Upload DexSharpa task data pipeline batch 98/320
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- iron_garment/season_POC22027_2026_06_20_11_28_46_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-022.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_11_28_46_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-023.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_11_28_46_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-024.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_11_28_46_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-025.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_11_28_46_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-026.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_11_28_46_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-027.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_11_28_46_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-028.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_11_28_46_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-029.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_11_28_46_train/lerobot_v3.0/videos/observation.images.wrist_left/chunk-000/file-000.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_11_28_46_train/lerobot_v3.0/videos/observation.images.wrist_left/chunk-000/file-001.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_11_28_46_train/lerobot_v3.0/videos/observation.images.wrist_left/chunk-000/file-002.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_11_28_46_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-000.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_11_28_46_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-001.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_11_28_46_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-002.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/data/chunk-000/episode_000000.parquet +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/data/chunk-000/episode_000001.parquet +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/annotation_cache.jsonl +2 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/annotations.jsonl +2 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/episodes.jsonl +2 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/episodes_stats.jsonl +2 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/info.json +537 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/modality.json +63 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/subtasks.jsonl +4 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/tasks.jsonl +1 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/v40_validation.json +15 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000000.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000001.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000000.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000001.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000000.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000001.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000000.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000001.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000000.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000001.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/data/chunk-000/file-000.parquet +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/annotation_cache.jsonl +2 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/annotations.jsonl +2 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/info.json +537 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/modality.json +63 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/stats.json +0 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/subtasks.parquet +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/tasks.parquet +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/v40_validation.json +15 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-000.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-000.mp4 +3 -0
- iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/videos/observation.images.tactile_deform/chunk-000/file-000.mp4 +3 -0
iron_garment/season_POC22027_2026_06_20_11_28_46_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-022.mp4
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{"source_uid": "6c0b7dfe67840226", "num_frames": 4473, "episode_id": "POC22027_2026_06_20_16_13_57_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_13_57_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_13_57_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_13_57_train/train_0.3.0@2026_06_20_16_13_57.hdf5", "tags": {"task_name": "Iron_Clothes", "task_instruction": "Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment.", "scene_description": "A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand.", "success_criteria": "The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 594, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 780, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 3625, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 594, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 780, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 3625, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/annotations.jsonl
