initial_commit

.commit_message

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+{
+  "commit_msg": "initial_commit",
+  "commit_uuid": "d2cda332-e513-4c25-886f-bb05e318d46b"
+}

README.md

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+---
+license: apache-2.0
+language:
+  - en
+  - zh
+task_categories:
+  - robotics
+tags:
+  - RobotCoin
+  - LeRobot
+size_categories: <1K
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+## Dataset Authors
+This dataset is contributed by [[RobotCoin](https://RobotCoin.github.io)]
+This dataset is annotated by [[RobotCoin](https://RobotCoin.github.io)]
+
+## Dataset Description
+This dataset uses an extended format based on [LeRobot](https://github.com/huggingface/lerobot) and is fully compatible with LeRobot.
+
+- **Homepage:** https://RobotCoin.github.io/
+- **Paper:** in comming
+- **License:** apache-2.0
+
+## Dataset Tags
+
+- RobotCoin
+
+- LeRobot
+
+
+## Task Descriptions
+### tasks
+stack basket
+
+### sub_tasks
+Pick up the light basket with the left gripper
+Pick up the dark basket with the right gripper
+Place the dark basket in the center of view with the left gripper
+Pick up the dark basket with the left gripper
+Place the light basket on the dark basket with the right gripper
+Place the light basket in the center of view with the left gripper
+Pick up the light basket with the right gripper
+Place the dark basket on the light basket with the right gripper
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
+```json
+{
+    "codebase_version": "v2.1",
+    "robot_type": "realman",
+    "total_episodes": 499,
+    "total_frames": 290587,
+    "total_tasks": 1,
+    "total_videos": 1497,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:499"
+    },
+    "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": {
+        "observation.images.cam_high": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_left_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_right_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "states": {
+            "dtype": "float32",
+            "shape": [
+                30
+            ],
+            "name": [
+                "right_arm_joint_1",
+                "right_arm_joint_2",
+                "right_arm_joint_3",
+                "right_arm_joint_4",
+                "right_arm_joint_5",
+                "right_arm_joint_6",
+                "right_arm_joint_7",
+                "right_gripper_joint",
+                "right_end_effector_positions_x",
+                "right_end_effector_positions_y",
+                "right_end_effector_positions_z",
+                "right_end_effector_quat_x",
+                "right_end_effector_quat_y",
+                "right_end_effector_quat_z",
+                "right_end_effector_quat_w",
+                "left_arm_joint_1",
+                "left_arm_joint_2",
+                "left_arm_joint_3",
+                "left_arm_joint_4",
+                "left_arm_joint_5",
+                "left_arm_joint_6",
+                "left_arm_joint_7",
+                "left_gripper_joint",
+                "left_end_effector_positions_x",
+                "left_end_effector_positions_y",
+                "left_end_effector_positions_z",
+                "left_end_effector_quat_x",
+                "left_end_effector_quat_y",
+                "left_end_effector_quat_z",
+                "left_end_effector_quat_w"
+            ]
+        },
+        "actions": {
+            "dtype": "float32",
+            "shape": [
+                30
+            ],
+            "name": [
+                "right_arm_joint_1",
+                "right_arm_joint_2",
+                "right_arm_joint_3",
+                "right_arm_joint_4",
+                "right_arm_joint_5",
+                "right_arm_joint_6",
+                "right_arm_joint_7",
+                "right_gripper_joint",
+                "right_end_effector_positions_x",
+                "right_end_effector_positions_y",
+                "right_end_effector_positions_z",
+                "right_end_effector_quat_x",
+                "right_end_effector_quat_y",
+                "right_end_effector_quat_z",
+                "right_end_effector_quat_w",
+                "left_arm_joint_1",
+                "left_arm_joint_2",
+                "left_arm_joint_3",
+                "left_arm_joint_4",
+                "left_arm_joint_5",
+                "left_arm_joint_6",
+                "left_arm_joint_7",
+                "left_gripper_joint",
+                "left_end_effector_positions_x",
+                "left_end_effector_positions_y",
+                "left_end_effector_positions_z",
+                "left_end_effector_quat_x",
+                "left_end_effector_quat_y",
+                "left_end_effector_quat_z",
+                "left_end_effector_quat_w"
+            ]
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
+```
+
+## Citation
+```bibtex
+
+```

