Upload folder using huggingface_hub

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bccd8dba2bb925fa8544134c270d298317b92503bde5a63010cb604d8e255eed
+size 599521

data/chunk-000/episode_000001.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6163473ad70d2df61553265423476e1af3ff3b54de1f70e48cdaeabc09e766f7
+size 637217

data/chunk-000/episode_000002.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:619a0f9cc5baf859fcfd49428ee082f7a2aa23478fc935473987c34f58d77775
+size 646334

data/chunk-000/episode_000003.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a07f693f1511e6f224fe25c23c66f28d09f5dbec19623a443a36157ee6ba5bc6
+size 660363

data/chunk-000/episode_000004.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:433a1ad21980834a306c0564df2133806cf27f3353a791314e56c2d5ca0e8750
+size 616641

data/chunk-000/episode_000005.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccce0f58afa712db861c30a3261b919fc61bc8ebdd5c4c6340640590443df005
+size 632011

data/chunk-000/episode_000006.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9c07a9e722b207ed6cf2cd8cf3d8709103c0fa5806ffea62d04762f16a58ccb
+size 668709

data/chunk-000/episode_000007.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbcdda6ef6750a2308e2bd1c99b8ec8c713d402f88ecfd20096f1c708dd35ada
+size 669014

data/chunk-000/episode_000008.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f16270a7a1693dbae0a63f07c01318d11ae412d7a92dc9368bc5b375c40e7e12
+size 644650

data/chunk-000/episode_000009.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a886d5bea78392c86c2ac4c288e27261e36a15156b0b0714f06d78c62ff19040
+size 694448

data/chunk-000/episode_000010.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5771615b389134461da9ab26e5c7d3868d444f604f8d7c064f688a7df3a6c7ec
+size 684317

data/chunk-000/episode_000011.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e43f3d0cd0c05a8ca358193d7fceb2dfe8b323d2437efdd13888248489bb37da
+size 738792

data/chunk-000/episode_000012.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee311d9fa6ae29bd3764aef62f344da9fac0d7b13f6ceedf8f15df78f706ce7b
+size 693452

data/chunk-000/episode_000013.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69b63ded2c0212cac3ec882082f977f1e280f162dcd105e3771b20b9462f51d4
+size 770884

data/chunk-000/episode_000014.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edd77a1245f7bde81fc975b2c36b07a4edeb984a3de82b8b26092a239230faa4
+size 681750

data/chunk-000/episode_000015.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:554814200a72109ae298a27357de4ffca24374c64c9a6e0c040fcf0e4923dfbe
+size 691062

data/chunk-000/episode_000016.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56e02c54c16d04f412745f39cf168127d41beb70208c3b3fa419d57501072373
+size 782899

data/chunk-000/episode_000017.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67fe4078173c4e79c8ade42c9e84175a65451ce8a3216b5c27ca4cdf4aed4509
+size 542776

data/chunk-000/episode_000018.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d124718c53fd2d3e9252ed527f9bb25b932b794e4552c751d6e86ef7ed33a992
+size 609608

data/chunk-000/episode_000019.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd1cd48891856316c11daa89731db36b63ca98bea0cec8a3b292631ed8596706
+size 638308

data/chunk-000/episode_000020.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36e0b28b09e2656831f07c96dff7eea394d4d536e2cb07a61cba194f41ab2f7f
+size 670352

data/chunk-000/episode_000021.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aa15ec5164272d353b7069a6658623d123705c0ed9ff8a956b05258d6ec8614
+size 649045

data/chunk-000/episode_000022.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c890bacec2a80d223ca9370d1c5772e1f8546269788f3621fa165a5d564d11cb
+size 615669

data/chunk-000/episode_000023.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddf02401979ab543d8c1ad9b6ec14ff1d3d5d3347c0ca8d6047818c374de2791
+size 622341

data/chunk-000/episode_000024.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf1998aea42a0323ce24dfc0d7194ad277f48808b32da20d07ce219f6998ef9d
+size 646752

