Add files using upload-large-folder tool

.gitattributes

@@ -58,3 +58,7 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+episodes/disk-15/Turn_on_the_desk_lamp/开关台灯_1/开关台灯_1_0.mcap filter=lfs diff=lfs merge=lfs -text
+episodes/disk-5/Fold_the_purple_towel/叠紫色毛巾-重制版_1/叠紫色毛巾-重制版_1_0.mcap filter=lfs diff=lfs merge=lfs -text
+episodes/disk-12/Make_a_sandwich/制作三明治_1/制作三明治_1_0.mcap filter=lfs diff=lfs merge=lfs -text
+episodes/disk-1/Make_coffee/制作咖啡_1/制作咖啡_1_0.mcap filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,65 @@
+# 真机原始轨迹样本（2026-07-20）
+
+本目录从远程 OSS `oss://ss-oss1/data/dataset/external_robotic_data/` 收集了 4 条正常目录下的原始真机轨迹。数据保持原始 MCAP/JPEG/ROS2 物理量和时间戳，未做归一化、拼图、resize、降采样或视频重编码。
+
+## 样本
+
+| 任务 | Episode | 时长 | MCAP 大小 | RGB | 控制/状态 |
+|---|---:|---:|---:|---|---|
+| 制作咖啡 | 1 | 73.776 s | 1,568,867,100 B | 4 路，1280×720，约 30 FPS | 双臂约 200 Hz |
+| 叠紫色毛巾-重制版 | 1 | 43.094 s | 957,553,080 B | 4 路，1280×720，约 30 FPS | 双臂约 200 Hz |
+| 制作三明治 | 1 | 43.478 s | 945,035,379 B | 4 路，1280×720，约 30 FPS | 双臂约 200 Hz |
+| 开关台灯 | 1 | 27.477 s | 420,049,075 B | 4 路，1280×720，约 30 FPS | 双臂约 200 Hz |
+
+原始 episode 位于 `episodes/`，任务级 instruction/annotation 位于 `task_metadata/`。逐文件 SHA-256 见 `SHA256SUMS`，机器可读清单见 `manifest.json`。
+
+## 文档字段映射
+
+### RGB
+
+- `head_camera` / 顶部正面：`/camera_f/color/image_raw`
+- `left_wrist_camera`：`/camera_l/color/image_raw`
+- `right_wrist_camera`：`/camera_r/color/image_raw`
+- 额外正面左侧相机：`/camera_fl/color/image_raw`
+- 图像编码：原始 JPEG `sensor_msgs/msg/CompressedImage`
+- 原始分辨率：四路均为 1280×720
+- 时间戳：每条消息同时保留 ROS header timestamp 与 MCAP log/publish timestamp，单位为纳秒
+- 相机内参：对应 `/camera_{f,l,r,fl}/color/camera_info`
+- 相机外参：`/tf_static` 明确包含 `camera_front`、`camera_front_left`、`camera_left_wrist`、`camera_right_wrist`
+
+### Action
+
+最佳原始对应为 `/master/joint_left` 和 `/master/joint_right`：控制器收到的目标关节“指令回显”，约 200 Hz。
+
+- 类型：absolute joint position
+- 每臂原始消息：`[joint0, joint1, joint2, joint3, joint4, joint5, gripper]`
+- 统一 14D 顺序：`[L_j0..L_j5, R_j0..R_j5, L_gripper, R_gripper]`
+- 六个臂关节单位：rad
+- gripper 单位：m，约 `0=闭合`、`0.08=张开`
+- 时间戳：ROS header timestamp；MCAP 同时保留 log/publish timestamp
+
+注意：`/master/joint_*` 是指令回显，不是 ROS2 控制入口；这正适合作为“实际下发并被控制器接收的目标量”。
+
+### State
+
+- 关节/夹爪反馈：`/puppet/joint_left`、`/puppet/joint_right`，约 200 Hz
+- 14D 顺序与 action 相同：`[L_j0..L_j5, R_j0..R_j5, L_gripper, R_gripper]`
+- 单位：关节 rad，gripper m
+- 末端位姿反馈：`/puppet/end_pose_left`、`/puppet/end_pose_right`
+- 每臂末端位姿：`[x, y, z, qx, qy, qz, qw]`，位置单位 m
+
+### Metadata
+
+- instruction、episode 起止时间、FPS、topic 频率和消息数在 `*_info.json` 与任务级 `info.json` 中。
+- 机器人型号：Cobot Magic；制作咖啡、制作三明治、开关台灯的任务级 metadata 明确记录，毛巾样本由相同 topic/TF/设备数据模式确认。
+- 4 条样本均来自任务正常目录而不是 `abnormal/`；但源数据没有逐 episode 的显式布尔 `success` 字段，因此 `manifest.json` 中保留为 `null`。
+- 源 metadata 未提供急停、人工接管、控制中断的逐 episode 标记；不能据空缺推断为“未发生”。
+
+## 校验
+
+- OSS 下载命令全部成功，文件尺寸与远程对象完全一致。
+- 使用 MCAP reader 对 4 个文件全量顺序读取并启用 chunk CRC 校验。
+- 全量读取消息数分别与 `metadata.yaml` / `*_info.json` 一致：312,795、187,742、169,819、119,701。
+- 所需三路 RGB、左右 action/state 和左右末端位姿在全部样本中均非空。
+
+当前交付保留原始 MCAP，不额外生成 MP4/NPY，以避免无必要的重编码或同步重采样。如果后续需要文档推荐的 `episode_xxxxxx/{head.mp4, action.npy, ...}` 结构，应从 MCAP 按各自原始 timestamp 无损导出，并保留本目录作为不可变原始来源。