data/chunk-000/some_content.txt

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+some content

device/camera_intrinsic.json

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+            "calibration_info": {
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+                "date": "2025-07-17",
+                "source": "calibration_tool",
+                "reprojection_error": 0.8
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+            "camera_intrinsics": {
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+                    "parameters": {
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+                        "cx": 309.673,
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+                        "cx": 322.341,
+                        "cy": 255.021
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+                        "k1": 0,
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+                        "k3": 0,
+                        "p1": 0,
+                        "p2": 0
+                    }
+                },
+                "left": {
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+                    "parameters": {
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+                        "height": 480,
+                        "fx": 607.072,
+                        "fy": 607.943,
+                        "cx": 315.199,
+                        "cy": 245.262
+                    },
+                    "distortion": {
+                        "model": "Inverse Brown Conrady",
+                        "k1": 0,
+                        "k2": 0,
+                        "k3": 0,
+                        "p1": 0,
+                        "p2": 0
+                    }
+                }
+            }
+        }
+    ]
+}

device/device_episode.json

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+]

device/device_info.json

@@ -0,0 +1,94 @@
+{
+    "device_list": [
+        {
+            "device_id": "7xK992pQ",
+            "device_type": "realman",
+            "device_type_info": "具身双臂升降平台",
+            "device_info": {
+                "cam_high": {
+                    "type": "Intel RealSense D435"
+                },
+                "cam_left_wrist": {
+                    "type": "Intel RealSense D435"
+                },
+                "cam_right_wrist": {
+                    "type": "Intel RealSense D435"
+                },
+                "piper_left": {
+                    "type": "RM65-B",
+                    "dimension": {
+                        "left_arm_joint_1": "rad",
+                        "left_arm_joint_2": "rad",
+                        "left_arm_joint_3": "rad",
+                        "left_arm_joint_4": "rad",
+                        "left_arm_joint_5": "rad",
+                        "left_arm_joint_6": "rad",
+                        "left_arm_joint_7": "rad",
+                        "left_gripper_joint": "rad",
+                        "left_end_effector_positions_x": "m",
+                        "left_end_effector_positions_y": "m",
+                        "left_end_effector_positions_z": "m",
+                        "left_end_effector_quat_x": null,
+                        "left_end_effector_quat_y": null,
+                        "left_end_effector_quat_z": null,
+                        "left_end_effector_quat_w": null
+                    },
+                    "description": {
+                        "left_arm_joint_1": null,
+                        "left_arm_joint_2": null,
+                        "left_arm_joint_3": null,
+                        "left_arm_joint_4": null,
+                        "left_arm_joint_5": null,
+                        "left_arm_joint_6": null,
+                        "left_arm_joint_7": null,
+                        "left_gripper_joint": null,
+                        "left_end_effector_positions_x": null,
+                        "left_end_effector_positions_y": null,
+                        "left_end_effector_positions_z": null,
+                        "left_end_effector_quat_x": null,
+                        "left_end_effector_quat_y": null,
+                        "left_end_effector_quat_z": null,
+                        "left_end_effector_quat_w": null
+                    }
+                },
+                "piper_right": {
+                    "type": "RM65-B",
+                    "dimension": {
+                        "right_arm_joint_1": "rad",
+                        "right_arm_joint_2": "rad",
+                        "right_arm_joint_3": "rad",
+                        "right_arm_joint_4": "rad",
+                        "right_arm_joint_5": "rad",
+                        "right_arm_joint_6": "rad",
+                        "right_arm_joint_7": "rad",
+                        "right_gripper_joint": "rad",
+                        "right_end_effector_positions_x": "m",
+                        "right_end_effector_positions_y": "m",
+                        "right_end_effector_positions_z": "m",
+                        "right_end_effector_quat_x": null,
+                        "right_end_effector_quat_y": null,
+                        "right_end_effector_quat_z": null,
+                        "right_end_effector_quat_w": null
+                    },
+                    "description": {
+                        "right_arm_joint_1": null,
+                        "right_arm_joint_2": null,
+                        "right_arm_joint_3": null,
+                        "right_arm_joint_4": null,
+                        "right_arm_joint_5": null,
+                        "right_arm_joint_6": null,
+                        "right_arm_joint_7": null,
+                        "right_gripper_joint": null,
+                        "right_end_effector_positions_x": null,
+                        "right_end_effector_positions_y": null,
+                        "right_end_effector_positions_z": null,
+                        "right_end_effector_quat_x": null,
+                        "right_end_effector_quat_y": null,
+                        "right_end_effector_quat_z": null,
+                        "right_end_effector_quat_w": null
+                    }
+                }
+            }
+        }
+    ]
+}

