| { |
| "repo_id": "crobotia_flux_rollout", |
| "fps": 30, |
| "robot_type": "flexiv_rizon4_dual_insta360", |
| "action_mode": "next_state", |
| "n_episodes": 1, |
| "img_keys": { |
| "left": "observation.images.left_ego", |
| "right": "observation.images.right_ego" |
| }, |
| "img_size": 960, |
| "task": "fold_the_clothes", |
| "pose_source": "robot_fk_cad", |
| "state_names": [ |
| "left_x", |
| "left_y", |
| "left_z", |
| "left_qw", |
| "left_qx", |
| "left_qy", |
| "left_qz", |
| "left_gripper", |
| "right_x", |
| "right_y", |
| "right_z", |
| "right_qw", |
| "right_qx", |
| "right_qy", |
| "right_qz", |
| "right_gripper" |
| ], |
| "action_names": [ |
| "left_x", |
| "left_y", |
| "left_z", |
| "left_qw", |
| "left_qx", |
| "left_qy", |
| "left_qz", |
| "left_gripper", |
| "right_x", |
| "right_y", |
| "right_z", |
| "right_qw", |
| "right_qx", |
| "right_qy", |
| "right_qz", |
| "right_gripper" |
| ], |
| "extra_features": { |
| "observation.joint_pos": [ |
| "left_j1", |
| "left_j2", |
| "left_j3", |
| "left_j4", |
| "left_j5", |
| "left_j6", |
| "left_j7", |
| "right_j1", |
| "right_j2", |
| "right_j3", |
| "right_j4", |
| "right_j5", |
| "right_j6", |
| "right_j7" |
| ], |
| "observation.joint_vel": [ |
| "left_j1", |
| "left_j2", |
| "left_j3", |
| "left_j4", |
| "left_j5", |
| "left_j6", |
| "left_j7", |
| "right_j1", |
| "right_j2", |
| "right_j3", |
| "right_j4", |
| "right_j5", |
| "right_j6", |
| "right_j7" |
| ], |
| "observation.joint_torque": [ |
| "left_j1", |
| "left_j2", |
| "left_j3", |
| "left_j4", |
| "left_j5", |
| "left_j6", |
| "left_j7", |
| "right_j1", |
| "right_j2", |
| "right_j3", |
| "right_j4", |
| "right_j5", |
| "right_j6", |
| "right_j7" |
| ] |
| }, |
| "calibration": "meta/calibration.json", |
| "robot_h5": "robot/episode_0000.h5", |
| "episodes": [ |
| { |
| "position": "left", |
| "episode_index": 0, |
| "n_frames": 30619, |
| "duration_s": 1020.6, |
| "video_start_s": 0.0334, |
| "head_trim_s": 1.5165, |
| "tail_trim_s": 0.0, |
| "imu": "imu/episode_0000_left.csv", |
| "imu_samples": 1026778, |
| "imu_hz": 1006.1, |
| "imu_timebase": "episode_video (t_s = 0 at this side's first frame)", |
| "sync": { |
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| "coarse_spread_s": 0.045617103576660156, |
| "clock_samples": 952, |
| "offset_s": 1792985571.6371875, |
| "correction_s": 0.06979946666132804, |
| "corr": 0.8830014321381133, |
| "motion_rad_s_p95": 0.15915304884678078, |
| "used": "fine" |
| }, |
| "qc": { |
| "repeated_frames": 30, |
| "skipped_frames": 0, |
| "max_frame_time_error_ms": 16.672372817993164, |
| "fk_vs_tcp_max_mm": 0.022228976927080087 |
| }, |
| "camera_id": "camera_left" |
| }, |
| { |
| "position": "right", |
| "episode_index": 0, |
| "n_frames": 30619, |
| "duration_s": 1020.6, |
| "video_start_s": 0.0, |
| "head_trim_s": 1.5165, |
| "tail_trim_s": 0.0, |
| "imu": "imu/episode_0000_right.csv", |
| "imu_samples": 1016151, |
| "imu_hz": 995.6, |
| "imu_timebase": "episode_video (t_s = 0 at this side's first frame)", |
| "sync": { |
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| "clock_samples": 952, |
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| "corr": 0.8441719067078159, |
| "motion_rad_s_p95": 0.1529860768744607, |
| "used": "fine" |
| }, |
| "qc": { |
| "repeated_frames": 31, |
| "skipped_frames": 0, |
| "max_frame_time_error_ms": 16.666889190673828, |
| "fk_vs_tcp_max_mm": 0.0009461962824245982 |
| }, |
| "camera_id": "camera_right" |
| } |
| ] |
| } |
|
|
