File size: 3,286 Bytes
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"_README": [
"UMI-like bimanual 20-D EEF format exported to LeRobot v3.0.",
"state/action vectors are [right_10d, left_10d].",
"Each 10D block is [position_xyz, rotation_6d_first_two_rows, gripper_angle_rad].",
"Actions are absolute next-state targets with the final target repeated at the last row.",
"Videos are materialized from media.<stream>.frame_index and aligned to data rows when available."
],
"state": {
"right_eef_pose": {
"start": 0,
"end": 9,
"rotation_type": "rotation_6d",
"rotation_6d_layout": "first_two_rows",
"absolute": true,
"dtype": "float32",
"original_key": "observation.state"
},
"right_eef_gripper": {
"start": 9,
"end": 10,
"absolute": true,
"dtype": "float32",
"unit": "rad",
"original_key": "observation.state"
},
"left_eef_pose": {
"start": 10,
"end": 19,
"rotation_type": "rotation_6d",
"rotation_6d_layout": "first_two_rows",
"absolute": true,
"dtype": "float32",
"original_key": "observation.state"
},
"left_eef_gripper": {
"start": 19,
"end": 20,
"absolute": true,
"dtype": "float32",
"unit": "rad",
"original_key": "observation.state"
}
},
"action": {
"right_eef_pose": {
"start": 0,
"end": 9,
"rotation_type": "rotation_6d",
"rotation_6d_layout": "first_two_rows",
"absolute": true,
"dtype": "float32",
"original_key": "action"
},
"right_eef_gripper": {
"start": 9,
"end": 10,
"absolute": true,
"dtype": "float32",
"unit": "rad",
"original_key": "action"
},
"left_eef_pose": {
"start": 10,
"end": 19,
"rotation_type": "rotation_6d",
"rotation_6d_layout": "first_two_rows",
"absolute": true,
"dtype": "float32",
"original_key": "action"
},
"left_eef_gripper": {
"start": 19,
"end": 20,
"absolute": true,
"dtype": "float32",
"unit": "rad",
"original_key": "action"
}
},
"video": {
"head_main": {
"original_key": "observation.images.head_main"
},
"head_main_stereo_right": {
"original_key": "observation.images.head_main_stereo_right"
},
"left_hand_down": {
"original_key": "observation.images.left_hand_down"
},
"left_hand_up": {
"original_key": "observation.images.left_hand_up"
},
"right_hand_down": {
"original_key": "observation.images.right_hand_down"
},
"right_hand_up": {
"original_key": "observation.images.right_hand_up"
}
},
"annotation": {
"human.action.task_description": {
"original_key": "task_index"
}
}
}
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