NOJIMA21/xlerobot-final-v1-xlerobot_mobile_straight_wheelstate_v1

XLeRobot Final v1 whole-body wheel-feedback integration record

A public, real-hardware LeRobot Dataset v3 integration record for an XLeRobot-compatible 0.4.0 differential two-wheel configuration. This is a transparent engineering dataset, not a household-task benchmark or an autonomy-performance claim.

Recorded system

• —Two Seeed Studio Pro SO-101 arms under leader/follower teleoperation
• —Differential two-wheel base
• —Pan/tilt head
• —Three RGB cameras: left wrist 640x480, overhead 1280x720, right wrist 640x480
• —30 Hz H.264 video recording

Dataset schema

One 89.37-second manually teleoperated episode (2,682 frames) records a 16-dimensional observation state and matching 16-dimensional action:

• —Left arm: 6 joint positions
• —Right arm: 6 joint positions
• —Head pan/tilt: 2 positions
• —Base left/right wheel: 2 signed velocities

Wheel entries in observation.state are measured STS3215 Present_Velocity feedback; wheel entries in action are commanded Goal_Velocity. They are deliberately retained as separate signals.

Scope and limitations

The episode's natural-language task is TEST. It validates simultaneous whole-body teleoperation, three-camera H.264 recording, and the published wheel-feedback schema. It is intended as a reproducible reference for LeRobot-compatible whole-body data layout, not as training data for a manipulation or navigation success claim.

Known camera-label correction

In this initial episode only, the physical left and right wrist cameras were mounted opposite to their feature labels: observation.images.left_wrist_camera contains the physical right-wrist view, and vice versa. This affects only the two wrist-image feature names; arm state/action, head, wheel state/action, timestamps, and overhead video are unaffected.

The camera mounts were physically corrected after this integration capture. All Final v1 datasets recorded after this repository use the intended mapping: left_wrist_camera is the physical left wrist and right_wrist_camera is the physical right wrist. Users of this specific smoke-test episode should swap the two wrist-image keys at load time if physical-side identity matters.