SHA256SUMS

@@ -0,0 +1,4 @@
+10f213a2c7ee7401aedbccae4fb9c5b1f0c28fe1e417e0aacb5b7bdfa0b8dbc4  episodes/disk-1/Make_coffee/制作咖啡_1/制作咖啡_1_0.mcap
+287fee0ce683997fbb55e264fc99da34736ca8498aadf38c4f92cf710eb18ec6  episodes/disk-5/Fold_the_purple_towel/叠紫色毛巾-重制版_1/叠紫色毛巾-重制版_1_0.mcap
+f72f67c8d4b4fc252dbbe97f679f11de6275ae46d233499a1b9f975ea52259dd  episodes/disk-12/Make_a_sandwich/制作三明治_1/制作三明治_1_0.mcap
+14c7b65d57ef625db755fa4fc1972e095517bb913e2aedee42347ab160d44908  episodes/disk-15/Turn_on_the_desk_lamp/开关台灯_1/开关台灯_1_0.mcap

episodes/disk-1/Make_coffee/制作咖啡_1/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 73776080128
+  starting_time:
+    nanoseconds_since_epoch: 1761966186162937344
+  message_count: 312795
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 197754
+    - topic_metadata:
+        name: /puppet/end_pose_right
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 14756
+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 14755
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2208
+    - topic_metadata:
+        name: /camera_fl/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2208
+    - topic_metadata:
+        name: /camera_f/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2209
+    - topic_metadata:
+        name: /camera_f/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2208
+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 14756
+    - topic_metadata:
+        name: /camera_f/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2209
+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 14755
+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 14755
+    - topic_metadata:
+        name: /camera_r/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2208
+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 14756
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2208
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2208
+    - topic_metadata:
+        name: /camera_l/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2207
+    - topic_metadata:
+        name: /camera_r/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2209
+    - topic_metadata:
+        name: /camera_fl/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2209
+    - topic_metadata:
+        name: /camera_fl/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 2208
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - 制作咖啡_1_0.mcap
+  files:
+    - path: 制作咖啡_1_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1761966186162937344
+      duration:
+        nanoseconds: 73776080128
+      message_count: 312795

episodes/disk-1/Make_coffee/制作咖啡_1/制作咖啡_1_0.mcap

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10f213a2c7ee7401aedbccae4fb9c5b1f0c28fe1e417e0aacb5b7bdfa0b8dbc4
+size 1568867100

episodes/disk-1/Make_coffee/制作咖啡_1/制作咖啡_1_0_info.json

@@ -0,0 +1,163 @@
+{
+    "data_info": {
+        "library": "libmcap 0.8.0",
+        "profile": "ros2",
+        "messages": 312795,
+        "start_time": "2025-11-01T11:03:06.162937344+08:00",
+        "start_timestamp": 1761966186.1629374,
+        "end_time": "2025-11-01T11:04:19.939017472+08:00",
+        "end_timestamp": 1761966259.9390175,
+        "channels": 20,
+        "attachments": 0,
+        "metadata": 1,
+        "topics": [
+            {
+                "topic": "/master/joint_left",
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+                "frequency": 200.0,
+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
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+                "count": 14756,
+                "frequency": 200.01,
+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
+            {
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+                "frequency": 200.0,
+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
+            {
+                "topic": "/puppet/joint_right",
+                "count": 14756,
+                "frequency": 200.01,
+                "type": "sensor_msgs/msg/JointState",
+                "serialization_format": "ros2msg"
+            },
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+                "frequency": 29.91,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
+            },
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+                "frequency": 29.93,
+                "type": "sensor_msgs/msg/CompressedImage",
+                "serialization_format": "ros2msg"
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+                "frequency": 29.94,
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+            },
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+                "type": "sensor_msgs/msg/CameraInfo",
+                "serialization_format": "ros2msg"
+            },
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+                "count": 2209,
+                "frequency": 29.94,
+                "type": "sensor_msgs/msg/CameraInfo",
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+                "frequency": 29.93,
+                "type": "sensor_msgs/msg/CameraInfo",
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+                "type": "sensor_msgs/msg/CameraInfo",
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+                "type": "realsense2_camera_msgs/msg/Metadata",
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+                "frequency": 200.01,
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+            },
+            {
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+                "count": 197754,
+                "frequency": 2680.46,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            },
+            {
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+                "count": 9,
+                "frequency": 0.12,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 1,
+        "task_id": "1984447886134599681",
+        "task_name": "制作咖啡",
+        "file_name": "制作咖啡_1_0.mcap",
+        "steps": "在桌面上放置如图所上的物品，在中间摄像头视线范围内，左臂抓起咖啡机的把手往中间推，右臂拿起咖啡粉倒入咖啡机中，把咖啡粉放置桌面上，然后右臂拿起杯子接咖啡停个两秒抓取杯子放置桌面上，左臂抓取把手回到原处，机械臂回到零点。;过程中物品不掉落;null"
+    }
+}

episodes/disk-12/Make_a_sandwich/制作三明治_1/metadata.yaml

@@ -0,0 +1,140 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 43478185472
+  starting_time:
+    nanoseconds_since_epoch: 1764122054708045056
+  message_count: 169819
+  topics_with_message_count:
+    - topic_metadata:
+        name: /tf_static
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
+      message_count: 9
+    - topic_metadata:
+        name: /tf
+        type: tf2_msgs/msg/TFMessage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 101992
+    - topic_metadata:
+        name: /puppet/end_pose_right
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 8696
+    - topic_metadata:
+        name: /puppet/end_pose_left
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 8696
+    - topic_metadata:
+        name: /camera_r/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 1303
+    - topic_metadata:
+        name: /camera_fl/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 1304
+    - topic_metadata:
+        name: /camera_f/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 1303
+    - topic_metadata:
+        name: /camera_f/color/image_raw
+        type: sensor_msgs/msg/CompressedImage
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 1304
+    - topic_metadata:
+        name: /master/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 8696
+    - topic_metadata:
+        name: /camera_f/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 1303
+    - topic_metadata:
+        name: /puppet/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 8696
+    - topic_metadata:
+        name: /master/joint_left
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 8696
+    - topic_metadata:
+        name: /camera_r/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 1303
+    - topic_metadata:
+        name: /puppet/joint_right
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 8696
+    - topic_metadata:
+        name: /camera_l/color/metadata
+        type: realsense2_camera_msgs/msg/Metadata
+        serialization_format: cdr
+        offered_qos_profiles: ""
+      message_count: 1304
+    - topic_metadata:
+        name: /camera_l/color/camera_info
+        type: sensor_msgs/msg/CameraInfo
+        serialization_format: cdr
+        offered_qos_profiles: ""
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+                "type": "tf2_msgs/msg/TFMessage",
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+        "task_name": "制作三明治",
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+        "steps": "在桌面上放置如图所上的物品，在中间摄像头视线范围内，左臂拿取番茄酱挤到三明治的第一层上，右边拿起第二层放在第一层的上面，左臂拿取番茄酱挤到第二层上，右边拿取第三层到第二层上，机械臂回到零点。;成功：过程中物品不掉落,动作流畅。;null"
+    }
+}

episodes/disk-15/Turn_on_the_desk_lamp/开关台灯_1/metadata.yaml

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+        "task_name": "开关台灯",
+        "file_name": "开关台灯_1_0.mcap",
+        "steps": "在桌面上放置如图所上的物品，在中间摄像头视线范围内，左臂拉取台灯拉环打开台灯，右臂拉去拉环关闭台灯，机械臂回到零点。"
+    }
+}

