Add lerobot/wobbly_stand (part 3)

lerobot/wobbly_stand/meta/episodes.jsonl

@@ -0,0 +1,500 @@
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lerobot/wobbly_stand/meta/info.json

@@ -0,0 +1,163 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "panda_omron",
+    "total_episodes": 500,
+    "total_frames": 1671246,
+    "total_tasks": 1,
+    "total_videos": 1500,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 20,
+    "splits": {
+        "train": "0:500"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "image": {
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+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false,
+                "roboquest.sim_size": 256,
+                "roboquest.out_size": 256,
+                "roboquest.resize_filter": "none"
+            }
+        },
+        "wrist_image": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
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+                "video.codec": "av1",
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+            "names": [
+                "height",
+                "width",
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+                "video.codec": "av1",
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+            "names": [
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+            "names": [
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+}

lerobot/wobbly_stand/meta/roboquest_conversion.json

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+{
+ "converter_sha256": "a2808d42ca7f1ed732d916183bd131af6a7cc2a4a660aa37feeb59f70f55f12c",
+ "written": "2026-10-06 03:36:14 +0800",
+ "lerobot_commit": "0cf864870cf29f4738d3ade893e6fd13fbd7cdb5",
+ "codebase_version": "v2.1",
+ "sim_size": 256,
+ "out_size": 256,
+ "resize_filter": "none",
+ "video_encoding": {
+  "vcodec": "libsvtav1",
+  "pix_fmt": "yuv420p",
+  "g": 2,
+  "crf": 30,
+  "fast_decode": 0,
+  "options": {
+   "g": "2",
+   "crf": "30"
+  },
+  "pyav": "18.1.0",
+  "libavcodec": [
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+   28,
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+  ]
+ },
+ "frame_convention": "frame t = recorded state t (before action t) + action t, t < len(actions); no terminal hold",
+ "cameras": {
+  "robot0_agentview_left": "image",
+  "robot0_eye_in_hand": "wrist_image",
+  "robot0_agentview_right": "right_image"
+ },
+ "task": "episode goal (captions_v31 goal), raw text",
+ "subtask_stage": "per-frame int64 subtask_index / stage_index -> meta/subtasks.jsonl / meta/stages.jsonl (captions_v31 timeline)"
+}

lerobot/wobbly_stand/meta/stages.jsonl

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+{"stage_index": 0, "stage": "look at where the ball has rolled"}
+{"stage_index": 1, "stage": "pick the ball up from the rim"}
+{"stage_index": 2, "stage": "place the ball near the center and release it"}
+{"stage_index": 3, "stage": "observe the freely released ball"}
+{"stage_index": 4, "stage": "lay 2 thick plates beside the near-left and near-right feet"}
+{"stage_index": 5, "stage": "tip the stand and move the near-left and near-right feet onto 2 thick plates"}
+{"stage_index": 6, "stage": "press Submit"}
+{"stage_index": 7, "stage": "lay 2 thick plates beside the far-right and far-left feet"}
+{"stage_index": 8, "stage": "tip the stand and move the far-right and far-left feet onto 2 thick plates"}
+{"stage_index": 9, "stage": "lay 2 thin plates beside the near-left and near-right feet"}
+{"stage_index": 10, "stage": "tip the stand and move the near-left and near-right feet onto 2 thin plates"}
+{"stage_index": 11, "stage": "lay 2 thin plates beside the far-right and far-left feet"}
+{"stage_index": 12, "stage": "tip the stand and move the far-right and far-left feet onto 2 thin plates"}
+{"stage_index": 13, "stage": "lay a thick plate beside the far-left foot"}
+{"stage_index": 14, "stage": "tip the stand and move the far-left foot onto a thick plate"}
+{"stage_index": 15, "stage": "lay a thick plate beside the near-left foot"}
+{"stage_index": 16, "stage": "tip the stand and move the near-left foot onto a thick plate"}
+{"stage_index": 17, "stage": "lay a thick plate beside the near-right foot"}
+{"stage_index": 18, "stage": "tip the stand and move the near-right foot onto a thick plate"}
+{"stage_index": 19, "stage": "lay a thick plate beside the far-right foot"}
+{"stage_index": 20, "stage": "tip the stand and move the far-right foot onto a thick plate"}
+{"stage_index": 21, "stage": "lay a middle plate beside the near-right foot"}
+{"stage_index": 22, "stage": "tip the stand and move the near-right foot onto a middle plate"}
+{"stage_index": 23, "stage": "lay a middle plate beside the near-left foot"}
+{"stage_index": 24, "stage": "tip the stand and move the near-left foot onto a middle plate"}
+{"stage_index": 25, "stage": "lay a middle plate beside the far-right foot"}
+{"stage_index": 26, "stage": "tip the stand and move the far-right foot onto a middle plate"}
+{"stage_index": 27, "stage": "lay a middle plate beside the far-left foot"}
+{"stage_index": 28, "stage": "tip the stand and move the far-left foot onto a middle plate"}
+{"stage_index": 29, "stage": "lay a thin plate beside the near-right foot"}
+{"stage_index": 30, "stage": "tip the stand and move the near-right foot onto a thin plate"}
+{"stage_index": 31, "stage": "lay a thin plate beside the far-right foot"}
+{"stage_index": 32, "stage": "tip the stand and move the far-right foot onto a thin plate"}
+{"stage_index": 33, "stage": "lay a thin plate beside the near-left foot"}
+{"stage_index": 34, "stage": "tip the stand and move the near-left foot onto a thin plate"}
+{"stage_index": 35, "stage": "lay a thin plate beside the far-left foot"}
+{"stage_index": 36, "stage": "tip the stand and move the far-left foot onto a thin plate"}

