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meta/episodes.jsonl

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 {"episode_index": 18, "tasks": ["pick"], "length": 212}
 {"episode_index": 19, "tasks": ["pick"], "length": 206}
 {"episode_index": 20, "tasks": ["pick"], "length": 318}
+{"episode_index": 21, "tasks": ["pick"], "length": 204}
+{"episode_index": 22, "tasks": ["pick"], "length": 207}
+{"episode_index": 23, "tasks": ["pick"], "length": 319}
+{"episode_index": 24, "tasks": ["pick"], "length": 194}
+{"episode_index": 25, "tasks": ["pick"], "length": 299}
+{"episode_index": 26, "tasks": ["pick"], "length": 124}
+{"episode_index": 27, "tasks": ["pick"], "length": 228}
+{"episode_index": 28, "tasks": ["pick"], "length": 196}
+{"episode_index": 29, "tasks": ["pick"], "length": 156}
+{"episode_index": 30, "tasks": ["pick"], "length": 255}
+{"episode_index": 31, "tasks": ["pick"], "length": 183}
+{"episode_index": 32, "tasks": ["pick"], "length": 180}
+{"episode_index": 33, "tasks": ["pick"], "length": 202}
+{"episode_index": 34, "tasks": ["pick"], "length": 168}
+{"episode_index": 35, "tasks": ["pick"], "length": 178}
+{"episode_index": 36, "tasks": ["pick"], "length": 195}
+{"episode_index": 37, "tasks": ["pick"], "length": 147}
+{"episode_index": 38, "tasks": ["pick"], "length": 246}
+{"episode_index": 39, "tasks": ["pick"], "length": 187}
+{"episode_index": 40, "tasks": ["pick"], "length": 228}
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+{"episode_index": 48, "tasks": ["pick"], "length": 244}
+{"episode_index": 49, "tasks": ["pick"], "length": 305}

meta/info.json

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 {
     "codebase_version": "v2.1",
     "robot_type": null,
-    "total_episodes": 21,
-    "total_frames": 4548,
+    "total_episodes": 50,
+    "total_frames": 10506,
     "total_tasks": 1,
     "total_videos": 0,
     "total_chunks": 1,
     "chunks_size": 1000,
     "fps": 30,
     "splits": {
-        "train": "0:21"
+        "train": "0:50"
     },
     "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
     "video_path": null,

teleop.yaml

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+perception:
+  cam_type: realsense
+  cameras:
+    ego_global:
+      serial: '242522072024'
+      resolution:
+      - 640
+      - 360
+      resize:
+      - 640
+      - 360
+      extrinsics_path: /data/pulkitag/hamer_diffusion_policy_project/calibration/2025-09-11/22-34-29/extrinsics.npz
+      intrinsics_path: /data/pulkitag/hamer_diffusion_policy_project/calibration/2025-09-11/22-34-29/intrinsics.json
+      flip_hw: true
+      enable_depth: false
+      visualize_hands: false
+      hand_bbox_checkpoint: /home/richard/checkpoints/ego4d_model_0109999.pth
+      hand_3d_recon_checkpoint: null
+    wrist:
+      serial: '230322277032'
+      resolution:
+      - 360
+      - 640
+      resize:
+      - 360
+      - 640
+      extrinsics_path: None
+      intrinsics_path: None
+      flip_hw: false
+      enable_depth: false
+  framerate: 30
+randomize: true
+frequency: 30
+command_latency: 0.001
+ee_frame_name: gripper_base
+wrist: false
+teleop:
+  controller:
+    name: MultiSpacemouseControl
+    port: 8888
+  max_pos_speed: 2
+  max_rot_speed: 2
+  num_demos: 50
+  randomize: true
+  record_while_closing: true
+  ik_type: pink
+  render_ee_frame: false
+  print_tcp_frame_wrt_cam: true
+  gripper_force_in_nm: 5000
+  max_samples: 1200
+  robot: piper
+training:
+  image_keys:
+  - ego_global
+  - wrist
+  obs_dim: 10
+  action_dim: 10
+  repo: rli14/task_pull_red
+  task: pick
+  split: train
+  joint_dim: 6