data/chunk-000/episode_000025.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1b34c5186cd564959705b719c1a35747b4245bc96c8bc2ea2858bb9ff8f2ecb
+size 636723

data/chunk-000/episode_000026.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9148f9982a061445789bc9058f346126e241b134b0dc4c1678a5cfce6563177
+size 684167

data/chunk-000/episode_000027.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c37e167ec16eeb131258af0d4f1a8573bc646c145fb8cc6d173c32b718e53659
+size 579062

data/chunk-000/episode_000028.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa540e16d4623230d63e38cd97e69f1d90b7220d1e0b15c9f199cdcc4e493003
+size 758186

data/chunk-000/episode_000029.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c6d1ae3ff634e37cc5c6f5a623be4b3c1c26ab929374a70b03a0e0c8f8f9c60
+size 790078

data/chunk-000/episode_000030.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b97dc05d120466cac464a8018328b9a01ab98acb622571bb6c07c9373497599
+size 821318

data/chunk-000/episode_000031.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81c90dedf8e03d921ca488703b0dc925ee471a2d6128eb1f0a1a7fcb0738d4ce
+size 736292

data/chunk-000/episode_000032.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58d2cc5e3410b97d9f9708e9e0903f107fd1975b3bcd2b1aaccd1a01b592847a
+size 711575

data/chunk-000/episode_000033.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b80bf066d32570042088ce91be79a9bbf455a5aa32e81abae14bb4c36b32c8ba
+size 696911

data/chunk-000/episode_000034.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:584b2f6260373fd375a799d75065a8cd00b756d00425a92146f4b6f55202ef46
+size 702647

data/chunk-000/episode_000035.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b24fe335c4f75585cf9f9fd065d95b4d232f780ae1c77f3ac0164290ba118c6e
+size 691896

data/chunk-000/episode_000036.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fda73a813167a3124f5fe789bd4e3f4f769c015eabcb02cd0010866e0b4b585b
+size 769343

data/chunk-000/episode_000037.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83afb37176d70470b781d706398db327599f2b9a7a31df95c16b32d0a4f6db49
+size 758445

data/chunk-000/episode_000038.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b3dccb586f1979f06793ea0d78bb37dbe74ce177a9f154f97a85d19ae63009d
+size 644902

data/chunk-000/episode_000039.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c69e2bb3d4b1a04db63daeeb130f728b1e1e859944f43e3b2e4ff1ff8140c9f4
+size 690280

