WholebodyPickAndBendPlaceMP-v0",
+  "seed": 0,
+  "num_candidates": 40,
+  "kept_candidates": [
+    1,
+    2,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    12
+  ],
+  "spawn_yaw": null,
+  "spawn_shift": [
+    -0.0314,
+    0.00494,
+    -3.152
+  ],
+  "template": "dr-level-2",
+  "allow_resting_contact": true,
+  "hard_dr": "Wider than the task's DR (target x -0.05..0.01, y 0.65..0.69, rot -1.59..-1.57; lights as in\n    the other MP tasks). The container and the 4 distractor regions stay (the container and the 4th\n    distractor fall to the floor during the warm-up, as in the training data: FALL_TO_FLOOR)."
+}
diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/meta/info.json b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcd1aba336d42d3815264d2efff3441572b7a262
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/meta/info.json
@@ -0,0 +1,292 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 10,
+    "total_frames": 10,
+    "total_tasks": 1,
+    "total_videos": 70,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 50,
+    "splits": {
+        "train": "0:10"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_leg",
+                "right_leg",
+                "waist",
+                "left_arm",
+                "right_arm",
+                "left_eef",
+                "right_eef"
+            ]
+        },
+        "observation.rgb_front_stereo_left": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.rgb_front_stereo_right": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.rgb_head_stereo_left": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.rgb_head_stereo_right": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.joint_qpos": {
+            "dtype": "float32",
+            "shape": [
+                43
+            ],
+            "names": [
+                "joint_qpos"
+            ]
+        },
+        "observation.rgb_side_left": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.rgb_wrist": {
+            "dtype": "video",
+            "shape": [
+                270,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 270,
+                "video.width": 480,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.rgb_wrist_left": {
+            "dtype": "video",
+            "shape": [
+                270,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 270,
+                "video.width": 480,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.amo_policy_obs_prop": {
+            "dtype": "float32",
+            "shape": [
+                93
+            ],
+            "names": [
+                "amo_policy_obs_prop"
+            ]
+        },
+        "observation.amo_policy_output_torque": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "amo_policy_output_torque"
+            ]
+        },
+        "observation.amo_policy_command": {
+            "dtype": "float32",
+            "shape": [
+                9
+            ],
+            "names": [
+                "amo_policy_command"
+            ]
+        },
+        "observation.amo_policy_rpy": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                "amo_policy_rpy"
+            ]
+        },
+        "observation.amo_policy_turning_flag": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "amo_policy_turning_flag"
+            ]
+        },
+        "observation.amo_policy_target_yaw": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "amo_policy_target_yaw"
+            ]
+        },
+        "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
+        }
+    }
+}
\ No newline at end of file
diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/meta/tasks.jsonl b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b0b036d06d7bd7551c0a8689ba26491581b780c
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index":0,"task":"pick up the cracker box, turn 180, and drop it in the cushion."}
diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000000.mp4 b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..263860a22e2bc8676d7d21b78eb63c0930abc49b
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:668f33f8bc6ef2d01e39e1435c6b1756f9e2dba6cac699166a1116fb1b3f174d
+size 14262
diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000001.mp4 b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90e2a0d8f571dc9180401f4354ef8f0f84b845cc
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:058726f62dc22930df531f6bb19b4d75c85712521be93509ea4f2672b5ac2d7f
+size 12492
