Publish real-world One-Shot LeRobot v3.0 metadata

data/real-world/one-shot/README.md

@@ -1,9 +1,26 @@
-# Real-World One-Shot Data
+# One-Shot / 单轨迹子集
 
-**English** · [简体中文](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/README_zh.md#2-真实世界)
+LeRobot v3.0; one original episode 000 per task. No rows trimmed.
 
-**20 tasks × 1 episode = 20 episodes.** One demonstration per task is selected from the real-world Full-Shot pool for reference conditioning or task-specific adaptation; it is not an independently collected demonstration pool.
-
-This directory is reserved. Trajectory files and the official episode selection are not yet released. The common release format is LeRobot Dataset v3.0.
-
-[Real-world overview](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data#2-real-world) · [Available Full-Shot quick start](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data#5-download-and-reading)
+| Task | Episode | Rows [start, end) |
+|---|---:|---|
+| task_16249 | 0 | [0, 695) |
+| task_16360 | 1 | [695, 1271) |
+| task_16924 | 2 | [1271, 2219) |
+| task_18495 | 3 | [2219, 2766) |
+| task_18678 | 4 | [2766, 3365) |
+| task_18806 | 5 | [3365, 3883) |
+| task_18838 | 6 | [3883, 4662) |
+| task_18880 | 7 | [4662, 5524) |
+| task_18943 | 8 | [5524, 6434) |
+| task_19328 | 9 | [6434, 7403) |
+| task_19366 | 10 | [7403, 8979) |
+| task_20141 | 11 | [8979, 9629) |
+| task_21687 | 12 | [9629, 10363) |
+| task_23555 | 13 | [10363, 11373) |
+| task_30403 | 14 | [11373, 11792) |
+| task_30419 | 15 | [11792, 12313) |
+| task_30462 | 16 | [12313, 13102) |
+| task_31119 | 17 | [13102, 13847) |
+| task_31913 | 18 | [13847, 14795) |
+| task_37438 | 19 | [14795, 15667) |

