| { |
| "codebase_version": "v2.0", |
| "robot_type": "unitree_g1", |
| "total_episodes": 21, |
| "total_frames": 13726, |
| "total_tasks": 1, |
| "total_videos": 21, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 10, |
| "splits": { |
| "train": "0:21" |
| }, |
| "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.image.front": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "video_info": { |
| "video.fps": 5.0, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": "false", |
| "has_audio": "false" |
| }, |
| "info": { |
| "video.fps": 10.0, |
| "video.height": 480, |
| "video.width": 640, |
| "video.channels": 3, |
| "video.codec": "hevc", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 74 |
| ], |
| "names": { |
| "joint_pos": [ |
| "left_hip_pitch_joint", |
| "left_knee_joint", |
| "left_ankle_pitch_joint", |
| "left_elbow_pitch_joint", |
| "left_elbow_roll_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_pitch_joint", |
| "left_shoulder_yaw_joint", |
| "left_five_joint", |
| "left_three_joint", |
| "left_six_joint", |
| "left_four_joint", |
| "left_zero_joint", |
| "left_one_joint", |
| "left_two_joint", |
| "right_hip_pitch_joint", |
| "right_knee_joint", |
| "right_ankle_pitch_joint", |
| "right_elbow_pitch_joint", |
| "right_elbow_roll_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_pitch_joint", |
| "right_shoulder_yaw_joint", |
| "right_five_joint", |
| "right_three_joint", |
| "right_six_joint", |
| "right_four_joint", |
| "right_zero_joint", |
| "right_one_joint", |
| "right_two_joint" |
| ], |
| "joint_vel": [ |
| "left_hip_pitch_joint", |
| "left_knee_joint", |
| "left_ankle_pitch_joint", |
| "left_elbow_pitch_joint", |
| "left_elbow_roll_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_pitch_joint", |
| "left_shoulder_yaw_joint", |
| "left_five_joint", |
| "left_three_joint", |
| "left_six_joint", |
| "left_four_joint", |
| "left_zero_joint", |
| "left_one_joint", |
| "left_two_joint", |
| "right_hip_pitch_joint", |
| "right_knee_joint", |
| "right_ankle_pitch_joint", |
| "right_elbow_pitch_joint", |
| "right_elbow_roll_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_pitch_joint", |
| "right_shoulder_yaw_joint", |
| "right_five_joint", |
| "right_three_joint", |
| "right_six_joint", |
| "right_four_joint", |
| "right_zero_joint", |
| "right_one_joint", |
| "right_two_joint" |
| ], |
| "object_postion": [ |
| "x", |
| "y", |
| "z", |
| "w", |
| "x", |
| "y", |
| "z" |
| ], |
| "target_object_position": [ |
| "x", |
| "y", |
| "z", |
| "w", |
| "x", |
| "y", |
| "z" |
| ], |
| "actions": { |
| "left_ee_pose": [ |
| "x", |
| "y", |
| "z", |
| "w", |
| "x", |
| "y", |
| "z" |
| ], |
| "left_gripper": [ |
| "left_five_joint", |
| "left_three_joint", |
| "left_six_joint", |
| "left_four_joint", |
| "left_zero_joint", |
| "left_one_joint", |
| "left_two_joint" |
| ], |
| "right_ee_pose": [ |
| "x", |
| "y", |
| "z", |
| "w", |
| "x", |
| "y", |
| "z" |
| ], |
| "right_gripper": [ |
| "right_five_joint", |
| "right_three_joint", |
| "right_six_joint", |
| "right_four_joint", |
| "right_zero_joint", |
| "right_one_joint", |
| "right_two_joint" |
| ] |
| } |
| } |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 28 |
| ], |
| "names": { |
| "left_ee_pose": [ |
| "x", |
| "y", |
| "z", |
| "w", |
| "x", |
| "y", |
| "z" |
| ], |
| "left_gripper": [ |
| "left_five_joint", |
| "left_three_joint", |
| "left_six_joint", |
| "left_four_joint", |
| "left_zero_joint", |
| "left_one_joint", |
| "left_two_joint" |
| ], |
| "right_ee_pose": [ |
| "x", |
| "y", |
| "z", |
| "w", |
| "x", |
| "y", |
| "z" |
| ], |
| "right_gripper": [ |
| "right_five_joint", |
| "right_three_joint", |
| "right_six_joint", |
| "right_four_joint", |
| "right_zero_joint", |
| "right_one_joint", |
| "right_two_joint" |
| ] |
| } |
| }, |
| "next.done": { |
| "dtype": "bool", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "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 |
| } |
| } |
| } |