diff --git a/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000002.mp4 b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49f176847b1abd4bafeb4d545dab1713dbbc5155
--- /dev/null
+++ b/G1WholebodyPickAndBendPlaceMP-v0/dr-level-hard/videos/chunk-000/observation.rgb_front_stereo_left/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d85425344a20f04cf6d2c6384e93a2ffa10d079269d555f0ed550cfcf1c3b10a
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{\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.0512821584692613, 0.9565407839787448, 0.0]}, \"light_radius\": 0.09626697202049478, \"light_length\": 1.560177503348698, \"light_intensity\": 50000.0, \"light_color_temperature\": 6036.547642961579, \"center_light_postion\": [-0.6548664852000439, 0.4074112701980994, 1.3481943329381891], \"center_light_orientation\": [0.9023916421150028, 0.0, 0.0, 0.43091684144506204]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 224.06641222710718, \"fx\": 224.06641222710718, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", 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\"center_orientation_limit_down\": [90, 0, 15], \"table_size\": [2.8, 1, 0.9], \"table2_size\": [2.4, 1, 0.9], \"table2_position\": [0, 2.5, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/node_7903d5a77d900067dd9031caf2f229776d800d4\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/e3ea77bd63ceaa2d05ff5d18c85d854526fe6267\"}}, \"name\": \"102344307\", \"data_dir\": \"scenes/hssd/102344307\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 0.0], \"table\": {\"uid\": \"box\", \"size\": [2.8, 1.0, 0.1], \"pose\": {\"position\": [0.0, -0.5, 0.62], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Metal/Silver_Brushed.mdl\", \"name\": \"Silver_Brushed\"}}, \"table2\": {\"uid\": \"box\", \"size\": [2.4, 1.0, 0.1], \"pose\": {\"position\": [0.7, 1.5, 0.62], \"quaternion\": [0.7073882691671998, 0.0, 0.0, 0.706825181105366]}}}, \"scene_info\": {}}, \"container_uid\": \"0\"}"}
diff --git a/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-0/meta/episodes.jsonl.pre-fk b/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-0/meta/episodes.jsonl.pre-fk
new file mode 100644
index 0000000000000000000000000000000000000000..7d69314ebdecd695c148e58b6fdbf7701b4995b5
--- /dev/null
+++ b/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-0/meta/episodes.jsonl.pre-fk
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": [" pick up the apple from table1,hug the container,walk to table2,and place  on table2."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_pick_and_place_and_hug_container_teleop\", \"label\": \"G1 Pick and Place and Hug Container Teleop\", \"description\": \"A task where the G1 robot must pick up an object and place it on a container and hug the container ,walk to the next table and place the container.\", \"metadata\": {\"physics_dt\": 0.005, \"control_hz\": 200, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"reward_dt\": 0.02, \"image_dt\": 0.033333, \"need_gravity\": true, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_sonic\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\" pick up the {} from table1,hug the container,walk to table2,and place  on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 1, \"allow_duplicates\": false, \"include\": [\"2\"], \"exclude\": [\"0\", \"46\", \"6\", \"12\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [0.03, 1.0, 0], \"high\": [0.05, 1.0, 0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [0.27, 1.25], \"high\": [0.32, 1.3]}, \"container_region\": {\"low\": [0.39, 1], \"high\": [0.42, 1]}, \"distractors_region\": [{\"low\": [0.28, 0.73], \"high\": [0.3, 0.7]}], \"rand_stable_pose\": true, \"collide_threshold\": 0.005, \"spatial_mode\": \"random\", \"fixed_stable_pose_idx\": 0, \"target_stable_indices\": [0], \"target_rotate_z\": {\"low\": 0.0, \"high\": 6.283185307179586}, \"articulated_region\": null, \"articulated_rotate_z\": null, \"container_rotate_z\": {\"low\": 1.57, \"high\": 1.57}, \"obj_surface_map\": {\"target\": \"table\", \"container\": \"table2\", \"distractor\": [\"table\", \"table\", \"table\", \"table2\"]}}, \"camera\": {\"randmizer_class\": \"simple.dr.camera.CameraDR\", \"cam_id\": \"franka_camera\"}, \"scene\": {\"randmizer_class\": \"simple.dr.scene.TabletopSceneDR\", \"scene_mode\": null, \"table_size\": null, \"table_position\": {\"low\": [0, -0.5], \"high\": [0, -0.5]}, \"table_height\": {\"low\": 0.67, \"high\": 