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+            40,
+            41,
+            42,
+            43
+          ]
+        },
+        "action/left_refpose/orientation": {
+          "description": "左手参考姿态四元数（大臂 arm_link3 相对 arm_base_link 的固定姿态）；原始映射 /wbc/retarget.retarget_groups[0].reference_frame_poses[0].orientation，按 (x,y,z,w)",
+          "dimensions": 4,
+          "indices": [
+            44,
+            45,
+            46,
+            47
+          ]
+        },
+        "action/right_refpose/orientation": {
+          "description": "右手参考姿态四元数；原始映射 /wbc/retarget.retarget_groups[1].reference_frame_poses[0].orientation，按 (x,y,z,w)",
+          "dimensions": 4,
+          "indices": [
+            48,
+            49,
+            50,
+            51
+          ]
+        }
+      }
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        290
+      ],
+      "field_descriptions": {
+        "state/left_effector/position": {
+          "description": "左执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            0
+          ]
+        },
+        "state/right_effector/position": {
+          "description": "右执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            1
+          ]
+        },
+        "state/end/wrench": {
+          "description": "左右手臂末端六维力/力矩，1x24：左臂/右臂在机械臂末端坐标系下六维力（3轴力+3轴力矩）+ 左臂/右臂在执行器末端坐标系下六维力（当前实际值与机械臂末端坐标系一致）",
+          "dimensions": 24,
+          "indices": [
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25
+          ]
+        },
+        "state/end/position": {
+          "description": "手臂末端在 base_link 坐标系下的位置（m），shape (2,3)",
+          "dimensions": 6,
+          "indices": [
+            26,
+            27,
+            28,
+            29,
+            30,
+            31
+          ]
+        },
+        "state/end/velocity": {
+          "description": "左右手臂末端速度，1x24：左臂/右臂在机械臂末端坐标系下速度（3轴线速度+3轴角速度）+ 左臂/右臂在执行器末端坐标系下速度（当前实际值与机械臂末端坐标系一致）",
+          "dimensions": 24,
+          "indices": [
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55
+          ]
+        },
+        "state/end/orientation": {
+          "description": "手臂末端在 base_link 坐标系下的朝向，四元数 XYZW，shape (2,4)",
+          "dimensions": 8,
+          "indices": [
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63
+          ]
+        },
+        "state/end/arm_orientation": {
+          "description": "手臂末端在 arm_base_link 坐标系下的朝向，四元数 XYZW，shape (2,4)",
+          "dimensions": 8,
+          "indices": [
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71
+          ]
+        },
+        "state/end/arm_position": {
+          "description": "手臂末端在 arm_base_link 坐标系下的位置（m），shape (2,3)",
+          "dimensions": 6,
+          "indices": [
+            72,
+            73,
+            74,
+            75,
+            76,
+            77
+          ]
+        },
+        "state/end/pose": {
+          "description": "完整末端在 base_link 坐标系下的位姿，1x28：2（手臂末端与执行器末端）× 2（双臂）×（3平移+4旋转）",
+          "dimensions": 28,
+          "indices": [
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91,
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105
+          ]
+        },
+        "state/end/mode": {
+          "description": "手臂末端控制模式，size of 1",
+          "dimensions": 1,
+          "indices": [
+            106
+          ]
+        },
+        "state/end/errcode": {
+          "description": "手臂末端错误码，size of 1",
+          "dimensions": 1,
+          "indices": [
+            107
+          ]
+        },
+        "state/end/errmsg": {
+          "description": "手臂末端错误信息，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/joint/position": {
+          "description": "左右臂关节角度（弧度），来自 aligned_joints.h5 state/joint/position，size of 14（l1-l7, r1-r7）",
+          "dimensions": 14,
+          "indices": [
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119,
+            120,
+            121
+          ]
+        },
+        "state/joint/current_value": {
+          "description": "左右臂关节电流值（A），来自 motor_states[:].current，size of 14",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/joint/effort": {
+          "description": "左右臂每个关节实际的力矩（Nm），size of 14",
+          "dimensions": 14,
+          "indices": [
+            122,
+            123,
+            124,
+            125,
+            126,
+            127,
+            128,
+            129,
+            130,
+            131,
+            132,
+            133,
+            134,
+            135
+          ]
+        },
+        "state/joint/velocity": {
+          "description": "左右臂关节速度（弧度/秒），size of 14",
+          "dimensions": 14,
+          "indices": [
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144,
+            145,
+            146,
+            147,
+            148,
+            149
+          ]
+        },
+        "state/joint/mode": {
+          "description": "左右臂关节模式，0=位控，1=力控，size of 14",
+          "dimensions": 14,
+          "indices": [
+            150,
+            151,
+            152,
+            153,
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162,
+            163
+          ]
+        },
+        "state/head/position": {
+          "description": "头部关节角度（弧度），G2 size of 3",
+          "dimensions": 3,
+          "indices": [
+            164,
+            165,
+            166
+          ]
+        },
+        "state/head/velocity": {
+          "description": "头部关节速度（弧度/秒）",
+          "dimensions": 3,
+          "indices": [
+            167,
+            168,
+            169
+          ]
+        },
+        "state/head/effort": {
+          "description": "头部关节力矩（Nm）",
+          "dimensions": 3,
+          "indices": [
+            170,
+            171,
+            172
+          ]
+        },
+        "state/head/mode": {
+          "description": "头部关节模式，size of 3",
+          "dimensions": 3,
+          "indices": [
+            173,
+            174,
+            175
+          ]
+        },
+        "state/head_pose/position": {
+          "description": "基于 base_link 的头部实际位置（m），size of 3",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/head_pose/orientation": {
+          "description": "基于 base_link 的头部实际朝向，四元数，size of 4",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/waist/position": {
+          "description": "腰部关节角度（弧度），G2 size of 5",
+          "dimensions": 5,
+          "indices": [
+            176,
+            177,
+            178,
+            179,
+            180
+          ]
+        },
+        "state/waist/velocity": {
+          "description": "腰部关节速度（弧度/秒）",
+          "dimensions": 5,
+          "indices": [
+            181,
+            182,
+            183,
+            184,
+            185
+          ]
+        },
+        "state/waist/effort": {
+          "description": "腰部关节力矩（Nm）",
+          "dimensions": 5,
+          "indices": [
+            186,
+            187,
+            188,
+            189,
+            190
+          ]
+        },
+        "state/waist/mode": {
+          "description": "腰部关节模式，size of 5",
+          "dimensions": 5,
+          "indices": [
+            191,
+            192,
+            193,
+            194,
+            195
+          ]
+        },
+        "state/waist_pose/position": {
+          "description": "基于 base_link 的腰部实际位置（m），size of 3",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/waist_pose/orientation": {
+          "description": "基于 base_link 的腰部实际朝向，四元数，size of 4",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/robot/position": {
+          "description": "机器人在 odom 坐标系下 base_link 的位置（m），size of 3（算法和使用方无需再做取逆操作）",
+          "dimensions": 3,
+          "indices": [
+            196,
