Upload DexSharpa task data pipeline batch 211/320

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+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "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"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "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"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "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"
+            ]
+        },
+        "action.tcp_pose": {
+            "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"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "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",
+                "left_middle_ty",
+                "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",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "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
+        }
+    }
+}

reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_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"
+    }
+  }
+}

reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/subtasks.jsonl

@@ -0,0 +1,150 @@
+{"subtask_index": 0, "subtask": "Move the blocks closer in front of the robot. | Skill: move"}
+{"subtask_index": 1, "subtask": "Pick up one block. | Skill: pick"}
+{"subtask_index": 2, "subtask": "Move the block above the other block. | Skill: move"}
+{"subtask_index": 3, "subtask": "Place the block on top of the other block. | Skill: place"}
+{"subtask_index": 4, "subtask": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."}
+{"subtask_index": 5, "subtask": "Task: stack_blocks"}
+{"subtask_index": 6, "subtask": "Left hand: reach: Left hand moves slightly downward and rightward toward the center of the table with an empty hand. | Right hand: reach_grasp: Right hand moves downward toward the large green building block on the table and makes initial contact with it to start grasping."}
+{"subtask_index": 7, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach_grasp: Right hand moves downward toward the large green building block on the table and makes initial contact with it to start grasping."}
+{"subtask_index": 8, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach: Right hand moves leftward from above the green 2x4 Lego brick to above the green 2x2 Lego brick, remaining empty during the movement."}
+{"subtask_index": 9, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the green 2x2 Lego brick on the black table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 10, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the green 2x2 Lego brick on the table, adjusting fingers to form a stable grip."}
+{"subtask_index": 11, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift: Right hand lifts the green 2x2 Lego brick slightly off the table surface."}
+{"subtask_index": 12, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp_transport: Right hand grasps the upper green 2x2 Lego brick and transports it rightward and downward toward the lower green 2x2 Lego brick on the table."}
+{"subtask_index": 13, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: place: Right hand places the upper green 2x2 Lego brick onto the lower green 2x2 Lego brick."}
+{"subtask_index": 14, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: hold: Right hand holds the two green 2x2 Lego bricks without moving."}
+{"subtask_index": 15, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: release: Right hand releases the green Lego brick, fingers opening to separate from the brick which stays on the table."}
+{"subtask_index": 16, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach: Right hand moves rightward in the air to approach the blue Lego brick on the table."}
+{"subtask_index": 17, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the blue Lego brick on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 18, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand closes its fingers to grasp the blue 2x2 Lego brick on the black table, with slight adjustment to stabilize the grip."}
+{"subtask_index": 19, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift: Right hand lifts the blue 2x2 Lego brick slightly off the black table surface."}
+{"subtask_index": 20, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: other:move_brick_leftward: Right hand holds the blue 2x2 Lego brick and moves it leftward on the table surface."}
+{"subtask_index": 21, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: hold: Right hand holds the blue 2x2 Lego brick adjacent to the right side of the green Lego brick without moving."}
+{"subtask_index": 22, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: release_retreat: Right hand releases the blue 2x2 Lego brick and retreats rightward."}
+{"subtask_index": 23, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: reach: Right hand moves toward the orange 2x2 Lego brick and approaches it from the right side."}
+{"subtask_index": 24, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: idle: Right hand remains empty above the orange 2x2 Lego brick without moving."}
+{"subtask_index": 25, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: grasp: Right hand grasps the orange 2x2 Lego brick on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 26, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift: Right hand lifts the orange 2x2 Lego brick slightly off the table."}
+{"subtask_index": 27, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: lift_transport: Right hand lifts the orange 2x2 Lego brick off the table and transports it leftward above the blue Lego brick."}
+{"subtask_index": 28, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: place: Right hand lowers the orange 2x2 Lego brick and places it on top of the blue Lego brick."}
+{"subtask_index": 29, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: mate_release: Right hand adjusts and presses the orange 2x2 Lego brick to mate with the blue Lego brick and releases the brick."}
+{"subtask_index": 30, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: mate: Right hand aligns the orange 2x2 Lego brick on the top of the stacked Lego bricks to fit the connecting studs below."}
