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"left_hand_index_0_joint", + "left_hand_index_1_joint", + "left_hand_middle_0_joint", + "left_hand_middle_1_joint", + "left_hand_thumb_0_joint", + "left_hand_thumb_1_joint", + "left_hand_thumb_2_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", + "right_hand_index_0_joint", + "right_hand_index_1_joint", + "right_hand_middle_0_joint", + "right_hand_middle_1_joint", + "right_hand_thumb_0_joint", + "right_hand_thumb_1_joint", + "right_hand_thumb_2_joint" + ] + }, + "action.eef": { + "dtype": "float64", + "shape": [ + 14 + ], + "names": [ + "left_wrist_pos", + "left_wrist_abs_quat", + "right_wrist_pos", + "right_wrist_abs_quat" + ] + }, + "observation.img_state_delta": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": "img_state_delta" + }, + "teleop.navigate_command": { + "dtype": "float64", + "shape": [ + 4 + ], + "names": [ 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"distractor_1.pos_z", + "distractor_1.quat_w", + "distractor_1.quat_x", + "distractor_1.quat_y", + "distractor_1.quat_z", + "distractor_2.pos_x", + "distractor_2.pos_y", + "distractor_2.pos_z", + "distractor_2.quat_w", + "distractor_2.quat_x", + "distractor_2.quat_y", + "distractor_2.quat_z" + ] + }, + "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 + } + }, + "script_config": {}, + "discarded_episode_indices": [], + "data_collection_info": { + "lower_body_policy": null, + "wbc_model_path": null, + "teleoperator_username": null, + "support_operator_username": null, + "robot_type": null, + "robot_id": null + } +} \ No newline at end of file diff --git a/G1WholebodyOpenFaucetTeleop-v0/dr-level-1/meta/modality.json b/G1WholebodyOpenFaucetTeleop-v0/dr-level-1/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..00ba8ac0c2da04e7c8a9ff7759c4bb1ee1ed8b91 --- /dev/null +++ b/G1WholebodyOpenFaucetTeleop-v0/dr-level-1/meta/modality.json @@ -0,0 +1,147 @@ +{ + "state": { + "left_leg": { + "start": 0, + "end": 6 + }, + "right_leg": { + "start": 6, + "end": 12 + }, + "waist": { + "start": 12, + "end": 15 + }, + "left_arm": { + "start": 15, + "end": 22 + }, + "left_hand": { + "start": 22, + "end": 29 + }, + "right_arm": { + "start": 29, + "end": 36 + }, + "right_hand": { + "start": 36, + "end": 43 + }, + "left_wrist_pos": { + "start": 0, + "end": 3, + "original_key": "observation.eef_state" + }, + "left_wrist_abs_quat": { + "start": 3, + "end": 7, + "original_key": "observation.eef_state", + "rotation_type": "quaternion" + }, + "right_wrist_pos": { + "start": 7, + "end": 10, + "original_key": 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mode 100644 index 0000000000000000000000000000000000000000..2f7a3ce5a6b235834d52101ae4d35ee63ab14920 --- /dev/null +++ b/G1WholebodyOpenFaucetTeleop-v0/dr-level-2/meta/episodes.jsonl.pre-fk @@ -0,0 +1,10 @@ +{"episode_index": 0, "tasks": ["move forward to the faucet and open it"], "length": 1, "environment_config": "{\"uid\": \"g1_wholebody_open_faucet_teleop\", \"label\": \"G1 TELEOP Open Faucet\", \"description\": \"A task where the G1 robot must open the faucet.\", \"metadata\": {\"physics_dt\": 0.005, \"control_hz\": 200, \"render_hz\": 50, \"dr_level\": 0, \"version\": 1.0, \"reward_dt\": 0.02, \"image_dt\": 0.033333, \"need_gravity\": true, \"max_episode_steps\": 1000, \"success_criteria\": 0.2, \"split\": \"train\"}, \"robot_cfg\": {\"uid\": \"g1_sonic\"}, \"sensor_cfgs\": {\"head_stereo\": {\"uid\": \"Realsense_D435i\", \"mount\": \"eye_in_head\", \"width\": 640, \"height\": 360, \"fov\": 1.9198621771937625, \"near\": 0.2, \"far\": 5, \"focal_length\": 1.93, \"pose\": 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