[ { "task_index": 0, "task_key": "task_000000", "episode_index": 0, "frame_count": 194, "fps": 25, "instruction": "Pick up the entire set of objects and place them in/on the white box.", "instruction_metadata": { "task": "long_horizon", "objects": [ "entire set of objects" ], "containers": [ "white box", "box with Tesla Logo", "white box with Tesla Logo", "plastic box", "box" ] }, "official_task_record": { "task_index": 0, "task": "{\"task\": \"long_horizon\", \"objects\": [\"entire set of objects\"], \"containers\": [\"white box\", \"box with Tesla Logo\", \"white box with Tesla Logo\", \"plastic box\", \"box\"]}" }, "camera_metadata": { "episode_index": 0, "filename": "long-horizon_franka_apple00d_O03_00772319_1dc5-tr", "cameras": [ { "name": "wrist_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.065, 0.0, 0.0 ], "rot": [ 0, 0.7071068, 0.7071068, 0 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "opst_cam", "width": 480, "height": 360, "offset": { "pos": [ 1, 0, 0.6 ], "rot": [ 0.6123724356957946, 0.3535533905932737, 0.35355339059327373, 0.6123724356957945 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "side_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.5, 1, 0.35 ], "rot": [ 4.329780281177467e-17, -4.329780281177466e-17, 0.7071067811865475, 0.7071067811865476 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 } ] }, "source_filename": "long-horizon_franka_apple00d_O03_00772319_1dc5-tr", "views": [ { "camera": "opst_cam", "label": "OPPOSITE CAMERA", "path": "media/task_000000/episode_000000/opst_cam.mp4", "source_path": "videos/chunk-000/observation.images.opst_cam/episode_000000.mp4", "source_sha256": "9bfafd3af99f7f486660d914e93e6ebe5ad6ab730519fa6258b991c50739ab46", "source_bytes": 721537, "output_sha256": "00aee925a6f3f679ac5f6edd5812ec340bd364dcc26f1861a2bf36b52a9b0aa7" }, { "camera": "wrist_cam", "label": "WRIST CAMERA", "path": "media/task_000000/episode_000000/wrist_cam.mp4", "source_path": "videos/chunk-000/observation.images.wrist_cam/episode_000000.mp4", "source_sha256": "debc56fd938df60a9a570c2bb1b23e897f725e7083a4cd976254434d9323580b", "source_bytes": 731335, "output_sha256": "6f1d09c3f615ddaff106618b113ec07d10c0e0efe008c220d8b3294c04bee2e6" }, { "camera": "side_cam", "label": "SIDE CAMERA", "path": "media/task_000000/episode_000000/side_cam.mp4", "source_path": "videos/chunk-000/observation.images.side_cam/episode_000000.mp4", "source_sha256": "a6243f3634545a246c2d32932c4c4dfb2581e4ab1bd7ad322c12443bb9810969", "source_bytes": 633917, "output_sha256": "ea1cecd985cbcaabcfe2f653dee4e9bb4969b3b49b8cedd4e637150909c2d6b6" } ], "trajectory_source_path": "data/chunk-000/episode_000000.parquet", "trajectory_path": "trajectories/task_000000/episode_000000.parquet", "composite_path": "media/task_000000/episode_000000/synchronized.mp4", "preview_path": "media/task_000000/episode_000000/preview.jpg" }, { "task_index": 135, "task_key": "task_000135", "episode_index": 200, "frame_count": 227, "fps": 25, "instruction": "Pick up the entire set of objects and place them in/on the plastic box.", "instruction_metadata": { "task": "long_horizon", "objects": [ "entire set of objects" ], "containers": [ "plastic box", "pink box", "pink plastic box", "box" ] }, "official_task_record": { "task_index": 135, "task": "{\"task\": \"long_horizon\", \"objects\": [\"entire set of objects\"], \"containers\": [\"plastic box\", \"pink box\", \"pink plastic box\", \"box\"]}" }, "camera_metadata": { "episode_index": 200, "filename": "long-horizon_franka_apple08d_O03_00819030_04bc-tr", "cameras": [ { "name": "wrist_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.065, 0.0, 0.0 ], "rot": [ 0, 0.7071068, 0.7071068, 0 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "opst_cam", "width": 480, "height": 360, "offset": { "pos": [ 1, 0, 0.6 ], "rot": [ 0.6123724356957946, 0.3535533905932737, 0.35355339059327373, 0.6123724356957945 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "side_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.5, 1, 0.35 ], "rot": [ 4.329780281177467e-17, -4.329780281177466e-17, 0.7071067811865475, 0.7071067811865476 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 } ] }, "source_filename": "long-horizon_franka_apple08d_O03_00819030_04bc-tr", "views": [ { "camera": "opst_cam", "label": "OPPOSITE CAMERA", "path": "media/task_000135/episode_000200/opst_cam.mp4", "source_path": "videos/chunk-000/observation.images.opst_cam/episode_000200.mp4", "source_sha256": "9a3318a09927142ecb1483eba709060248c6fa5addb968b1dd41e6dea1b07405", "source_bytes": 1756820, "output_sha256": "526c8d14b41b482a575e8bbe29443a8785b9fba8486f05eeeb5bcc7e83f60dc8" }, { "camera": "wrist_cam", "label": "WRIST CAMERA", "path": "media/task_000135/episode_000200/wrist_cam.mp4", "source_path": "videos/chunk-000/observation.images.wrist_cam/episode_000200.mp4", "source_sha256": "ae0591a92da1e7526f34ee492b0c4c602ae0aab2df594d05d911ca18da91e52a", "source_bytes": 909527, "output_sha256": "49673d982dd074a1db85609407d65f2fac9162dc4672d7d70cf504ba6d3de176" }, { "camera": "side_cam", "label": "SIDE CAMERA", "path": "media/task_000135/episode_000200/side_cam.mp4", "source_path": "videos/chunk-000/observation.images.side_cam/episode_000200.mp4", "source_sha256": "5ec15207ceb95a7fb53ec151fb3ce761f169955ca8b9f5ee08a942b6fb7b468c", "source_bytes": 1610154, "output_sha256": "635b9285102075593d0ba3744aa24b7f6477199562fe3474240807e6e6264827" } ], "trajectory_source_path": "data/chunk-000/episode_000200.parquet", "trajectory_path": "trajectories/task_000135/episode_000200.parquet", "composite_path": "media/task_000135/episode_000200/synchronized.mp4", "preview_path": "media/task_000135/episode_000200/preview.jpg" }, { "task_index": 196, "task_key": "task_000196", "episode_index": 400, "frame_count": 205, "fps": 25, "instruction": "Pick up the entire set of objects and place them in/on the box.", "instruction_metadata": { "task": "long_horizon", "objects": [ "entire set of objects" ], "containers": [ "box", "pink box", "pink plastic box", "plastic box" ] }, "official_task_record": { "task_index": 196, "task": "{\"task\": \"long_horizon\", \"objects\": [\"entire set of objects\"], \"containers\": [\"box\", \"pink box\", \"pink plastic box\", \"plastic box\"]}" }, "camera_metadata": { "episode_index": 400, "filename": "long-horizon_franka_apple14d_O03_00888109_ee3b-tr", "cameras": [ { "name": "wrist_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.065, 0.0, 0.0 ], "rot": [ 0, 0.7071068, 0.7071068, 0 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "opst_cam", "width": 480, "height": 360, "offset": { "pos": [ 1, 0, 0.6 ], "rot": [ 0.6123724356957946, 0.3535533905932737, 0.35355339059327373, 0.6123724356957945 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "side_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.5, 1, 0.35 ], "rot": [ 4.329780281177467e-17, -4.329780281177466e-17, 0.7071067811865475, 0.7071067811865476 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 } ] }, "source_filename": "long-horizon_franka_apple14d_O03_00888109_ee3b-tr", "views": [ { "camera": "opst_cam", "label": "OPPOSITE CAMERA", "path": "media/task_000196/episode_000400/opst_cam.mp4", "source_path": "videos/chunk-000/observation.images.opst_cam/episode_000400.mp4", "source_sha256": "ac86d5ca3f5340bc51ee62142e0e89ae52f30652417585e2002e06093092bc56", "source_bytes": 799020, "output_sha256": "b794a53dfcbbf25e62f385f54c0c85c06b861a3f13d591c5dab871ce21f22768" }, { "camera": "wrist_cam", "label": "WRIST CAMERA", "path": "media/task_000196/episode_000400/wrist_cam.mp4", "source_path": "videos/chunk-000/observation.images.wrist_cam/episode_000400.mp4", "source_sha256": "1f413282ad105ca393fd5e0402f0c060b41dbbdfa324f3833ea4e7a59e64e641", "source_bytes": 503744, "output_sha256": "df1ca6bbda84e6f334872527556589f1e92ffc765c4e76a663fec7245fdac673" }, { "camera": "side_cam", "label": "SIDE CAMERA", "path": "media/task_000196/episode_000400/side_cam.mp4", "source_path": "videos/chunk-000/observation.images.side_cam/episode_000400.mp4", "source_sha256": "0cf103b9d9406094f1ace8b4314ac10585cb1a0eb05a4c9b9f2b3e6df1fcfb54", "source_bytes": 1233799, "output_sha256": "d9dc24517843e4c031c878501384a87046416abeb81988b2e90fbd0fd016969d" } ], "trajectory_source_path": "data/chunk-000/episode_000400.parquet", "trajectory_path": "trajectories/task_000196/episode_000400.parquet", "composite_path": "media/task_000196/episode_000400/synchronized.mp4", "preview_path": "media/task_000196/episode_000400/preview.jpg" }, { "task_index": 246, "task_key": "task_000246", "episode_index": 600, "frame_count": 220, "fps": 25, "instruction": "Pick up the fusiform avocado and place it in/on the box.", "instruction_metadata": { "task": "long_horizon", "objects": [ "fusiform avocado", "the object that is closer to the robot's right at the start", "the object moving in the robot's forward-left direction", "green avocado", "green fusiform avocado", "avocado", "the moving object with the highest initial velocity" ], "containers": [ "box", "green box", "plastic box", "green plastic box" ] }, "official_task_record": { "task_index": 246, "task": "{\"task\": \"long_horizon\", \"objects\": [\"fusiform avocado\", \"the object that is closer to the robot's right at the start\", \"the object moving in the robot's forward-left direction\", \"green avocado\", \"green fusiform avocado\", \"avocado\", \"the moving object with the highest initial velocity\"], \"containers\": [\"box\", \"green box\", \"plastic box\", \"green plastic box\"]}" }, "camera_metadata": { "episode_index": 600, "filename": "long-horizon_franka_avocado00d_O03_00769598_7aed-tr", "cameras": [ { "name": "wrist_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.065, 0.0, 0.0 ], "rot": [ 0, 0.7071068, 0.7071068, 0 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "opst_cam", "width": 480, "height": 360, "offset": { "pos": [ 1, 0, 0.6 ], "rot": [ 0.6123724356957946, 0.3535533905932737, 0.35355339059327373, 0.6123724356957945 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "side_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.5, 1, 0.35 ], "rot": [ 4.329780281177467e-17, -4.329780281177466e-17, 0.7071067811865475, 0.7071067811865476 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 } ] }, "source_filename": "long-horizon_franka_avocado00d_O03_00769598_7aed-tr", "views": [ { "camera": "opst_cam", "label": "OPPOSITE CAMERA", "path": "media/task_000246/episode_000600/opst_cam.mp4", "source_path": "videos/chunk-000/observation.images.opst_cam/episode_000600.mp4", "source_sha256": "b7c0cec39cf0f0bd8e5c95707b5eff09b97d54db3b393c90b32d4fba0696c87f", "source_bytes": 1799260, "output_sha256": "27ce117f55b99ec859798f84396d42db443d94a3e7180692f70cafc83dd5666e" }, { "camera": "wrist_cam", "label": "WRIST CAMERA", "path": "media/task_000246/episode_000600/wrist_cam.mp4", "source_path": "videos/chunk-000/observation.images.wrist_cam/episode_000600.mp4", "source_sha256": "23c8877a78fcb6b95ecea98604eb77a104bc6f0a2e89d03f54616e0dc02c3b69", "source_bytes": 1477987, "output_sha256": "5a147a8a7e83550b48301f9705ae718cf9634fec698af66fd6667e813560cc56" }, { "camera": "side_cam", "label": "SIDE CAMERA", "path": "media/task_000246/episode_000600/side_cam.mp4", "source_path": "videos/chunk-000/observation.images.side_cam/episode_000600.mp4", "source_sha256": "6a2728b5c56e4d24fdbcea86172d2f71ef79a83af2aa814b0461d08f899af122", "source_bytes": 1507292, "output_sha256": "dc785e332025e89ac750113df5574415662d389cf8d3520e47e1fe6fee97743f" } ], "trajectory_source_path": "data/chunk-000/episode_000600.parquet", "trajectory_path": "trajectories/task_000246/episode_000600.parquet", "composite_path": "media/task_000246/episode_000600/synchronized.mp4", "preview_path": "media/task_000246/episode_000600/preview.jpg" }, { "task_index": 80, "task_key": "task_000080", "episode_index": 800, "frame_count": 232, "fps": 25, "instruction": "Pick up the entire set of objects and place them in/on the box with Tencent Logo.", "instruction_metadata": { "task": "long_horizon", "objects": [ "entire set of objects" ], "containers": [ "box with Tencent Logo", "plastic box", "box", "white box", "white box with Tencent Logo" ] }, "official_task_record": { "task_index": 80, "task": "{\"task\": \"long_horizon\", \"objects\": [\"entire set of objects\"], \"containers\": [\"box with Tencent Logo\", \"plastic box\", \"box\", \"white box\", \"white box with Tencent Logo\"]}" }, "camera_metadata": { "episode_index": 800, "filename": "long-horizon_franka_avocado04d_O03_00878095_8d75-tr", "cameras": [ { "name": "wrist_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.065, 0.0, 0.0 ], "rot": [ 0, 0.7071068, 0.7071068, 0 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "opst_cam", "width": 480, "height": 360, "offset": { "pos": [ 1, 0, 0.6 ], "rot": [ 0.6123724356957946, 0.3535533905932737, 0.35355339059327373, 0.6123724356957945 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "side_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.5, 1, 0.35 ], "rot": [ 4.329780281177467e-17, -4.329780281177466e-17, 0.7071067811865475, 0.7071067811865476 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 } ] }, "source_filename": "long-horizon_franka_avocado04d_O03_00878095_8d75-tr", "views": [ { "camera": "opst_cam", "label": "OPPOSITE CAMERA", "path": "media/task_000080/episode_000800/opst_cam.mp4", "source_path": "videos/chunk-000/observation.images.opst_cam/episode_000800.mp4", "source_sha256": "a11d55753f7ceccb572fbdcfb899eeb6610c696dded9fb29340a07cc7c68ad7a", "source_bytes": 542422, "output_sha256": "f16e21cb0c97d96253b73fe01200e0d1121fe5c68862df426f879f124c1e0084" }, { "camera": "wrist_cam", "label": "WRIST CAMERA", "path": "media/task_000080/episode_000800/wrist_cam.mp4", "source_path": "videos/chunk-000/observation.images.wrist_cam/episode_000800.mp4", "source_sha256": "2c0a0a2ea215627f532f456bd825ac7a72db0191b0a6ca368ced8fe3dd4ac143", "source_bytes": 614965, "output_sha256": "a300e59dbe6151713431791454e0f48ad6d84f5db3238579843fb6552c2c139d" }, { "camera": "side_cam", "label": "SIDE