| 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 to `action`. | |
| - `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`. | |