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README.md

@@ -29,20 +29,20 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
 {
     "codebase_version": "v3.0",
     "robot_type": "PandaOmron",
-    "total_episodes": 55,
-    "total_frames": 10330,
+    "total_episodes": 53,
+    "total_frames": 9979,
     "total_tasks": 7,
     "chunks_size": 1000,
     "data_files_size_in_mb": 100,
     "video_files_size_in_mb": 200,
     "fps": 20,
     "splits": {
-        "train": "0:55"
+        "train": "0:53"
     },
     "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
     "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
     "features": {
-        "observation.images.robot0_agentview_center": {
+        "observation.images.robot0_agentview_left": {
             "dtype": "video",
             "shape": [
                 128,
@@ -65,7 +65,7 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "has_audio": false
             }
         },
-        "observation.images.robot0_eye_in_hand": {
+        "observation.images.robot0_agentview_right": {
             "dtype": "video",
             "shape": [
                 128,
@@ -88,70 +88,36 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "has_audio": false
             }
         },
-        "object": {
-            "dtype": "float64",
-            "shape": [
-                14
-            ],
-            "names": [
-                "object"
-            ]
-        },
-        "object-state": {
-            "dtype": "float64",
+        "observation.images.robot0_eye_in_hand": {
+            "dtype": "video",
             "shape": [
-                14
+                128,
+                128,
+                3
             ],
             "names": [
-                "object-state"
-            ]
-        },
-        "objects-joint-state": {
-            "dtype": "float64",
-            "shape": [
-                82
+                "height",
+                "width",
+                "channel"
             ],
-            "names": [
-                "objects-joint-state"
-            ]
+            "info": {
+                "video.height": 128,
+                "video.width": 128,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
         },
-        "robot0_agentview_center_bbox": {
+        "object": {
             "dtype": "float64",
             "shape": [
-                32,
-                4
-            ],
-            "names": [
-                "robot0_agentview_center_bbox"
-            ]
-        },
-        "robot0_agentview_center_bbox_ids": {
-            "dtype": "int64",
-            "shape": [
-                32
-            ],
-            "names": [
-                "robot0_agentview_center_bbox_ids"
-            ]
-        },
-        "robot0_agentview_center_bbox_mask": {
-            "dtype": "int32",
-            "shape": [
-                32
-            ],
-            "names": [
-                "robot0_agentview_center_bbox_mask"
-            ]
-        },
-        "robot0_agentview_center_segmentation_instance": {
-            "dtype": "int32",
-            "shape": [
-                128,
-                128,
-                1
+                14
             ],
             "names": [
-                "robot0_agentview_center_segmentation_instance"
+                "object"
             ]
         },
         "robot0_base_pos": {
@@ -190,15 +156,6 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "robot0_base_to_eef_quat"
             ]
         },
-        "robot0_base_to_eef_quat_site": {
-            "dtype": "float32",
-            "shape": [
-                4
-            ],
-            "names": [
-                "robot0_base_to_eef_quat_site"
-            ]
-        },
         "robot0_eef_pos": {
             "dtype": "float64",
             "shape": [
@@ -217,70 +174,31 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "robot0_eef_quat"
             ]
         },
-        "robot0_eef_quat_site": {
-            "dtype": "float32",
-            "shape": [
-                4
-            ],
-            "names": [
-                "robot0_eef_quat_site"
-            ]
-        },
-        "robot0_eye_in_hand_bbox": {
+        "robot0_gripper_qpos": {
             "dtype": "float64",
             "shape": [
-                32,
-                4
-            ],
-            "names": [
-                "robot0_eye_in_hand_bbox"
-            ]
-        },
-        "robot0_eye_in_hand_bbox_ids": {
-            "dtype": "int64",
-            "shape": [
-                32
-            ],
-            "names": [
-                "robot0_eye_in_hand_bbox_ids"
-            ]
-        },
-        "robot0_eye_in_hand_bbox_mask": {
-            "dtype": "int32",
-            "shape": [
-                32
-            ],
-            "names": [
-                "robot0_eye_in_hand_bbox_mask"
-            ]
-        },
-        "robot0_eye_in_hand_segmentation_instance": {
-            "dtype": "int32",
-            "shape": [
-                128,
-                128,
-                1
+                2
             ],
             "names": [
-                "robot0_eye_in_hand_segmentation_instance"
+                "robot0_gripper_qpos"
             ]
         },
-        "robot0_gripper_qpos": {
+        "robot0_gripper_qvel": {
             "dtype": "float64",
             "shape": [
                 2
             ],
             "names": [
-                "robot0_gripper_qpos"
+                "robot0_gripper_qvel"
             ]
         },
-        "robot0_gripper_qvel": {
+        "robot0_joint_pos": {
             "dtype": "float64",
             "shape": [
-                2
+                7
             ],
             "names": [
-                "robot0_gripper_qvel"
+                "robot0_joint_pos"
             ]
         },
         "robot0_joint_pos_cos": {
@@ -330,6 +248,15 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
                 "action"
             ]
         },
+        "actions_abs": {
+            "dtype": "float64",
+            "shape": [
+                12
+            ],
+            "names": [
+                "actions_abs"
+            ]
+        },
         "dones": {
             "dtype": "int64",
             "shape": [