CAMERA", "path": "media/task_000080/episode_000800/side_cam.mp4", "source_path": "videos/chunk-000/observation.images.side_cam/episode_000800.mp4", "source_sha256": "5797f15ee746958eec2ae78adba7e6d6d74650effbf2eadda8a3a401df971ed2", "source_bytes": 862164, "output_sha256": "994ad74b93df7753e185e45347e06980c3ac4bee09ea9d80f5fb274d1c8c3818" } ], "trajectory_source_path": "data/chunk-000/episode_000800.parquet", "trajectory_path": "trajectories/task_000080/episode_000800.parquet", "composite_path": "media/task_000080/episode_000800/synchronized.mp4", "preview_path": "media/task_000080/episode_000800/preview.jpg" }, { "task_index": 70, "task_key": "task_000070", "episode_index": 1000, "frame_count": 209, "fps": 25, "instruction": "Pick up the entire set of objects and place them in/on the white box.", "instruction_metadata": { "task": "long_horizon", "objects": [ "entire set of objects" ], "containers": [ "white box", "white box with Tencent Logo", "box", "box with Tencent Logo", "plastic box" ] }, "official_task_record": { "task_index": 70, "task": "{\"task\": \"long_horizon\", \"objects\": [\"entire set of objects\"], \"containers\": [\"white box\", \"white box with Tencent Logo\", \"box\", \"box with Tencent Logo\", \"plastic box\"]}" }, "camera_metadata": { "episode_index": 1000, "filename": "long-horizon_franka_beer01d_O03_00794991_f96b-tr", "cameras": [ { "name": "wrist_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.065, 0.0, 0.0 ], "rot": [ 0, 0.7071068, 0.7071068, 0 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "opst_cam", "width": 480, "height": 360, "offset": { "pos": [ 1, 0, 0.6 ], "rot": [ 0.6123724356957946, 0.3535533905932737, 0.35355339059327373, 0.6123724356957945 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "side_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.5, 1, 0.35 ], "rot": [ 4.329780281177467e-17, -4.329780281177466e-17, 0.7071067811865475, 0.7071067811865476 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 } ] }, "source_filename": "long-horizon_franka_beer01d_O03_00794991_f96b-tr", "views": [ { "camera": "opst_cam", "label": "OPPOSITE CAMERA", "path": "media/task_000070/episode_001000/opst_cam.mp4", "source_path": "videos/chunk-001/observation.images.opst_cam/episode_001000.mp4", "source_sha256": "81c3ffd2bad9b0c8aecf8ac7422e0c3496838322f8c8fe8e205599e44fed39ad", "source_bytes": 1507794, "output_sha256": "240c295a1a6b67ca88bb68bebfd395db86c5ad0c79a381ff14dc23c65f0684e7" }, { "camera": "wrist_cam", "label": "WRIST CAMERA", "path": "media/task_000070/episode_001000/wrist_cam.mp4", "source_path": "videos/chunk-001/observation.images.wrist_cam/episode_001000.mp4", "source_sha256": "7fecfc27561565f955e03528a28745fde39d9bacafe72d48ff8e0d2567361c0b", "source_bytes": 1125183, "output_sha256": "3f2a0e9de0df3687100d73d467d046c9a149780e41b7245547c8132ba9de0e00" }, { "camera": "side_cam", "label": "SIDE CAMERA", "path": "media/task_000070/episode_001000/side_cam.mp4", "source_path": "videos/chunk-001/observation.images.side_cam/episode_001000.mp4", "source_sha256": "de965f728f18423bba9af8ef265f2c0cd46206567bf397f099d41fff438c0d65", "source_bytes": 945981, "output_sha256": "87053bfb05922f7f23adbd5901566bbb02b7453d1ed0bcec6371bcc24cc5e37c" } ], "trajectory_source_path": "data/chunk-001/episode_001000.parquet", "trajectory_path": "trajectories/task_000070/episode_001000.parquet", "composite_path": "media/task_000070/episode_001000/synchronized.mp4", "preview_path": "media/task_000070/episode_001000/preview.jpg" }, { "task_index": 10235, "task_key": "task_010235", "episode_index": 16460, "frame_count": 83, "fps": 25, "instruction": "Pick up the moving object with the lower initial velocity.", "instruction_metadata": { "task": "pick", "objects": [ "the moving object with the lower initial velocity", "green avocado", "avocado", "green long fusiform avocado", "long fusiform avocado", "the object that is closer to the robot's right at the start" ], "containers": [ "tray", "white tray with CapitaLand logo", "white tray", "tray with CapitaLand logo" ] }, "official_task_record": { "task_index": 10235, "task": "{\"task\": \"pick\", \"objects\": [\"the moving object with the lower initial velocity\", \"green avocado\", \"avocado\", \"green long fusiform avocado\", \"long fusiform avocado\", \"the object that is closer to the robot's right at the start\"], \"containers\": [\"tray\", \"white tray with CapitaLand logo\", \"white tray\", \"tray with CapitaLand logo\"]}" }, "camera_metadata": { "episode_index": 16460, "filename": "pick_franka_avocado01d_O03_01140437_873f-tr", "cameras": [ { "name": "wrist_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.065, 0.0, 0.0 ], "rot": [ 0, 0.7071068, 0.7071068, 0 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "opst_cam", "width": 480, "height": 360, "offset": { "pos": [ 1, 0, 0.6 ], "rot": [ 0.6123724356957946, 0.3535533905932737, 0.35355339059327373, 0.6123724356957945 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "side_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.5, 1, 0.35 ], "rot": [ 4.329780281177467e-17, -4.329780281177466e-17, 0.7071067811865475, 0.7071067811865476 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 } ] }, "source_filename": "pick_franka_avocado01d_O03_01140437_873f-tr", "views": [ { "camera": "opst_cam", "label": "OPPOSITE CAMERA", "path": "media/task_010235/episode_016460/opst_cam.mp4", "source_path": "videos/chunk-016/observation.images.opst_cam/episode_016460.mp4", "source_sha256": "0b1174ae32c26f2f6b62416c694e22e5dc6e5a318dddf72a330e75b68988e2c3", "source_bytes": 298529, "output_sha256": "964dde59c112b9555c041bfc061964169292e366a0680cb882cd5939e5a944b4" }, { "camera": "wrist_cam", "label": "WRIST CAMERA", "path": "media/task_010235/episode_016460/wrist_cam.mp4", "source_path": "videos/chunk-016/observation.images.wrist_cam/episode_016460.mp4", "source_sha256": "821693190dfee5de6c4e71ca1a9ad9327bfb530524d33e9186248c91bce4fb69", "source_bytes": 289537, "output_sha256": "7f59adaf19d891303c63128e7c3a70316f6f0121967db30fdd49662484d687ed" }, { "camera": "side_cam", "label": "SIDE CAMERA", "path": "media/task_010235/episode_016460/side_cam.mp4", "source_path": "videos/chunk-016/observation.images.side_cam/episode_016460.mp4", "source_sha256": "67196e38e0fc3fa7a2ff7aaeb2b34fa6aece8c1d5ffa76c06be1e84adda70add", "source_bytes": 229962, "output_sha256": "fd83595c1eb3c661cf9f3a5082250a34c00ab3ee335d56bd1b17bfdbc8e49837" } ], "trajectory_source_path": "data/chunk-016/episode_016460.parquet", "trajectory_path": "trajectories/task_010235/episode_016460.parquet", "composite_path": "media/task_010235/episode_016460/synchronized.mp4", "preview_path": "media/task_010235/episode_016460/preview.jpg" }, { "task_index": 10588, "task_key": "task_010588", "episode_index": 16837, "frame_count": 89, "fps": 25, "instruction": "Pick up the object in the middle from left to right at the start.", "instruction_metadata": { "task": "pick", "objects": [ "the object in the middle from left to right at the start", "green avocado", "avocado", "pear-shaped