+            197,
+            198
+          ]
+        },
+        "state/robot/orientation": {
+          "description": "机器人在 odom 坐标系下 base_link 的朝向，四元数，size of 4（算法和使用方无需再做取逆操作）",
+          "dimensions": 4,
+          "indices": [
+            199,
+            200,
+            201,
+            202
+          ]
+        },
+        "state/operator_event/action_src_status": {
+          "description": "动作来源状态，来源 /arbitrator/action_src.status；0=IDLE，1=TAKEOVER（接管，响应遥操 action），2=BACKWARD（回退），3=MODEL（推理）",
+          "dimensions": 1,
+          "indices": [
+            203
+          ]
+        },
+        "state/left_ee_force/controlled": {
+          "description": "左手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/rows": {
+          "description": "左手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/cols": {
+          "description": "左手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_x": {
+          "description": "左手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_y": {
+          "description": "左手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/normal_force": {
+          "description": "左手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_x": {
+          "description": "左手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_y": {
+          "description": "左手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/contact": {
+          "description": "左手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/valid": {
+          "description": "左手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/err_code": {
+          "description": "左手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/controlled": {
+          "description": "右手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/rows": {
+          "description": "右手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/cols": {
+          "description": "右手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_x": {
+          "description": "右手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_y": {
+          "description": "右手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/normal_force": {
+          "description": "右手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_x": {
+          "description": "右手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_y": {
+          "description": "右手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/contact": {
+          "description": "右手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/valid": {
+          "description": "右手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/err_code": {
+          "description": "右手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_click": {
+          "description": "左手 VR 手柄摇杆点击（int64），size of 1",
+          "dimensions": 1,
+          "indices": [
+            204
+          ]
+        },
+        "state/left_vr_button/axis_x": {
+          "description": "左手 VR 手柄摇杆 X 轴（float64），size of 1",
+          "dimensions": 1,
+          "indices": [
+            205
+          ]
+        },
+        "state/left_vr_button/axis_y": {
+          "description": "左手 VR 手柄摇杆 Y 轴（float64），size of 1",
+          "dimensions": 1,
+          "indices": [
+            206
+          ]
+        },
+        "state/left_vr_button/hand_trig": {
+          "description": "左手 VR 手柄侧键（float64），控制机械臂移动，size of 1",
+          "dimensions": 1,
+          "indices": [
+            207
+          ]
+        },
+        "state/left_vr_button/index_trig": {
+          "description": "左手 VR 手柄食指扳机键（float64），控制夹爪开合，size of 1",
+          "dimensions": 1,
+          "indices": [
+            208
+          ]
+        },
+        "state/left_vr_button/key_one": {
+          "description": "左手 VR 按键 X（int64），size of 1",
+          "dimensions": 1,
+          "indices": [
+            209
+          ]
+        },
+        "state/left_vr_button/key_two": {
+          "description": "左手 VR 按键 Y（int64），size of 1",
+          "dimensions": 1,
+          "indices": [
+            210
+          ]
+        },
+        "state/right_vr_button/axis_click": {
+          "description": "右手 VR 手柄摇杆点击（int64），size of 1",
+          "dimensions": 1,
+          "indices": [
+            211
+          ]
+        },
+        "state/right_vr_button/axis_x": {
+          "description": "右手 VR 手柄摇杆 X 轴（float64），size of 1",
+          "dimensions": 1,
+          "indices": [
+            212
+          ]
+        },
+        "state/right_vr_button/axis_y": {
+          "description": "右手 VR 手柄摇杆 Y 轴（float64），size of 1",
+          "dimensions": 1,
+          "indices": [
+            213
+          ]
+        },
+        "state/right_vr_button/hand_trig": {
+          "description": "右手 VR 手柄侧键（float64），控制机械臂移动，size of 1",
+          "dimensions": 1,
+          "indices": [
+            214
+          ]
+        },
+        "state/right_vr_button/index_trig": {
+          "description": "右手 VR 手柄食指扳机键（float64），控制夹爪开合，size of 1",
+          "dimensions": 1,
+          "indices": [
+            215
+          ]
+        },
+        "state/right_vr_button/key_one": {
+          "description": "右手 VR 按键 A（int64），size of 1",
+          "dimensions": 1,
+          "indices": [
+            216
+          ]
+        },
+        "state/right_vr_button/key_two": {
+          "description": "右手 VR 按键 B（int64），size of 1",
+          "dimensions": 1,
+          "indices": [
+            217
+          ]
+        },
+        "extrinsic_end_T_hand_left_rgbd_aligned/rotation_matrix": {
+          "description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            218,
+            219,
+            220,
+            221,
+            222,
+            223,
+            224,
+            225,
+            226
+          ]
+        },
+        "extrinsic_end_T_hand_right_rgbd_aligned/rotation_matrix": {
+          "description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            227,
+            228,
+            229,
+            230,
+            231,
+            232,
+            233,
+            234,
+            235
+          ]
+        },
+        "extrinsic_end_T_head_left_fisheye_aligned/rotation_matrix": {
+          "description": "头部左鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            236,
+            237,
+            238,
+            239,
+            240,
+            241,
+            242,
+            243,
+            244
+          ]
+        },
+        "extrinsic_end_T_head_right_fisheye_aligned/rotation_matrix": {
+          "description": "头部右鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            245,
+            246,
+            247,
+            248,
+            249,
+            250,
+            251,
+            252,
+            253
+          ]
+        },
+        "extrinsic_end_T_head_front_rgbd_aligned/rotation_matrix": {
+          "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            254,
+            255,
+            256,
+            257,
+            258,
+            259,
+            260,
+            261,
+            262
+          ]
+        },
+        "extrinsic_end_T_head_back_fisheye_aligned/rotation_matrix": {
+          "description": "头部后鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            263,
+            264,
+            265,
+            266,
+            267,
+            268,
+            269,
+            270,
+            271
+          ]
+        },
+        "extrinsic_end_T_hand_left_rgbd_aligned/translation_vector": {
+          "description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            272,
+            273,
+            274
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