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{"source_uid": "6c0b7dfe67840226", "num_frames": 4473, "episode_id": "POC22027_2026_06_20_16_13_57_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_13_57_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_13_57_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_13_57_train/train_0.3.0@2026_06_20_16_13_57.hdf5", "tags": {"task_name": "Iron_Clothes", "task_instruction": "Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment.", "scene_description": "A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand.", "success_criteria": "The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 594, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 780, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 3625, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 594, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 780, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 3625, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
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{"source_uid": "f691be94c4605fd9", "num_frames": 4368, "episode_id": "POC22027_2026_06_20_16_19_26_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_19_26_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_19_26_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_19_26_train/train_0.3.0@2026_06_20_16_19_26.hdf5", "tags": {"task_name": "Iron_Clothes", "task_instruction": "Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment.", "scene_description": "A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand.", "success_criteria": "The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 558, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 732, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 3513, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 558, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 732, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 3513, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
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iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state."], "length": 4473}
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{"episode_index": 1, "tasks": ["Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state."], "length": 4368}
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iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/episodes_stats.jsonl
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|
iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/info.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "robot",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 8841,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 12,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:2"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
65
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_j0",
|
| 24 |
+
"left_arm_j1",
|
| 25 |
+
"left_arm_j2",
|
| 26 |
+
"left_arm_j3",
|
| 27 |
+
"left_arm_j4",
|
| 28 |
+
"left_arm_j5",
|
| 29 |
+
"left_arm_j6",
|
| 30 |
+
"left_hand_j0",
|
| 31 |
+
"left_hand_j1",
|
| 32 |
+
"left_hand_j2",
|
| 33 |
+
"left_hand_j3",
|
| 34 |
+
"left_hand_j4",
|
| 35 |
+
"left_hand_j5",
|
| 36 |
+
"left_hand_j6",
|
| 37 |
+
"left_hand_j7",
|
| 38 |
+
"left_hand_j8",
|
| 39 |
+
"left_hand_j9",
|
| 40 |
+
"left_hand_j10",
|
| 41 |
+
"left_hand_j11",
|
| 42 |
+
"left_hand_j12",
|
| 43 |
+
"left_hand_j13",
|
| 44 |
+
"left_hand_j14",
|
| 45 |
+
"left_hand_j15",
|
| 46 |
+
"left_hand_j16",
|
| 47 |
+
"left_hand_j17",
|
| 48 |
+
"left_hand_j18",
|
| 49 |
+
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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| 67 |
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| 68 |
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| 69 |
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|
| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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|
| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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| 487 |
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| 488 |
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|
| 489 |
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| 490 |
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| 491 |
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|
| 492 |
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| 493 |
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|
| 494 |
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| 496 |
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|
| 497 |
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|
| 498 |
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|
| 499 |
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|
| 500 |
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| 502 |
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|
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|
