Hugging Face's logo

Datasets:
Sharpa-Robotics
/
SharpaDex-v1.0

Modalities:
Video
Size:
100K - 1M
Tags:
robotics
lerobot
imitation-learning
visuomotor-learning
tactile-sensing
dexterous-manipulation
License:
Dataset card Data Studio Files
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SharpaIT commited on
Commit
d2bdb46
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1 Parent(s): 6290c0c

Upload DexSharpa node 1 batch 38/110

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  1. iron_garment/season_POC22027_2026_06_15_19_30_04_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000020.mp4 +3 -0
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7
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8
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9
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10
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11
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12
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13
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14
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15
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16
+ {"source_uid": "31a2702c6007b5ff", "num_frames": 3304, "episode_id": "POC22027_2026_06_15_21_03_20_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_03_20_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_03_20_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_03_20_train/train_0.3.0@2026_06_15_21_03_20.hdf5", "tags": {"task_name": "Iron_Clothes", "task_instruction": "Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment.", "scene_description": "A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand.", "success_criteria": "The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 445, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 750, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 2816, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 445, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 750, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 2816, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/iron_garment/season_POC22027_2026_06_15_19_30_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
17
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18
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19
+ {"source_uid": "741620224bbea305", "num_frames": 3037, "episode_id": "POC22027_2026_06_15_21_09_16_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_09_16_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_09_16_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_09_16_train/train_0.3.0@2026_06_15_21_09_16.hdf5", "tags": {"task_name": "Iron_Clothes", "task_instruction": "Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment.", "scene_description": "A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand.", "success_criteria": "The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 420, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 525, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 2569, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 420, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 525, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 2569, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/iron_garment/season_POC22027_2026_06_15_19_30_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
20
+ {"source_uid": "44df3312d8f79c42", "num_frames": 3275, "episode_id": "POC22027_2026_06_15_21_11_13_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_11_13_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_11_13_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_11_13_train/train_0.3.0@2026_06_15_21_11_13.hdf5", "tags": {"task_name": "Iron_Clothes", "task_instruction": "Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment.", "scene_description": "A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand.", "success_criteria": "The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 470, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 471, "end_step": 620, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 2773, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 470, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 471, "end_step": 620, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 2773, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/iron_garment/season_POC22027_2026_06_15_19_30_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 24, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
21
+ {"source_uid": "31a8bb783fbb7128", "num_frames": 3735, "episode_id": "POC22027_2026_06_15_21_13_10_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_13_10_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_13_10_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_13_10_train/train_0.3.0@2026_06_15_21_13_10.hdf5", "tags": {"task_name": "Iron_Clothes", "task_instruction": "Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment.", "scene_description": "A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand.", "success_criteria": "The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 430, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 660, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 3238, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 430, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 660, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 3238, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/iron_garment/season_POC22027_2026_06_15_19_30_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
22
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23
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24
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25
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iron_garment/season_POC22027_2026_06_15_19_30_04_train/lerobot_v3.0/meta/annotations.jsonl ADDED
@@ -0,0 +1,25 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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2
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3
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4
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5
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6
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7
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8
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9
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10
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11
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12
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13
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14
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15
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16
+ {"source_uid": "31a2702c6007b5ff", "num_frames": 3304, "episode_id": "POC22027_2026_06_15_21_03_20_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_03_20_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_03_20_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_03_20_train/train_0.3.0@2026_06_15_21_03_20.hdf5", "tags": {"task_name": "Iron_Clothes", "task_instruction": "Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment.", "scene_description": "A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand.", "success_criteria": "The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 445, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 750, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 2816, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 445, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 750, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 2816, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/iron_garment/season_POC22027_2026_06_15_19_30_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
17
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18
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19
+ {"source_uid": "741620224bbea305", "num_frames": 3037, "episode_id": "POC22027_2026_06_15_21_09_16_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_09_16_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_09_16_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_09_16_train/train_0.3.0@2026_06_15_21_09_16.hdf5", "tags": {"task_name": "Iron_Clothes", "task_instruction": "Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment.", "scene_description": "A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand.", "success_criteria": "The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 420, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 525, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 2569, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 420, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 525, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 2569, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/iron_garment/season_POC22027_2026_06_15_19_30_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
20
+ {"source_uid": "44df3312d8f79c42", "num_frames": 3275, "episode_id": "POC22027_2026_06_15_21_11_13_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_11_13_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_11_13_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_15_19_30_04_train/POC22027_2026_06_15_21_11_13_train/train_0.3.0@2026_06_15_21_11_13.hdf5", "tags": {"task_name": "Iron_Clothes", "task_instruction": "Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment.", "scene_description": "A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand.", "success_criteria": "The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 470, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 471, "end_step": 620, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 2773, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 470, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 471, "end_step": 620, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 2773, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/iron_garment/season_POC22027_2026_06_15_19_30_04_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 24, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
21
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22
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