meta/episodes.jsonl

@@ -0,0 +1,40 @@
+{"episode_index": 0, "tasks": ["Sort the boxes."], "length": 467}
+{"episode_index": 1, "tasks": ["Sort the boxes."], "length": 508}
+{"episode_index": 2, "tasks": ["Sort the boxes."], "length": 508}
+{"episode_index": 3, "tasks": ["Sort the boxes."], "length": 522}
+{"episode_index": 4, "tasks": ["Sort the boxes."], "length": 490}
+{"episode_index": 5, "tasks": ["Sort the boxes."], "length": 496}
+{"episode_index": 6, "tasks": ["Sort the boxes."], "length": 537}
+{"episode_index": 7, "tasks": ["Sort the boxes."], "length": 525}
+{"episode_index": 8, "tasks": ["Sort the boxes."], "length": 504}
+{"episode_index": 9, "tasks": ["Sort the boxes."], "length": 541}
+{"episode_index": 10, "tasks": ["Sort the boxes."], "length": 535}
+{"episode_index": 11, "tasks": ["Sort the boxes."], "length": 591}
+{"episode_index": 12, "tasks": ["Sort the boxes."], "length": 543}
+{"episode_index": 13, "tasks": ["Sort the boxes."], "length": 608}
+{"episode_index": 14, "tasks": ["Sort the boxes."], "length": 536}
+{"episode_index": 15, "tasks": ["Sort the boxes."], "length": 552}
+{"episode_index": 16, "tasks": ["Sort the boxes."], "length": 689}
+{"episode_index": 17, "tasks": ["Sort the boxes."], "length": 439}
+{"episode_index": 18, "tasks": ["Sort the boxes."], "length": 507}
+{"episode_index": 19, "tasks": ["Sort the boxes."], "length": 519}
+{"episode_index": 20, "tasks": ["Sort the boxes."], "length": 543}
+{"episode_index": 21, "tasks": ["Sort the boxes."], "length": 521}
+{"episode_index": 22, "tasks": ["Sort the boxes."], "length": 503}
+{"episode_index": 23, "tasks": ["Sort the boxes."], "length": 493}
+{"episode_index": 24, "tasks": ["Sort the boxes."], "length": 531}
+{"episode_index": 25, "tasks": ["Sort the boxes."], "length": 526}
+{"episode_index": 26, "tasks": ["Sort the boxes."], "length": 565}
+{"episode_index": 27, "tasks": ["Sort the boxes."], "length": 465}
+{"episode_index": 28, "tasks": ["Sort the boxes."], "length": 616}
+{"episode_index": 29, "tasks": ["Sort the boxes."], "length": 634}
+{"episode_index": 30, "tasks": ["Sort the boxes."], "length": 681}
+{"episode_index": 31, "tasks": ["Sort the boxes."], "length": 603}
+{"episode_index": 32, "tasks": ["Sort the boxes."], "length": 583}
+{"episode_index": 33, "tasks": ["Sort the boxes."], "length": 574}
+{"episode_index": 34, "tasks": ["Sort the boxes."], "length": 578}
+{"episode_index": 35, "tasks": ["Sort the boxes."], "length": 566}
+{"episode_index": 36, "tasks": ["Sort the boxes."], "length": 626}
+{"episode_index": 37, "tasks": ["Sort the boxes."], "length": 620}
+{"episode_index": 38, "tasks": ["Sort the boxes."], "length": 529}
+{"episode_index": 39, "tasks": ["Sort the boxes."], "length": 587}