| 537 |
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|
iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/modality.json
ADDED
|
@@ -0,0 +1,63 @@
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|
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|
|
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|
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|
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|
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
|
|
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|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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"original_key": "observation.images.wrist_right"
|
| 11 |
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|
| 12 |
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|
| 13 |
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"original_key": "observation.images.head_right"
|
| 14 |
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|
| 15 |
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"tactile_deform": {
|
| 16 |
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"original_key": "observation.images.tactile_deform"
|
| 17 |
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},
|
| 18 |
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"tactile_raw": {
|
| 19 |
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"original_key": "observation.images.tactile_raw"
|
| 20 |
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}
|
| 21 |
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},
|
| 22 |
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"annotation": {
|
| 23 |
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|
| 24 |
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"original_key": "task_index"
|
| 25 |
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}
|
| 26 |
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},
|
| 27 |
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"state": {
|
| 28 |
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"joints": {
|
| 29 |
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"start": 0,
|
| 30 |
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"end": 65,
|
| 31 |
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"rotation_type": null,
|
| 32 |
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"absolute": true,
|
| 33 |
+
"dtype": "float32",
|
| 34 |
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"original_key": "observation.state"
|
| 35 |
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},
|
| 36 |
+
"tcp_pose": {
|
| 37 |
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"start": 0,
|
| 38 |
+
"end": 12,
|
| 39 |
+
"rotation_type": null,
|
| 40 |
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"absolute": true,
|
| 41 |
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"dtype": "float32",
|
| 42 |
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"original_key": "observation.state.tcp_pose"
|
| 43 |
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}
|
| 44 |
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},
|
| 45 |
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"action": {
|
| 46 |
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"joints": {
|
| 47 |
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|
| 48 |
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"end": 65,
|
| 49 |
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|
| 50 |
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"absolute": true,
|
| 51 |
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"dtype": "float32",
|
| 52 |
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"original_key": "action"
|
| 53 |
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|
| 54 |
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"tcp_pose": {
|
| 55 |
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"start": 0,
|
| 56 |
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"end": 12,
|
| 57 |
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"rotation_type": null,
|
| 58 |
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"absolute": true,
|
| 59 |
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"dtype": "float32",
|
| 60 |
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"original_key": "action.tcp_pose"
|
| 61 |
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}
|
| 62 |
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}
|
| 63 |
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}
|
iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/subtasks.jsonl
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"subtask_index": 0, "subtask": "Grip the iron head with the right hand. | Skill: grip"}
|
| 2 |
+
{"subtask_index": 1, "subtask": "Hold and stabilize the garment with the other hand. | Skill: stabilize"}
|
| 3 |
+
{"subtask_index": 2, "subtask": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press"}
|
| 4 |
+
{"subtask_index": 3, "subtask": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state."}
|
iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state."}
|
iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/v40_validation.json
ADDED
|
@@ -0,0 +1,15 @@
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{
|
| 2 |
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"status": "passed",
|
| 3 |
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"episodes": 2,
|
| 4 |
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"frames": 8841,
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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"observation.images.tactile_deform": 8841,
|
| 11 |
+
"observation.images.tactile_raw": 8841
|
| 12 |
+
},
|
| 13 |
+
"tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
|
| 14 |
+
"language_loaded": 2
|
| 15 |
+
}
|
iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
ADDED
|
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ADDED
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ADDED
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ADDED
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ADDED
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ADDED
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ADDED
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ADDED
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ADDED
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ADDED
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ADDED
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| 1 |
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{"source_uid": "6c0b7dfe67840226", "num_frames": 4473, "episode_id": "POC22027_2026_06_20_16_13_57_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_13_57_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_13_57_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_13_57_train/train_0.3.0@2026_06_20_16_13_57.hdf5", "tags": {"task_name": "Iron_Clothes", "task_instruction": "Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment.", "scene_description": "A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand.", "success_criteria": "The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 594, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 780, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 3625, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 594, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 780, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 3625, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
|
| 2 |
+
{"source_uid": "f691be94c4605fd9", "num_frames": 4368, "episode_id": "POC22027_2026_06_20_16_19_26_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_19_26_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_19_26_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_19_26_train/train_0.3.0@2026_06_20_16_19_26.hdf5", "tags": {"task_name": "Iron_Clothes", "task_instruction": "Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment.", "scene_description": "A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand.", "success_criteria": "The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 558, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 732, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 3513, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 558, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 732, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 3513, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
|
iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/annotations.jsonl
ADDED
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@@ -0,0 +1,2 @@
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| 1 |
+
{"source_uid": "6c0b7dfe67840226", "num_frames": 4473, "episode_id": "POC22027_2026_06_20_16_13_57_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_13_57_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_13_57_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_13_57_train/train_0.3.0@2026_06_20_16_13_57.hdf5", "tags": {"task_name": "Iron_Clothes", "task_instruction": "Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment.", "scene_description": "A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand.", "success_criteria": "The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 594, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 780, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 3625, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 594, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 780, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 3625, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
|
| 2 |
+