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+        offered_qos_profiles: ""
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+      duration:
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episodes/disk-5/Fold_the_purple_towel/叠紫色毛巾-重制版_1/叠紫色毛巾-重制版_1_0.mcap

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+size 957553080

episodes/disk-5/Fold_the_purple_towel/叠紫色毛巾-重制版_1/叠紫色毛巾-重制版_1_0_info.json

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+{
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+            },
+            {
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+                "count": 120531,
+                "frequency": 2796.93,
+                "type": "tf2_msgs/msg/TFMessage",
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+            },
+            {
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+                "count": 9,
+                "frequency": 0.21,
+                "type": "tf2_msgs/msg/TFMessage",
+                "serialization_format": "ros2msg"
+            }
+        ]
+    },
+    "task_info": {
+        "episode": 1,
+        "task_id": "1993495755620380674",
+        "task_name": "叠紫色毛巾-重制版",
+        "file_name": "叠紫色毛巾-重制版_1_0.mcap",
+        "steps": "在桌面上放置枫叶毛巾（在中间摄像头视线范围内），使用机械臂挑出紫色毛巾。左右夹⽖同时夹起⽑⼱两个⻆整理毛巾平放，然后向上对折，左右夹⽖同时夹起右⽅两个⻆，向右对折。机械臂回到零点;过程中物品不掉落;null"
+    }
+}

manifest.json

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+{
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+  "source_root": "oss://ss-oss1/data/dataset/external_robotic_data/",
+  "local_root": "/pfs/pfs-7jnepv/mjc/real_robot_raw_samples_20260720",
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+    "meaning": "controller-received target joint command echo",
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+    "local_size_matches_oss": true,
+    "message_count_matches_metadata": true
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+  "episodes": [
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+      "local": "episodes/disk-1/Make_coffee/制作咖啡_1/制作咖啡_1_0.mcap"
+    },
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+    },
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+      "local": "episodes/disk-12/Make_a_sandwich/制作三明治_1/制作三明治_1_0.mcap"
+    },
+    {
+      "task": "开关台灯",
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+      "local": "episodes/disk-15/Turn_on_the_desk_lamp/开关台灯_1/开关台灯_1_0.mcap"
+    }
+  ],
+  "missing_source_metadata": [
+    "explicit per-episode success boolean",
+    "per-episode emergency-stop flag",
+    "per-episode human takeover flag",
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+  ]
+}

task_metadata/disk-1/Make_coffee/info.json

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+{
+  "codebase_version": "0.1",
+  "vendor": "agilex",
+  "source": "agilex-source",
+  "timestamp": "1761966186.162937344",
+  "location": "Shenzhen-Daxing",
+  "device_type": "Cobot Magic",
+  "robot_type": "Cobot Magic",
+  "task_id": "00ec5f0e07af004c0a62db650253f1c857dbc25b",
+  "task_prompt": "在桌面上放置如图所上的物品，在中间摄像头视线范围内，左臂抓起咖啡机的把手往中间推，右臂拿起咖啡粉倒入咖啡机中，把咖啡粉放置桌面上，然后右臂拿起杯子接咖啡停个两秒抓取杯子放置桌面上，左臂抓取把手回到原处，机械臂回到零点。;过程中物品不掉落",
+  "data_path": "",
+  "video_path": "",
+  "duration": 76515.14,
+  "total_count": 1500,
+  "topic_list": [
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+    "/puppet/end_pose_left",
+    "/camera_r/color/metadata",
+    "/camera_fl/color/metadata",
+    "/camera_f/color/metadata",
+    "/camera_f/color/image_raw",
+    "/master/joint_right",
+    "/camera_f/color/camera_info",
+    "/puppet/joint_left",
+    "/master/joint_left",
+    "/camera_r/color/camera_info",
+    "/puppet/joint_right",
+    "/camera_l/color/metadata",
+    "/camera_l/color/camera_info",
+    "/camera_l/color/image_raw",
+    "/camera_r/color/image_raw",
+    "/camera_fl/color/image_raw",
+    "/camera_fl/color/camera_info"
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+  "total_episodes": 1500,
+  "total_frames": 318109869,
+  "total_tasks": 1500,
+  "total_videos": "",
+  "total_chunks": "",
+  "chunks_size": "",
+  "fps": 30,
+  "task_prompt_vla_en": "Make coffee with dual-arm robot",
+  "task_prompt_vla_en_candidates": [
+    "Left arm grasps the coffee machine handle and pushes it to the middle",
+    "Right arm picks up the coffee powder and pours it into the coffee machine",
+    "Right arm places the coffee powder container on the table",
+    "Right arm picks up the cup to collect coffee",
+    "Right arm pauses for two seconds while holding the cup",
+    "Right arm grasps the cup and places it on the table",
+    "Left arm grasps the handle and returns it to the original position",
+    "Left arm pushes the handle toward the center of the coffee machine",
+    "Right arm lifts the coffee powder container and tilts it into the machine",
+    "Right arm sets down the coffee powder container on the table surface",
+    "Right arm raises the cup under the coffee spout",
+    "Right arm holds the cup steady for two seconds",
+    "Right arm lowers the cup onto the table",
+    "Left arm pulls the handle back to its starting place",
+    "Left arm moves the handle to the middle position",
+    "Right arm carries the coffee powder to the machine opening",
+    "Right arm empties coffee powder into the machine",
+    "Right arm puts the coffee powder down on the table",
+    "Right arm takes the cup and positions it for coffee",