+{"subtask_index": 31, "subtask": "Left hand: idle: Left hand remains empty and stationary above the center-left area of the table. | Right hand: release: Right hand releases its grip from the orange 2x2 Lego brick and lifts slightly away."}
+{"subtask_index": 32, "subtask": "Left hand: retreat: Left hand moves leftward and upward away from the stacked building blocks on the table, with fingers slightly open. | Right hand: retreat: Right hand moves upward away from the stacked building blocks on the table, with fingers slightly open."}
+{"subtask_index": 33, "subtask": "Left hand: reach: Left hand rotates its palm to face downward and moves toward the building blocks on the table. | Right hand: reach: Right hand rotates its palm to face downward and moves toward the small green building block on the table."}
+{"subtask_index": 34, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand rotates its palm to face downward and moves toward the small green building block on the table."}
+{"subtask_index": 35, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving."}
+{"subtask_index": 36, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}
+{"subtask_index": 37, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the small green block above the larger green 4-stud block."}
+{"subtask_index": 38, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place: Right hand places the small green block onto the larger green 4-stud block."}
+{"subtask_index": 39, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the blue block placed to the right of the stacked green blocks."}
+{"subtask_index": 40, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand touches the blue block, with fingers adjusting to form a stable grip."}
+{"subtask_index": 41, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the blue block to the position above the small green block."}
+{"subtask_index": 42, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the blue block with the top surface of the small green block."}
+{"subtask_index": 43, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the blue block down onto the small green block to complete the assembly."}
+{"subtask_index": 44, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the blue block after pressing."}
+{"subtask_index": 45, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the orange block placed to the right of the stacked green and blue block."}
+{"subtask_index": 46, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand contacts the orange block, fingers adjust to form a stable grip."}
+{"subtask_index": 47, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the orange block from the black table surface."}
+{"subtask_index": 48, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the orange block leftwards to above the blue block."}
+{"subtask_index": 49, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the orange block with the top surface of the blue block."}
+{"subtask_index": 50, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the orange block down onto the blue block to assemble them."}
+{"subtask_index": 51, "subtask": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: other:rotate_palm_upward: Right hand rotates its wrist to turn the palm to face upward, without contacting any object."}
+{"subtask_index": 52, "subtask": "Left hand: other:rotate_palm_upward: Left hand rotates its wrist to turn the palm to face upward, without contacting any object. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}
+{"subtask_index": 53, "subtask": "Left hand: retreat: Left hand moves backward away from the stacked blocks on the table. | Right hand: retreat: Right hand moves backward away from the stacked blocks on the table."}
+{"subtask_index": 54, "subtask": "Right hand: reach: Right hand rotates its wrist about a quarter turn inward while moving down toward the small green lego brick on the black table surface, with fingers slightly open and extended."}
+{"subtask_index": 55, "subtask": "Right hand: grasp: Right hand makes contact with the small green lego brick, fingers perform small opening, closing and repositioning adjustments, wrist rotates slightly to reorient, while the brick remains supported on the table as a stable grip is being established."}
+{"subtask_index": 56, "subtask": "Right hand: reach: Right hand moves empty toward the small blue lego brick placed on the black table surface."}
+{"subtask_index": 57, "subtask": "Right hand: grasp: Right hand contacts the small blue lego brick on the table, closing fingers and adjusting contact positions to form a stable grasp."}
+{"subtask_index": 58, "subtask": "Right hand: lift_transport: Right hand lifts the grasped small blue lego brick off its original table position and carries it to move toward the adjacent green lego structure."}
+{"subtask_index": 59, "subtask": "Right hand: release: Right hand opens fingers to release the grasped small blue lego brick, fully separating from the brick which rests on the table surface."}
+{"subtask_index": 60, "subtask": "Right hand: retreat: Right hand moves empty away from the position of the released blue lego brick on the table."}
+{"subtask_index": 61, "subtask": "Right hand: reach: Right hand moves leftward with open empty fingers to approach the small displaced green brick on the table."}
+{"subtask_index": 62, "subtask": "Right hand: grasp: Right hand closes fingers around the small green brick, with minor finger adjustments to form a stable grasp on the brick."}
+{"subtask_index": 63, "subtask": "Right hand: lift: Right hand lifts the grasped small green brick upward until it is fully separated from the underlying green brick support."}
+{"subtask_index": 64, "subtask": "Right hand: transport: Right hand carries the grasped small green brick rightward across the black table surface to the target placement area."}
+{"subtask_index": 65, "subtask": "Right hand: place_release: Right hand lowers the small green brick downward to place it on the table surface at the new right position, opens fingers to release contact with the brick."}
+{"subtask_index": 66, "subtask": "Right hand: reach: Right hand moves toward the upside-down blue lego brick on the dark table surface, holding fingers in a slightly open posture."}
