Upload DexSharpa task data pipeline batch 69/101

transfer_liquid_with_dropper/season_POC22018_2026_04_01_19_03_12_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-009.mp4

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transfer_liquid_with_dropper/season_POC22018_2026_04_01_20_59_04_train/lerobot_v2.1/meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 2272}
+{"episode_index": 1, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 2010}
+{"episode_index": 2, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 2273}
+{"episode_index": 3, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 2424}
+{"episode_index": 4, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 2713}
+{"episode_index": 5, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 2406}
+{"episode_index": 6, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 2154}
+{"episode_index": 7, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 2257}
+{"episode_index": 8, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 2619}
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+{"episode_index": 10, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 2046}

transfer_liquid_with_dropper/season_POC22018_2026_04_01_20_59_04_train/lerobot_v2.1/meta/info.json

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+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 11,
+    "total_frames": 25515,
+    "total_tasks": 1,
+    "total_videos": 66,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:11"
+    },
+    "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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+            "names": [
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+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
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+            "shape": [
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+            "names": [
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+                "left_arm_j5",
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+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
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+                "right_hand_j5",
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+                "right_hand_j7",
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+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
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+            "dtype": "float32",
+            "shape": [
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+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
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+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
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+            ],
+            "names": [
+                "height",
+                "width",
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+                "video.codec": "h264",
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+                "video.is_depth_map": false,
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+                "has_audio": false
+            }
+        },
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+            "dtype": "video",
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+                480,
+                480,
+                3
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+            "names": [
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+                "channels"
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+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
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+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
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+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
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+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
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+            "dtype": "video",
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+                480,
+                1200,
+                3
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+}

transfer_liquid_with_dropper/season_POC22018_2026_04_01_20_59_04_train/lerobot_v2.1/meta/modality.json

@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}

transfer_liquid_with_dropper/season_POC22018_2026_04_01_20_59_04_train/lerobot_v2.1/meta/subtasks.jsonl

@@ -0,0 +1,22 @@
+{"subtask_index": 0, "subtask": "Extract the test tube from the rack with the left hand. | Skill: extract"}
+{"subtask_index": 1, "subtask": "Move the right hand to the stopper on the test tube. | Skill: move"}
+{"subtask_index": 2, "subtask": "Upcap the stopper from the test tube with the right hand. | Skill: upcap"}
+{"subtask_index": 3, "subtask": "Place the stopper on the table with the right hand. | Skill: place"}
+{"subtask_index": 4, "subtask": "Pick up the dropper from the table with the right hand. | Skill: pick"}
+{"subtask_index": 5, "subtask": "Move the dropper above the beaker with the right hand. | Skill: move"}
+{"subtask_index": 6, "subtask": "Align the dropper with the beaker opening with the right hand. | Skill: align"}
+{"subtask_index": 7, "subtask": "Insert the dropper into the beaker with the right hand. | Skill: insert"}
+{"subtask_index": 8, "subtask": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate"}
+{"subtask_index": 9, "subtask": "Move the dropper above the test tube with the right hand. | Skill: move"}
+{"subtask_index": 10, "subtask": "Align the dropper with the test tube opening with the right hand. | Skill: align"}
+{"subtask_index": 11, "subtask": "Insert the dropper into the test tube with the right hand. | Skill: insert"}
+{"subtask_index": 12, "subtask": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense"}
+{"subtask_index": 13, "subtask": "Place the dropper flat on the table with the right hand. | Skill: place"}
+{"subtask_index": 14, "subtask": "Pick up the stopper from the table with the right hand. | Skill: pick"}
+{"subtask_index": 15, "subtask": "Move the stopper above the test tube with the right hand. | Skill: move"}
+{"subtask_index": 16, "subtask": "Align the stopper with the test tube opening with the right hand. | Skill: align"}
+{"subtask_index": 17, "subtask": "Cap the test tube with the stopper using the right hand. | Skill: cap"}
+{"subtask_index": 18, "subtask": "Move the test tube to the rack with the left hand. | Skill: move"}
+{"subtask_index": 19, "subtask": "Align the test tube with the rack using the left hand. | Skill: align"}
+{"subtask_index": 20, "subtask": "Insert the test tube into the rack with the left hand. | Skill: insert"}
+{"subtask_index": 21, "subtask": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."}

transfer_liquid_with_dropper/season_POC22018_2026_04_01_20_59_04_train/lerobot_v2.1/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."}

transfer_liquid_with_dropper/season_POC22018_2026_04_01_20_59_04_train/lerobot_v2.1/meta/v40_validation.json

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+{
+  "status": "passed",
+  "episodes": 11,
+  "frames": 25515,
+  "video_frames": {
+    "observation.images.head_left": 25515,
+    "observation.images.wrist_left": 25515,
+    "observation.images.wrist_right": 25515,
+    "observation.images.head_right": 25515,
+    "observation.images.tactile_deform": 25515,
+    "observation.images.tactile_raw": 25515
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 11
+}

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