0.67}, \"rotation_z\": null, \"room_choices\": [\"hssd:scene14\"], \"scene_manager\": \"hssd\", \"enable_table2\": true, \"table2_size\": null, \"table2_position\": {\"low\": [0.7, 1.5], \"high\": [0.7, 1.5]}, \"table2_height\": {\"low\": 0.67, \"high\": 0.67}, \"table2_rotation_z\": {\"low\": 1.57, \"high\": 1.57}}, \"lighting\": {\"randmizer_class\": \"simple.dr.lighting.LightingDR\", \"light_mode\": \"random\", \"light_num\": [2, 3], \"light_color_temperature\": {\"low\": 6001, \"high\": 8001}, \"light_intensity\": {\"low\": 50000.0, \"high\": 50000.0}, \"light_radius\": {\"low\": 0.08, \"high\": 0.12}, \"light_length\": {\"low\": 0.51, \"high\": 2.1}, \"light_spacing\": {\"low\": [1.0, 1.0], \"high\": [2.5, 2.5]}, \"light_position\": {\"low\": [-1.1, -1.1, 1.3], \"high\": [1.1, 1.1, 1.5]}, \"light_eulers\": {\"low\": [0, 0, -1.5707963267948966], \"high\": [0, 0, 1.5707963267948966]}}, \"material\": {\"randmizer_class\": \"simple.dr.material.MaterialDR\", \"material_mode\": \"rand_all\"}}, \"dr_state_dict\": {\"language\": \" pick up the {} from table1,hug the container,walk to table2,and place  on table2.\", \"target\": {\"res_id\": \"graspnet1b\", \"uid\": \"12\", \"label\": \"apple\", \"name\": \"apple\", \"usd_path\": \"/home/wsco/NewDisk/SIMPLE/data/assets/graspnet/ruled_models/012_ruled.usd\", \"description\": \"todo\"}, \"container\": {\"res_id\": \"objects\", \"uid\": \"0\", \"label\": \"brasket\", \"name\": \"brasket\", \"usd_path\": \"/home/wsco/NewDisk/SIMPLE/data/assets/objects/ruled_models/000_ruled.usd\", \"description\": \"todo\"}, \"distractors\": {\"2\": {\"res_id\": \"graspnet1b\", \"uid\": \"2\", \"label\": \"tomato_soup_can\", \"name\": \"tomato soup can\", \"usd_path\": \"/home/wsco/NewDisk/SIMPLE/data/assets/graspnet/ruled_models/002_ruled.usd\", \"description\": \"todo\"}}, \"spatial\": {\"g1_sonic\": {\"position\": [0.0496733384231996, 1.0, 0.0], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"container_0\": {\"position\": [0.39627495408058167, 1.0, 0.6819999814033508], \"quaternion\": [0.5001990420599418, 0.5001990420599415, 0.4998008786730139, 0.49980087867301404]}, \"12\": {\"position\": [0.3089490234851837, 1.253806471824646, 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diff --git a/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-0/meta/episodes_stats.jsonl b/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-0/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6ce5adb673aa2c4cd99350cb11cde8dabbd6da8e
--- /dev/null
+++ b/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-0/meta/episodes_stats.jsonl
@@ -0,0 +1,10 @@
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diff --git a/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-0/meta/info.json b/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-0/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7167220777cc8d042ee0b2d092d54adcd14b795
--- /dev/null
+++ b/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-0/meta/info.json
@@ -0,0 +1,286 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 10,
+    "total_frames": 10,
+    "total_tasks": 1,
+    "total_videos": 10,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 50,
+    "splits": {
+        "train": "0:10"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.images.ego_view": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint"
+            ]
+        },
+        "observation.eef_state": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "action": {
+            "dtype": "float64",
+            "shape": [
+                43
+            ],
+            "names": [
+                "left_hip_pitch_joint",
+                "left_hip_roll_joint",
+                "left_hip_yaw_joint",
+                "left_knee_joint",
+                "left_ankle_pitch_joint",
+                "left_ankle_roll_joint",
+                "right_hip_pitch_joint",
+                "right_hip_roll_joint",
+                "right_hip_yaw_joint",
+                "right_knee_joint",
+                "right_ankle_pitch_joint",
+                "right_ankle_roll_joint",
+                "waist_yaw_joint",
+                "waist_roll_joint",
+                "waist_pitch_joint",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "left_wrist_pitch_joint",
+                "left_wrist_yaw_joint",
+                "left_hand_index_0_joint",
+                "left_hand_index_1_joint",
+                "left_hand_middle_0_joint",
+                "left_hand_middle_1_joint",
+                "left_hand_thumb_0_joint",
