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long_horizon/bottle/meta/.ipynb_checkpoints/episodes-checkpoint.jsonl

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long_horizon/bottle/meta/.ipynb_checkpoints/info-checkpoint.json

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long_horizon/bottle/meta/info.json

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+                    "gripper_1_right",
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+                    "gripper_1_left",
+                    "gripper_1_right",
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+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
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+        "video.left_camera_view": {
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+            "shape": [
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+                "video.fps": 15,
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+}

long_horizon/bottle/meta/modality.json

@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
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+            "end": 6,
+            "original_key": "action.joints"
+        },
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+            "original_key": "action.joints"
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+        "left_gripper": {
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+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
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+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
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+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
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+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
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+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
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+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
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+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
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+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

long_horizon/bottle/meta/tasks.jsonl

@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Put all the bottles into the basket."}
+{"task_index": 1, "task": "Place all the bottles in the basket."}
+{"task_index": 2, "task": "Move all the bottles into the basket."}
+{"task_index": 3, "task": "Get all the bottles into the basket."}
+{"task_index": 4, "task": "Collect all the bottles and put them in the basket."}

long_horizon/dish/meta/episodes.jsonl

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long_horizon/dish/meta/info.json

@@ -0,0 +1,350 @@
+{
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+    "total_frames": 424709,
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+    "fps": 15,
+    "splits": {
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+    "features": {
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+                    "joint_5",
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+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
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+                    "joint_4",
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+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
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+                    "joint_10",
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+                ]
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+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
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+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
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+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
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+                ]
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+                640
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+                480,
+                640
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+                "height",
+                "width"
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+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
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+                480,
+                640
+            ],
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+                "height",
+                "width"
+            ],
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+            }
+        },
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+            "shape": [
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+        },
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+        "task_index": {
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+            "names": null
+        }
+    }
+}

long_horizon/dish/meta/modality.json

@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
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+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
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+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
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+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

long_horizon/dish/meta/tasks.jsonl

@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Put every dish into the big basket and place the spoon into the small basket."}
+{"task_index": 1, "task": "Place all of the dishes in the big basket and the spoon in the small basket."}
+{"task_index": 2, "task": "Move all the dishes into the big basket, then put the spoon into the small basket."}
+{"task_index": 3, "task": "Gather all the dishes into the big basket and place the spoon into the small basket."}
+{"task_index": 4, "task": "Put all the dishes in the big basket and put the spoon in the small basket."}

long_horizon/dishwasher/meta/episodes.jsonl

@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["Put every bowl into the dishwasher."], "length": 1555}
+{"episode_index": 1, "tasks": ["Move all the bowls into the dishwasher."], "length": 1547}
+{"episode_index": 2, "tasks": ["Put every bowl into the dishwasher."], "length": 1545}
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long_horizon/dishwasher/meta/info.json

@@ -0,0 +1,350 @@
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+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

long_horizon/dishwasher/meta/modality.json

@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

long_horizon/dishwasher/meta/tasks.jsonl

@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Place all the bowls into the dishwasher."}
+{"task_index": 1, "task": "Put every bowl into the dishwasher."}
+{"task_index": 2, "task": "Load all the bowls into the dishwasher."}
+{"task_index": 3, "task": "Move all the bowls into the dishwasher."}
+{"task_index": 4, "task": "Set all the bowls into the dishwasher."}

long_horizon/make_sandwich/meta/episodes.jsonl

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long_horizon/make_sandwich/meta/info.json

@@ -0,0 +1,350 @@
+{
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+    "splits": {
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+                    "ee1_qz"
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+            ]
+        },
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+            "dtype": "float32",
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+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
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+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
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+}

long_horizon/make_sandwich/meta/modality.json

@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
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+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
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+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
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+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
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+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
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+            "original_key": "state.joints"
+        },
+        "right_joints": {
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+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
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+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
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+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
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+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

long_horizon/make_sandwich/meta/tasks.jsonl

@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Make a sandwich on the plate."}
+{"task_index": 1, "task": "Prepare a sandwich on the plate."}
+{"task_index": 2, "task": "Assemble a sandwich on the plate."}
+{"task_index": 3, "task": "Put together a sandwich on the plate."}
+{"task_index": 4, "task": "Build a sandwich on the plate."}

long_horizon/pen/meta/episodes.jsonl

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long_horizon/pen/meta/info.json