label/dataset_info.yml

@@ -0,0 +1,151 @@
+license: apache-2.0
+language:
+- en
+- zh
+task_categories:
+- robotics
+tags:
+- RobotCoin
+- LeRobot
+size_categories: <1K
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+authors:
+  contributed_by:
+  - name: RobotCoin
+    url: https://RobotCoin.github.io
+  annotated_by:
+  - name: RobotCoin
+    url: https://RobotCoin.github.io
+dataset_description: This dataset uses an extended format based on [LeRobot](https://github.com/huggingface/lerobot)
+  and is fully compatible with LeRobot.
+links:
+  Homepage: https://RobotCoin.github.io/
+  Paper: in comming
+  License: apache-2.0
+tasks:
+- stack basket
+sub_tasks:
+- Pick up the dark basket with the left gripper
+- Pick up the dark basket with the right gripper
+- Pick up the light basket with the left gripper
+- Pick up the light basket with the right gripper
+- Place the dark basket in the center of view with the left gripper
+- Place the dark basket on the light basket with the right gripper
+- Place the light basket in the center of view with the left gripper
+- Place the light basket on the dark basket with the right gripper
+- abnormal
+- end
+episodes_num: 0
+frames_num: 0
+dataset_tags:
+  场景类型:
+  - 餐厅
+  - 厨房
+  - 客厅
+  采集本体: realman
+  末端类型: 二指夹爪
+  相机数量: 3
+  相机类型:
+  - RGBD
+  - fisheye
+  声音传感器数量: 0
+  触觉传感器数量: 0
+  原子动作:
+  - 抓
+  - 拿
+  - 放
+  - 堆叠
+  - 移动
+  物品:
+    level1: 容器
+    level2: 篮子
+    level3: 黑色篮子
+    level4: null
+    level5: null
+  桌面高度: 77.2cm
+structure:
+  file: meta/info.json
+  content: "{\n    \"codebase_version\": \"v2.1\",\n    \"robot_type\": \"realman\"\
+    ,\n    \"total_episodes\": 499,\n    \"total_frames\": 290587,\n    \"total_tasks\"\
+    : 1,\n    \"total_videos\": 1497,\n    \"total_chunks\": 1,\n    \"chunks_size\"\
+    : 1000,\n    \"fps\": 25,\n    \"splits\": {\n        \"train\": \"0:499\"\n \
+    \   },\n    \"data_path\": \"data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet\"\
+    ,\n    \"video_path\": \"videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4\"\
+    ,\n    \"features\": {\n        \"observation.images.cam_high\": {\n         \
+    \   \"dtype\": \"video\",\n            \"shape\": [\n                480,\n  \
+    \              640,\n                3\n            ],\n            \"names\"\
+    : [\n                \"height\",\n                \"width\",\n               \
+    \ \"channels\"\n            ],\n            \"info\": {\n                \"video.fps\"\
+    : 25.0,\n                \"video.height\": 480,\n                \"video.width\"\
+    : 640,\n                \"video.channels\": 3,\n                \"video.codec\"\
+    : \"h264\",\n                \"video.pix_fmt\": \"yuv420p\",\n               \
+    \ \"video.is_depth_map\": false,\n                \"has_audio\": false\n     \
+    \       }\n        },\n        \"observation.images.cam_left_wrist\": {\n    \
+    \        \"dtype\": \"video\",\n            \"shape\": [\n                480,\n\
+    \                640,\n                3\n            ],\n            \"names\"\
+    : [\n                \"height\",\n                \"width\",\n               \
+    \ \"channels\"\n            ],\n            \"info\": {\n                \"video.fps\"\
+    : 25.0,\n                \"video.height\": 480,\n                \"video.width\"\
+    : 640,\n                \"video.channels\": 3,\n                \"video.codec\"\
+    : \"h264\",\n                \"video.pix_fmt\": \"yuv420p\",\n               \
+    \ \"video.is_depth_map\": false,\n                \"has_audio\": false\n     \
+    \       }\n        },\n        \"observation.images.cam_right_wrist\": {\n   \
+    \         \"dtype\": \"video\",\n            \"shape\": [\n                480,\n\
+    \                640,\n                3\n            ],\n            \"names\"\
+    : [\n                \"height\",\n                \"width\",\n               \
+    \ \"channels\"\n            ],\n            \"info\": {\n                \"video.fps\"\
+    : 25.0,\n                \"video.height\": 480,\n                \"video.width\"\
+    : 640,\n                \"video.channels\": 3,\n                \"video.codec\"\
+    : \"h264\",\n                \"video.pix_fmt\": \"yuv420p\",\n               \
+    \ \"video.is_depth_map\": false,\n                \"has_audio\": false\n     \