+                "left_hand_thumb_1_joint",
+                "left_hand_thumb_2_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint",
+                "right_wrist_pitch_joint",
+                "right_wrist_yaw_joint",
+                "right_hand_index_0_joint",
+                "right_hand_index_1_joint",
+                "right_hand_middle_0_joint",
+                "right_hand_middle_1_joint",
+                "right_hand_thumb_0_joint",
+                "right_hand_thumb_1_joint",
+                "right_hand_thumb_2_joint"
+            ]
+        },
+        "action.eef": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "observation.img_state_delta": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": "img_state_delta"
+        },
+        "teleop.navigate_command": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "lin_vel_x",
+                "lin_vel_y",
+                "ang_vel_z",
+                "target_yaw"
+            ]
+        },
+        "teleop.base_height_command": {
+            "dtype": "float64",
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+                6
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+            "names": [
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\ No newline at end of file
diff --git a/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-0/meta/modality.json b/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..00ba8ac0c2da04e7c8a9ff7759c4bb1ee1ed8b91
--- /dev/null
+++ b/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-0/meta/modality.json
@@ -0,0 +1,147 @@
+{
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+            "end": 7,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
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+            "end": 10,
+            "original_key": "observation.eef_state"
+        },
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+            "end": 14,
+            "original_key": "observation.eef_state",
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+            "end": 3,
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+            "end": 1,
+            "original_key": "teleop.base_height_command"
+        },
+        "navigate_command": {
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+            "end": 4,
+            "original_key": "teleop.navigate_command"
+        }
+    },
+    "video": {
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+            "original_key": "observation.images.ego_view"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}
\ No newline at end of file
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+++ b/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-1/meta/episodes.jsonl
@@ -0,0 +1,10 @@
+{"episode_index": 0, "tasks": [" pick up the apple from table1,hug the container,walk to table2,and place  on table2."], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_pick_and_place_and_hug_container_teleop\", \"label\": \"G1 Pick and Place and Hug Container Teleop\", \"description\": \"A task where the G1 robot must pick up an object and place it on a container and hug the container ,walk to the next table and place the container.\", \"metadata\": {\"physics_dt\": 0.005, \"control_hz\": 200, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"reward_dt\": 0.02, \"image_dt\": 0.033333, \"need_gravity\": true, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_sonic\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}}, \"dr_cfgs\": {\"language\": {\"randmizer_class\": \"simple.dr.language.LanguageDR\", \"instructions\": [\" pick up the {} from table1,hug the container,walk to table2,and place  on table2.\"]}, \"target\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"graspnet1b:12\"}, \"container\": {\"randmizer_class\": \"simple.dr.target.TargetDR\", \"asset_id\": \"objects:0\"}, \"distractors\": {\"randmizer_class\": \"simple.dr.distractor.DistractorDR\", \"res_id\": \"graspnet1b\", \"number_of_distractors\": 1, \"allow_duplicates\": false, \"include\": [\"2\"], \"exclude\": [\"0\", \"46\", \"6\", \"12\"]}, \"spatial\": {\"randmizer_class\": \"simple.dr.spatial.SpatialDR\", \"robot_region\": {\"low\": [0.03, 1.0, 0], \"high\": [0.05, 1.0, 0]}, \"robot_orientation_region\": null, \"target_region\": {\"low\": [0.27, 1.25], \"high\": [0.32, 1.3]}, \"container_region\": {\"low\": [0.39, 1], \"high\": [0.42, 1]}, \"distractors_region\": [{\"low\": [0.28, 0.73], \"high\": 