---
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`.