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Upload LeRobot simulation data (part 3)

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  1. Simulation/GelSight_mini/empty_can_selection/videos/chunk-000/observation.images.wrist/episode_000091.mp4 +3 -0
  2. Simulation/GelSight_mini/empty_can_selection/videos/chunk-000/observation.images.wrist/episode_000092.mp4 +3 -0
  3. Simulation/GelSight_mini/empty_can_selection/videos/chunk-000/observation.images.wrist/episode_000093.mp4 +3 -0
  4. Simulation/GelSight_mini/empty_can_selection/videos/chunk-000/observation.images.wrist/episode_000094.mp4 +3 -0
  5. Simulation/GelSight_mini/empty_can_selection/videos/chunk-000/observation.images.wrist/episode_000095.mp4 +3 -0
  6. Simulation/GelSight_mini/empty_can_selection/videos/chunk-000/observation.images.wrist/episode_000096.mp4 +3 -0
  7. Simulation/GelSight_mini/empty_can_selection/videos/chunk-000/observation.images.wrist/episode_000097.mp4 +3 -0
  8. Simulation/GelSight_mini/empty_can_selection/videos/chunk-000/observation.images.wrist/episode_000098.mp4 +3 -0
  9. Simulation/GelSight_mini/empty_can_selection/videos/chunk-000/observation.images.wrist/episode_000099.mp4 +3 -0
  10. Simulation/GelSight_mini/gear_assembly/README.md +9 -0
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  31. Simulation/GelSight_mini/gear_assembly/data/chunk-000/episode_000020.parquet +3 -0
  32. Simulation/GelSight_mini/gear_assembly/data/chunk-000/episode_000021.parquet +3 -0
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  34. Simulation/GelSight_mini/gear_assembly/data/chunk-000/episode_000023.parquet +3 -0
  35. Simulation/GelSight_mini/gear_assembly/data/chunk-000/episode_000024.parquet +3 -0
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+ # gear_assembly (OpenViTac simulation, LeRobot v2.1)
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+
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+ 100 episodes; 27324 frames; 60 FPS.
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+
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+ Task instructions are listed in `meta/tasks.jsonl`.
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+
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+ `observation.state = [q0..q6, gripper_open_fraction]`. The first seven joint values are radians. The last value is `(left_finger_m + right_finger_m) / 0.08`, clipped to [0, 1] (0 closed, 1 open). Finger positions and gripper width are retained separately. The EEF pose uses simulation world coordinates and an xyzw quaternion; rotvec is an absolute axis angle, and the rotation matrix is flattened row major. All numeric observations are float32. There is no action column.
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+
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+ Four RGB streams are MP4 videos: head and wrist (480x270), and left and right tactile images with visible markers (320x240). Timestamps are frame_index / 60.
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