{"source_uid": "f691be94c4605fd9", "num_frames": 4368, "episode_id": "POC22027_2026_06_20_16_19_26_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_19_26_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_19_26_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Iron_Clothes/season_POC22027_2026_06_20_15_54_39_train/POC22027_2026_06_20_16_19_26_train/train_0.3.0@2026_06_20_16_19_26.hdf5", "tags": {"task_name": "Iron_Clothes", "task_instruction": "Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment.", "scene_description": "A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand.", "success_criteria": "The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 558, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 732, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 3513, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 558, "id": "subtask-001", "text": "Grip the iron head with the right hand. | Skill: grip", "task_skill": "grip", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 732, "id": "subtask-002", "text": "Hold and stabilize the garment with the other hand. | Skill: stabilize", "task_skill": "stabilize", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 3513, "id": "subtask-003", "text": "Repeatedly iron the garment surface with the iron head while the other hand holds the garment. | Skill: press", "task_skill": "press", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Iron_Clothes | Instruction: Grip the iron head with one hand. Hold the garment with the other hand. Use the iron head to repeatedly iron the garment while the other hand stabilizes the garment. | Scene: A garment is placed on the table, and an iron head is available nearby. The robot needs to grip the iron head, hold the garment with one hand, and repeatedly iron the garment with the other hand. | Success: The garment is held stable during ironing, the iron head repeatedly passes over the garment surface, and the garment remains in a stable final state.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
|
iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:24d921f3b8cf173cc20cc063dbd2d3b045f9731a2103c46b517fe9ead11bc533
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| 3 |
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size 161601
|
iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/info.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "robot",
|
| 4 |
+
"total_episodes": 2,
|
| 5 |
+
"total_frames": 8841,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:2"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
65
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
"left_arm_j0",
|
| 24 |
+
"left_arm_j1",
|
| 25 |
+
"left_arm_j2",
|
| 26 |
+
"left_arm_j3",
|
| 27 |
+
"left_arm_j4",
|
| 28 |
+
"left_arm_j5",
|
| 29 |
+
"left_arm_j6",
|
| 30 |
+
"left_hand_j0",
|
| 31 |
+
"left_hand_j1",
|
| 32 |
+
"left_hand_j2",
|
| 33 |
+
"left_hand_j3",
|
| 34 |
+
"left_hand_j4",
|
| 35 |
+
"left_hand_j5",
|
| 36 |
+
"left_hand_j6",
|
| 37 |
+
"left_hand_j7",
|
| 38 |
+
"left_hand_j8",
|
| 39 |
+
"left_hand_j9",
|
| 40 |
+
"left_hand_j10",
|
| 41 |
+
"left_hand_j11",
|
| 42 |
+
"left_hand_j12",
|
| 43 |
+
"left_hand_j13",
|
| 44 |
+
"left_hand_j14",
|
| 45 |
+
"left_hand_j15",
|
| 46 |
+
"left_hand_j16",
|
| 47 |
+
"left_hand_j17",
|
| 48 |
+
"left_hand_j18",
|
| 49 |
+
"left_hand_j19",
|
| 50 |
+
"left_hand_j20",
|
| 51 |
+
"left_hand_j21",
|
| 52 |
+
"right_arm_j0",
|
| 53 |
+
"right_arm_j1",
|
| 54 |
+
"right_arm_j2",
|
| 55 |
+
"right_arm_j3",
|
| 56 |
+
"right_arm_j4",
|
| 57 |
+
"right_arm_j5",
|
| 58 |
+
"right_arm_j6",
|
| 59 |
+
"right_hand_j0",
|
| 60 |
+
"right_hand_j1",
|
| 61 |
+
"right_hand_j2",
|
| 62 |
+
"right_hand_j3",
|
| 63 |
+
"right_hand_j4",
|
| 64 |
+
"right_hand_j5",
|
| 65 |
+
"right_hand_j6",
|
| 66 |
+
"right_hand_j7",
|
| 67 |
+
"right_hand_j8",
|
| 68 |
+
"right_hand_j9",
|
| 69 |
+
"right_hand_j10",
|
| 70 |
+
"right_hand_j11",
|
| 71 |
+
"right_hand_j12",
|
| 72 |
+
"right_hand_j13",
|
| 73 |
+
"right_hand_j14",
|
| 74 |
+
"right_hand_j15",
|
| 75 |
+
"right_hand_j16",
|
| 76 |
+
"right_hand_j17",
|
| 77 |
+
"right_hand_j18",
|
| 78 |
+
"right_hand_j19",
|
| 79 |
+
"right_hand_j20",
|
| 80 |
+
"right_hand_j21",
|
| 81 |
+
"motor_j0",
|
| 82 |
+
"motor_j1",
|
| 83 |
+
"motor_j2",
|
| 84 |
+
"motor_j3",
|
| 85 |
+
"motor_j4",
|
| 86 |
+
"motor_j5",
|
| 87 |
+
"motor_j6"
|
| 88 |
+
]
|
| 89 |
+
},
|
| 90 |
+
"observation.state.joint_torque": {
|
| 91 |
+
"dtype": "float32",
|
| 92 |
+
"shape": [
|
| 93 |
+
65
|
| 94 |
+
],
|
| 95 |
+
"names": [
|
| 96 |
+
"left_arm_j0",
|
| 97 |
+
"left_arm_j1",
|
| 98 |
+
"left_arm_j2",
|
| 99 |
+
"left_arm_j3",
|
| 100 |
+
"left_arm_j4",
|
| 101 |
+
"left_arm_j5",
|
| 102 |
+
"left_arm_j6",
|
| 103 |
+
"left_hand_j0",
|
| 104 |
+
"left_hand_j1",
|
| 105 |
+
"left_hand_j2",
|
| 106 |
+
"left_hand_j3",
|
| 107 |
+
"left_hand_j4",
|
| 108 |
+
"left_hand_j5",
|
| 109 |
+
"left_hand_j6",
|
| 110 |
+
"left_hand_j7",
|
| 111 |
+
"left_hand_j8",
|
| 112 |
+
"left_hand_j9",
|
| 113 |
+
"left_hand_j10",
|
| 114 |
+
"left_hand_j11",
|
| 115 |
+
"left_hand_j12",
|
| 116 |
+
"left_hand_j13",
|
| 117 |
+
"left_hand_j14",
|
| 118 |
+
"left_hand_j15",
|
| 119 |
+
"left_hand_j16",
|
| 120 |
+
"left_hand_j17",
|
| 121 |
+
"left_hand_j18",
|
| 122 |
+
"left_hand_j19",
|
| 123 |
+
"left_hand_j20",
|
| 124 |
+
"left_hand_j21",
|
| 125 |
+
"right_arm_j0",
|
| 126 |
+
"right_arm_j1",
|
| 127 |
+
"right_arm_j2",
|
| 128 |
+
"right_arm_j3",
|
| 129 |
+
"right_arm_j4",
|
| 130 |
+
"right_arm_j5",
|
| 131 |
+
"right_arm_j6",
|
| 132 |
+
"right_hand_j0",
|
| 133 |
+
"right_hand_j1",
|
| 134 |
+
"right_hand_j2",
|
| 135 |
+
"right_hand_j3",
|
| 136 |
+
"right_hand_j4",
|
| 137 |
+
"right_hand_j5",
|
| 138 |
+
"right_hand_j6",
|
| 139 |
+
"right_hand_j7",