+    "Right arm waits two seconds with the cup in place",
+    "Right arm moves the cup from the machine to the table",
+    "Left arm returns the handle to where it started",
+    "Left arm shifts the handle to the center",
+    "Right arm brings the coffee powder to the machine",
+    "Right arm dumps coffee powder into the machine",
+    "Right arm rests the coffee powder container on the table",
+    "Right arm holds the cup to catch the coffee",
+    "Right arm keeps the cup still for two seconds",
+    "Right arm places the cup back on the table",
+    "Left arm restores the handle to its original spot",
+    "Left arm centers the handle on the machine",
+    "Right arm fetches the coffee powder and pours it in",
+    "Right arm lays the coffee powder container on the table",
+    "Right arm raises the cup to receive coffee",
+    "Right arm maintains the cup position for two seconds",
+    "Right arm returns the cup to the table",
+    "Left arm resets the handle to its initial position",
+    "Left arm advances the handle to the middle",
+    "Right arm retrieves the coffee powder and adds it to the machine",
+    "Right arm deposits the coffee powder container on the table",
+    "Right arm lifts the cup to gather coffee",
+    "Right arm sustains the cup hold for two seconds",
+    "Right arm releases the cup onto the table",
+    "Left arm repositions the handle to its starting location",
+    "Left arm slides the handle to the center",
+    "Right arm gets the coffee powder and puts it in the machine",
+    "Right arm leaves the coffee powder container on the table",
+    "Right arm elevates the cup to collect coffee",
+    "Right arm pauses briefly with the cup",
+    "Right arm sets the cup down on the table",
+    "Left arm brings the handle back to where it was",
+    "Left arm adjusts the handle to the middle",
+    "Right arm takes the coffee powder and fills the machine",
+    "Right arm places the empty coffee powder container on the table",
+    "Right arm positions the cup under the coffee outlet",
+    "Right arm waits momentarily with the cup ready",
+    "Right arm transfers the cup to the table",
+    "Left arm moves the handle back to its first position",
+    "Left arm pushes the handle to the center of the machine",
+    "Right arm scoops up the coffee powder and pours it into the machine",
+    "Right arm rests the used coffee powder container on the table",
+    "Right arm raises the cup to catch the flowing coffee",
+    "Right arm holds position with the cup for two seconds",
+    "Right arm lowers the filled cup onto the table",
+    "Left arm retreats with the handle to its original place",
+    "Left arm centers the handle for brewing",
+    "Right arm gathers the coffee powder and adds it to the machine",
+    "Right arm places the spent coffee powder container on the table",
+    "Right arm lifts the cup to receive the brewed coffee",
+    "Right arm maintains hold of the cup for two seconds",
+    "Right arm delivers the cup to the table",
+    "Left arm returns the handle to its home position",
+    "Left arm shifts the handle toward the machine center",
+    "Right arm collects the coffee powder and pours it into the machine",
+    "Right arranges the coffee powder container on the table",
+    "Right arm hoists the cup to gather the coffee",
+    "Right arm keeps the cup in place for two seconds",
+    "Right arm deposits the cup on the table surface",
+    "Left arm retracts the handle to its starting point",
+    "Left arm moves the handle to the middle for brewing",
+    "Right arm secures the coffee powder and empties it into the machine",
+    "Right arm stations the coffee powder container on the table",
+    "Right arm raises the cup to accept the coffee stream",
+    "Right arm pauses with the cup held steady",
+    "Right arm places the cup on the table",
+    "Left arm restores the handle to its initial location",
+    "Left arm advances the handle to the center position",
+    "Right arm obtains the coffee powder and loads it into the machine",
+    "Right arm positions the coffee powder container on the table",
+    "Right arm waits two seconds while holding the cup",
+    "Right arm sets the cup onto the table",
+    "Left arm pulls the handle back to its original position",
+    "Left arm pushes the handle to the machine center",
+    "Right arm picks up the coffee powder and pours it into the machine",
+    "Right arm puts the coffee powder container down on the table",
+    "Right arm holds the cup to receive the coffee",
+    "Right arm stays still with the cup for two seconds",
+    "Right arm moves the cup to the table",
+    "Left arm brings the handle back to where it began",
+    "Left arm slides the handle to the middle",
+    "Right arm lifts the coffee powder and adds it to the machine",
+    "Right arm lays down the coffee powder container on the table",
+    "Right arm raises the cup under the coffee dispenser",
+    "Right arm holds the cup in position for two seconds",
+    "Left arm returns the handle to its starting position",
+    "Left arm centers the handle on the coffee machine",
+    "Right arm takes the coffee powder and pours it into the machine",
+    "Right arm sets the coffee powder container on the table",
+    "Right arm lifts the cup to get the coffee",
+    "Right arm pauses with the cup for two seconds"
+  ],
+  "task_prompt_vla_en_count": 110,
+  "task_prompt_vla_en_generated_at_utc": "2026-03-20T12:11:33.258622+00:00"
+}

