| { |
| "source": "/home/olagh/data", |
| "lerobot_format": "v3", |
| "episodes": [ |
| "episode_20261009_121636", |
| "episode_20261009_121817", |
| "episode_20261009_122059", |
| "episode_20261009_122156", |
| "episode_20261009_122256", |
| "episode_20261009_122428", |
| "episode_20261009_122518", |
| "episode_20261009_122619", |
| "episode_20261009_122834", |
| "episode_20261009_122941", |
| "episode_20261009_123039", |
| "episode_20261009_123143", |
| "episode_20261009_123306", |
| "episode_20261009_123425", |
| "episode_20261009_123612", |
| "episode_20261009_123821", |
| "episode_20261009_124210", |
| "episode_20261009_124310", |
| "episode_20261009_124407", |
| "episode_20261009_124813", |
| "episode_20261009_125354", |
| "episode_20261009_125538", |
| "episode_20261009_125730", |
| "episode_20261009_125845", |
| "episode_20261009_125940", |
| "episode_20261009_130146", |
| "episode_20261009_130251", |
| "episode_20261009_130508", |
| "episode_20261009_130620", |
| "episode_20261009_130810", |
| "episode_20261009_133240", |
| "episode_20261009_133330", |
| "episode_20261009_133422", |
| "episode_20261009_133523", |
| "episode_20261009_133626", |
| "episode_20261009_133738", |
| "episode_20261009_133841", |
| "episode_20261009_134013", |
| "episode_20261009_134117", |
| "episode_20261009_134225", |
| "episode_20261009_134359", |
| "episode_20261009_134605", |
| "episode_20261009_135314", |
| "episode_20261009_135425", |
| "episode_20261009_135720", |
| "episode_20261009_135853", |
| "episode_20261009_140036", |
| "episode_20261009_140202", |
| "episode_20261009_140300", |
| "episode_20261009_140401", |
| "episode_20261009_140519", |
| "episode_20261009_142347", |
| "episode_20261009_142655", |
| "episode_20261009_142858", |
| "episode_20261009_143014", |
| "episode_20261009_143303", |
| "episode_20261009_143501", |
| "episode_20261009_143600", |
| "episode_20261009_143659", |
| "episode_20261009_143902", |
| "episode_20261009_144014", |
| "episode_20261009_144314", |
| "episode_20261009_144409", |
| "episode_20261009_144846", |
| "episode_20261009_145109", |
| "episode_20261009_145209", |
| "episode_20261009_145342", |
| "episode_20261009_145538", |
| "episode_20261009_145808", |
| "episode_20261009_145919", |
| "episode_20261009_150342", |
| "episode_20261009_150449", |
| "episode_20261009_150617", |
| "episode_20261009_150928", |
| "episode_20261009_151343", |
| "episode_20261009_151611", |
| "episode_20261009_151813", |
| "episode_20261009_152107", |
| "episode_20261009_152325", |
| "episode_20261009_152514", |
| "episode_20261009_152554", |
| "episode_20261009_152722", |
| "episode_20261009_152759", |
| "episode_20261009_152927", |
| "episode_20261009_153037", |
| "episode_20261009_153125", |
| "episode_20261009_153219", |
| "episode_20261009_153311", |
| "episode_20261009_153412", |
| "episode_20261009_153539", |
| "episode_20261009_153636", |
| "episode_20261009_153816", |
| "episode_20261009_153922", |
| "episode_20261009_154006", |
| "episode_20261009_154056", |
| "episode_20261009_154153", |
| "episode_20261009_154248", |
| "episode_20261009_154337", |
| "episode_20261009_154435", |
| "episode_20261009_154532" |
| ], |
| "skipped": {}, |
| "frames": 84950, |
| "fps": 30, |
| "source_fps": 30, |
| "lookahead": 3, |
| "frame_stride": 1, |
| "image_width": 320, |
| "crops": { |
| "head_left": [ |
| 0, |
| 742, |
| 1200, |
| 750 |
| ], |
| "head_right": [ |
| 0, |
| 739, |
| 1200, |
| 750 |
| ], |
| "gripper": null |
| }, |
| "head_crop": null, |
| "gripper_crop": null, |
| "action_rule": "action[t] = [observation.base_odom, lift..grip_mm] at t+3; final 3 source frame(s) dropped; action[0:3] replaced by the measured body-frame base velocity at t+K", |
| "state_names": [ |
| "base_vx", |
| "base_vy", |
| "base_omega", |
| "lift", |
| "arm", |
| "wrist_yaw", |
| "wrist_pitch", |
| "wrist_roll", |
| "grip_mm" |
| ], |
| "action_mode": "absolute", |
| "base_action": "velocity", |
| "action_names": [ |
| "base_vx", |
| "base_vy", |
| "base_omega", |
| "lift", |
| "arm", |
| "wrist_yaw", |
| "wrist_pitch", |
| "wrist_roll", |
| "grip_mm" |
| ], |
| "include_grip_effort": false, |
| "gripper_tool": "parallel_gripper", |
| "start_pose": null, |
| "start_pose_source": null, |
| "gripper_column": "grip_pos and grip_effort merged; shape (1,) is broken at this lerobot rev", |
| "head_cameras": [ |
| "head_left", |
| "head_right" |
| ], |
| "rotation_applied": { |
| "head_left": 1, |
| "head_right": -1, |
| "gripper": 0 |
| }, |
| "camera_sources": { |
| "head_left": "head_left", |
| "head_right": "head_right", |
| "gripper": "gripper_right" |
| } |
| } |