|
| 140 |
+
"right_hand_j8",
|
| 141 |
+
"right_hand_j9",
|
| 142 |
+
"right_hand_j10",
|
| 143 |
+
"right_hand_j11",
|
| 144 |
+
"right_hand_j12",
|
| 145 |
+
"right_hand_j13",
|
| 146 |
+
"right_hand_j14",
|
| 147 |
+
"right_hand_j15",
|
| 148 |
+
"right_hand_j16",
|
| 149 |
+
"right_hand_j17",
|
| 150 |
+
"right_hand_j18",
|
| 151 |
+
"right_hand_j19",
|
| 152 |
+
"right_hand_j20",
|
| 153 |
+
"right_hand_j21",
|
| 154 |
+
"motor_j0",
|
| 155 |
+
"motor_j1",
|
| 156 |
+
"motor_j2",
|
| 157 |
+
"motor_j3",
|
| 158 |
+
"motor_j4",
|
| 159 |
+
"motor_j5",
|
| 160 |
+
"motor_j6"
|
| 161 |
+
]
|
| 162 |
+
},
|
| 163 |
+
"observation.state.tcp": {
|
| 164 |
+
"dtype": "float32",
|
| 165 |
+
"shape": [
|
| 166 |
+
24
|
| 167 |
+
],
|
| 168 |
+
"names": [
|
| 169 |
+
"left_arm_tcp_pose",
|
| 170 |
+
"left_arm_tcp_forces",
|
| 171 |
+
"right_arm_tcp_pose",
|
| 172 |
+
"right_arm_tcp_forces"
|
| 173 |
+
]
|
| 174 |
+
},
|
| 175 |
+
"action": {
|
| 176 |
+
"dtype": "float32",
|
| 177 |
+
"shape": [
|
| 178 |
+
65
|
| 179 |
+
],
|
| 180 |
+
"names": [
|
| 181 |
+
"left_arm_j0",
|
| 182 |
+
"left_arm_j1",
|
| 183 |
+
"left_arm_j2",
|
| 184 |
+
"left_arm_j3",
|
| 185 |
+
"left_arm_j4",
|
| 186 |
+
"left_arm_j5",
|
| 187 |
+
"left_arm_j6",
|
| 188 |
+
"left_hand_j0",
|
| 189 |
+
"left_hand_j1",
|
| 190 |
+
"left_hand_j2",
|
| 191 |
+
"left_hand_j3",
|
| 192 |
+
"left_hand_j4",
|
| 193 |
+
"left_hand_j5",
|
| 194 |
+
"left_hand_j6",
|
| 195 |
+
"left_hand_j7",
|
| 196 |
+
"left_hand_j8",
|
| 197 |
+
"left_hand_j9",
|
| 198 |
+
"left_hand_j10",
|
| 199 |
+
"left_hand_j11",
|
| 200 |
+
"left_hand_j12",
|
| 201 |
+
"left_hand_j13",
|
| 202 |
+
"left_hand_j14",
|
| 203 |
+
"left_hand_j15",
|
| 204 |
+
"left_hand_j16",
|
| 205 |
+
"left_hand_j17",
|
| 206 |
+
"left_hand_j18",
|
| 207 |
+
"left_hand_j19",
|
| 208 |
+
"left_hand_j20",
|
| 209 |
+
"left_hand_j21",
|
| 210 |
+
"right_arm_j0",
|
| 211 |
+
"right_arm_j1",
|
| 212 |
+
"right_arm_j2",
|
| 213 |
+
"right_arm_j3",
|
| 214 |
+
"right_arm_j4",
|
| 215 |
+
"right_arm_j5",
|
| 216 |
+
"right_arm_j6",
|
| 217 |
+
"right_hand_j0",
|
| 218 |
+
"right_hand_j1",
|
| 219 |
+
"right_hand_j2",
|
| 220 |
+
"right_hand_j3",
|
| 221 |
+
"right_hand_j4",
|
| 222 |
+
"right_hand_j5",
|
| 223 |
+
"right_hand_j6",
|
| 224 |
+
"right_hand_j7",
|
| 225 |
+
"right_hand_j8",
|
| 226 |
+
"right_hand_j9",
|
| 227 |
+
"right_hand_j10",
|
| 228 |
+
"right_hand_j11",
|
| 229 |
+
"right_hand_j12",
|
| 230 |
+
"right_hand_j13",
|
| 231 |
+
"right_hand_j14",
|
| 232 |
+
"right_hand_j15",
|
| 233 |
+
"right_hand_j16",
|
| 234 |
+
"right_hand_j17",
|
| 235 |
+
"right_hand_j18",
|
| 236 |
+
"right_hand_j19",
|
| 237 |
+
"right_hand_j20",
|
| 238 |
+
"right_hand_j21",
|
| 239 |
+
"motor_j0",
|
| 240 |
+
"motor_j1",
|
| 241 |
+
"motor_j2",
|
| 242 |
+
"motor_j3",
|
| 243 |
+
"motor_j4",
|
| 244 |
+
"motor_j5",
|
| 245 |
+
"motor_j6"
|
| 246 |
+
]
|
| 247 |
+
},
|
| 248 |
+
"observation.state.tcp_pose": {
|
| 249 |
+
"dtype": "float32",
|
| 250 |
+
"shape": [
|
| 251 |
+
12
|
| 252 |
+
],
|
| 253 |
+
"names": [
|
| 254 |
+
"left_arm_tcp_pose_0",
|
| 255 |
+
"left_arm_tcp_pose_1",
|
| 256 |
+
"left_arm_tcp_pose_2",
|
| 257 |
+
"left_arm_tcp_pose_3",
|
| 258 |
+
"left_arm_tcp_pose_4",
|
| 259 |
+
"left_arm_tcp_pose_5",
|
| 260 |
+
"right_arm_tcp_pose_0",
|
| 261 |
+
"right_arm_tcp_pose_1",
|
| 262 |
+
"right_arm_tcp_pose_2",
|
| 263 |
+
"right_arm_tcp_pose_3",
|
| 264 |
+
"right_arm_tcp_pose_4",
|
| 265 |
+
"right_arm_tcp_pose_5"
|
| 266 |
+
]
|
| 267 |
+
},
|
| 268 |
+
"action.tcp_pose": {
|
| 269 |
+
"dtype": "float32",
|
| 270 |
+
"shape": [
|
| 271 |
+
12
|
| 272 |
+
],
|
| 273 |
+
"names": [
|
| 274 |
+
"left_arm_tcp_pose_0",
|
| 275 |
+
"left_arm_tcp_pose_1",
|
| 276 |
+
"left_arm_tcp_pose_2",
|
| 277 |
+
"left_arm_tcp_pose_3",
|
| 278 |
+
"left_arm_tcp_pose_4",
|
| 279 |
+
"left_arm_tcp_pose_5",
|
| 280 |
+
"right_arm_tcp_pose_0",
|
| 281 |
+
"right_arm_tcp_pose_1",
|
| 282 |
+
"right_arm_tcp_pose_2",
|
| 283 |
+
"right_arm_tcp_pose_3",
|
| 284 |
+
"right_arm_tcp_pose_4",
|
| 285 |
+
"right_arm_tcp_pose_5"
|
| 286 |
+
]
|
| 287 |
+
},
|
| 288 |
+
"subtask_index": {
|
| 289 |
+
"dtype": "int64",
|
| 290 |
+
"shape": [
|
| 291 |
+
1
|
| 292 |
+
],
|
| 293 |
+
"names": null
|
| 294 |
+
},
|
| 295 |
+
"observation.images.head_left": {
|
| 296 |
+
"dtype": "video",
|
| 297 |
+
"shape": [
|
| 298 |
+
480,
|
| 299 |
+
480,
|
| 300 |
+
3
|
| 301 |
+
],
|
| 302 |
+
"names": [
|
| 303 |
+
"height",
|
| 304 |
+
"width",
|
| 305 |
+
"channels"
|
| 306 |
+
],
|
| 307 |
+
"info": {
|
| 308 |
+
"video.height": 480,
|
| 309 |
+
"video.width": 480,
|
| 310 |
+
"video.codec": "h264",
|
| 311 |
+
"video.pix_fmt": "yuv420p",
|
| 312 |
+
"video.is_depth_map": false,
|
| 313 |
+
"video.fps": 30,
|
| 314 |
+
"video.channels": 3,
|
| 315 |
+
"has_audio": false
|
| 316 |
+
}
|
| 317 |
+
},
|
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iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/modality.json
ADDED
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iron_garment/season_POC22027_2026_06_20_15_54_39_train/lerobot_v3.0/meta/stats.json
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