g1_demonstrations / meta /info.json
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{
"codebase_version": "v3.0",
"robot_type": "unitree_g1",
"total_episodes": 1,
"total_frames": 1485,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
29
],
"names": {
"motors": [
"left_hip_pitch",
"left_hip_roll",
"left_hip_yaw",
"left_knee",
"left_ankle_pitch",
"left_ankle_roll",
"right_hip_pitch",
"right_hip_roll",
"right_hip_yaw",
"right_knee",
"right_ankle_pitch",
"right_ankle_roll",
"waist_yaw",
"waist_roll",
"waist_pitch",
"left_shoulder_pitch",
"left_shoulder_roll",
"left_shoulder_yaw",
"left_elbow",
"left_wrist_roll",
"left_wrist_pitch",
"left_wrist_yaw",
"right_shoulder_pitch",
"right_shoulder_roll",
"right_shoulder_yaw",
"right_elbow",
"right_wrist_roll",
"right_wrist_pitch",
"right_wrist_yaw"
]
}
},
"observation.hand": {
"dtype": "float32",
"shape": [
14
],
"names": {
"motors": [
"left_thumb_0",
"left_thumb_1",
"left_thumb_2",
"left_index_0",
"left_index_1",
"left_middle_0",
"left_middle_1",
"right_thumb_0",
"right_thumb_1",
"right_thumb_2",
"right_index_0",
"right_index_1",
"right_middle_0",
"right_middle_1"
]
}
},
"observation.images.ego_view": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"action": {
"dtype": "float32",
"shape": [
17
],
"names": {
"motors": [
"waist_yaw",
"waist_roll",
"waist_pitch",
"left_shoulder_pitch",
"left_shoulder_roll",
"left_shoulder_yaw",
"left_elbow",
"left_wrist_roll",
"left_wrist_pitch",
"left_wrist_yaw",
"right_shoulder_pitch",
"right_shoulder_roll",
"right_shoulder_yaw",
"right_elbow",
"right_wrist_roll",
"right_wrist_pitch",
"right_wrist_yaw"
]
}
},
"action.hand": {
"dtype": "float32",
"shape": [
14
],
"names": {
"motors": [
"left_thumb_0",
"left_thumb_1",
"left_thumb_2",
"left_index_0",
"left_index_1",
"left_middle_0",
"left_middle_1",
"right_thumb_0",
"right_thumb_1",
"right_thumb_2",
"right_index_0",
"right_index_1",
"right_middle_0",
"right_middle_1"
]
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}