long avocado", "green pear-shaped long avocado", "the object farthest from the robot mounting edge at the start" ], "containers": [ "square placemat features a bold, stylized illustration of a tui", "Square placemat with a bold, stylized tui", "square placemat", "square placemat with yellow background" ] }, "official_task_record": { "task_index": 10588, "task": "{\"task\": \"pick\", \"objects\": [\"the object in the middle from left to right at the start\", \"green avocado\", \"avocado\", \"pear-shaped long avocado\", \"green pear-shaped long avocado\", \"the object farthest from the robot mounting edge at the start\"], \"containers\": [\"square placemat features a bold, stylized illustration of a tui\", \"Square placemat with a bold, stylized tui\", \"square placemat\", \"square placemat with yellow background\"]}" }, "camera_metadata": { "episode_index": 16837, "filename": "pick_franka_avocado02d_O04_01042912_e0d2-tr", "cameras": [ { "name": "wrist_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.065, 0.0, 0.0 ], "rot": [ 0, 0.7071068, 0.7071068, 0 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "opst_cam", "width": 480, "height": 360, "offset": { "pos": [ 1, 0, 0.6 ], "rot": [ 0.6123724356957946, 0.3535533905932737, 0.35355339059327373, 0.6123724356957945 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "side_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.5, 1, 0.35 ], "rot": [ 4.329780281177467e-17, -4.329780281177466e-17, 0.7071067811865475, 0.7071067811865476 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 } ] }, "source_filename": "pick_franka_avocado02d_O04_01042912_e0d2-tr", "views": [ { "camera": "opst_cam", "label": "OPPOSITE CAMERA", "path": "media/task_010588/episode_016837/opst_cam.mp4", "source_path": "videos/chunk-016/observation.images.opst_cam/episode_016837.mp4", "source_sha256": "21926d11f4e0d03f2a607f28b2509b06fede1a431b766049d38f4642c545022e", "source_bytes": 628335, "output_sha256": "0c42bd1aaa40bfb72b39b5393225c6a8d9be2445a0417522f294829ce61df26d" }, { "camera": "wrist_cam", "label": "WRIST CAMERA", "path": "media/task_010588/episode_016837/wrist_cam.mp4", "source_path": "videos/chunk-016/observation.images.wrist_cam/episode_016837.mp4", "source_sha256": "5be7c4c548b6d747195bc56ae71578eddb8f6c4c13d7f8ba129fe9b5d8a82950", "source_bytes": 329748, "output_sha256": "97b16020abe1b45aebf975c1324b863b25a034d3040848660187da138217400d" }, { "camera": "side_cam", "label": "SIDE CAMERA", "path": "media/task_010588/episode_016837/side_cam.mp4", "source_path": "videos/chunk-016/observation.images.side_cam/episode_016837.mp4", "source_sha256": "00cb88ec9b254c5ebafa6f282339604b8527109e58f212deae121af38e28c4f6", "source_bytes": 661439, "output_sha256": "9ac8b1f6b03e88e0089535c6a93f8b3a27d167dab809954eb7f227ebdef8f6e9" } ], "trajectory_source_path": "data/chunk-016/episode_016837.parquet", "trajectory_path": "trajectories/task_010588/episode_016837.parquet", "composite_path": "media/task_010588/episode_016837/synchronized.mp4", "preview_path": "media/task_010588/episode_016837/preview.jpg" }, { "task_index": 42175, "task_key": "task_042175", "episode_index": 51235, "frame_count": 87, "fps": 25, "instruction": "Pick up the object moving in the robot's forward-left direction.", "instruction_metadata": { "task": "pick", "objects": [ "the object moving in the robot's forward-left direction", "dark green lime", "the object that is closer to the robot's right at the start", "the object closer to the robot mounting edge at the start", "lime" ], "containers": [ "tray", "tray with Meta logo", "white tray", "white tray with Meta logo" ] }, "official_task_record": { "task_index": 42175, "task": "{\"task\": \"pick\", \"objects\": [\"the object moving in the robot's forward-left direction\", \"dark green lime\", \"the object that is closer to the robot's right at the start\", \"the object closer to the robot mounting edge at the start\", \"lime\"], \"containers\": [\"tray\", \"tray with Meta logo\", \"white tray\", \"white tray with Meta logo\"]}" }, "camera_metadata": { "episode_index": 51235, "filename": "pick_franka_lime00d_O03_01174264_30d7-tr", "cameras": [ { "name": "wrist_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.065, 0.0, 0.0 ], "rot": [ 0, 0.7071068, 0.7071068, 0 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "opst_cam", "width": 480, "height": 360, "offset": { "pos": [ 1, 0, 0.6 ], "rot": [ 0.6123724356957946, 0.3535533905932737, 0.35355339059327373, 0.6123724356957945 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "side_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.5, 1, 0.35 ], "rot": [ 4.329780281177467e-17, -4.329780281177466e-17, 0.7071067811865475, 0.7071067811865476 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 } ] }, "source_filename": "pick_franka_lime00d_O03_01174264_30d7-tr", "views": [ { "camera": "opst_cam", "label": "OPPOSITE CAMERA", "path": "media/task_042175/episode_051235/opst_cam.mp4", "source_path": "videos/chunk-051/observation.images.opst_cam/episode_051235.mp4", "source_sha256": "9b63f8d854a08ac8349da35a329dd2ac070bfc4f9246b6bf65edb9f90448b753", "source_bytes": 385186, "output_sha256": "be36ded0c321f4cee29343d6b95c88ec2373dc185932612e68f76e4ed49c417b" }, { "camera": "wrist_cam", "label": "WRIST CAMERA", "path": "media/task_042175/episode_051235/wrist_cam.mp4", "source_path": "videos/chunk-051/observation.images.wrist_cam/episode_051235.mp4", "source_sha256": "19bbb66340705f94234feeaa6943fd49f26792f675835edaad6801db68647e8f", "source_bytes": 216903, "output_sha256": "63c7435ae005c8dddf4dd2d54b20b606aac185cb53aa75b4b87aaa2b30767766" }, { "camera": "side_cam", "label": "SIDE CAMERA", "path": "media/task_042175/episode_051235/side_cam.mp4", "source_path": "videos/chunk-051/observation.images.side_cam/episode_051235.mp4", "source_sha256": "e1073c8a8483a3f7f51d087a6f466395994b035890fc4a314d9bd7f2cdb58742", "source_bytes": 489656, "output_sha256": "8a826c624171287941bc7aaa08a67a4e7d06e4fa3a859cfb184ad9ff6ee9b3cc" } ], "trajectory_source_path": "data/chunk-051/episode_051235.parquet", "trajectory_path": "trajectories/task_042175/episode_051235.parquet", "composite_path": "media/task_042175/episode_051235/synchronized.mp4", "preview_path": "media/task_042175/episode_051235/preview.jpg" }, { "task_index": 42560, "task_key": "task_042560", "episode_index": 51658, "frame_count": 87, "fps": 25, "instruction": "Pick up the lime.", "instruction_metadata": { "task": "pick", "objects": [ "lime", "dark green lime" ], "containers": [ "the box with the larger volume", "the box closer to the robot at the start", "the box that is closer to the robot's right at the start", "the box with the larger area", "red box", "the box farther from the robot mounting edge at the start", "box with MMLab At NTU words", "plastic box", "the taller box", "red box with MMLab At NTU words", "box" ] }, "official_task_record": { "task_index": 42560, "task": "{\"task\": \"pick\", \"objects\": [\"lime\", \"dark green lime\"], \"containers\": [\"the box with the larger