@@ -0,0 +1,350 @@
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+}

long_horizon/pen/meta/modality.json

@@ -0,0 +1,72 @@
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+        }
+    }
+}

long_horizon/pen/meta/tasks.jsonl

@@ -0,0 +1,5 @@
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long_horizon/shop/meta/episodes.jsonl

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long_horizon/shop/meta/info.json

@@ -0,0 +1,350 @@
+{
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+    "robot_type": "lift2",
+    "total_episodes": 200,
+    "total_frames": 851639,
+    "total_tasks": 5,
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+    "fps": 15,
+    "splits": {
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+                    "joint_7",
+                    "joint_8",
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+                    "joint_10",
+                    "joint_11"
+                ]
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+                    "gripper_1_right",
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+                    "gripper_2_right"
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+                    "gripper_1_right",
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+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
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+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
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+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
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+                480,
+                640
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+                "height",
+                "width"
+            ],
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+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
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+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
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+                "video.width": 640,
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+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
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+                480,
+                640
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+                "height",
+                "width"
+            ],
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+                "video.width": 640,
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+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
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+            "shape": [
+                1
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+            "names": null
+        },
+        "frame_index": {
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+                1
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+            "names": null
+        },
+        "episode_index": {
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+                1
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+            "names": null
+        },
+        "index": {
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+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
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+                1
+            ],
+            "names": null
+        }
+    }
+}

long_horizon/shop/meta/modality.json

@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
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+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
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+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
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+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

long_horizon/shop/meta/tasks.jsonl

@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Scan every item at the checkout counter."}
+{"task_index": 1, "task": "Scan each item at the checkout counter."}
+{"task_index": 2, "task": "At the checkout counter, scan all the items."}
+{"task_index": 3, "task": "Scan all items at the checkout counter."}
+{"task_index": 4, "task": "Scan every item on the checkout counter."}

simple_pnp/task1/meta/episodes.jsonl

@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["Pick up the fork and spoon from the countertop and place them into the utensil holder."], "length": 710}
+{"episode_index": 1, "tasks": ["Pick up the fork and the spoon from the counter and put them in the utensil holder."], "length": 710}
+{"episode_index": 2, "tasks": ["Lift the fork and spoon from the countertop, then place them into the utensil holder."], "length": 710}
+{"episode_index": 3, "tasks": ["Take the fork and spoon from the counter and set them inside the utensil holder."], "length": 710}
+{"episode_index": 4, "tasks": ["Grab the fork and spoon on the countertop and move them into the utensil holder."], "length": 710}
+{"episode_index": 5, "tasks": ["Pick up the fork and spoon from the countertop and place them into the utensil holder."], "length": 710}
+{"episode_index": 6, "tasks": ["Pick up the fork and the spoon from the counter and put them in the utensil holder."], "length": 710}
+{"episode_index": 7, "tasks": ["Lift the fork and spoon from the countertop, then place them into the utensil holder."], "length": 710}
+{"episode_index": 8, "tasks": ["Take the fork and spoon from the counter and set them inside the utensil holder."], "length": 710}
+{"episode_index": 9, "tasks": ["Grab the fork and spoon on the countertop and move them into the utensil holder."], "length": 710}
+{"episode_index": 10, "tasks": ["Pick up the fork and spoon from the countertop and place them into the utensil holder."], "length": 710}
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+{"episode_index": 14, "tasks": ["Grab the fork and spoon on the countertop and move them into the utensil holder."], "length": 710}
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simple_pnp/task1/meta/info.json

@@ -0,0 +1,350 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "lift2",
+    "total_episodes": 200,
+    "total_frames": 151620,
+    "total_tasks": 5,
+    "total_videos": 800,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
+        "train": "0:200"
+    },
+    "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": {
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+                    "joint_1",
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+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
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+        "action.joints": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
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+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints_delta": {
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+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
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+            "dtype": "float32",
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+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "action.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
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+                    "ee0_y",
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+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
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+                    "ee0_qz",
+                    "ee1_x",
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+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose_delta": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "state.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base_delta": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "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
+        }
+    }
+}

simple_pnp/task1/meta/modality.json

@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

simple_pnp/task1/meta/tasks.jsonl

@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Pick up the fork and spoon from the countertop and place them into the utensil holder."}
+{"task_index": 1, "task": "Pick up the fork and the spoon from the counter and put them in the utensil holder."}
+{"task_index": 2, "task": "Lift the fork and spoon from the countertop, then place them into the utensil holder."}
+{"task_index": 3, "task": "Take the fork and spoon from the counter and set them inside the utensil holder."}
+{"task_index": 4, "task": "Grab the fork and spoon on the countertop and move them into the utensil holder."}