task_metadata/disk-1/Make_coffee/task_annotation_vla_en.json

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+{
+  "version": 1,
+  "source_task_name": "Make_coffee",
+  "source_task_prompt_zh": "在桌面上放置如图所上的物品，在中间摄像头视线范围内，左臂抓起咖啡机的把手往中间推，右臂拿起咖啡粉倒入咖啡机中，把咖啡粉放置桌面上，然后右臂拿起杯子接咖啡停个两秒抓取杯子放置桌面上，左臂抓取把手回到原处，机械臂回到零点。;过程中物品不掉落",
+  "cleaned_task_prompt_zh": "左臂抓起咖啡机的把手往中间推 右臂拿起咖啡粉倒入咖啡机中 把咖啡粉放置桌面上 然后右臂拿起杯子接咖啡停个两秒抓取杯子放置桌面上 左臂抓取把手回到原处",
+  "canonical_task_en": "Make coffee with dual-arm robot",
+  "cleaned_source_summary_en": "Left arm pushes coffee machine handle, right arm pours coffee powder into machine, places powder container down, holds cup to collect coffee, places cup down, left arm returns handle to original position",
+  "description_pool_en": [
+    "Left arm grasps the coffee machine handle and pushes it to the middle",
+    "Right arm picks up the coffee powder and pours it into the coffee machine",
+    "Right arm places the coffee powder container on the table",
+    "Right arm picks up the cup to collect coffee",
+    "Right arm pauses for two seconds while holding the cup",
+    "Right arm grasps the cup and places it on the table",
+    "Left arm grasps the handle and returns it to the original position",
+    "Left arm pushes the handle toward the center of the coffee machine",
+    "Right arm lifts the coffee powder container and tilts it into the machine",
+    "Right arm sets down the coffee powder container on the table surface",
+    "Right arm raises the cup under the coffee spout",
+    "Right arm holds the cup steady for two seconds",
+    "Right arm lowers the cup onto the table",
+    "Left arm pulls the handle back to its starting place",
+    "Left arm moves the handle to the middle position",
+    "Right arm carries the coffee powder to the machine opening",
+    "Right arm empties coffee powder into the machine",
+    "Right arm puts the coffee powder down on the table",
+    "Right arm takes the cup and positions it for coffee",
+    "Right arm waits two seconds with the cup in place",
+    "Right arm moves the cup from the machine to the table",
+    "Left arm returns the handle to where it started",
+    "Left arm shifts the handle to the center",
+    "Right arm brings the coffee powder to the machine",
+    "Right arm dumps coffee powder into the machine",
+    "Right arm rests the coffee powder container on the table",
+    "Right arm holds the cup to catch the coffee",
+    "Right arm keeps the cup still for two seconds",
+    "Right arm places the cup back on the table",
+    "Left arm restores the handle to its original spot",
+    "Left arm centers the handle on the machine",
+    "Right arm fetches the coffee powder and pours it in",
+    "Right arm lays the coffee powder container on the table",
+    "Right arm raises the cup to receive coffee",
+    "Right arm maintains the cup position for two seconds",
+    "Right arm returns the cup to the table",
+    "Left arm resets the handle to its initial position",
+    "Left arm advances the handle to the middle",
+    "Right arm retrieves the coffee powder and adds it to the machine",
+    "Right arm deposits the coffee powder container on the table",
+    "Right arm lifts the cup to gather coffee",
+    "Right arm sustains the cup hold for two seconds",
+    "Right arm releases the cup onto the table",
+    "Left arm repositions the handle to its starting location",
+    "Left arm slides the handle to the center",
+    "Right arm gets the coffee powder and puts it in the machine",
+    "Right arm leaves the coffee powder container on the table",
+    "Right arm elevates the cup to collect coffee",
+    "Right arm pauses briefly with the cup",
+    "Right arm sets the cup down on the table",
+    "Left arm brings the handle back to where it was",
+    "Left arm adjusts the handle to the middle",
+    "Right arm takes the coffee powder and fills the machine",
+    "Right arm places the empty coffee powder container on the table",
+    "Right arm positions the cup under the coffee outlet",
+    "Right arm waits momentarily with the cup ready",
+    "Right arm transfers the cup to the table",
+    "Left arm moves the handle back to its first position",
+    "Left arm pushes the handle to the center of the machine",
+    "Right arm scoops up the coffee powder and pours it into the machine",
+    "Right arm rests the used coffee powder container on the table",
+    "Right arm raises the cup to catch the flowing coffee",
+    "Right arm holds position with the cup for two seconds",
+    "Right arm lowers the filled cup onto the table",
+    "Left arm retreats with the handle to its original place",
+    "Left arm centers the handle for brewing",
+    "Right arm gathers the coffee powder and adds it to the machine",
+    "Right arm places the spent coffee powder container on the table",
+    "Right arm lifts the cup to receive the brewed coffee",
+    "Right arm maintains hold of the cup for two seconds",
+    "Right arm delivers the cup to the table",
+    "Left arm returns the handle to its home position",
+    "Left arm shifts the handle toward the machine center",
+    "Right arm collects the coffee powder and pours it into the machine",
+    "Right arranges the coffee powder container on the table",
+    "Right arm hoists the cup to gather the coffee",
+    "Right arm keeps the cup in place for two seconds",
+    "Right arm deposits the cup on the table surface",
+    "Left arm retracts the handle to its starting point",
+    "Left arm moves the handle to the middle for brewing",
+    "Right arm secures the coffee powder and empties it into the machine",
+    "Right arm stations the coffee powder container on the table",
+    "Right arm raises the cup to accept the coffee stream",
+    "Right arm pauses with the cup held steady",
+    "Right arm places the cup on the table",
+    "Left arm restores the handle to its initial location",
+    "Left arm advances the handle to the center position",
+    "Right arm obtains the coffee powder and loads it into the machine",
+    "Right arm positions the coffee powder container on the table",
+    "Right arm waits two seconds while holding the cup",
+    "Right arm sets the cup onto the table",
+    "Left arm pulls the handle back to its original position",
+    "Left arm pushes the handle to the machine center",
+    "Right arm picks up the coffee powder and pours it into the machine",
+    "Right arm puts the coffee powder container down on the table",
+    "Right arm holds the cup to receive the coffee",
+    "Right arm stays still with the cup for two seconds",
+    "Right arm moves the cup to the table",
+    "Left arm brings the handle back to where it began",
+    "Left arm slides the handle to the middle",
+    "Right arm lifts the coffee powder and adds it to the machine",
+    "Right arm lays down the coffee powder container on the table",
+    "Right arm raises the cup under the coffee dispenser",
+    "Right arm holds the cup in position for two seconds",
+    "Left arm returns the handle to its starting position",
+    "Left arm centers the handle on the coffee machine",
+    "Right arm takes the coffee powder and pours it into the machine",
+    "Right arm sets the coffee powder container on the table",
+    "Right arm lifts the cup to get the coffee",
+    "Right arm pauses with the cup for two seconds"
+  ],
+  "num_descriptions": 110,
+  "model_name": "/dev/ckpts/Kimi-K2.5/Kimi-K2.5",
+  "base_url": "http://139.224.222.61:8170/v1",
+  "generated_at_utc": "2026-03-20T12:11:33.258622+00:00"
+}