volume\", \"the box closer to the robot at the start\", \"the box that is closer to the robot's right at the start\", \"the box with the larger area\", \"red box\", \"the box farther from the robot mounting edge at the start\", \"box with MMLab At NTU words\", \"plastic box\", \"the taller box\", \"red box with MMLab At NTU words\", \"box\"]}" }, "camera_metadata": { "episode_index": 51658, "filename": "pick_franka_lime00d_O05_01312751_5a1e-tr", "cameras": [ { "name": "wrist_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.065, 0.0, 0.0 ], "rot": [ 0, 0.7071068, 0.7071068, 0 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "opst_cam", "width": 480, "height": 360, "offset": { "pos": [ 1, 0, 0.6 ], "rot": [ 0.6123724356957946, 0.3535533905932737, 0.35355339059327373, 0.6123724356957945 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "side_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.5, 1, 0.35 ], "rot": [ 4.329780281177467e-17, -4.329780281177466e-17, 0.7071067811865475, 0.7071067811865476 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 } ] }, "source_filename": "pick_franka_lime00d_O05_01312751_5a1e-tr", "views": [ { "camera": "opst_cam", "label": "OPPOSITE CAMERA", "path": "media/task_042560/episode_051658/opst_cam.mp4", "source_path": "videos/chunk-051/observation.images.opst_cam/episode_051658.mp4", "source_sha256": "769c2ce0caac573b9c117ed693e3009dae0eb751b19e29807f46f34d3e889cff", "source_bytes": 323094, "output_sha256": "e5eefb6529b637c8a9a5ae70c150ab7183b95d2c42daedfbe6ae58b8beacd490" }, { "camera": "wrist_cam", "label": "WRIST CAMERA", "path": "media/task_042560/episode_051658/wrist_cam.mp4", "source_path": "videos/chunk-051/observation.images.wrist_cam/episode_051658.mp4", "source_sha256": "48310afe786869839c7287fcee31ccea36416fb89be504f8ad226fcdc30bc41a", "source_bytes": 204883, "output_sha256": "4df97a1211c508a7dbf1429cba3df5a7e713a5ddee203bb812f3011df3e71971" }, { "camera": "side_cam", "label": "SIDE CAMERA", "path": "media/task_042560/episode_051658/side_cam.mp4", "source_path": "videos/chunk-051/observation.images.side_cam/episode_051658.mp4", "source_sha256": "dbbdbcb8e71b8f1de6bfc56f39dd3d0eb2d644f1e98228263a96d2038b42561a", "source_bytes": 308007, "output_sha256": "7cdd41571df69c85f5248981c605c806577fcb6cd08d87904e3aee388f2d9756" } ], "trajectory_source_path": "data/chunk-051/episode_051658.parquet", "trajectory_path": "trajectories/task_042560/episode_051658.parquet", "composite_path": "media/task_042560/episode_051658/synchronized.mp4", "preview_path": "media/task_042560/episode_051658/preview.jpg" }, { "task_index": 60569, "task_key": "task_060569", "episode_index": 71104, "frame_count": 95, "fps": 25, "instruction": "Pick up the object that is closest to the robot's left at the start.", "instruction_metadata": { "task": "pick", "objects": [ "the object that is closest to the robot's left at the start", "tangerine" ], "containers": [ "pink plastic box", "pink box", "box", "plastic box" ] }, "official_task_record": { "task_index": 60569, "task": "{\"task\": \"pick\", \"objects\": [\"the object that is closest to the robot's left at the start\", \"tangerine\"], \"containers\": [\"pink plastic box\", \"pink box\", \"box\", \"plastic box\"]}" }, "camera_metadata": { "episode_index": 71104, "filename": "pick_franka_tangerine00d_O04_01057450_ee6d-tr", "cameras": [ { "name": "wrist_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.065, 0.0, 0.0 ], "rot": [ 0, 0.7071068, 0.7071068, 0 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "opst_cam", "width": 480, "height": 360, "offset": { "pos": [ 1, 0, 0.6 ], "rot": [ 0.6123724356957946, 0.3535533905932737, 0.35355339059327373, 0.6123724356957945 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "side_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.5, 1, 0.35 ], "rot": [ 4.329780281177467e-17, -4.329780281177466e-17, 0.7071067811865475, 0.7071067811865476 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 } ] }, "source_filename": "pick_franka_tangerine00d_O04_01057450_ee6d-tr", "views": [ { "camera": "opst_cam", "label": "OPPOSITE CAMERA", "path": "media/task_060569/episode_071104/opst_cam.mp4", "source_path": "videos/chunk-071/observation.images.opst_cam/episode_071104.mp4", "source_sha256": "ced7d30fac9c1826c93623cc43df3ffb6d0964c1691c956730d65673505aef33", "source_bytes": 498769, "output_sha256": "9af90695d9a6820cb327fc0260c3c6fe6994f1c9f9f95229b0b7e4d7fc27b6d0" }, { "camera": "wrist_cam", "label": "WRIST CAMERA", "path": "media/task_060569/episode_071104/wrist_cam.mp4", "source_path": "videos/chunk-071/observation.images.wrist_cam/episode_071104.mp4", "source_sha256": "16d9e46e7669aeffad50f99b3e6758cbb3078c551df7a8bafbd6ccd8dc16be4a", "source_bytes": 248363, "output_sha256": "033aa0ffb83ae344280eeada82780efa46308b741230e13774854e9e982b6bcd" }, { "camera": "side_cam", "label": "SIDE CAMERA", "path": "media/task_060569/episode_071104/side_cam.mp4", "source_path": "videos/chunk-071/observation.images.side_cam/episode_071104.mp4", "source_sha256": "638c0f19b5c4c2b4c8629c0b31e90e3360f82eb459d818b2a5d660903db3c35f", "source_bytes": 438525, "output_sha256": "3b289d2d391178675782d89cc4392d4cdbfe89a030d9abb3c4088e41f8142067" } ], "trajectory_source_path": "data/chunk-071/episode_071104.parquet", "trajectory_path": "trajectories/task_060569/episode_071104.parquet", "composite_path": "media/task_060569/episode_071104/synchronized.mp4", "preview_path": "media/task_060569/episode_071104/preview.jpg" }, { "task_index": 60993, "task_key": "task_060993", "episode_index": 71578, "frame_count": 85, "fps": 25, "instruction": "Pick up the object that is closest to the robot's left at the start.", "instruction_metadata": { "task": "pick", "objects": [ "the object that is closest to the robot's left at the start", "tangerine" ], "containers": [ "tray", "white tray", "tray with NTU logo", "white tray with NTU logo" ] }, "official_task_record": { "task_index": 60993, "task": "{\"task\": \"pick\", \"objects\": [\"the object that is closest to the robot's left at the start\", \"tangerine\"], \"containers\": [\"tray\", \"white tray\", \"tray with NTU logo\", \"white tray with NTU logo\"]}" }, "camera_metadata": { "episode_index": 71578, "filename": "pick_franka_tangerine03d_O04_01097900_93cd-tr", "cameras": [ { "name": "wrist_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.065, 0.0, 0.0 ], "rot": [ 0, 0.7071068, 0.7071068, 0 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "opst_cam", "width": 480, "height": 360, "offset": { "pos": [ 1, 0, 0.6 ], "rot": [ 0.6123724356957946, 0.3535533905932737, 0.35355339059327373, 0.6123724356957945 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "side_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.5, 1, 0.35 ], "rot": [ 4.329780281177467e-17, -4.329780281177466e-17, 0.7071067811865475, 0.7071067811865476 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 } ] }, "source_filename": "pick_franka_tangerine03d_O04_01097900_93cd-tr", "views": [ { "camera": "opst_cam", "label": "OPPOSITE