+{"subtask_index": 67, "subtask": "Right hand: grasp_release: Right hand closes fingers around the blue lego brick in a grasping attempt, slightly displaces the brick, opens fingers to separate from the brick."}
+{"subtask_index": 68, "subtask": "Right hand: reach: Right hand moves toward the repositioned blue lego brick, maintaining an open finger posture during approach."}
+{"subtask_index": 69, "subtask": "Right hand: grasp: Right hand closes fingers around the blue lego brick, adjusts finger contact points and wrist orientation to turn the brick to a right-side up position, makes small continuous movements to stabilize the grip."}
+{"subtask_index": 70, "subtask": "Right hand: hold: Right hand holds the stabilized right-side up blue lego brick on the dark table surface with no observable movement of the hand or brick."}
+{"subtask_index": 71, "subtask": "Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the upright blue brick resting on the black supporting surface."}
+{"subtask_index": 72, "subtask": "Right hand: lift_transport: Right hand lifts the blue brick off the black surface and transports it leftward toward the green lego stack."}
+{"subtask_index": 73, "subtask": "Right hand: mate: Right hand adjusts the position and orientation of the blue brick to align it for fitting with the adjacent green lego stack."}
+{"subtask_index": 74, "subtask": "Right hand: place_release: Right hand places the aligned blue brick onto the black surface next to the green lego stack and releases its fingers from the brick."}
+{"subtask_index": 75, "subtask": "Right hand: release_reach: Right hand opens fingers to release the green and blue lego stack, and moves right to approach the orange lego brick."}
+{"subtask_index": 76, "subtask": "Right hand: idle: Right hand remains empty above the table near the orange lego brick without observable movement."}
+{"subtask_index": 77, "subtask": "Right hand: reach_grasp: Right hand moves closer to the orange lego brick, closes fingers around it and adjusts contact positions to form a stable grasp on the table."}
+{"subtask_index": 78, "subtask": "Right hand: lift_transport: Right hand lifts the grasped orange lego brick off the table surface and moves left toward the green and blue lego stack."}
+{"subtask_index": 79, "subtask": "Right hand: mate: Right hand aligns the orange lego brick with the top of the green and blue lego stack, adjusting position to fit the two bricks together."}
+{"subtask_index": 80, "subtask": "Right hand: reach: Right hand moves its index finger toward the top surface of the orange Lego brick, adjusting its position to align with the target area."}
+{"subtask_index": 81, "subtask": "Right hand: press: Right hand presses its index finger vertically downward onto the top surface of the orange Lego brick, applying consistent pressure."}
+{"subtask_index": 82, "subtask": "Right hand: retreat: Right hand lifts its index finger off the orange Lego brick and moves upward away from the stacked brick assembly."}
+{"subtask_index": 83, "subtask": "Left hand: retreat: Left hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat. | Right hand: retreat: Right hand moves upward away from the assembled lego stack, rotating the wrist slightly and extending fingers gradually during retreat."}
+{"subtask_index": 84, "subtask": "Left hand: return_home: Left hand moves from its initial upper-left position to the left side of the workspace, stopping in a resting position with an empty hand. | Right hand: reach: Right hand moves downward from its initial upper-right position with fingers slightly extended, approaching the small 2x2 green Lego brick placed on the black table surface."}
+{"subtask_index": 85, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves downward from its initial upper-right position with fingers slightly extended, approaching the small 2x2 green Lego brick placed on the black table surface."}
+{"subtask_index": 86, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers around the small 2x2 green Lego brick on the table, adjusting finger positions to form a stable grasp while the brick remains resting on the table."}
+{"subtask_index": 87, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: lift: Right hand lifts the grasped small 2x2 green Lego brick upward until it is completely raised off the black table surface."}
+{"subtask_index": 88, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand carries the small green Lego brick horizontally across the table, moving it to a position directly above the larger 2x4 green Lego brick."}
+{"subtask_index": 89, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: mate: Right hand lowers the small green Lego brick to align with the studs on the larger green Lego brick, fitting the two bricks together."}
+{"subtask_index": 90, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: hold: Right hand holds the assembled two green Lego bricks steadily on the table surface without observable movement."}
+{"subtask_index": 91, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasp on the top small green Lego brick."}
+{"subtask_index": 92, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: reach: Right hand moves rightward with slightly open fingers to approach the blue 2x2 lego brick placed on the table surface."}
+{"subtask_index": 93, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: grasp: Right hand curls fingers to close around the blue 2x2 lego brick, making small finger and wrist adjustments to establish a stable grip on the brick."}
+{"subtask_index": 94, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left resting position without observable movement. | Right hand: transport: Right hand holds the stably grasped blue 2x2 lego brick and moves leftward to carry the brick toward the adjacent green lego brick."}
+{"subtask_index": 95, "subtask": "Left hand: return_home: Left hand moves back to the left front home position, curling fingers inward from an extended pointing position, and comes to a complete stop. | Right hand: reach: Right hand moves rightward while empty, approaching the small orange 2x2 lego brick placed on the dark table surface."}