lerobot/wobbly_stand/meta/subtasks.jsonl

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+{"subtask_index": 0, "subtask": "look at where the ball has rolled"}
+{"subtask_index": 1, "subtask": "pick the ball up from the rim"}
+{"subtask_index": 2, "subtask": "place the ball near the center and release it"}
+{"subtask_index": 3, "subtask": "observe the freely released ball"}
+{"subtask_index": 4, "subtask": "lay 2 thick plates beside the near-left and near-right feet"}
+{"subtask_index": 5, "subtask": "tip the stand and move the near-left and near-right feet onto 2 thick plates"}
+{"subtask_index": 6, "subtask": "press Submit"}
+{"subtask_index": 7, "subtask": "lay 2 thick plates beside the far-right and far-left feet"}
+{"subtask_index": 8, "subtask": "tip the stand and move the far-right and far-left feet onto 2 thick plates"}
+{"subtask_index": 9, "subtask": "lay 2 thin plates beside the near-left and near-right feet"}
+{"subtask_index": 10, "subtask": "tip the stand and move the near-left and near-right feet onto 2 thin plates"}
+{"subtask_index": 11, "subtask": "lay 2 thin plates beside the far-right and far-left feet"}
+{"subtask_index": 12, "subtask": "tip the stand and move the far-right and far-left feet onto 2 thin plates"}
+{"subtask_index": 13, "subtask": "lay a thick plate beside the far-left foot"}
+{"subtask_index": 14, "subtask": "tip the stand and move the far-left foot onto a thick plate"}
+{"subtask_index": 15, "subtask": "lay a thick plate beside the near-left foot"}
+{"subtask_index": 16, "subtask": "tip the stand and move the near-left foot onto a thick plate"}
+{"subtask_index": 17, "subtask": "lay a thick plate beside the near-right foot"}
+{"subtask_index": 18, "subtask": "tip the stand and move the near-right foot onto a thick plate"}
+{"subtask_index": 19, "subtask": "lay a thick plate beside the far-right foot"}
+{"subtask_index": 20, "subtask": "tip the stand and move the far-right foot onto a thick plate"}
+{"subtask_index": 21, "subtask": "lay a middle plate beside the near-right foot"}
+{"subtask_index": 22, "subtask": "tip the stand and move the near-right foot onto a middle plate"}
+{"subtask_index": 23, "subtask": "lay a middle plate beside the near-left foot"}
+{"subtask_index": 24, "subtask": "tip the stand and move the near-left foot onto a middle plate"}
+{"subtask_index": 25, "subtask": "lay a middle plate beside the far-right foot"}
+{"subtask_index": 26, "subtask": "tip the stand and move the far-right foot onto a middle plate"}
+{"subtask_index": 27, "subtask": "lay a middle plate beside the far-left foot"}
+{"subtask_index": 28, "subtask": "tip the stand and move the far-left foot onto a middle plate"}
+{"subtask_index": 29, "subtask": "lay a thin plate beside the near-right foot"}
+{"subtask_index": 30, "subtask": "tip the stand and move the near-right foot onto a thin plate"}
+{"subtask_index": 31, "subtask": "lay a thin plate beside the far-right foot"}
+{"subtask_index": 32, "subtask": "tip the stand and move the far-right foot onto a thin plate"}
+{"subtask_index": 33, "subtask": "lay a thin plate beside the near-left foot"}
+{"subtask_index": 34, "subtask": "tip the stand and move the near-left foot onto a thin plate"}
+{"subtask_index": 35, "subtask": "lay a thin plate beside the far-left foot"}
+{"subtask_index": 36, "subtask": "tip the stand and move the far-left foot onto a thin plate"}

lerobot/wobbly_stand/meta/tasks.jsonl

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+{"task_index": 0, "task": "The stand is not level. Use the shims to level it so the ball stays still on top, then press Submit."}

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