Upload DexSharpa task data pipeline batch 64/101

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+{"episode_index": 18, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2374}
+{"episode_index": 19, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2314}
+{"episode_index": 20, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2701}
+{"episode_index": 21, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2143}
+{"episode_index": 22, "tasks": ["Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."], "length": 2070}

tomato_boxed_lunch_packaging/season_POC22048_2026_07_04_10_38_45_train/lerobot_v2.1/meta/info.json

@@ -0,0 +1,537 @@
+{
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+    "total_frames": 58489,
+    "total_tasks": 1,
+    "total_videos": 138,
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+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
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+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+                "right_hand_j9",
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+                "right_hand_j17",
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+                "motor_j1",
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+                "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",
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+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
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+                "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",
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+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
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+                "left_arm_j1",
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+                "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"
+            ]
+        },
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+                "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
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+        },
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+                480,
+                3
+            ],
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+                "width",
+                "channels"
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+                "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,
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+        },
+        "observation.images.head_right": {
+            "dtype": "video",
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+                3
+            ],
+            "names": [
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+                "width",
+                "channels"
+            ],
+            "info": {
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+                "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",
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+            ],
+            "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
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+            "names": null
+        },
+        "frame_index": {
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+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
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+                1
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+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        }
+    }
+}

tomato_boxed_lunch_packaging/season_POC22048_2026_07_04_10_38_45_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"
+    }
+  }
+}

tomato_boxed_lunch_packaging/season_POC22048_2026_07_04_10_38_45_train/lerobot_v2.1/meta/subtasks.jsonl

@@ -0,0 +1,9 @@
+{"subtask_index": 0, "subtask": "Pick up the fruit tray containing the tomatoes with the right hand. | Skill: pick"}
+{"subtask_index": 1, "subtask": "Tip the fruit tray and pour the tomatoes into the food packaging box with the right hand. | Skill: tip"}
+{"subtask_index": 2, "subtask": "Place the empty fruit tray on the table with the right hand. | Skill: place"}
+{"subtask_index": 3, "subtask": "Pick up the packaging lid with both hands. | Skill: pick"}
+{"subtask_index": 4, "subtask": "Place the packaging lid onto the food packaging box with both hands. | Skill: place"}
+{"subtask_index": 5, "subtask": "Fasten all four sides of the packaging lid onto the box. | Skill: buckle"}
+{"subtask_index": 6, "subtask": "Pick up the closed food packaging box with the right hand. | Skill: pick"}
+{"subtask_index": 7, "subtask": "Place the closed food packaging box into the packaging bag with the right hand. | Skill: place"}
+{"subtask_index": 8, "subtask": "Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."}

tomato_boxed_lunch_packaging/season_POC22048_2026_07_04_10_38_45_train/lerobot_v2.1/meta/tasks.jsonl

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+{"task_index": 0, "task": "Task: tomato_boxed_lunch_packaging | Instruction: Pick up the fruit tray with the right hand and pour the tomatoes into the food packaging box. Place the empty tray on the table. Pick up the packaging lid with both hands and place it onto the box. Fasten all four sides of the lid. Then pick up the closed packaging box with the right hand and place it into the packaging bag. | Scene: A fruit tray containing tomatoes, an open food packaging box, a matching lid, and a packaging bag are placed on the table. The robot needs to transfer the tomatoes into the box, close and fasten the lid, and place the sealed box into the packaging bag. | Success: All tomatoes are transferred into the packaging box, the tray is placed back on the table, the lid is correctly positioned and securely fastened on all four sides, and the closed box is completely placed inside the packaging bag."}

tomato_boxed_lunch_packaging/season_POC22048_2026_07_04_10_38_45_train/lerobot_v2.1/meta/v40_validation.json

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+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 23
+}

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