| { |
| "codebase_version": "v3.0", |
| "robot_type": "unitree_g1_smpl_pose6d_vla", |
| "total_episodes": 100, |
| "total_frames": 69176, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 50, |
| "splits": { |
| "train": "0:100" |
| }, |
| "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.images.front": { |
| "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": 50, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 64 |
| ], |
| "names": [ |
| "state.root_rot6d.0", |
| "state.root_rot6d.1", |
| "state.root_rot6d.2", |
| "state.root_rot6d.3", |
| "state.root_rot6d.4", |
| "state.root_rot6d.5", |
| "state.dof_pos.left_hip_pitch_joint", |
| "state.dof_pos.right_hip_pitch_joint", |
| "state.dof_pos.waist_yaw_joint", |
| "state.dof_pos.left_hip_roll_joint", |
| "state.dof_pos.right_hip_roll_joint", |
| "state.dof_pos.waist_roll_joint", |
| "state.dof_pos.left_hip_yaw_joint", |
| "state.dof_pos.right_hip_yaw_joint", |
| "state.dof_pos.waist_pitch_joint", |
| "state.dof_pos.left_knee_joint", |
| "state.dof_pos.right_knee_joint", |
| "state.dof_pos.left_shoulder_pitch_joint", |
| "state.dof_pos.right_shoulder_pitch_joint", |
| "state.dof_pos.left_ankle_pitch_joint", |
| "state.dof_pos.right_ankle_pitch_joint", |
| "state.dof_pos.left_shoulder_roll_joint", |
| "state.dof_pos.right_shoulder_roll_joint", |
| "state.dof_pos.left_ankle_roll_joint", |
| "state.dof_pos.right_ankle_roll_joint", |
| "state.dof_pos.left_shoulder_yaw_joint", |
| "state.dof_pos.right_shoulder_yaw_joint", |
| "state.dof_pos.left_elbow_joint", |
| "state.dof_pos.right_elbow_joint", |
| "state.dof_pos.left_wrist_roll_joint", |
| "state.dof_pos.right_wrist_roll_joint", |
| "state.dof_pos.left_wrist_pitch_joint", |
| "state.dof_pos.right_wrist_pitch_joint", |
| "state.dof_pos.left_wrist_yaw_joint", |
| "state.dof_pos.right_wrist_yaw_joint", |
| "state.dof_vel.left_hip_pitch_joint", |
| "state.dof_vel.right_hip_pitch_joint", |
| "state.dof_vel.waist_yaw_joint", |
| "state.dof_vel.left_hip_roll_joint", |
| "state.dof_vel.right_hip_roll_joint", |
| "state.dof_vel.waist_roll_joint", |
| "state.dof_vel.left_hip_yaw_joint", |
| "state.dof_vel.right_hip_yaw_joint", |
| "state.dof_vel.waist_pitch_joint", |
| "state.dof_vel.left_knee_joint", |
| "state.dof_vel.right_knee_joint", |
| "state.dof_vel.left_shoulder_pitch_joint", |
| "state.dof_vel.right_shoulder_pitch_joint", |
| "state.dof_vel.left_ankle_pitch_joint", |
| "state.dof_vel.right_ankle_pitch_joint", |
| "state.dof_vel.left_shoulder_roll_joint", |
| "state.dof_vel.right_shoulder_roll_joint", |
| "state.dof_vel.left_ankle_roll_joint", |
| "state.dof_vel.right_ankle_roll_joint", |
| "state.dof_vel.left_shoulder_yaw_joint", |
| "state.dof_vel.right_shoulder_yaw_joint", |
| "state.dof_vel.left_elbow_joint", |
| "state.dof_vel.right_elbow_joint", |
| "state.dof_vel.left_wrist_roll_joint", |
| "state.dof_vel.right_wrist_roll_joint", |
| "state.dof_vel.left_wrist_pitch_joint", |
| "state.dof_vel.right_wrist_pitch_joint", |
| "state.dof_vel.left_wrist_yaw_joint", |
| "state.dof_vel.right_wrist_yaw_joint" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 40 |
| ], |
| "names": [ |
| "action.root_xy_delta.x", |
| "action.root_xy_delta.y", |
| "action.root_z", |
| "action.root_rot6d.0", |
| "action.root_rot6d.1", |
| "action.root_rot6d.2", |
| "action.root_rot6d.3", |
| "action.root_rot6d.4", |
| "action.root_rot6d.5", |
| "action.joint_pos.left_hip_pitch_joint", |
| "action.joint_pos.right_hip_pitch_joint", |
| "action.joint_pos.waist_yaw_joint", |
| "action.joint_pos.left_hip_roll_joint", |
| "action.joint_pos.right_hip_roll_joint", |
| "action.joint_pos.waist_roll_joint", |
| "action.joint_pos.left_hip_yaw_joint", |
| "action.joint_pos.right_hip_yaw_joint", |
| "action.joint_pos.waist_pitch_joint", |
| "action.joint_pos.left_knee_joint", |
| "action.joint_pos.right_knee_joint", |
| "action.joint_pos.left_shoulder_pitch_joint", |
| "action.joint_pos.right_shoulder_pitch_joint", |
| "action.joint_pos.left_ankle_pitch_joint", |
| "action.joint_pos.right_ankle_pitch_joint", |
| "action.joint_pos.left_shoulder_roll_joint", |
| "action.joint_pos.right_shoulder_roll_joint", |
| "action.joint_pos.left_ankle_roll_joint", |
| "action.joint_pos.right_ankle_roll_joint", |
| "action.joint_pos.left_shoulder_yaw_joint", |
| "action.joint_pos.right_shoulder_yaw_joint", |
| "action.joint_pos.left_elbow_joint", |
| "action.joint_pos.right_elbow_joint", |
| "action.joint_pos.left_wrist_roll_joint", |
| "action.joint_pos.right_wrist_roll_joint", |
| "action.joint_pos.left_wrist_pitch_joint", |
| "action.joint_pos.right_wrist_pitch_joint", |
| "action.joint_pos.left_wrist_yaw_joint", |
| "action.joint_pos.right_wrist_yaw_joint", |
| "action.hand_binary.left", |
| "action.hand_binary.right" |
| ] |
| }, |
| "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 |
| } |
| } |
| } |