simple_pnp/task10/meta/episodes.jsonl

@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 472}
+{"episode_index": 1, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 472}
+{"episode_index": 2, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 472}
+{"episode_index": 3, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 472}
+{"episode_index": 4, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 472}
+{"episode_index": 5, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 472}
+{"episode_index": 6, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 472}
+{"episode_index": 7, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 472}
+{"episode_index": 8, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 472}
+{"episode_index": 9, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 472}
+{"episode_index": 10, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 472}
+{"episode_index": 11, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 472}
+{"episode_index": 12, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 472}
+{"episode_index": 13, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 472}
+{"episode_index": 14, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 472}
+{"episode_index": 15, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 502}
+{"episode_index": 16, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 502}
+{"episode_index": 17, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 502}
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+{"episode_index": 19, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 502}
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+{"episode_index": 159, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 478}
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+{"episode_index": 161, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 486}
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+{"episode_index": 189, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 482}
+{"episode_index": 190, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 482}
+{"episode_index": 191, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 482}
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+{"episode_index": 193, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 482}
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+{"episode_index": 195, "tasks": ["Take out one of the three bowls and stack on the plate."], "length": 486}
+{"episode_index": 196, "tasks": ["Take out one of the three bowls and stack it on the plate."], "length": 486}
+{"episode_index": 197, "tasks": ["Remove one of the three bowls and place it stacked on the plate."], "length": 486}
+{"episode_index": 198, "tasks": ["Pick one bowl from the three and stack it on the plate."], "length": 486}
+{"episode_index": 199, "tasks": ["Select one of the three bowls, take it out, and stack it on the plate."], "length": 486}

simple_pnp/task10/meta/info.json

@@ -0,0 +1,350 @@
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+}

simple_pnp/task10/meta/modality.json

@@ -0,0 +1,72 @@
+{
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+            "end": 6,
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+        },
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+        }
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+    "annotation": {
+        "human.action.task_description": {
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+        }
+    }
+}

simple_pnp/task10/meta/tasks.jsonl

@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Take out one of the three bowls and stack on the plate."}
+{"task_index": 1, "task": "Take out one of the three bowls and stack it on the plate."}
+{"task_index": 2, "task": "Remove one of the three bowls and place it stacked on the plate."}
+{"task_index": 3, "task": "Pick one bowl from the three and stack it on the plate."}
+{"task_index": 4, "task": "Select one of the three bowls, take it out, and stack it on the plate."}

simple_pnp/task2/meta/episodes.jsonl

@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["Put the bookmark on the top of the book."], "length": 428}
+{"episode_index": 1, "tasks": ["Place the bookmark on top of the book."], "length": 428}
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+{"episode_index": 3, "tasks": ["Set the bookmark on the upper side of the book."], "length": 428}
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simple_pnp/task2/meta/info.json

@@ -0,0 +1,350 @@
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+}

simple_pnp/task2/meta/modality.json

@@ -0,0 +1,72 @@
+{
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+            "end": 6,
+            "original_key": "action.joints"
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+            "original_key": "action.joints"
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+        },
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+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

simple_pnp/task2/meta/tasks.jsonl

@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Put the bookmark on the top of the book."}
+{"task_index": 1, "task": "Place the bookmark on top of the book."}
+{"task_index": 2, "task": "Move the bookmark to the top of the book."}
+{"task_index": 3, "task": "Set the bookmark on the upper side of the book."}
+{"task_index": 4, "task": "Take the bookmark and place it on top of the book."}

simple_pnp/task4/meta/episodes.jsonl

@@ -0,0 +1,200 @@
+{"episode_index": 0, "tasks": ["Pick up the apple from the dining table and place it into the fruit bowl."], "length": 409}
+{"episode_index": 1, "tasks": ["Pick up the apple from the dining table and put it into the fruit bowl."], "length": 409}
+{"episode_index": 2, "tasks": ["Lift the apple from the dining table and set it into the fruit bowl."], "length": 409}
+{"episode_index": 3, "tasks": ["Take the apple off the dining table and place it in the fruit bowl."], "length": 409}
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