+    \       }\n        },\n        \"states\": {\n            \"dtype\": \"float32\"\
+    ,\n            \"shape\": [\n                30\n            ],\n            \"\
+    name\": [\n                \"right_arm_joint_1\",\n                \"right_arm_joint_2\"\
+    ,\n                \"right_arm_joint_3\",\n                \"right_arm_joint_4\"\
+    ,\n                \"right_arm_joint_5\",\n                \"right_arm_joint_6\"\
+    ,\n                \"right_arm_joint_7\",\n                \"right_gripper_joint\"\
+    ,\n                \"right_end_effector_positions_x\",\n                \"right_end_effector_positions_y\"\
+    ,\n                \"right_end_effector_positions_z\",\n                \"right_end_effector_quat_x\"\
+    ,\n                \"right_end_effector_quat_y\",\n                \"right_end_effector_quat_z\"\
+    ,\n                \"right_end_effector_quat_w\",\n                \"left_arm_joint_1\"\
+    ,\n                \"left_arm_joint_2\",\n                \"left_arm_joint_3\"\
+    ,\n                \"left_arm_joint_4\",\n                \"left_arm_joint_5\"\
+    ,\n                \"left_arm_joint_6\",\n                \"left_arm_joint_7\"\
+    ,\n                \"left_gripper_joint\",\n                \"left_end_effector_positions_x\"\
+    ,\n                \"left_end_effector_positions_y\",\n                \"left_end_effector_positions_z\"\
+    ,\n                \"left_end_effector_quat_x\",\n                \"left_end_effector_quat_y\"\
+    ,\n                \"left_end_effector_quat_z\",\n                \"left_end_effector_quat_w\"\
+    \n            ]\n        },\n        \"actions\": {\n            \"dtype\": \"\
+    float32\",\n            \"shape\": [\n                30\n            ],\n   \
+    \         \"name\": [\n                \"right_arm_joint_1\",\n              \
+    \  \"right_arm_joint_2\",\n                \"right_arm_joint_3\",\n          \
+    \      \"right_arm_joint_4\",\n                \"right_arm_joint_5\",\n      \
+    \          \"right_arm_joint_6\",\n                \"right_arm_joint_7\",\n  \
+    \              \"right_gripper_joint\",\n                \"right_end_effector_positions_x\"\
+    ,\n                \"right_end_effector_positions_y\",\n                \"right_end_effector_positions_z\"\
+    ,\n                \"right_end_effector_quat_x\",\n                \"right_end_effector_quat_y\"\
+    ,\n                \"right_end_effector_quat_z\",\n                \"right_end_effector_quat_w\"\
+    ,\n                \"left_arm_joint_1\",\n                \"left_arm_joint_2\"\
+    ,\n                \"left_arm_joint_3\",\n                \"left_arm_joint_4\"\
+    ,\n                \"left_arm_joint_5\",\n                \"left_arm_joint_6\"\
+    ,\n                \"left_arm_joint_7\",\n                \"left_gripper_joint\"\
+    ,\n                \"left_end_effector_positions_x\",\n                \"left_end_effector_positions_y\"\
+    ,\n                \"left_end_effector_positions_z\",\n                \"left_end_effector_quat_x\"\
+    ,\n                \"left_end_effector_quat_y\",\n                \"left_end_effector_quat_z\"\
+    ,\n                \"left_end_effector_quat_w\"\n            ]\n        },\n \
+    \       \"next.done\": {\n            \"dtype\": \"bool\",\n            \"shape\"\
+    : [\n                1\n            ],\n            \"names\": null\n        },\n\
+    \        \"timestamp\": {\n            \"dtype\": \"float32\",\n            \"\
+    shape\": [\n                1\n            ],\n            \"names\": null\n \
+    \       },\n        \"frame_index\": {\n            \"dtype\": \"int64\",\n  \
+    \          \"shape\": [\n                1\n            ],\n            \"names\"\
+    : null\n        },\n        \"episode_index\": {\n            \"dtype\": \"int64\"\
+    ,\n            \"shape\": [\n                1\n            ],\n            \"\
+    names\": null\n        },\n        \"index\": {\n            \"dtype\": \"int64\"\
+    ,\n            \"shape\": [\n                1\n            ],\n            \"\
+    names\": null\n        },\n        \"task_index\": {\n            \"dtype\": \"\
+    int64\",\n            \"shape\": [\n                1\n            ],\n      \
+    \      \"names\": null\n        }\n    }\n}"
+citation: in comming