task_metadata/disk-12/Make_a_sandwich/info.json

@@ -0,0 +1,159 @@
+{
+  "codebase_version": "0.1",
+  "vendor": "agilex",
+  "source": "agilex-source",
+  "timestamp": "1764122054.708045056",
+  "location": "Shenzhen-Daxing",
+  "device_type": "Cobot Magic",
+  "robot_type": "Cobot Magic",
+  "task_id": "a24c7f93bda5163480898b3c15a934076d7f0299",
+  "task_prompt": "在桌面上放置如图所上的物品，在中间摄像头视线范围内，左臂拿取番茄酱挤到三明治的第一层上，右边拿起第二层放在第一层的上面，左臂拿取番茄酱挤到第二层上，右边拿取第三层到第二层上，机械臂回到零点。;成功：过程中物品不掉落,动作流畅。",
+  "data_path": "",
+  "video_path": "",
+  "duration": 46577.89,
+  "total_count": 1500,
+  "topic_list": [
+    "/tf_static",
+    "/tf",
+    "/puppet/end_pose_right",
+    "/puppet/end_pose_left",
+    "/camera_r/color/metadata",
+    "/camera_fl/color/metadata",
+    "/camera_f/color/metadata",
+    "/camera_f/color/image_raw",
+    "/master/joint_right",
+    "/camera_f/color/camera_info",
+    "/puppet/joint_left",
+    "/master/joint_left",
+    "/camera_r/color/camera_info",
+    "/puppet/joint_right",
+    "/camera_l/color/metadata",
+    "/camera_l/color/camera_info",
+    "/camera_l/color/image_raw",
+    "/camera_r/color/image_raw",
+    "/camera_fl/color/image_raw",
+    "/camera_fl/color/camera_info"
+  ],
+  "total_episodes": 1500,
+  "total_frames": 197811709,
+  "total_tasks": 1500,
+  "total_videos": "",
+  "total_chunks": "",
+  "chunks_size": "",
+  "fps": 30,
+  "task_prompt_vla_en": "Assemble a sandwich by adding ketchup between layers",
+  "task_prompt_vla_en_candidates": [
+    "Left arm gets ketchup and squeezes it on the first sandwich layer",
+    "Right arm picks up the second layer and puts it on the first layer",
+    "Left arm gets ketchup and squeezes it on the second sandwich layer",
+    "Right arm picks up the third layer and puts it on the second layer",
+    "Use left arm to squeeze ketchup onto the bottom sandwich layer",
+    "Use right arm to stack the middle layer on the bottom layer",
+    "Use left arm to squeeze ketchup onto the middle sandwich layer",
+    "Use right arm to stack the top layer on the middle layer",
+    "Left arm applies ketchup to the first layer of the sandwich",
+    "Right arm places the second layer onto the first layer",
+    "Left arm applies ketchup to the second layer of the sandwich",
+    "Right arm places the third layer onto the second layer",
+    "Squeeze ketchup on the first layer using the left arm",
+    "Put the second layer on the first layer using the right arm",
+    "Squeeze ketchup on the second layer using the left arm",
+    "Put the third layer on the second layer using the right arm",
+    "Left arm squeezes ketchup onto the bottom layer",
+    "Right arm sets the middle layer on the bottom layer",
+    "Left arm squeezes ketchup onto the middle layer",
+    "Right arm sets the top layer on the middle layer",
+    "Add ketchup to the first layer with the left arm",
+    "Stack the second layer on top with the right arm",
+    "Add ketchup to the second layer with the left arm",
+    "Stack the third layer on top with the right arm",
+    "Left arm puts ketchup on the first sandwich layer",
+    "Right arm puts the second layer over the first layer",
+    "Left arm puts ketchup on the second sandwich layer",
+    "Right arm puts the third layer over the second layer",
+    "Spread ketchup on the first layer with left arm",
+    "Lay the second layer on the first with right arm",
+    "Spread ketchup on the second layer with left arm",
+    "Lay the third layer on the second with right arm",
+    "Left arm dispenses ketchup onto the first layer",
+    "Right arm positions the second layer on the first",
+    "Left arm dispenses ketchup onto the second layer",
+    "Right arm positions the third layer on the second",
+    "Apply ketchup to layer one with the left arm",
+    "Place layer two on layer one with the right arm",
+    "Apply ketchup to layer two with the left arm",
+    "Place layer three on layer two with the right arm",
+    "Left arm squeezes ketchup on the first sandwich piece",
+    "Right arm places the second sandwich piece on the first",
+    "Left arm squeezes ketchup on the second sandwich piece",
+    "Right arm places the third sandwich piece on the second",
+    "Put ketchup on the bottom layer using left arm",
+    "Add the middle layer on top using right arm",
+    "Put ketchup on the middle layer using left arm",
+    "Add the top layer on top using right arm",
+    "Left arm adds ketchup to the first sandwich layer",
+    "Right arm adds the second layer to the sandwich",
+    "Left arm adds ketchup to the second sandwich layer",
+    "Right arm adds the third layer to the sandwich",
+    "Squeeze ketchup onto layer one with left arm",
+    "Set layer two on layer one with right arm",
+    "Squeeze ketchup onto layer two with left arm",
+    "Set layer three on layer two with right arm",
+    "Left arm covers the first layer with ketchup",
+    "Right arm covers the first layer with the second layer",
+    "Left arm covers the second layer with ketchup",
+    "Right arm covers the second layer with the third layer",
+    "Distribute ketchup on the first layer with left arm",
+    "Stack the second layer above with right arm",
+    "Distribute ketchup on the second layer with left arm",
+    "Stack the third layer above with right arm",
+    "Left arm squirts ketchup on the first sandwich layer",
+    "Right arm lays the second sandwich layer on top",
+    "Left arm squirts ketchup on the second sandwich layer",
+    "Right arm lays the third sandwich layer on top",
+    "Coat the first layer with ketchup using left arm",
+    "Position the second layer on top using right arm",
+    "Coat the second layer with ketchup using left arm",
+    "Position the third layer on top using right arm",
+    "Left arm puts ketchup between the first and second layers",
+    "Right arm brings the second layer down on the first",
+    "Left arm puts ketchup between the second and third layers",
+    "Right arm brings the third layer down on the second",
+    "Left arm applies condiment to the first layer",
+    "Right arm assembles the second layer onto the first",
+    "Left arm applies condiment to the second layer",
+    "Right arm assembles the third layer onto the second",
+    "Left arm adds sauce to the bottom sandwich layer",
+    "Right arm builds the sandwich with the middle layer",
+    "Left arm adds sauce to the middle sandwich layer",
+    "Right arm finishes the sandwich with the top layer",
+    "Left arm squeezes topping onto the first layer",
+    "Right arm places the next layer on the sandwich",
+    "Left arm squeezes topping onto the second layer",
+    "Right arm places the final layer on the sandwich",
+    "Left arm dresses the first layer with ketchup",
+    "Right arm stacks the second layer on the sandwich",
+    "Left arm dresses the second layer with ketchup",
+    "Right arm stacks the third layer on the sandwich",
+    "Left arm spreads ketchup on the base layer",
+    "Right arm adds the middle piece to the sandwich",
+    "Left arm spreads ketchup on the middle layer",
+    "Right arm adds the top piece to the sandwich",
+    "Left arm supplies ketchup for the first layer",
+    "Right arm supplies the second layer for stacking",
+    "Left arm supplies ketchup for the second layer",
+    "Right arm supplies the third layer for stacking",
+    "Left arm delivers ketchup onto the first layer",
+    "Right arm delivers the second layer onto the first",
+    "Left arm delivers ketchup onto the second layer",
+    "Right arm delivers the third layer onto the second",
+    "Left arm puts condiment on the first sandwich layer",
+    "Right arm puts the second layer in place",
+    "Left arm puts condiment on the second sandwich layer",
+    "Right arm puts the third layer in place",
+    "Left arm adds ketchup to the lower sandwich layer",
+    "Right arm adds the upper layer to the sandwich"
+  ],
+  "task_prompt_vla_en_count": 110,
+  "task_prompt_vla_en_generated_at_utc": "2026-03-20T12:26:52.754100+00:00"
+}