+{"subtask_index": 96, "subtask": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: grasp: Right hand closes fingers around the orange 2x2 lego brick on the table, making small adjustments to finger contact positions to form a stable grip on the brick."}
+{"subtask_index": 97, "subtask": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: lift_transport: Right hand lifts the orange 2x2 lego brick off the table surface and moves leftward while holding the brick, carrying it to the position directly above the stacked green and blue lego bricks."}
+{"subtask_index": 98, "subtask": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: mate: Right hand aligns the held orange 2x2 lego brick with the top surface of the stacked green and blue lego bricks, lowering and pressing the orange brick to form a tight fitted assembly with the lower brick stack."}
+{"subtask_index": 99, "subtask": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: release: Right hand gradually opens its fingers to release the grip on the orange 2x2 lego brick, which remains secured to the top of the assembled lego stack."}
+{"subtask_index": 100, "subtask": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement or posture change. | Right hand: retreat: Right hand moves slightly upward and away from the assembled lego stack while empty, creating distance from the bricks."}
+{"subtask_index": 101, "subtask": "Left hand: return_home: Left hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement. | Right hand: return_home: Right hand moves upward and backward empty to return to the raised initial starting position, fingers extend and adjust posture slightly during movement."}
+{"subtask_index": 102, "subtask": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the black table, changing finger orientation from upward to forward. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}
+{"subtask_index": 103, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the small green Lego brick on the black table with fingers open during movement."}
+{"subtask_index": 104, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand contacts the small green Lego brick, fingers close to establish grip on the brick."}
+{"subtask_index": 105, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green Lego brick on the black table."}
+{"subtask_index": 106, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: hold: Right hand holds the small green Lego brick on the table without moving."}
+{"subtask_index": 107, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grasp on the small green Lego brick on the table surface."}
+{"subtask_index": 108, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: push: Right hand pushes the grasped small green Lego brick horizontally to the right along the table surface."}
+{"subtask_index": 109, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand releases the small green Lego brick and lifts its fingers away from the brick."}
+{"subtask_index": 110, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the small green Lego brick on the black table."}
+{"subtask_index": 111, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves towards the small blue Lego brick on the table."}
+{"subtask_index": 112, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the blue Lego brick on the table."}
+{"subtask_index": 113, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts fingers to contact and grasp the blue Lego brick on the table, with slight fine movements to form a stable grip."}
+{"subtask_index": 114, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp and adjust its grip on the blue Lego brick on the table."}
+{"subtask_index": 115, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand adjusts its grip on the blue Lego brick placed on the green Lego with slight finger movements."}
+{"subtask_index": 116, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: lift: Right hand lifts the blue Lego brick up off the green Lego brick."}
+{"subtask_index": 117, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand moves the blue Lego brick to the position right above the green Lego brick."}
+{"subtask_index": 118, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the blue Lego brick onto the top surface of the green Lego brick."}
+{"subtask_index": 119, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the blue Lego brick down to assemble it with the green Lego brick."}
+{"subtask_index": 120, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: reach: Right hand moves toward the orange Lego brick on the table."}
+{"subtask_index": 121, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes fingers to grasp the orange Lego brick on the table."}
+{"subtask_index": 122, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: grasp: Right hand closes its fingers to grasp the orange Lego brick on the black table."}
+{"subtask_index": 123, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: transport: Right hand transports the grasped orange Lego brick towards the assembled green and blue Lego brick on the table."}
+{"subtask_index": 124, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: place: Right hand places the orange Lego brick onto the top of the assembled green and blue Lego brick."}
+{"subtask_index": 125, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: press: Right hand presses the orange Lego brick down to mate it with the underlying green and blue Lego bricks."}
+{"subtask_index": 126, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: release: Right hand opens its fingers to release the orange Lego brick."}
+{"subtask_index": 127, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left side of the black table. | Right hand: retreat: Right hand moves away from the stacked Lego bricks after releasing."}
+{"subtask_index": 128, "subtask": "Left hand: retreat: Left hand moves backward to the left side of the frame, empty, away from the stacked building blocks on the table surface. | Right hand: retreat: Right hand moves backward to the right side of the frame, empty, away from the stacked building blocks on the table surface."}
