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samples + +This folder contains **40 complete episodes**: five representative samples from each of eight logical data sources under `/mnt/data/dataset/PretrainData_v21/Humanoid`. + +The parquet, video, depth and ancillary payloads are byte-for-byte copies of the source files. This is an inspection/interoperability bundle, not a re-indexed drop-in LeRobot dataset: original episode indices are retained in `sample.json` and `manifest.json`. + +## Summary + +| Source | Robot type | Samples | Frames | Duration (min) | State dim | Action dim | Video files/sample | +|---|---:|---:|---:|---:|---:|---:|---:| +| AgibotWorld2026 | g2a | 5 | 5,353 | 2.97 | 162, 169, 183, 193 | 40, 44 | 6, 7 | +| AgiBot-World-Beta-no-torso-movement_v21 | a2d | 5 | 3,544 | 1.97 | 55 | 36 | 3 | +| HIW-500-LeRobot-v2 | unitree_g1 | 5 | 3,494 | 1.94 | 29 | 23 | 3 | +| humanoid-everyday_v21_g1 | g1 | 5 | 1,949 | 1.08 | 69 | 28 | 1 | +| humanoid-everyday_v21_h1 | h1 | 5 | 1,957 | 1.09 | 65 | 26 | 1 | +| icra_wbc_v21 | unitree_g2 | 5 | 7,710 | 4.28 | 31 | 44 | 6 | +| RealSourceData/RealSource-World | RS-02 | 5 | 9,553 | 5.31 | 71 | 17 | 3 | +| unitreerobotics_v21 | unitree_g1 | 5 | 3,373 | 1.87 | 50, 60, 83 | 50, 60, 97 | 2, 4 | + +## Layout + +```text +humanoid_v21_samples/ +├── manifest.json # full bundle manifest +├── manifest.jsonl # one compact record per episode +├── PAYLOAD_CHECKSUMS.sha256 +└── /sample_XX/ + ├── sample.json # task, dimensions, provenance and per-file hashes + ├── data.parquet # original episode parquet + ├── videos/ # registered RGB/depth video streams + ├── sidecars/ # ancillary parquet or unregistered/overlay depth + └── source_meta/ # original schema and available source metadata +``` + +## Selection and edge cases + +- Samples favor complete 10–60 second episodes and task/schema diversity; one RealSource long-horizon episode is intentionally included. +- `icra_wbc/sample_*` retains `head_depth` under `sidecars/` because that stream exists physically but is absent from `info.json` features. +- `agibotworld2026/sample_04` combines the simulation `lite` RGB/parquet payload with its `lite_depth_patch` overlay. +- `humanoid_everyday_g1` and `humanoid_everyday_h1` retain their per-episode ancillary parquet files. +- Unitree samples intentionally cover the 83/97, 60/60 and 50/50 schemas, including the two-view MainCamOnly variant. +- Known missing, shifted, duplicated or malformed source episodes identified during the audit were excluded. + +Use `manifest.json` as the authoritative mapping from every uploaded file to its original path. 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"high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "132": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "133": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "134": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "135": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "136": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "137": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "138": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "139": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "14": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "140": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "141": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "142": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "143": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "144": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "145": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "146": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "147": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "148": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "149": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "15": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "150": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "151": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "152": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "153": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "154": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "155": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "156": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "157": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "158": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "159": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "16": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "160": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "161": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "162": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "163": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "164": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "165": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "166": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "167": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "168": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "169": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "17": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "170": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "171": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "172": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "173": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "174": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "175": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "176": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "177": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "178": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "179": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "18": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "180": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "181": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "182": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "183": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "184": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "185": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "186": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "187": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "188": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "189": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "19": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "190": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "191": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "192": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "193": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "194": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "195": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "196": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "197": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "198": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "199": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "2": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "20": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "200": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "21": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "22": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "23": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "24": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "25": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "26": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "27": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "28": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "29": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "3": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "30": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "31": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "32": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "33": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "34": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "35": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "36": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "37": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "38": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "39": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "4": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "40": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "41": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "42": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "43": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "44": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "45": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "46": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "47": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "48": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "49": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "5": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "50": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "51": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "52": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "53": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "54": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "55": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "56": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "57": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "58": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "59": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "6": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "60": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "61": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "62": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "63": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "64": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "65": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "66": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "67": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "68": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "69": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "7": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "70": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "71": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "72": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "73": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "74": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "75": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "76": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "77": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "78": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "79": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "8": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "80": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "81": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "82": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "83": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "84": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "85": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "86": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "87": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "88": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "89": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "9": { + "high_level_instruction": "With both arms, grab one white bagged food per arm, rotate at the waist, and place the food into the shopping cart." + }, + "90": { + "high_level_instruction": "With both arms, grab one white bagged 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] + }, + "shape": { + "shape": [ + 3, + 720, + 1280 + ] + } + } + }, + "created_at": "2026-02-15T20:18:36.840922", + "processing_notes": "Merged LeRobot v2.1 dataset - 158 episodes" +} \ No newline at end of file diff --git a/humanoid_v21_samples/realsource_world/sample_03/source_meta/sub_tasks.jsonl b/humanoid_v21_samples/realsource_world/sample_03/source_meta/sub_tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab68659213307c0f82a7e037b90e15f27eebd553 --- /dev/null +++ b/humanoid_v21_samples/realsource_world/sample_03/source_meta/sub_tasks.jsonl @@ -0,0 +1,158 @@ +{"task": "Organize the glass tube on the rack", "language": "en", "task_index": 0, "episode_index": 0, "task_steps": [{"step_name": "Left gripper picks up the left test tube from the left rack", "start_frame": 234, "end_frame": 334, "description": "Left gripper picks up the left test tube from the left rack", "duration_frames": 100}, {"step_name": "Transfer test tube to right gripper, which 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