| { | |
| "chunks_size": 1000, | |
| "codebase_version": "v3.0", | |
| "data_files_size_in_mb": 1096, | |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", | |
| "features": { | |
| "action": { | |
| "dtype": "float32", | |
| "names": [ | |
| "root_x", | |
| "root_y", | |
| "root_z", | |
| "root_qw", | |
| "root_qx", | |
| "root_qy", | |
| "root_qz", | |
| "joint_00", | |
| "joint_01", | |
| "joint_02", | |
| "joint_03", | |
| "joint_04", | |
| "joint_05", | |
| "joint_06", | |
| "joint_07", | |
| "joint_08", | |
| "joint_09", | |
| "joint_10", | |
| "joint_11", | |
| "joint_12", | |
| "joint_13", | |
| "joint_14", | |
| "joint_15", | |
| "joint_16", | |
| "joint_17", | |
| "joint_18", | |
| "joint_19", | |
| "joint_20", | |
| "joint_21", | |
| "joint_22", | |
| "joint_23", | |
| "joint_24", | |
| "joint_25", | |
| "joint_26", | |
| "joint_27", | |
| "joint_28" | |
| ], | |
| "shape": [ | |
| 36 | |
| ] | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "names": null, | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "names": null, | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "names": null, | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "names": [ | |
| "root_x", | |
| "root_y", | |
| "root_z", | |
| "root_qw", | |
| "root_qx", | |
| "root_qy", | |
| "root_qz", | |
| "joint_00", | |
| "joint_01", | |
| "joint_02", | |
| "joint_03", | |
| "joint_04", | |
| "joint_05", | |
| "joint_06", | |
| "joint_07", | |
| "joint_08", | |
| "joint_09", | |
| "joint_10", | |
| "joint_11", | |
| "joint_12", | |
| "joint_13", | |
| "joint_14", | |
| "joint_15", | |
| "joint_16", | |
| "joint_17", | |
| "joint_18", | |
| "joint_19", | |
| "joint_20", | |
| "joint_21", | |
| "joint_22", | |
| "joint_23", | |
| "joint_24", | |
| "joint_25", | |
| "joint_26", | |
| "joint_27", | |
| "joint_28" | |
| ], | |
| "shape": [ | |
| 36 | |
| ] | |
| }, | |
| "omg.audio.feature": { | |
| "dtype": "float32", | |
| "names": [ | |
| "audio_00", | |
| "audio_01", | |
| "audio_02", | |
| "audio_03", | |
| "audio_04", | |
| "audio_05", | |
| "audio_06", | |
| "audio_07", | |
| "audio_08", | |
| "audio_09", | |
| "audio_10", | |
| "audio_11", | |
| "audio_12", | |
| "audio_13", | |
| "audio_14", | |
| "audio_15", | |
| "audio_16", | |
| "audio_17", | |
| "audio_18", | |
| "audio_19", | |
| "audio_20", | |
| "audio_21", | |
| "audio_22", | |
| "audio_23", | |
| "audio_24", | |
| "audio_25", | |
| "audio_26", | |
| "audio_27", | |
| "audio_28", | |
| "audio_29", | |
| "audio_30", | |
| "audio_31", | |
| "audio_32", | |
| "audio_33", | |
| "audio_34" | |
| ], | |
| "shape": [ | |
| 35 | |
| ] | |
| }, | |
| "omg.condition.has_audio": { | |
| "dtype": "bool", | |
| "names": null, | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "omg.condition.has_humanref": { | |
| "dtype": "bool", | |
| "names": null, | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "omg.condition.has_text": { | |
| "dtype": "bool", | |
| "names": null, | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "omg.humanref.motion": { | |
| "dtype": "float32", | |
| "names": [ | |
| "humanref_00", | |
| "humanref_01", | |
| "humanref_02", | |
| "humanref_03", | |
| "humanref_04", | |
| "humanref_05", | |
| "humanref_06", | |
| "humanref_07", | |
| "humanref_08", | |
| "humanref_09", | |
| "humanref_10", | |
| "humanref_11", | |
| "humanref_12", | |
| "humanref_13", | |
| "humanref_14", | |
| "humanref_15", | |
| "humanref_16", | |
| "humanref_17", | |
| "humanref_18", | |
| "humanref_19", | |
| "humanref_20", | |
| "humanref_21", | |
| "humanref_22", | |
| "humanref_23", | |
| "humanref_24", | |
| "humanref_25", | |
| "humanref_26", | |
| "humanref_27", | |
| "humanref_28", | |
| "humanref_29", | |
| "humanref_30", | |
| "humanref_31", | |
| "humanref_32", | |
| "humanref_33", | |
| "humanref_34", | |
| "humanref_35", | |
| "humanref_36", | |
| "humanref_37", | |
| "humanref_38", | |
| "humanref_39", | |
| "humanref_40", | |
| "humanref_41", | |
| "humanref_42", | |
| "humanref_43", | |
| "humanref_44", | |
| "humanref_45", | |
| "humanref_46", | |
| "humanref_47", | |
| "humanref_48", | |
| "humanref_49", | |
| "humanref_50", | |
| "humanref_51", | |
| "humanref_52", | |
| "humanref_53", | |
| "humanref_54", | |
| "humanref_55", | |
| "humanref_56", | |
| "humanref_57", | |
| "humanref_58", | |
| "humanref_59", | |
| "humanref_60", | |
| "humanref_61", | |
| "humanref_62", | |
| "humanref_63", | |
| "humanref_64", | |
| "humanref_65" | |
| ], | |
| "shape": [ | |
| 66 | |
| ] | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "names": null, | |
| "shape": [ | |
| 1 | |
| ] | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "names": null, | |
| "shape": [ | |
| 1 | |
| ] | |
| } | |
| }, | |
| "fps": 30, | |
| "robot_type": "unitree_g1", | |
| "splits": { | |
| "test": "716840:798181", | |
| "train": "0:636865", | |
| "val": "636865:716840" | |
| }, | |
| "total_episodes": 798181, | |
| "total_frames": 121171939, | |
| "total_tasks": 590722, | |
| "video_files_size_in_mb": 200, | |
| "video_path": null | |
| } | |