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+{"episode_index": 488, "tasks": ["task_stack_basket"], "length": 461}
+{"episode_index": 489, "tasks": ["task_stack_basket"], "length": 375}
+{"episode_index": 490, "tasks": ["task_stack_basket"], "length": 528}
+{"episode_index": 491, "tasks": ["task_stack_basket"], "length": 452}
+{"episode_index": 492, "tasks": ["task_stack_basket"], "length": 537}
+{"episode_index": 493, "tasks": ["task_stack_basket"], "length": 1010}
+{"episode_index": 494, "tasks": ["task_stack_basket"], "length": 1007}
+{"episode_index": 495, "tasks": ["task_stack_basket"], "length": 345}
+{"episode_index": 496, "tasks": ["task_stack_basket"], "length": 499}
+{"episode_index": 497, "tasks": ["task_stack_basket"], "length": 783}
+{"episode_index": 498, "tasks": ["task_stack_basket"], "length": 280}

meta/info.json

@@ -0,0 +1,205 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "realman",
+    "total_episodes": 499,
+    "total_frames": 290587,
+    "total_tasks": 1,
+    "total_videos": 1497,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:499"
+    },
+    "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": {
+        "observation.images.cam_high": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_left_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_right_wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25.0,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "states": {
+            "dtype": "float32",
+            "shape": [
+                30
+            ],
+            "name": [
+                "right_arm_joint_1",
+                "right_arm_joint_2",
+                "right_arm_joint_3",
+                "right_arm_joint_4",
+                "right_arm_joint_5",
+                "right_arm_joint_6",
+                "right_arm_joint_7",
+                "right_gripper_joint",
+                "right_end_effector_positions_x",
+                "right_end_effector_positions_y",
+                "right_end_effector_positions_z",
+                "right_end_effector_quat_x",
+                "right_end_effector_quat_y",
+                "right_end_effector_quat_z",
+                "right_end_effector_quat_w",
+                "left_arm_joint_1",
+                "left_arm_joint_2",
+                "left_arm_joint_3",
+                "left_arm_joint_4",
+                "left_arm_joint_5",
+                "left_arm_joint_6",
+                "left_arm_joint_7",
+                "left_gripper_joint",
+                "left_end_effector_positions_x",
+                "left_end_effector_positions_y",
+                "left_end_effector_positions_z",
+                "left_end_effector_quat_x",
+                "left_end_effector_quat_y",
+                "left_end_effector_quat_z",
+                "left_end_effector_quat_w"
+            ]
+        },
+        "actions": {
+            "dtype": "float32",
+            "shape": [
+                30
+            ],
+            "name": [
+                "right_arm_joint_1",
+                "right_arm_joint_2",
+                "right_arm_joint_3",
+                "right_arm_joint_4",
+                "right_arm_joint_5",
+                "right_arm_joint_6",
+                "right_arm_joint_7",
+                "right_gripper_joint",
+                "right_end_effector_positions_x",
+                "right_end_effector_positions_y",
+                "right_end_effector_positions_z",
+                "right_end_effector_quat_x",
+                "right_end_effector_quat_y",
+                "right_end_effector_quat_z",
+                "right_end_effector_quat_w",
+                "left_arm_joint_1",
+                "left_arm_joint_2",
+                "left_arm_joint_3",
+                "left_arm_joint_4",
+                "left_arm_joint_5",
+                "left_arm_joint_6",
+                "left_arm_joint_7",
+                "left_gripper_joint",
+                "left_end_effector_positions_x",
+                "left_end_effector_positions_y",
+                "left_end_effector_positions_z",
+                "left_end_effector_quat_x",
+                "left_end_effector_quat_y",
+                "left_end_effector_quat_z",
+                "left_end_effector_quat_w"
+            ]
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "stack basket"}

videos/chunk-000/observation.images.cam_high/some_content.txt

@@ -0,0 +1 @@
+some content

videos/chunk-000/observation.images.cam_left_wrist/some_content.txt

@@ -0,0 +1 @@
+some content

videos/chunk-000/observation.images.cam_right_wrist/some_content.txt

@@ -0,0 +1 @@
+some content