task_metadata/disk-12/Make_a_sandwich/task_annotation_vla_en.json

@@ -0,0 +1,124 @@
+{
+  "version": 1,
+  "source_task_name": "Make_a_sandwich",
+  "source_task_prompt_zh": "在桌面上放置如图所上的物品，在中间摄像头视线范围内，左臂拿取番茄酱挤到三明治的第一层上，右边拿起第二层放在第一层的上面，左臂拿取番茄酱挤到第二层上，右边拿取第三层到第二层上，机械臂回到零点。;成功：过程中物品不掉落,动作流畅。",
+  "cleaned_task_prompt_zh": "左臂拿取番茄酱挤到三明治的第一层上 右边拿起第二层放在第一层的上面 左臂拿取番茄酱挤到第二层上 右边拿取第三层到第二层上",
+  "canonical_task_en": "Assemble a sandwich by adding ketchup between layers",
+  "cleaned_source_summary_en": "Squeeze ketchup on first sandwich layer with left arm, place second layer on top with right arm, squeeze ketchup on second layer with left arm, place third layer on top with right arm",
+  "description_pool_en": [
+    "Left arm gets ketchup and squeezes it on the first sandwich layer",
+    "Right arm picks up the second layer and puts it on the first layer",
+    "Left arm gets ketchup and squeezes it on the second sandwich layer",
+    "Right arm picks up the third layer and puts it on the second layer",
+    "Use left arm to squeeze ketchup onto the bottom sandwich layer",
+    "Use right arm to stack the middle layer on the bottom layer",
+    "Use left arm to squeeze ketchup onto the middle sandwich layer",
+    "Use right arm to stack the top layer on the middle layer",
+    "Left arm applies ketchup to the first layer of the sandwich",
+    "Right arm places the second layer onto the first layer",
+    "Left arm applies ketchup to the second layer of the sandwich",
+    "Right arm places the third layer onto the second layer",
+    "Squeeze ketchup on the first layer using the left arm",
+    "Put the second layer on the first layer using the right arm",
+    "Squeeze ketchup on the second layer using the left arm",
+    "Put the third layer on the second layer using the right arm",
+    "Left arm squeezes ketchup onto the bottom layer",
+    "Right arm sets the middle layer on the bottom layer",
+    "Left arm squeezes ketchup onto the middle layer",
+    "Right arm sets the top layer on the middle layer",
+    "Add ketchup to the first layer with the left arm",
+    "Stack the second layer on top with the right arm",
+    "Add ketchup to the second layer with the left arm",
+    "Stack the third layer on top with the right arm",
+    "Left arm puts ketchup on the first sandwich layer",
+    "Right arm puts the second layer over the first layer",
+    "Left arm puts ketchup on the second sandwich layer",
+    "Right arm puts the third layer over the second layer",
+    "Spread ketchup on the first layer with left arm",
+    "Lay the second layer on the first with right arm",
+    "Spread ketchup on the second layer with left arm",
+    "Lay the third layer on the second with right arm",
+    "Left arm dispenses ketchup onto the first layer",
+    "Right arm positions the second layer on the first",
+    "Left arm dispenses ketchup onto the second layer",
+    "Right arm positions the third layer on the second",
+    "Apply ketchup to layer one with the left arm",
+    "Place layer two on layer one with the right arm",
+    "Apply ketchup to layer two with the left arm",
+    "Place layer three on layer two with the right arm",
+    "Left arm squeezes ketchup on the first sandwich piece",
+    "Right arm places the second sandwich piece on the first",
+    "Left arm squeezes ketchup on the second sandwich piece",
+    "Right arm places the third sandwich piece on the second",
+    "Put ketchup on the bottom layer using left arm",
+    "Add the middle layer on top using right arm",
+    "Put ketchup on the middle layer using left arm",
+    "Add the top layer on top using right arm",
+    "Left arm adds ketchup to the first sandwich layer",
+    "Right arm adds the second layer to the sandwich",
+    "Left arm adds ketchup to the second sandwich layer",
+    "Right arm adds the third layer to the sandwich",
+    "Squeeze ketchup onto layer one with left arm",
+    "Set layer two on layer one with right arm",
+    "Squeeze ketchup onto layer two with left arm",
+    "Set layer three on layer two with right arm",
+    "Left arm covers the first layer with ketchup",
+    "Right arm covers the first layer with the second layer",
+    "Left arm covers the second layer with ketchup",
+    "Right arm covers the second layer with the third layer",
+    "Distribute ketchup on the first layer with left arm",
+    "Stack the second layer above with right arm",
+    "Distribute ketchup on the second layer with left arm",
+    "Stack the third layer above with right arm",
+    "Left arm squirts ketchup on the first sandwich layer",
+    "Right arm lays the second sandwich layer on top",
+    "Left arm squirts ketchup on the second sandwich layer",
+    "Right arm lays the third sandwich layer on top",
+    "Coat the first layer with ketchup using left arm",
+    "Position the second layer on top using right arm",
+    "Coat the second layer with ketchup using left arm",
+    "Position the third layer on top using right arm",
+    "Left arm puts ketchup between the first and second layers",
+    "Right arm brings the second layer down on the first",
+    "Left arm puts ketchup between the second and third layers",
+    "Right arm brings the third layer down on the second",
+    "Left arm applies condiment to the first layer",
+    "Right arm assembles the second layer onto the first",
+    "Left arm applies condiment to the second layer",
+    "Right arm assembles the third layer onto the second",
+    "Left arm adds sauce to the bottom sandwich layer",
+    "Right arm builds the sandwich with the middle layer",
+    "Left arm adds sauce to the middle sandwich layer",
+    "Right arm finishes the sandwich with the top layer",
+    "Left arm squeezes topping onto the first layer",
+    "Right arm places the next layer on the sandwich",
+    "Left arm squeezes topping onto the second layer",
+    "Right arm places the final layer on the sandwich",
+    "Left arm dresses the first layer with ketchup",
+    "Right arm stacks the second layer on the sandwich",
+    "Left arm dresses the second layer with ketchup",
+    "Right arm stacks the third layer on the sandwich",
+    "Left arm spreads ketchup on the base layer",
+    "Right arm adds the middle piece to the sandwich",
+    "Left arm spreads ketchup on the middle layer",
+    "Right arm adds the top piece to the sandwich",
+    "Left arm supplies ketchup for the first layer",
+    "Right arm supplies the second layer for stacking",
+    "Left arm supplies ketchup for the second layer",
+    "Right arm supplies the third layer for stacking",
+    "Left arm delivers ketchup onto the first layer",
+    "Right arm delivers the second layer onto the first",
+    "Left arm delivers ketchup onto the second layer",
+    "Right arm delivers the third layer onto the second",
+    "Left arm puts condiment on the first sandwich layer",
+    "Right arm puts the second layer in place",
+    "Left arm puts condiment on the second sandwich layer",
+    "Right arm puts the third layer in place",
+    "Left arm adds ketchup to the lower sandwich layer",
+    "Right arm adds the upper layer to the sandwich"
+  ],
+  "num_descriptions": 110,
+  "model_name": "/dev/ckpts/Kimi-K2.5/Kimi-K2.5",
+  "base_url": "http://139.224.222.61:8170/v1",
+  "generated_at_utc": "2026-03-20T12:26:52.754100+00:00"
+}

