Datasets:

InternRobotics
/

WET-OP-Bench-Train

+{
+    "codebase_version": "v2.1",
+    "robot_type": "lift2",
+    "total_episodes": 500,
+    "total_frames": 1250790,
+    "total_tasks": 13,
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
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+            ],
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+                    "joint_0",
+                    "joint_1",
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+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
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+                    "joint_1",
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+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
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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"
+                ]
+            ]
+        },
+        "state.gripper": {
+            "dtype": "float32",
+            "shape": [
+                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_qx",
+                    "ee1_qy",
+                    "ee1_qz"
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+                    "ee1_qx",
+                    "ee1_qy",
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+                ]
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+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
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+            "shape": [
+                3
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+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
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+            "dtype": "float32",
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+                3
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+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
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+        "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": {
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+            "shape": [
+                1
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+            "names": null
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+    }
+}

task_02_pour_liquid_and_stir/meta/tasks.jsonl ADDED Viewed

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+{"task_index": 0, "task": "Pour all liquid from the graduated cylinder into the beaker, stir the liquid with the glass stirring rod, and place the glass stirring rod on the clean tray."}
+{"task_index": 1, "task": "Transfer the entire liquid volume from the graduated cylinder into the beaker. Stir the liquid using the glass stirring rod, then place the glass stirring rod on the clean tray."}
+{"task_index": 2, "task": "Empty the graduated cylinder into the beaker without spilling the liquid. Stir the liquid in the beaker with the glass stirring rod and place the glass stirring rod on the clean tray."}
+{"task_index": 3, "task": "Use the right robotic arm to pour all liquid from the graduated cylinder into the beaker. Set the graduated cylinder upright on the table. Use the left robotic arm to stir the liquid with the glass stirring rod, then place the glass stirring rod on the clean tray."}
+{"task_index": 4, "task": "Use the right robotic arm to pick up the graduated cylinder and slowly pour the entire contents into the beaker. Return the empty graduated cylinder to the table in an upright position. Use the left robotic arm to stir the liquid in the beaker with the glass stirring rod and place the glass stirring rod on the clean tray."}
+{"task_index": 5, "task": "Grasp the graduated cylinder with the right robotic arm, position the graduated cylinder above the beaker, and pour all liquid into the beaker without spilling. Place the empty graduated cylinder upright on the table. Grasp the glass stirring rod with the left robotic arm, stir the liquid, and place the glass stirring rod on the clean tray."}
+{"task_index": 6, "task": "With the right robotic arm, lift the graduated cylinder, align the graduated cylinder opening with the center of the beaker opening, and slowly pour all liquid into the beaker. Place the graduated cylinder upright on the table. With the left robotic arm, pick up the glass stirring rod, stir the liquid in the beaker, and place the glass stirring rod on the clean tray."}
+{"task_index": 7, "task": "Pick up the graduated cylinder using the right robotic arm and move the graduated cylinder above the center of the beaker opening. Slowly tilt the graduated cylinder until all liquid has entered the beaker. Return the graduated cylinder to an upright position on the table. Use the left robotic arm to stir the liquid with the glass stirring rod and place the glass stirring rod on the clean tray."}
+{"task_index": 8, "task": "Use the right robotic arm to grasp and lift the graduated cylinder. Center the graduated cylinder opening above the beaker opening, tilt the graduated cylinder gradually, and transfer the entire liquid volume without spilling. Set the empty graduated cylinder upright on the table. Use the left robotic arm to retrieve the glass stirring rod, stir the liquid in the beaker, and place the glass stirring rod on the clean tray."}
+{"task_index": 9, "task": "Lift the graduated cylinder with the right robotic arm, position the graduated cylinder opening over the center of the beaker, and slowly increase the tilt angle to pour all liquid into the beaker without spilling. After the transfer is complete, place the empty graduated cylinder upright on the table. Use the left robotic arm to pick up the glass stirring rod from the glass stirring rod rack, stir the liquid, and place the glass stirring rod on the clean tray."}
+{"task_index": 10, "task": "Use the right robotic arm to pick up the graduated cylinder and align the graduated cylinder opening with the center of the beaker opening. Slowly tilt the graduated cylinder and wait until all liquid has drained into the beaker. Place the empty graduated cylinder upright on the table without tipping. Use the left robotic arm to pick up the glass stirring rod, insert one end into the liquid, stir the liquid, and place the glass stirring rod on the clean tray."}
+{"task_index": 11, "task": "Grasp the graduated cylinder securely with the right robotic arm and lift the graduated cylinder from the table. Move the graduated cylinder above the beaker, align the openings, and pour the complete contents into the beaker at a controlled rate without spilling. Return the empty graduated cylinder to the table in a stable upright position. Use the left robotic arm to obtain the glass stirring rod, stir the liquid in the beaker, and place the glass stirring rod on the clean tray."}
+{"task_index": 12, "task": "Use the right robotic arm to lift the graduated cylinder and position the graduated cylinder opening directly above the center of the beaker opening. Tilt the graduated cylinder slowly until no liquid remains in the graduated cylinder. Avoid spilling liquid outside the beaker. Restore the graduated cylinder to an upright orientation and place the graduated cylinder on the table. Use the left robotic arm to stir the liquid with the glass stirring rod, then transfer the glass stirring rod to the clean tray."}

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