CAMERA", "path": "media/task_060993/episode_071578/opst_cam.mp4", "source_path": "videos/chunk-071/observation.images.opst_cam/episode_071578.mp4", "source_sha256": "965debb702df4372e864e7b8727863d1282016283e77fc33021c534bcc039406", "source_bytes": 314948, "output_sha256": "48c45bf829b5af347326d0c0d842116f0aab7328f836c195cdb672baa4703d06" }, { "camera": "wrist_cam", "label": "WRIST CAMERA", "path": "media/task_060993/episode_071578/wrist_cam.mp4", "source_path": "videos/chunk-071/observation.images.wrist_cam/episode_071578.mp4", "source_sha256": "2122d953a672e02b5516927ff61a2dce942399d38eefcc86f25ad31cd1b4768e", "source_bytes": 223439, "output_sha256": "289726b9412279cc9cfabf2dcde144c876e7bd1047c8660e919cd75458f021b9" }, { "camera": "side_cam", "label": "SIDE CAMERA", "path": "media/task_060993/episode_071578/side_cam.mp4", "source_path": "videos/chunk-071/observation.images.side_cam/episode_071578.mp4", "source_sha256": "4fb1799047588c8a04d125fd992a40abd26bf41dee42f520ff12658c883cd3e4", "source_bytes": 290400, "output_sha256": "46e8636c0ce887dba0e5476c48755a53f4a443683103d6eb7106672846d301a1" } ], "trajectory_source_path": "data/chunk-071/episode_071578.parquet", "trajectory_path": "trajectories/task_060993/episode_071578.parquet", "composite_path": "media/task_060993/episode_071578/synchronized.mp4", "preview_path": "media/task_060993/episode_071578/preview.jpg" }, { "task_index": 77322, "task_key": "task_077322", "episode_index": 98470, "frame_count": 111, "fps": 25, "instruction": "Pick up the moving-forward object and place it in/on the ceramic plate with blue floral patterns.", "instruction_metadata": { "task": "place", "objects": [ "moving-forward object", "light color beer bottle with Heineken carvings", "beer bottle with Heineken carvings", "beer bottle", "moving-backward-left object", "moving-backward-right object", "moving-right object", "light color beer bottle", "moving-backward object", "moving-left object" ], "containers": [ "ceramic plate with blue floral patterns", "ceramic plate", "plate", "plate with blue floral patterns" ] }, "official_task_record": { "task_index": 77322, "task": "{\"task\": \"place\", \"objects\": [\"moving-forward object\", \"light color beer bottle with Heineken carvings\", \"beer bottle with Heineken carvings\", \"beer bottle\", \"moving-backward-left object\", \"moving-backward-right object\", \"moving-right object\", \"light color beer bottle\", \"moving-backward object\", \"moving-left object\"], \"containers\": [\"ceramic plate with blue floral patterns\", \"ceramic plate\", \"plate\", \"plate with blue floral patterns\"]}" }, "camera_metadata": { "episode_index": 98470, "filename": "place_franka_beer03d_O02_00082428_f57d-tr", "cameras": [ { "name": "wrist_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.065, 0.0, 0.0 ], "rot": [ 0, 0.7071068, 0.7071068, 0 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "opst_cam", "width": 480, "height": 360, "offset": { "pos": [ 1, 0, 0.6 ], "rot": [ 0.6123724356957946, 0.3535533905932737, 0.35355339059327373, 0.6123724356957945 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "side_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.5, 1, 0.35 ], "rot": [ 4.329780281177467e-17, -4.329780281177466e-17, 0.7071067811865475, 0.7071067811865476 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 } ] }, "source_filename": "place_franka_beer03d_O02_00082428_f57d-tr", "views": [ { "camera": "opst_cam", "label": "OPPOSITE CAMERA", "path": "media/task_077322/episode_098470/opst_cam.mp4", "source_path": "videos/chunk-098/observation.images.opst_cam/episode_098470.mp4", "source_sha256": "199343b8800d2f384932dc7de0b2839964641de2d9ef22838437316b25312d50", "source_bytes": 663666, "output_sha256": "7a602e4f686af129c58b60898bf72b9b77def3f395c5a47f4899cb324dd54552" }, { "camera": "wrist_cam", "label": "WRIST CAMERA", "path": "media/task_077322/episode_098470/wrist_cam.mp4", "source_path": "videos/chunk-098/observation.images.wrist_cam/episode_098470.mp4", "source_sha256": "6ee98ec3b0958f697281f93c376f456807612ed2c7874e2eb92344bf91bc3dcc", "source_bytes": 545648, "output_sha256": "9ed89395c407109be37b4a1bc3267495c64b5aea830aa07660c938c08d0c86b1" }, { "camera": "side_cam", "label": "SIDE CAMERA", "path": "media/task_077322/episode_098470/side_cam.mp4", "source_path": "videos/chunk-098/observation.images.side_cam/episode_098470.mp4", "source_sha256": "caf4e70f6ec2a15f891bc94002f95785c39eca5d5e8db55ee0e659172f8765c1", "source_bytes": 828369, "output_sha256": "667e5d880ad37e0b457aa63a832381bc8e8b10e1c3d4d1f9837866eaa6087411" } ], "trajectory_source_path": "data/chunk-098/episode_098470.parquet", "trajectory_path": "trajectories/task_077322/episode_098470.parquet", "composite_path": "media/task_077322/episode_098470/synchronized.mp4", "preview_path": "media/task_077322/episode_098470/preview.jpg" }, { "task_index": 77667, "task_key": "task_077667", "episode_index": 98947, "frame_count": 117, "fps": 25, "instruction": "Pick up the beer bottle and place it in/on the placemat that is closer to the robot's left at the start.", "instruction_metadata": { "task": "place", "objects": [ "beer bottle", "the object that is closer to the robot's left at the start", "beer bottle with Heineken carvings", "light color beer bottle", "the moving object with the highest initial velocity", "light color beer bottle with Heineken carvings" ], "containers": [ "the placemat that is closer to the robot's left at the start", "green square placemat", "the placemat closer to the robot mounting edge at the start", "square placemat" ] }, "official_task_record": { "task_index": 77667, "task": "{\"task\": \"place\", \"objects\": [\"beer bottle\", \"the object that is closer to the robot's left at the start\", \"beer bottle with Heineken carvings\", \"light color beer bottle\", \"the moving object with the highest initial velocity\", \"light color beer bottle with Heineken carvings\"], \"containers\": [\"the placemat that is closer to the robot's left at the start\", \"green square placemat\", \"the placemat closer to the robot mounting edge at the start\", \"square placemat\"]}" }, "camera_metadata": { "episode_index": 98947, "filename": "place_franka_beer03d_O04_00340177_6e45-tr", "cameras": [ { "name": "wrist_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.065, 0.0, 0.0 ], "rot": [ 0, 0.7071068, 0.7071068, 0 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "opst_cam", "width": 480, "height": 360, "offset": { "pos": [ 1, 0, 0.6 ], "rot": [ 0.6123724356957946, 0.3535533905932737, 0.35355339059327373, 0.6123724356957945 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "side_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.5, 1, 0.35 ], "rot": [ 4.329780281177467e-17, -4.329780281177466e-17, 0.7071067811865475, 0.7071067811865476 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 } ] }, "source_filename": "place_franka_beer03d_O04_00340177_6e45-tr", "views": [ { "camera": "opst_cam", "label": "OPPOSITE