Upload LeRobot dataset (Franka FR3 + Inspire RH56)

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meta/info.json

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+    "codebase_version": "v2.1",
+    "robot_type": "franka_fer_inspire",
+    "total_episodes": 3,
+    "total_frames": 1320,
+    "total_tasks": 1,
+    "total_videos": 6,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:3"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                13
+            ],
+            "names": [
+                "arm_joint_0.pos",
+                "arm_joint_1.pos",
+                "arm_joint_2.pos",
+                "arm_joint_3.pos",
+                "arm_joint_4.pos",
+                "arm_joint_5.pos",
+                "arm_joint_6.pos",
+                "hand_joint_0.pos",
+                "hand_joint_1.pos",
+                "hand_joint_2.pos",
+                "hand_joint_3.pos",
+                "hand_joint_4.pos",
+                "hand_joint_5.pos"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                42
+            ],
+            "names": [
+                "arm_joint_0.pos",
+                "arm_joint_1.pos",
+                "arm_joint_2.pos",
+                "arm_joint_3.pos",
+                "arm_joint_4.pos",
+                "arm_joint_5.pos",
+                "arm_joint_6.pos",
+                "arm_joint_0.vel",
+                "arm_joint_1.vel",
+                "arm_joint_2.vel",
+                "arm_joint_3.vel",
+                "arm_joint_4.vel",
+                "arm_joint_5.vel",
+                "arm_joint_6.vel",
+                "arm_ee_pose.00",
+                "arm_ee_pose.01",
+                "arm_ee_pose.02",
+                "arm_ee_pose.03",
+                "arm_ee_pose.04",
+                "arm_ee_pose.05",
+                "arm_ee_pose.06",
+                "arm_ee_pose.07",
+                "arm_ee_pose.08",
+                "arm_ee_pose.09",
+                "arm_ee_pose.10",
+                "arm_ee_pose.11",
+                "arm_ee_pose.12",
+                "arm_ee_pose.13",
+                "arm_ee_pose.14",
+                "arm_ee_pose.15",
+                "hand_joint_0.pos",
+                "hand_joint_1.pos",
+                "hand_joint_2.pos",
+                "hand_joint_3.pos",
+                "hand_joint_4.pos",
+                "hand_joint_5.pos",
+                "hand_joint_0.force",
+                "hand_joint_1.force",
+                "hand_joint_2.force",
+                "hand_joint_3.force",
+                "hand_joint_4.force",
+                "hand_joint_5.force"
+            ]
+        },
+        "observation.images.tpv": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
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+            "names": null
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+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
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+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
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+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        }
+    }
+}

meta/modality.json

@@ -0,0 +1,47 @@
+{
+    "state": {
+        "arm": {
+            "start": 0,
+            "end": 7
+        },
+        "arm_vel": {
+            "start": 7,
+            "end": 14
+        },
+        "ee_pose": {
+            "start": 14,
+            "end": 30
+        },
+        "hand": {
+            "start": 30,
+            "end": 36
+        },
+        "hand_force": {
+            "start": 36,
+            "end": 42
+        }
+    },
+    "action": {
+        "arm": {
+            "start": 0,
+            "end": 7
+        },
+        "hand": {
+            "start": 7,
+            "end": 13
+        }
+    },
+    "video": {
+        "tpv": {
+            "original_key": "observation.images.tpv"
+        },
+        "wrist": {
+            "original_key": "observation.images.wrist"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Pick up the object and place it in the tray"}

videos/chunk-000/observation.images.tpv/episode_000000.mp4

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+size 4690034

videos/chunk-000/observation.images.tpv/episode_000001.mp4

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videos/chunk-000/observation.images.tpv/episode_000002.mp4

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+version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.wrist/episode_000000.mp4

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videos/chunk-000/observation.images.wrist/episode_000001.mp4

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+version https://git-lfs.github.com/spec/v1
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+size 4195101

videos/chunk-000/observation.images.wrist/episode_000002.mp4

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+version https://git-lfs.github.com/spec/v1
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