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README.md

@@ -30,7 +30,9 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
     "total_frames": 77242,
     "total_tasks": 1,
     "chunks_size": 1000,
-    "fps": 10.0,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 500,
+    "fps": 10,
     "splits": {
         "train": "0:500"
     },
@@ -40,20 +42,18 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
         "observation.state": {
             "dtype": "float32",
             "shape": [
-                8
+                7
             ],
             "names": [
                 "x",
                 "y",
                 "z",
-                "qx",
-                "qy",
-                "qz",
-                "qw",
+                "roll",
+                "pitch",
+                "yaw",
                 "gripper"
             ],
-            "description": "End-effector position (x,y,z), orientation (qx,qy,qz,qw) and gripper state (0.0 closed, 1.0 open).",
-            "fps": 10.0
+            "description": "End-effector position (x,y,z), orientation (roll,pitch,yaw) and gripper state (0.0 closed, 1.0 open)."
         },
         "action": {
             "dtype": "float32",
@@ -69,8 +69,30 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "yaw",
                 "gripper"
             ],
-            "description": "Action applied at each step, in Euler representation + gripper (0.0 close, 1.0 open).",
-            "fps": 10.0
+            "description": "Delta action applied at each step, in Euler representation [xyz+rotation+gripper]."
+        },
+        "observation.state.joints": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": [
+                "joint_1",
+                "joint_2",
+                "joint_3",
+                "joint_4",
+                "joint_5",
+                "joint_6",
+                "joint_7"
+            ],
+            "description": "Robot joint positions (absolute rotations)."
+        },
+        "task_description": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "description": "A natural language description of the task."
         },
         "observation.images.left_shoulder_rgb": {
             "dtype": "video",
@@ -182,44 +204,37 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
             "shape": [
                 1
             ],
-            "names": null,
-            "fps": 10.0
+            "names": null
         },
         "frame_index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null,
-            "fps": 10.0
+            "names": null
         },
         "episode_index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null,
-            "fps": 10.0
+            "names": null
         },
         "index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null,
-            "fps": 10.0
+            "names": null
         },
         "task_index": {
             "dtype": "int64",
             "shape": [
                 1
             ],
-            "names": null,
-            "fps": 10.0
+            "names": null
         }
-    },
-    "data_files_size_in_mb": 100,
-    "video_files_size_in_mb": 500
+    }
 }
 ```