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\"center_light_postion\": [-0.009338669980190284, 0.38789316184472833, 1.4872456465799346], \"center_light_orientation\": [0.8258738964317528, 0.0, 0.0, -0.5638548635887027]}, \"Light_1_2\": {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4016181652520467, 1.0606890721128819, 0.0]}, \"light_radius\": 0.1061385381601331, \"light_length\": 1.8880168348044764, \"light_intensity\": 50000.0, \"light_color_temperature\": 6517.154502868217, \"center_light_postion\": [-0.009338669980190284, 0.38789316184472833, 1.4872456465799346], \"center_light_orientation\": [0.8258738964317528, 0.0, 0.0, -0.5638548635887027]}}, \"material\": {\"table_material\": {\"path\": \"data/vMaterials_2/Fabric/Fabric_Cotton_Pique_Weave.mdl\", \"name\": \"Fabric_Cotton_Pique_Weave_Carulean\"}, \"ground_material\": {\"path\": \"data/vMaterials_2/Other/Food/Jelly.mdl\", \"name\": \"Jelly_Green_Apple\"}, \"robot_shader_params\": {\"reflection_roughness_constant\": 0.7997598629477811, 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0.38789316184472833, 1.4872456465799346], \"center_light_orientation\": [0.8258738964317528, 0.0, 0.0, -0.5638548635887027]}, {\"uid\": \"Light_1_2\", \"type\": \"CylinderLight\", \"pose\": {\"position\": [2.4016181652520467, 1.0606890721128819, 0.0]}, \"light_radius\": 0.1061385381601331, \"light_length\": 1.8880168348044764, \"light_intensity\": 50000.0, \"light_color_temperature\": 6517.154502868217, \"center_light_postion\": [-0.009338669980190284, 0.38789316184472833, 1.4872456465799346], \"center_light_orientation\": [0.8258738964317528, 0.0, 0.0, -0.5638548635887027]}], \"cameras\": {\"head_stereo_left\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 224.06641222710718, \"fx\": 224.06641222710718, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}, \"head_stereo_right\": {\"cam_id\": \"head_stereo\", \"cam_cfg\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": {\"position\": [0.0, 0.0, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"baseline\": 0.05}, \"pose\": {\"position\": [0.0, -0.05, 0.0], \"quaternion\": [1, 0, 0, 0]}, \"fy\": 224.06641222710718, \"fx\": 224.06641222710718, \"cx\": 320.0, \"cy\": 180.0, \"mount\": \"eye_in_head\", \"resolution\": [640, 360], \"focal_length\": 1.93}}, \"scene\": {\"uid\": \"hssd:scene14\", \"conf\": {\"uid\": \"scene14\", \"data_dir\": \"scenes/hssd\", \"name\": \"102344307\", \"default_prim_path\": \"/World/scene\", \"scale\": 1.0, \"hide_ceilings\": true, \"hide_walls\": false, \"center_offset_limit_up\": [0.0, 0.1, 0.0], \"center_offset_limit_down\": [0.0, 0.4, 0.0], \"center_orientation_limit_up\": [90, 0, -15], \"center_orientation_limit_down\": [90, 0, 15], \"table_size\": [2.8, 1, 0.9], \"table2_size\": [2.4, 1, 0.9], \"table2_position\": [0, 2.5, 0.0], \"surface\": {\"category\": \"kitchentable\", \"prim_path\": \"/World/furniture/node_7903d5a77d900067dd9031caf2f229776d800d4\"}, \"surface2\": {\"category\": \"dinningtable\", \"prim_path\": \"/World/furniture/e3ea77bd63ceaa2d05ff5d18c85d854526fe6267\"}}, \"name\": \"102344307\", \"data_dir\": \"scenes/hssd/102344307\", \"center_offset\": [0.0, 0.25, 0.0], \"center_orientation\": [90.0, 0.0, 0.0], \"table\": {\"uid\": \"box\", \"size\": [2.8, 1.0, 0.1], \"pose\": {\"position\": [0.0, -0.5, 0.62], \"quaternion\": [1.0, 0.0, 0.0, 0.0]}, \"material\": {\"path\": \"data/vMaterials_2/Fabric/Fabric_Cotton_Pique_Weave.mdl\", \"name\": \"Fabric_Cotton_Pique_Weave_Carulean\"}}, \"table2\": {\"uid\": \"box\", \"size\": [2.4, 1.0, 0.1], \"pose\": {\"position\": [0.7, 1.5, 0.62], \"quaternion\": [0.7073882691671998, 0.0, 0.0, 0.706825181105366]}}}, \"scene_info\": {}}, \"container_uid\": \"0\"}"}
diff --git a/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-1/meta/episodes.jsonl.pre-fk b/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-1/meta/episodes.jsonl.pre-fk
new file mode 100644
index 0000000000000000000000000000000000000000..e4c6219eac102a1deb7ad520c18f2135f538e2de
--- /dev/null
+++ b/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-1/meta/episodes.jsonl.pre-fk
@@ -0,0 +1,10 @@
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diff --git a/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-1/meta/episodes_stats.jsonl b/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6ce5adb673aa2c4cd99350cb11cde8dabbd6da8e
--- /dev/null
+++ b/G1WholebodyPickAndPlaceAndHugContainerTeleop-v0/dr-level-1/meta/episodes_stats.jsonl
@@ -0,0 +1,10 @@
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