meta/info.json

@@ -0,0 +1,408 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 40,
+    "total_frames": 21961,
+    "total_tasks": 1,
+    "total_videos": 40,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 50,
+    "splits": {
+        "train": "0:40"
+    },
+    "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": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 50,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.state": {
+            "dtype": "float64",
+            "shape": [
+                23
+            ],
+            "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",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint"
+            ]
+        },
+        "observation.eef_state": {
+            "dtype": "float64",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_wrist_pos",
+                "left_wrist_abs_quat",
+                "right_wrist_pos",
+                "right_wrist_abs_quat"
+            ]
+        },
+        "action.wbc": {
+            "dtype": "float64",
+            "shape": [
+                23
+            ],
+            "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",
+                "left_shoulder_pitch_joint",
+                "left_shoulder_roll_joint",
+                "left_shoulder_yaw_joint",
+                "left_elbow_joint",
+                "left_wrist_roll_joint",
+                "right_shoulder_pitch_joint",
+                "right_shoulder_roll_joint",
+                "right_shoulder_yaw_joint",
+                "right_elbow_joint",
+                "right_wrist_roll_joint"
+            ]
+        },
+        "observation.root_orientation": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "base_qw",
+                "base_qx",
+                "base_qy",
+                "base_qz"
+            ]
+        },
+        "observation.projected_gravity": {
+            "dtype": "float64",
+            "shape": [
+                3
+            ],
+            "names": [
+                "gravity_x",
+                "gravity_y",
+                "gravity_z"
+            ]
+        },
+        "observation.cpp_rotation_offset": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "rot_offset_qw",
+                "rot_offset_qx",
+                "rot_offset_qy",
+                "rot_offset_qz"
+            ]
+        },
+        "observation.init_base_quat": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "init_base_qw",
+                "init_base_qx",
+                "init_base_qy",
+                "init_base_qz"
+            ]
+        },
+        "teleop.delta_heading": {
+            "dtype": "float64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "delta_heading"
+            ]
+        },
+        "action.motion_token": {
+            "dtype": "float64",
+            "shape": [
+                64
+            ],
+            "names": "motion_token"
+        },
+        "teleop.smpl_joints": {
+            "dtype": "float32",
+            "shape": [
+                72
+            ],
+            "names": "smpl_joints"
+        },
+        "teleop.smpl_pose": {
+            "dtype": "float32",
+            "shape": [
+                63
+            ],
+            "names": "smpl_pose"
+        },
+        "teleop.body_quat_w": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": "body_quat_w"
+        },
+        "teleop.target_body_orientation": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "target_body_r00",
+                "target_body_r10",
+                "target_body_r01",
+                "target_body_r11",
+                "target_body_r02",
+                "target_body_r12"
+            ]
+        },
+        "teleop.left_hand_joints": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": "left_hand_joints"
+        },
+        "teleop.right_hand_joints": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": "right_hand_joints"
+        },
+        "teleop.smpl_frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": [
+                "smpl_frame_index"
+            ]
+        },
+        "teleop.left_wrist_joints": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                "left_wrist_roll",
+                "left_wrist_pitch",
+                "left_wrist_yaw"
+            ]
+        },
+        "teleop.right_wrist_joints": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                "right_wrist_roll",
+                "right_wrist_pitch",
+                "right_wrist_yaw"
+            ]
+        },
+        "teleop.stream_mode": {
+            "dtype": "int32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "stream_mode"
+            ]
+        },
+        "teleop.planner_mode": {
+            "dtype": "int32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "locomotion_mode"
+            ]
+        },
+        "teleop.planner_movement": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                "movement_x",
+                "movement_y",
+                "movement_z"
+            ]
+        },
+        "teleop.planner_facing": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                "facing_x",
+                "facing_y",
+                "facing_z"
+            ]
+        },
+        "teleop.planner_speed": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "speed"
+            ]
+        },
+        "teleop.planner_height": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "height"
+            ]
+        },
+        "teleop.vr_3pt_position": {
+            "dtype": "float32",
+            "shape": [
+                9
+            ],
+            "names": [
+                "lwrist_x",
+                "lwrist_y",
+                "lwrist_z",
+                "rwrist_x",
+                "rwrist_y",
+                "rwrist_z",
+                "neck_x",
+                "neck_y",
+                "neck_z"
+            ]
+        },
+        "teleop.vr_3pt_orientation": {
+            "dtype": "float32",
+            "shape": [
+                18
+            ],
+            "names": [
+                "lwrist_r00",
+                "lwrist_r10",
+                "lwrist_r01",
+                "lwrist_r11",
+                "lwrist_r02",
+                "lwrist_r12",
+                "rwrist_r00",
+                "rwrist_r10",
+                "rwrist_r01",
+                "rwrist_r11",
+                "rwrist_r02",
+                "rwrist_r12",
+                "neck_r00",
+                "neck_r10",
+                "neck_r01",
+                "neck_r11",
+                "neck_r02",
+                "neck_r12"
+            ]
+        },
+        "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": {
+        "control_frequency": 50.0,
+        "encoder_file": "policy/g1_23dof/model_encoder.onnx",
+        "is_using_encoder": true,
+        "model_path": "policy/g1_23dof/model_decoder.onnx",
+        "obs_config_path": "policy/g1_23dof/observation_config.yaml",
+        "planner_fp16": false,
+        "planner_frequency": 10.0,
+        "planner_path": "planner/target_vel/V2/planner_sonic.onnx",
+        "policy_fp16": false,
+        "reference_motion_path": "reference/example/",
+        "record_wrist_cameras": false
+    },
+    "discarded_episode_indices": []
+}

