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| "left_fr3_joint1", | |
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| "left_fr3_joint3", | |
| "left_fr3_joint4", | |
| "left_fr3_joint5", | |
| "left_fr3_joint6", | |
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| "robotiq_85_left_knuckle_joint" | |
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| "left_fr3_joint1", | |
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| "left_fr3_joint4", | |
| "left_fr3_joint5", | |
| "left_fr3_joint6", | |
| "left_fr3_joint7" | |
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| "torque_x", | |
| "torque_y", | |
| "torque_z" | |
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| "right_fr3_joint4", | |
| "right_fr3_joint5", | |
| "right_fr3_joint6", | |
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| 7 | |
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| "right_fr3_joint1", | |
| "right_fr3_joint2", | |
| "right_fr3_joint3", | |
| "right_fr3_joint4", | |
| "right_fr3_joint5", | |
| "right_fr3_joint6", | |
| "right_fr3_joint7" | |
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| 6 | |
| ], | |
| "names": [ | |
| "force_x", | |
| "force_y", | |
| "force_z", | |
| "torque_x", | |
| "torque_y", | |
| "torque_z" | |
| ] | |
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| "action": { | |
| "dtype": "float32", | |
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| 17 | |
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| "names": [ | |
| "left_follower_gello_joint_states_fr3_joint1", | |
| "left_follower_gello_joint_states_fr3_joint2", | |
| "left_follower_gello_joint_states_fr3_joint3", | |
| "left_follower_gello_joint_states_fr3_joint4", | |
| "left_follower_gello_joint_states_fr3_joint5", | |
| "left_follower_gello_joint_states_fr3_joint6", | |
| "left_follower_gello_joint_states_fr3_joint7", | |
| "left_follower_gripper_gripper_client_target_gripper_width_percent_value", | |
| "right_follower_gello_joint_states_fr3_joint1", | |
| "right_follower_gello_joint_states_fr3_joint2", | |
| "right_follower_gello_joint_states_fr3_joint3", | |
| "right_follower_gello_joint_states_fr3_joint4", | |
| "right_follower_gello_joint_states_fr3_joint5", | |
| "right_follower_gello_joint_states_fr3_joint6", | |
| "right_follower_gello_joint_states_fr3_joint7", | |
| "right_follower_gripper_gripper_client_target_gripper_width_percent_value", | |
| "spine_target_height_value" | |
| ] | |
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| 42 | |
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| "franka_robot_left_measured_joint_states_left_fr3_joint1", | |
| "franka_robot_left_measured_joint_states_left_fr3_joint2", | |
| "franka_robot_left_measured_joint_states_left_fr3_joint3", | |
| "franka_robot_left_measured_joint_states_left_fr3_joint4", | |
| "franka_robot_left_measured_joint_states_left_fr3_joint5", | |
| "franka_robot_left_measured_joint_states_left_fr3_joint6", | |
| "franka_robot_left_measured_joint_states_left_fr3_joint7", | |
| "franka_robot_left_joint_states_robotiq_85_left_knuckle_joint", | |
| "franka_robot_left_external_joint_torques_left_fr3_joint1", | |
| "franka_robot_left_external_joint_torques_left_fr3_joint2", | |
| "franka_robot_left_external_joint_torques_left_fr3_joint3", | |
| "franka_robot_left_external_joint_torques_left_fr3_joint4", | |
| "franka_robot_left_external_joint_torques_left_fr3_joint5", | |
| "franka_robot_left_external_joint_torques_left_fr3_joint6", | |
| "franka_robot_left_external_joint_torques_left_fr3_joint7", | |
| "franka_robot_left_external_wrench_in_stiffness_frame_force_x", | |
| "franka_robot_left_external_wrench_in_stiffness_frame_force_y", | |
| "franka_robot_left_external_wrench_in_stiffness_frame_force_z", | |
| "franka_robot_left_external_wrench_in_stiffness_frame_torque_x", | |
| "franka_robot_left_external_wrench_in_stiffness_frame_torque_y", | |
| "franka_robot_left_external_wrench_in_stiffness_frame_torque_z", | |
| "franka_robot_right_measured_joint_states_right_fr3_joint1", | |
| "franka_robot_right_measured_joint_states_right_fr3_joint2", | |
| "franka_robot_right_measured_joint_states_right_fr3_joint3", | |
| "franka_robot_right_measured_joint_states_right_fr3_joint4", | |
| "franka_robot_right_measured_joint_states_right_fr3_joint5", | |
| "franka_robot_right_measured_joint_states_right_fr3_joint6", | |
| "franka_robot_right_measured_joint_states_right_fr3_joint7", | |
| "franka_robot_right_joint_states_robotiq_85_left_knuckle_joint", | |
| "franka_robot_right_external_joint_torques_right_fr3_joint1", | |
| "franka_robot_right_external_joint_torques_right_fr3_joint2", | |
| "franka_robot_right_external_joint_torques_right_fr3_joint3", | |
| "franka_robot_right_external_joint_torques_right_fr3_joint4", | |
| "franka_robot_right_external_joint_torques_right_fr3_joint5", | |
| "franka_robot_right_external_joint_torques_right_fr3_joint6", | |
| "franka_robot_right_external_joint_torques_right_fr3_joint7", | |
| "franka_robot_right_external_wrench_in_stiffness_frame_force_x", | |
| "franka_robot_right_external_wrench_in_stiffness_frame_force_y", | |
| "franka_robot_right_external_wrench_in_stiffness_frame_force_z", | |
| "franka_robot_right_external_wrench_in_stiffness_frame_torque_x", | |
| "franka_robot_right_external_wrench_in_stiffness_frame_torque_y", | |
| "franka_robot_right_external_wrench_in_stiffness_frame_torque_z" | |
| ] | |
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| "annotation.human.action.task_description": { | |
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| 1 | |
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| "names": null | |
| }, | |
| "annotation.human.validity": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "observation.images.head": { | |
| "dtype": "video", | |
| "shape": [ | |
| 720, | |
| 1280, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 720, | |
| "video.width": 1280, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 20, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist_left": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 20, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.wrist_right": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ], | |
| "info": { | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "video.fps": 20, | |
| "video.channels": 3, | |
| "has_audio": false | |
| } | |
| } | |
| }, | |
| "creation_metadata": { | |
| "source": "LABS processed MCAP", | |
| "input_episodes": 177, | |
| "synthetic_action": { | |
| "enabled": true, | |
| "topic": "/spine/target_height", | |
| "value": 434.0, | |
| "name": "value" | |
| }, | |
| "video_encoder": "h264_nvenc", | |
| "video_alignment": "Per-camera source start offset, resampled to the common 20 Hz grid; original resolution retained.", | |
| "image_geometry": "Head camera approximately undistorted using factory parameters from a different ZED Mini, SN17064700, left eye, alpha=0. The recording camera serial and captured eye were not independently verified. All output pixels sample valid recorded pixels. Uniform focal scaling removes invalid borders, with a top-anchored crop to retain the mannequin mouth. No generated pixels or anisotropic stretching. Wrist camera geometry is unchanged. Native image dimensions and square pixels are retained.", | |
| "state_semantics": "Same position, torque and wrench fields exported by the supplied portable converter; joint velocities are not included.", | |
| "statistics": "All numeric rows; deterministic sampled RGB frames using LeRobot sample_indices.", | |
| "head_camera_calibration": "meta/head_camera_calibration.json" | |
| }, | |
| "conversion_failures": [] | |
| } |