+{"subtask_index": 129, "subtask": "Left hand: other:adjust_initial_posture: Left hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture to a forward-extended position. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}
+{"subtask_index": 130, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: other:adjust_initial_posture: Right hand moves slightly inward from its initial upright position, with fingers bending from the fully extended upright posture as the wrist rotates to orient the hand toward the table surface."}
+{"subtask_index": 131, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves downward toward the small green lego block on the black table, approaching the block without closing fingers to establish a grasp."}
+{"subtask_index": 132, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand contacts the small green Lego brick on the table, closes fingers and adjusts finger positions to form a stable grip on the brick."}
+{"subtask_index": 133, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand holds the small green Lego brick, moves it slightly to align and attach it to the adjacent longer green Lego brick on the table."}
+{"subtask_index": 134, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand adjusts finger positions on the small green Lego brick, making fine contact adjustments to grip the brick resting on the table."}
+{"subtask_index": 135, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release the small green Lego brick, separating from the brick surface."}
+{"subtask_index": 136, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves slightly downward toward the top surface of the small green Lego brick, fingers held open."}
+{"subtask_index": 137, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand closes fingers around the small green Lego brick, adjusting wrist and finger positions to form a stable grip on the brick."}
+{"subtask_index": 138, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand lifts the small green Lego brick slightly upward, raising it a short distance off the dark table surface."}
+{"subtask_index": 139, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the green Lego brick stack toward the blue Lego brick on the dark table surface, fingers held slightly open."}
+{"subtask_index": 140, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the blue Lego brick, closes fingers around the brick, and adjusts finger positions and wrist angle to establish a stable grip, slightly shifting the brick's position on the table during adjustment."}
+{"subtask_index": 141, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: release: Right hand opens fingers to release contact with the blue Lego brick, separating fingers from the brick surface."}
+{"subtask_index": 142, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: reach: Right hand moves from the position adjacent to the stacked blue and green Lego brick toward the small orange Lego brick on the black table surface, with fingers slightly extended as it approaches the target brick."}
+{"subtask_index": 143, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: grasp: Right hand makes contact with the small orange Lego brick, fingers flex and close around the brick, with minor adjustments of finger positions to establish a stable grip on the brick which remains on the table."}
+{"subtask_index": 144, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: hold: Right hand holds the small orange Lego brick steadily on the table surface, with no visible movement of the hand, fingers or the grasped brick."}
+{"subtask_index": 145, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: lift: Right hand moves upward to lift the grasped small orange Lego brick, until the brick is fully separated from the table surface."}
+{"subtask_index": 146, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: transport: Right hand carries the lifted small orange Lego brick horizontally toward the stacked blue and green Lego brick, moving the brick to a position directly above the stacked bricks."}
+{"subtask_index": 147, "subtask": "Left hand: idle: Left hand remains empty in the forward-extended position above the black table without any observable movement or hand shape change. | Right hand: mate: Right hand aligns the small orange Lego brick with the top surface of the stacked blue and green Lego brick, presses the brick downward to attach it to the stack, with small adjustments of wrist and finger positions to position the brick correctly."}
+{"subtask_index": 148, "subtask": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: release: Right hand opens fingers to release the top orange Lego brick resting on the stacked block assembly."}
+{"subtask_index": 149, "subtask": "Left hand: return_home: Left hand moves upward while empty, returning to the natural resting position in front of the body. | Right hand: return_home: Right hand moves upward while empty, returning to the natural resting position in front of the body."}

reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/tasks.jsonl

@@ -0,0 +1,2 @@
+{"task_index": 0, "task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block."}
+{"task_index": 1, "task": "Task: stack_blocks"}

reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/meta/v40_validation.json

@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 19,
+  "frames": 34020,
+  "video_frames": {
+    "observation.images.head_left": 34020,
+    "observation.images.wrist_left": 34020,
+    "observation.images.wrist_right": 34020,
+    "observation.images.head_right": 34020,
+    "observation.images.tactile_deform": 34020,
+    "observation.images.tactile_raw": 34020
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 19
+}

reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4

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reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4

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reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4

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reposition_and_stack_blocks/season_POC22027_2026_05_06_16_55_57_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000003.mp4

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