| { |
| "_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" |
| } |
| } |
| } |
|
|