CAMERA", "path": "media/task_077667/episode_098947/opst_cam.mp4", "source_path": "videos/chunk-098/observation.images.opst_cam/episode_098947.mp4", "source_sha256": "8db17392877749997d931f30840b3676eeb89c7f4c03f83495c6d050b3589184", "source_bytes": 655814, "output_sha256": "25a3de855c7c0beac94a551a4dca6c07553648ffcedc96000a1803fc72529459" }, { "camera": "wrist_cam", "label": "WRIST CAMERA", "path": "media/task_077667/episode_098947/wrist_cam.mp4", "source_path": "videos/chunk-098/observation.images.wrist_cam/episode_098947.mp4", "source_sha256": "cdcbf926ad744585921255aae1fce75f57bb9d697d763e9b87d9305411b8c5b0", "source_bytes": 605892, "output_sha256": "9ce002913dfcec54d6c25d3648127a6c96b99b4affcbe6fe4a749fd10b57ccfc" }, { "camera": "side_cam", "label": "SIDE CAMERA", "path": "media/task_077667/episode_098947/side_cam.mp4", "source_path": "videos/chunk-098/observation.images.side_cam/episode_098947.mp4", "source_sha256": "2878ab7d8e9d73ad98880a1af639e72eaa0342b01dca0a05ff47adcd04814d95", "source_bytes": 406735, "output_sha256": "a01fbdee40b807207d3aaa0750472e5cd1cf5f0b07897566fd62fbce09b48101" } ], "trajectory_source_path": "data/chunk-098/episode_098947.parquet", "trajectory_path": "trajectories/task_077667/episode_098947.parquet", "composite_path": "media/task_077667/episode_098947/synchronized.mp4", "preview_path": "media/task_077667/episode_098947/preview.jpg" }, { "task_index": 108733, "task_key": "task_108733", "episode_index": 153474, "frame_count": 108, "fps": 25, "instruction": "Pick up the lemon and place it in/on the tray.", "instruction_metadata": { "task": "place", "objects": [ "lemon" ], "containers": [ "tray", "white tray with HSBC logo", "tray with HSBC logo", "white tray" ] }, "official_task_record": { "task_index": 108733, "task": "{\"task\": \"place\", \"objects\": [\"lemon\"], \"containers\": [\"tray\", \"white tray with HSBC logo\", \"tray with HSBC logo\", \"white tray\"]}" }, "camera_metadata": { "episode_index": 153474, "filename": "place_franka_lemon06d_O02_00026504_29ce-tr", "cameras": [ { "name": "wrist_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.065, 0.0, 0.0 ], "rot": [ 0, 0.7071068, 0.7071068, 0 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "opst_cam", "width": 480, "height": 360, "offset": { "pos": [ 1, 0, 0.6 ], "rot": [ 0.6123724356957946, 0.3535533905932737, 0.35355339059327373, 0.6123724356957945 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "side_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.5, 1, 0.35 ], "rot": [ 4.329780281177467e-17, -4.329780281177466e-17, 0.7071067811865475, 0.7071067811865476 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 } ] }, "source_filename": "place_franka_lemon06d_O02_00026504_29ce-tr", "views": [ { "camera": "opst_cam", "label": "OPPOSITE CAMERA", "path": "media/task_108733/episode_153474/opst_cam.mp4", "source_path": "videos/chunk-153/observation.images.opst_cam/episode_153474.mp4", "source_sha256": "c839f6bdfbcfc4a4a9b63da21dfd2ccfb7629feedc529467152d43b838a9d57c", "source_bytes": 432613, "output_sha256": "dbde74fc5fe78eae185e4fb6d6b1f313eccf0dbc9b590472a457a7180f0aca6b" }, { "camera": "wrist_cam", "label": "WRIST CAMERA", "path": "media/task_108733/episode_153474/wrist_cam.mp4", "source_path": "videos/chunk-153/observation.images.wrist_cam/episode_153474.mp4", "source_sha256": "0fd836c7835ab08881192d7d25de32d27b0e4750985fbd6ff48ed965e8137460", "source_bytes": 233642, "output_sha256": "56fd1f3beeda74558b5a1467da31e7082e7717d3006fd2035cd1a63c841ee37c" }, { "camera": "side_cam", "label": "SIDE CAMERA", "path": "media/task_108733/episode_153474/side_cam.mp4", "source_path": "videos/chunk-153/observation.images.side_cam/episode_153474.mp4", "source_sha256": "b09dc5cdc7458e3eb986fe3a6343dc04fc7035f18f9d36d9208f987b1c59e753", "source_bytes": 256428, "output_sha256": "b328dfb87a1f3969719cf5b617855494bcb377d4aaf516869b044bb5376d1dd6" } ], "trajectory_source_path": "data/chunk-153/episode_153474.parquet", "trajectory_path": "trajectories/task_108733/episode_153474.parquet", "composite_path": "media/task_108733/episode_153474/synchronized.mp4", "preview_path": "media/task_108733/episode_153474/preview.jpg" }, { "task_index": 111207, "task_key": "task_111207", "episode_index": 154278, "frame_count": 110, "fps": 25, "instruction": "Pick up the lemon and place it in/on the placemat farther from the robot mounting edge at the start.", "instruction_metadata": { "task": "place", "objects": [ "lemon", "the object that is closer to the robot's right at the start", "the object moving in the robot's backward-left direction", "the moving object with the highest initial velocity" ], "containers": [ "the placemat farther from the robot mounting edge at the start", "green square placemat" ] }, "official_task_record": { "task_index": 111207, "task": "{\"task\": \"place\", \"objects\": [\"lemon\", \"the object that is closer to the robot's right at the start\", \"the object moving in the robot's backward-left direction\", \"the moving object with the highest initial velocity\"], \"containers\": [\"the placemat farther from the robot mounting edge at the start\", \"green square placemat\"]}" }, "camera_metadata": { "episode_index": 154278, "filename": "place_franka_lemon06d_O04_00340971_5a64-tr", "cameras": [ { "name": "wrist_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.065, 0.0, 0.0 ], "rot": [ 0, 0.7071068, 0.7071068, 0 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "opst_cam", "width": 480, "height": 360, "offset": { "pos": [ 1, 0, 0.6 ], "rot": [ 0.6123724356957946, 0.3535533905932737, 0.35355339059327373, 0.6123724356957945 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "side_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.5, 1, 0.35 ], "rot": [ 4.329780281177467e-17, -4.329780281177466e-17, 0.7071067811865475, 0.7071067811865476 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 } ] }, "source_filename": "place_franka_lemon06d_O04_00340971_5a64-tr", "views": [ { "camera": "opst_cam", "label": "OPPOSITE CAMERA", "path": "media/task_111207/episode_154278/opst_cam.mp4", "source_path": "videos/chunk-154/observation.images.opst_cam/episode_154278.mp4", "source_sha256": "a405720d6e6c0ea75bc7ebf981d9336c8df60c29fa05d354aab8240f9325ed52", "source_bytes": 389970, "output_sha256": "b71e1a807f9dcd538270c89bcbc52917cc218c184ed071f0c372827b8626e818" }, { "camera": "wrist_cam", "label": "WRIST CAMERA", "path": "media/task_111207/episode_154278/wrist_cam.mp4", "source_path": "videos/chunk-154/observation.images.wrist_cam/episode_154278.mp4", "source_sha256": "82f08fd7242f0f8a2f24bc3e8fe0815f8c39908b18ccc41dec50bd6ba44e96dc", "source_bytes": 308682, "output_sha256": "a6fa627ff39583e092952193a2141c2af39b80fd45707fa90393816611379e94" }, { "camera": "side_cam", "label": "SIDE CAMERA", "path": "media/task_111207/episode_154278/side_cam.mp4", "source_path": "videos/chunk-154/observation.images.side_cam/episode_154278.mp4", "source_sha256": "4a6473f8c7e1d8aebc1af62d66ad216ff1551e61c9a8422e9e266927a5313eba", "source_bytes": 