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a/official_data/robot_data/fold_cloth_batch2_train/meta/info.json b/official_data/robot_data/fold_cloth_batch2_train/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f6eab3470c3e00e3ae7681d77677a3c801fd0811 --- /dev/null +++ b/official_data/robot_data/fold_cloth_batch2_train/meta/info.json @@ -0,0 +1,151289 @@ +{ + "codebase_version": "v2.1", + "robot_type": "x2w", + "total_episodes": 3430, + "total_frames": 7182024, + "total_tasks": 2, + "total_videos": 10290, + "total_chunks": 4, + "chunks_size": 1000, + "fps": 30, + "splits": { + "train": "0:3430" + }, + "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": { + "observation.state": { + "dtype": "float32", + "shape": [ + 89 + ], + "field_descriptions": { + "/x2w_sensor/joint_state": { + "description": "长度为66，共22个关节信息，每个关节有position,velocity,effort，前22个数分别表示这22个关节的position，中间22个为velocity，最后22个为effort。注意排列不是一个数的position,velocity,effort，而是22个position，22个velocity，22个effort。", + "dimensions": 66, + "indices": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65 + ] + }, + "/x2w_sensor/gripper_pose": { + "description": "长度为14,包含左右两个末端执行器的pose，每个7个数字表示，前三个数字表示position，xyz，后四个表示四元数(quaternion)。", + "dimensions": 14, + "indices": [ + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ] + }, + "/x2w_sensor/wheel_joint_state": { + "description": "长度为9，包含3个轮子关节(wheel_front_left, wheel_front_right, 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