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data/chunk-000/episode_000000.parquet

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meta/episodes.jsonl

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meta/episodes_stats.jsonl

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meta/info.json

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+        "wbc_policy_class": "G1DecoupledWholeBodyPolicy",
+        "interface": "eno1",
+        "simulator": "mujoco",
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+        "enable_offscreen": false,
+        "enable_onscreen": true,
+        "upper_body_joint_speed": 1000,
+        "env_name": "default",
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+        "keyboard_dispatcher_type": "raw",
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+        "body_control_device": "dummy",
+        "hand_control_device": "dummy",
+        "body_streamer_ip": "10.112.210.229",
+        "body_streamer_keyword": "knee",
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+        "enable_upper_body_operation": true,
+        "upper_body_operation_mode": "teleop"
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+    "data_collection_info": {
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+        "teleoperator_username": "NEW_USER",
+        "support_operator_username": "NEW_USER",
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+        "robot_id": "sim"
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+}

meta/modality.json

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+{
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+            "rotation_type": "quaternion"
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+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "pick and place"}

videos/chunk-000/observation.images.ego_view/episode_000000.mp4

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