520717, "output_sha256": "0818c92155a550c3ef33000a1a08a2c665551b899b03d010387c2be2ebb351e7" } ], "trajectory_source_path": "data/chunk-154/episode_154278.parquet", "trajectory_path": "trajectories/task_111207/episode_154278.parquet", "composite_path": "media/task_111207/episode_154278/synchronized.mp4", "preview_path": "media/task_111207/episode_154278/preview.jpg" }, { "task_index": 140594, "task_key": "task_140594", "episode_index": 206737, "frame_count": 124, "fps": 25, "instruction": "Pick up the water bottle and place it in/on the bowl.", "instruction_metadata": { "task": "place", "objects": [ "water bottle", "cylinder water bottle", "cylinder water bottle with grey and orange lid", "black cylinder water bottle", "black cylinder water bottle with grey and orange lid", "black water bottle", "black water bottle with grey and orange lid", "water bottle with grey and orange lid" ], "containers": [ "bowl", "wooden bowl", "shallow bowl", "wooden shallow bowl" ] }, "official_task_record": { "task_index": 140594, "task": "{\"task\": \"place\", \"objects\": [\"water bottle\", \"cylinder water bottle\", \"cylinder water bottle with grey and orange lid\", \"black cylinder water bottle\", \"black cylinder water bottle with grey and orange lid\", \"black water bottle\", \"black water bottle with grey and orange lid\", \"water bottle with grey and orange lid\"], \"containers\": [\"bowl\", \"wooden bowl\", \"shallow bowl\", \"wooden shallow bowl\"]}" }, "camera_metadata": { "episode_index": 206737, "filename": "place_franka_wbottle23d_O02_00046150_50a0-tr", "cameras": [ { "name": "wrist_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.065, 0.0, 0.0 ], "rot": [ 0, 0.7071068, 0.7071068, 0 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "opst_cam", "width": 480, "height": 360, "offset": { "pos": [ 1, 0, 0.6 ], "rot": [ 0.6123724356957946, 0.3535533905932737, 0.35355339059327373, 0.6123724356957945 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "side_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.5, 1, 0.35 ], "rot": [ 4.329780281177467e-17, -4.329780281177466e-17, 0.7071067811865475, 0.7071067811865476 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 } ] }, "source_filename": "place_franka_wbottle23d_O02_00046150_50a0-tr", "views": [ { "camera": "opst_cam", "label": "OPPOSITE CAMERA", "path": "media/task_140594/episode_206737/opst_cam.mp4", "source_path": "videos/chunk-206/observation.images.opst_cam/episode_206737.mp4", "source_sha256": "11ae5953135bb66ed706aac6b3016fcf8186ee9d9022d2bc3de7cd31bed46758", "source_bytes": 688317, "output_sha256": "3c58483fd01899836a0ce07e1a3e8660fecf8b9e3614ba75574691b35553b9c7" }, { "camera": "wrist_cam", "label": "WRIST CAMERA", "path": "media/task_140594/episode_206737/wrist_cam.mp4", "source_path": "videos/chunk-206/observation.images.wrist_cam/episode_206737.mp4", "source_sha256": "04199fc2ed0e1e17374a85ea232e98d910458c79b5fc340b0bb98a9131adfcac", "source_bytes": 313962, "output_sha256": "fce081ab60336d8927d5dabc9c6b23b8812c059c9de2642be58b15fd5759e377" }, { "camera": "side_cam", "label": "SIDE CAMERA", "path": "media/task_140594/episode_206737/side_cam.mp4", "source_path": "videos/chunk-206/observation.images.side_cam/episode_206737.mp4", "source_sha256": "fa3d27931c7df9bb077d9d7a60c89f0e93ce208a24bd25022e96cf7d990a4d0b", "source_bytes": 722961, "output_sha256": "15cb23de03b97e2bf7343e53ef86bf145f10bfab9b0a7e46f7c928f975d3d50c" } ], "trajectory_source_path": "data/chunk-206/episode_206737.parquet", "trajectory_path": "trajectories/task_140594/episode_206737.parquet", "composite_path": "media/task_140594/episode_206737/synchronized.mp4", "preview_path": "media/task_140594/episode_206737/preview.jpg" }, { "task_index": 140471, "task_key": "task_140471", "episode_index": 207108, "frame_count": 105, "fps": 25, "instruction": "Pick up the black cylinder water bottle and place it in/on the black box.", "instruction_metadata": { "task": "place", "objects": [ "black cylinder water bottle", "cylinder water bottle with grey and orange lid", "black water bottle", "water bottle", "black cylinder water bottle with grey and orange lid", "cylinder water bottle", "black water bottle with grey and orange lid", "water bottle with grey and orange lid" ], "containers": [ "black box", "box", "plastic box", "black plastic box" ] }, "official_task_record": { "task_index": 140471, "task": "{\"task\": \"place\", \"objects\": [\"black cylinder water bottle\", \"cylinder water bottle with grey and orange lid\", \"black water bottle\", \"water bottle\", \"black cylinder water bottle with grey and orange lid\", \"cylinder water bottle\", \"black water bottle with grey and orange lid\", \"water bottle with grey and orange lid\"], \"containers\": [\"black box\", \"box\", \"plastic box\", \"black plastic box\"]}" }, "camera_metadata": { "episode_index": 207108, "filename": "place_franka_wbottle23d_O02_00120780_166a-tr", "cameras": [ { "name": "wrist_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.065, 0.0, 0.0 ], "rot": [ 0, 0.7071068, 0.7071068, 0 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "opst_cam", "width": 480, "height": 360, "offset": { "pos": [ 1, 0, 0.6 ], "rot": [ 0.6123724356957946, 0.3535533905932737, 0.35355339059327373, 0.6123724356957945 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 }, { "name": "side_cam", "width": 480, "height": 360, "offset": { "pos": [ 0.5, 1, 0.35 ], "rot": [ 4.329780281177467e-17, -4.329780281177466e-17, 0.7071067811865475, 0.7071067811865476 ], "convention": "opengl" }, "data_types": [ "rgb", "semantic_segmentation" ], "focal": 2.3 } ] }, "source_filename": "place_franka_wbottle23d_O02_00120780_166a-tr", "views": [ { "camera": "opst_cam", "label": "OPPOSITE CAMERA", "path": "media/task_140471/episode_207108/opst_cam.mp4", "source_path": "videos/chunk-207/observation.images.opst_cam/episode_207108.mp4", "source_sha256": "7c0bdfd29a0215f637b098cd7f53996db3068543c8a3e213c4abf359dc6f5045", "source_bytes": 511596, "output_sha256": "a81f28840bfa06e8ce7e6d8025b8e21410ed1fe6d39a888613775024f4f5367f" }, { "camera": "wrist_cam", "label": "WRIST CAMERA", "path": "media/task_140471/episode_207108/wrist_cam.mp4", "source_path": "videos/chunk-207/observation.images.wrist_cam/episode_207108.mp4", "source_sha256": "bec11a988f555bf8ec16fc52307eb9ff284269dc588af91e2cb9310d7ac15fed", "source_bytes": 244255, "output_sha256": "9daff536f1a24adf791975312c9924e8603167e8e73823b4a976121e67021bfc" }, { "camera": "side_cam", "label": "SIDE CAMERA", "path": "media/task_140471/episode_207108/side_cam.mp4", "source_path": "videos/chunk-207/observation.images.side_cam/episode_207108.mp4", "source_sha256": "e410903147a1eba4dda7312154314e9998e0a7bb8c1bd3acd865fe2187311af3", "source_bytes": 432500, "output_sha256": "7b44b97f25972a2e2d8fc5edd90e9672bc87e13512ad4fcd115847e9f5954e58" } ], "trajectory_source_path": "data/chunk-207/episode_207108.parquet", "trajectory_path": "trajectories/task_140471/episode_207108.parquet", "composite_path": "media/task_140471/episode_207108/synchronized.mp4", "preview_path": "media/task_140471/episode_207108/preview.jpg" } ]