meta/modality.json

@@ -0,0 +1,174 @@
+{
+    "state": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 13
+        },
+        "left_arm": {
+            "start": 13,
+            "end": 18
+        },
+        "right_arm": {
+            "start": 18,
+            "end": 23
+        },
+        "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"
+        },
+        "root_orientation": {
+            "start": 0,
+            "end": 4,
+            "original_key": "observation.root_orientation",
+            "rotation_type": "quaternion"
+        },
+        "projected_gravity": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.projected_gravity"
+        },
+        "cpp_rotation_offset": {
+            "start": 0,
+            "end": 4,
+            "original_key": "observation.cpp_rotation_offset",
+            "rotation_type": "quaternion"
+        },
+        "init_base_quat": {
+            "start": 0,
+            "end": 4,
+            "original_key": "observation.init_base_quat",
+            "rotation_type": "quaternion"
+        }
+    },
+    "action": {
+        "delta_heading": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.delta_heading"
+        },
+        "motion_token": {
+            "start": 0,
+            "end": 64,
+            "original_key": "action.motion_token"
+        },
+        "smpl_joints": {
+            "start": 0,
+            "end": 72,
+            "original_key": "teleop.smpl_joints"
+        },
+        "smpl_pose": {
+            "start": 0,
+            "end": 63,
+            "original_key": "teleop.smpl_pose"
+        },
+        "body_quat_w": {
+            "start": 0,
+            "end": 4,
+            "original_key": "teleop.body_quat_w",
+            "rotation_type": "quaternion"
+        },
+        "target_body_orientation": {
+            "start": 0,
+            "end": 6,
+            "original_key": "teleop.target_body_orientation",
+            "rotation_type": "rotation_6d"
+        },
+        "left_hand_joints": {
+            "start": 0,
+            "end": 7,
+            "original_key": "teleop.left_hand_joints"
+        },
+        "right_hand_joints": {
+            "start": 0,
+            "end": 7,
+            "original_key": "teleop.right_hand_joints"
+        },
+        "left_wrist_joints": {
+            "start": 0,
+            "end": 3,
+            "original_key": "teleop.left_wrist_joints"
+        },
+        "right_wrist_joints": {
+            "start": 0,
+            "end": 3,
+            "original_key": "teleop.right_wrist_joints"
+        },
+        "stream_mode": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.stream_mode"
+        },
+        "planner_mode": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.planner_mode"
+        },
+        "planner_movement": {
+            "start": 0,
+            "end": 3,
+            "original_key": "teleop.planner_movement"
+        },
+        "planner_facing": {
+            "start": 0,
+            "end": 3,
+            "original_key": "teleop.planner_facing"
+        },
+        "planner_speed": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.planner_speed"
+        },
+        "planner_height": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.planner_height"
+        },
+        "vr_3pt_position": {
+            "start": 0,
+            "end": 9,
+            "original_key": "teleop.vr_3pt_position"
+        },
+        "vr_3pt_orientation": {
+            "start": 0,
+            "end": 18,
+            "original_key": "teleop.vr_3pt_orientation",
+            "rotation_type": "rotation_6d"
+        }
+    },
+    "video": {
+        "ego_view": {
+            "original_key": "observation.images.ego_view"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Sort the boxes."}

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a882a630f5e15c7199613f95a85988be8bb5d2c226a2918fc5c3ada86b0f7dd6
+size 1171034

videos/chunk-000/observation.images.ego_view/episode_000001.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce408fa9a80f169551b42ccf42c7e311a3cd494df4084f1b492f5ea665716cb7
+size 1237906

videos/chunk-000/observation.images.ego_view/episode_000002.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e213be3b97a3f4994323bfdba383b99e750d4d678dfab0ccf3e007e479952708
+size 1245218

videos/chunk-000/observation.images.ego_view/episode_000003.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dadb2899f48c05abf9fe9540679c40fb7e26a86b857fe4cc2c4de357a8c1ac83
+size 1306977

videos/chunk-000/observation.images.ego_view/episode_000004.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80ba3c3d5965e39ecc94df71ceb643b000ed341b77d82cf2f4fc22777972c7ef
+size 1228445