| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "g1_controller", | |
| "total_episodes": 3100, | |
| "total_frames": 2694024, | |
| "total_tasks": 62, | |
| "chunks_size": 1000, | |
| "fps": 50, | |
| "splits": { | |
| "train": "0:3100" | |
| }, | |
| "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.left_hand": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.width": 640, | |
| "video.height": 480, | |
| "video.fps": 50.0, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.channels": 3, | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.first_person": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.width": 640, | |
| "video.height": 480, | |
| "video.fps": 50.0, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.channels": 3, | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.images.right_hand": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.width": 640, | |
| "video.height": 480, | |
| "video.fps": 50.0, | |
| "video.codec": "h264", | |
| "video.pix_fmt": "yuv420p", | |
| "video.channels": 3, | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 31 | |
| ], | |
| "names": [ | |
| "base_x_joint", | |
| "base_y_joint", | |
| "base_yaw_joint", | |
| "left_shoulder_pitch_joint", | |
| "right_shoulder_pitch_joint", | |
| "left_shoulder_roll_joint", | |
| "right_shoulder_roll_joint", | |
| "left_shoulder_yaw_joint", | |
| "right_shoulder_yaw_joint", | |
| "left_elbow_joint", | |
| "right_elbow_joint", | |
| "left_wrist_roll_joint", | |
| "right_wrist_roll_joint", | |
| "left_wrist_pitch_joint", | |
| "right_wrist_pitch_joint", | |
| "left_wrist_yaw_joint", | |
| "right_wrist_yaw_joint", | |
| "left_hand_index_0_joint", | |
| "left_hand_middle_0_joint", | |
| "left_hand_thumb_0_joint", | |
| "right_hand_index_0_joint", | |
| "right_hand_middle_0_joint", | |
| "right_hand_thumb_0_joint", | |
| "left_hand_index_1_joint", | |
| "left_hand_middle_1_joint", | |
| "left_hand_thumb_1_joint", | |
| "right_hand_index_1_joint", | |
| "right_hand_middle_1_joint", | |
| "right_hand_thumb_1_joint", | |
| "left_hand_thumb_2_joint", | |
| "right_hand_thumb_2_joint" | |
| ], | |
| "fps": 50 | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 19 | |
| ], | |
| "names": [ | |
| "base_x", | |
| "base_y", | |
| "base_yaw", | |
| "left_arm_pos_x", | |
| "left_arm_pos_y", | |
| "left_arm_pos_z", | |
| "left_arm_quat_w", | |
| "left_arm_quat_x", | |
| "left_arm_quat_y", | |
| "left_arm_quat_z", | |
| "right_arm_pos_x", | |
| "right_arm_pos_y", | |
| "right_arm_pos_z", | |
| "right_arm_quat_w", | |
| "right_arm_quat_x", | |
| "right_arm_quat_y", | |
| "right_arm_quat_z", | |
| "left_gripper", | |
| "right_gripper" | |
| ], | |
| "fps": 50 | |
| }, | |
| "processed_action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 29 | |
| ], | |
| "names": [ | |
| "base_x_joint", | |
| "base_y_joint", | |
| "base_yaw_joint", | |
| "left_shoulder_pitch_joint", | |
| "left_shoulder_roll_joint", | |
| "left_shoulder_yaw_joint", | |
| "left_elbow_joint", | |
| "left_wrist_roll_joint", | |
| "left_wrist_pitch_joint", | |
| "left_wrist_yaw_joint", | |
| "right_shoulder_pitch_joint", | |
| "right_shoulder_roll_joint", | |
| "right_shoulder_yaw_joint", | |
| "right_elbow_joint", | |
| "right_wrist_roll_joint", | |
| "right_wrist_pitch_joint", | |
| "right_wrist_yaw_joint", | |
| "left_hand_thumb_1_joint", | |
| "left_hand_thumb_2_joint", | |
| "left_hand_index_0_joint", | |
| "left_hand_index_1_joint", | |
| "left_hand_middle_0_joint", | |
| "left_hand_middle_1_joint", | |
| "right_hand_thumb_1_joint", | |
| "right_hand_thumb_2_joint", | |
| "right_hand_index_0_joint", | |
| "right_hand_index_1_joint", | |
| "right_hand_middle_0_joint", | |
| "right_hand_middle_1_joint" | |
| ], | |
| "fps": 50 | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 50 | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 50 | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 50 | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 50 | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 50 | |
| } | |
| }, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 500 | |
| } |