task_metadata/disk-15/Turn_on_the_desk_lamp/info.json

@@ -0,0 +1,44 @@
+{
+  "codebase_version": "0.1",
+  "vendor": "agilex",
+  "source": "agilex-source",
+  "timestamp": "1772590472.682974720",
+  "location": "Shenzhen-Daxing",
+  "device_type": "Cobot Magic",
+  "robot_type": "Cobot Magic",
+  "task_id": "353a3a82987f2a37478c3acadbf3a2a27052003c",
+  "task_prompt": "在桌面上放置如图所上的物品，在中间摄像头视线范围内，左臂拉取台灯拉环打开台灯，右臂拉去拉环关闭台灯，机械臂回到零点。",
+  "data_path": "",
+  "video_path": "",
+  "duration": 25676.67,
+  "total_count": 1500,
+  "topic_list": [
+    "/tf_static",
+    "/tf",
+    "/puppet/end_pose_right",
+    "/puppet/end_pose_left",
+    "/camera_r/color/metadata",
+    "/camera_fl/color/metadata",
+    "/camera_f/color/metadata",
+    "/camera_f/color/image_raw",
+    "/master/joint_right",
+    "/camera_f/color/camera_info",
+    "/puppet/joint_left",
+    "/master/joint_left",
+    "/camera_r/color/camera_info",
+    "/puppet/joint_right",
+    "/camera_l/color/metadata",
+    "/camera_l/color/camera_info",
+    "/camera_l/color/image_raw",
+    "/camera_r/color/image_raw",
+    "/camera_fl/color/image_raw",
+    "/camera_fl/color/camera_info"
+  ],
+  "total_episodes": 1500,
+  "total_frames": 112006352,
+  "total_tasks": 1500,
+  "total_videos": "",
+  "total_chunks": "",
+  "chunks_size": "",
+  "fps": 30
+}

task_metadata/disk-5/Fold_the_purple_towel/info.json

@@ -0,0 +1,116 @@
+{
+  "task_prompt": "叠紫色毛巾-重制版",
+  "total_count": 1506,
+  "source": "external_robotic_data",
+  "auto_generated_info": true,
+  "task_prompt_vla_en": "Fold the purple towel",
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+    "Fold the purple towel over six times.",
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+    "Fold the purple towel over ten times.",
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+    "Fold the purple towel over sixteen times.",
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+    "Fold the purple towel over nineteen times.",
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+    "Fold the purple towel over twenty-six times.",
+    "Fold the purple towel over twenty-seven times.",
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+  "task_prompt_vla_en_generated_at_utc": "2026-03-21T10:22:40.504713+00:00"
+}

task_metadata/disk-5/Fold_the_purple_towel/task_annotation_vla_en.json

@@ -0,0 +1,119 @@
+{
+  "version": 1,
+  "source_task_name": "Fold_the_purple_towel",
+  "source_task_prompt_zh": "叠紫色毛巾-重制版",
+  "cleaned_task_prompt_zh": "叠紫色毛巾-重制版",
+  "canonical_task_en": "Fold the purple towel",
+  "cleaned_source_summary_en": "Fold the purple towel",
+  "description_pool_en": [
+    "Fold the purple towel.",
+    "Fold the purple towel in half.",
+    "Fold the purple towel again.",
+    "Fold the purple towel neatly.",
+    "Fold the purple towel carefully.",
+    "Fold the purple towel once.",
+    "Fold the purple towel twice.",
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+    "Fold the purple towel into a rectangle.",
+    "Fold the purple towel from the bottom.",
+    "Fold the purple towel from the top.",
+    "Fold the purple towel from the side.",
+    "Fold the purple towel from the edge.",
+    "Fold the purple towel from the corner.",
+    "Fold the purple towel to the left.",
+    "Fold the purple towel to the right.",
+    "Fold the purple towel to the center.",
+    "Fold the purple towel to the middle.",
+    "Fold the purple towel over itself.",
+    "Fold the purple towel over the edge.",
+    "Fold the purple towel over the top.",
+    "Fold the purple towel over the side.",
+    "Fold the purple towel over the bottom.",
+    "Fold the purple towel over the front.",
+    "Fold the purple towel over the back.",
+    "Fold the purple towel over the middle.",
+    "Fold the purple towel over the center.",
+    "Fold the purple towel over the corner.",
+    "Fold the purple towel so it is smaller.",
+    "Fold the purple towel to make it compact.",
+    "Fold the purple towel to reduce its size.",
+    "Fold the purple towel to make it neat.",
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+    "Fold the purple towel to organize it.",
+    "Fold the purple towel to get it ready.",
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+    "Fold the purple towel to make it flat.",
+    "Fold the purple towel to make it even.",
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+    "Fold the purple towel to make it snug.",
+    "Fold the purple towel to make it tight now.",
+    "Fold the purple towel to make it snug now.",
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+    "Fold the purple towel to make it flat now.",
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+    "Fold the purple towel to make it organized.",
+    "Fold the purple towel to make it orderly.",
+    "Fold the purple towel to make it ready now.",
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+    "Fold the purple towel to make it smaller now.",
+    "Fold the purple towel to make it fit well.",
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+    "Fold the purple towel inward.",
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+    "Fold the purple towel over twelve times.",
+    "Fold the purple towel over thirteen times.",
+    "Fold the purple towel over fourteen times.",
+    "Fold the purple towel over fifteen times.",
+    "Fold the purple towel over sixteen times.",
+    "Fold the purple towel over seventeen times.",
+    "Fold the purple towel over eighteen times.",
+    "Fold the purple towel over nineteen times.",
+    "Fold the purple towel over twenty times.",
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+    "Fold the purple towel over twenty-three times.",
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+    "Fold the purple towel over twenty-seven times.",
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+  "model_name": "/home/ss-oss1/data/ckpts/Qwen3.5-122B-A10B-GPTQ-Int4",
+  "base_url": "http://139.224.222.61:8170/v1",
+  "generated_at_utc": "2026-03-21T10:22:40.504713+00:00"
+}