metadata
license: apache-2.0
task_categories:
- robotics
tags:
- lerobot
Box Palletizing v0
8 episodes, 6,022 frames, 15 Hz. Sources are merged in chronological recording order; no episodes removed.
observation.state: 31 measured joint positions (PJS, radians).observation.action: 31 recorded motor position commands, byte-equivalent toaction.action: standard LeRobot training target; retained for compatibility.observation.tactile: 512 taxels, left 256 then right 256; original row-major order.observation.tau: 62 torque estimates (Nm), joint 31 then motor 31; distinct coordinate spaces retained.- GoPro/head and left/right wrist videos plus original tactile heatmaps and lowstate timing retained.
State and action preserve their original measured-joint / commanded-motor coordinate conventions; no conversion is implied. Samples are latest-available, not hardware-synchronized.
Training derivative selects waist_0..2, left_arm_0..6, right_arm_0..6 (17 dimensions) from both state and action, with only head/left/right RGB. GoPro is resized to width 640, height 480 in that derivative. Full-resolution originals remain here.
Exact source revisions and hashes: meta/source_manifest.json. Validation: meta/validation_report.json.