RealWorldTest / meta /info.json
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{
"codebase_version": "v2.1",
"robot_type": "R1Lite",
"total_episodes": 18,
"total_frames": 5620,
"total_tasks": 1,
"total_videos": 72,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:18"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
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],
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],
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}
},
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},
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},
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}
},
"observation.state": {
"dtype": "float32",
"shape": [
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"names": [
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"/hdas/feedback_arm_left.position[1]",
"/hdas/feedback_arm_left.position[2]",
"/hdas/feedback_arm_left.position[3]",
"/hdas/feedback_arm_left.position[4]",
"/hdas/feedback_arm_left.position[5]",
"/hdas/feedback_gripper_left.position[0]",
"/hdas/feedback_arm_right.position[0]",
"/hdas/feedback_arm_right.position[1]",
"/hdas/feedback_arm_right.position[2]",
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"/hdas/feedback_arm_right.position[4]",
"/hdas/feedback_arm_right.position[5]",
"/hdas/feedback_gripper_right.position[0]"
]
},
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],
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"/motion_target/target_joint_state_arm_left.position[3]",
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"/motion_target/target_joint_state_arm_left.position[5]",
"/motion_target/target_position_gripper_left.position[0]",
"/motion_target/target_joint_state_arm_right.position[0]",
"/motion_target/target_joint_state_arm_right.position[1]",
"/motion_target/target_joint_state_arm_right.position[2]",
"/motion_target/target_joint_state_arm_right.position[3]",
"/motion_target/target_joint_state_arm_right.position[4]",
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"/motion_target/target_position_gripper_right.position[0]"
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}
}