| { |
| "codebase_version": "v2.1", |
| "robot_type": "Unitree_G1_Dex3", |
| "total_episodes": 4, |
| "total_frames": 2688, |
| "total_tasks": 1, |
| "total_videos": 24, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 30, |
| "splits": { |
| "train": "0:4" |
| }, |
| "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", |
| "urdf_path": { |
| "g1_body": "urdf/g1_body29_hand14.urdf", |
| "left_hand": "urdf/unitree_dex3_left.urdf", |
| "right_hand": "urdf/unitree_dex3_right.urdf" |
| }, |
| "features": { |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 28 |
| ], |
| "names": { |
| "motors": |
| [ |
| "kLeftShoulderPitch", |
| "kLeftShoulderRoll", |
| "kLeftShoulderYaw", |
| "kLeftElbow", |
| "kLeftWristRoll", |
| "kLeftWristPitch", |
| "kLeftWristYaw", |
| "kRightShoulderPitch", |
| "kRightShoulderRoll", |
| "kRightShoulderYaw", |
| "kRightElbow", |
| "kRightWristRoll", |
| "kRightWristPitch", |
| "kRightWristYaw", |
| "kLeftHandThumb0", |
| "kLeftHandThumb1", |
| "kLeftHandThumb2", |
| "kLeftHandMiddle0", |
| "kLeftHandMiddle1", |
| "kLeftHandIndex0", |
| "kLeftHandIndex1", |
| "kRightHandThumb0", |
| "kRightHandThumb1", |
| "kRightHandThumb2", |
| "kRightHandIndex0", |
| "kRightHandIndex1", |
| "kRightHandMiddle0", |
| "kRightHandMiddle1" |
| ] |
| } |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 28 |
| ], |
| "names": { |
| "motors": |
| [ |
| "kLeftShoulderPitch", |
| "kLeftShoulderRoll", |
| "kLeftShoulderYaw", |
| "kLeftElbow", |
| "kLeftWristRoll", |
| "kLeftWristPitch", |
| "kLeftWristYaw", |
| "kRightShoulderPitch", |
| "kRightShoulderRoll", |
| "kRightShoulderYaw", |
| "kRightElbow", |
| "kRightWristRoll", |
| "kRightWristPitch", |
| "kRightWristYaw", |
| "kLeftHandThumb0", |
| "kLeftHandThumb1", |
| "kLeftHandThumb2", |
| "kLeftHandMiddle0", |
| "kLeftHandMiddle1", |
| "kLeftHandIndex0", |
| "kLeftHandIndex1", |
| "kRightHandThumb0", |
| "kRightHandThumb1", |
| "kRightHandThumb2", |
| "kRightHandIndex0", |
| "kRightHandIndex1", |
| "kRightHandMiddle0", |
| "kRightHandMiddle1" |
| ] |
| } |
| }, |
| "observation.raw_vr_data": { |
| "dtype": "float32", |
| "shape": [ |
| 188 |
| ], |
| "names": { |
| "motors": |
| [ |
| "left_arm_pose_0", |
| "left_arm_pose_1", |
| "left_arm_pose_2", |
| "left_arm_pose_3", |
| "left_arm_pose_4", |
| "left_arm_pose_5", |
| "left_arm_pose_6", |
| "left_arm_pose_7", |
| "left_arm_pose_8", |
| "left_arm_pose_9", |
| "left_arm_pose_10", |
| "left_arm_pose_11", |
| "left_arm_pose_12", |
| "left_arm_pose_13", |
| "left_arm_pose_14", |
| "left_arm_pose_15", |
| "right_arm_pose_0", |
| "right_arm_pose_1", |
| "right_arm_pose_2", |
| "right_arm_pose_3", |
| "right_arm_pose_4", |
| "right_arm_pose_5", |
| "right_arm_pose_6", |
| "right_arm_pose_7", |
| "right_arm_pose_8", |
| "right_arm_pose_9", |
| "right_arm_pose_10", |
| "right_arm_pose_11", |
| "right_arm_pose_12", |
| "right_arm_pose_13", |
| "right_arm_pose_14", |
| "right_arm_pose_15", |
| "tele_state_right_aButton", |
| "tele_state_thumbstick_both", |
| "left_thumbstick_x", |
| "left_thumbstick_y", |
| "right_thumbstick_x", |
| "right_thumbstick_y", |
| "left_hand_pos_0", |
| "left_hand_pos_1", |
| "left_hand_pos_2", |
| "left_hand_pos_3", |
| "left_hand_pos_4", |
| "left_hand_pos_5", |
| "left_hand_pos_6", |
| "left_hand_pos_7", |
| "left_hand_pos_8", |
| "left_hand_pos_9", |
| "left_hand_pos_10", |
| "left_hand_pos_11", |
| "left_hand_pos_12", |
| "left_hand_pos_13", |
| "left_hand_pos_14", |
| "left_hand_pos_15", |
| "left_hand_pos_16", |
| "left_hand_pos_17", |
| "left_hand_pos_18", |
| "left_hand_pos_19", |
| "left_hand_pos_20", |
| "left_hand_pos_21", |
| "left_hand_pos_22", |
| "left_hand_pos_23", |
| "left_hand_pos_24", |
| "left_hand_pos_25", |
| "left_hand_pos_26", |
| "left_hand_pos_27", |
| "left_hand_pos_28", |
| "left_hand_pos_29", |
| "left_hand_pos_30", |
| "left_hand_pos_31", |
| "left_hand_pos_32", |
| "left_hand_pos_33", |
| "left_hand_pos_34", |
| "left_hand_pos_35", |
| "left_hand_pos_36", |
| "left_hand_pos_37", |
| "left_hand_pos_38", |
| "left_hand_pos_39", |
| "left_hand_pos_40", |
| "left_hand_pos_41", |
| "left_hand_pos_42", |
| "left_hand_pos_43", |
| "left_hand_pos_44", |
| "left_hand_pos_45", |
| "left_hand_pos_46", |
| "left_hand_pos_47", |
| "left_hand_pos_48", |
| "left_hand_pos_49", |
| "left_hand_pos_50", |
| "left_hand_pos_51", |
| "left_hand_pos_52", |
| "left_hand_pos_53", |
| "left_hand_pos_54", |
| "left_hand_pos_55", |
| "left_hand_pos_56", |
| "left_hand_pos_57", |
| "left_hand_pos_58", |
| "left_hand_pos_59", |
| "left_hand_pos_60", |
| "left_hand_pos_61", |
| "left_hand_pos_62", |
| "left_hand_pos_63", |
| "left_hand_pos_64", |
| "left_hand_pos_65", |
| "left_hand_pos_66", |
| "left_hand_pos_67", |
| "left_hand_pos_68", |
| "left_hand_pos_69", |
| "left_hand_pos_70", |
| "left_hand_pos_71", |
| "left_hand_pos_72", |
| "left_hand_pos_73", |
| "left_hand_pos_74", |
| "right_hand_pos_0", |
| "right_hand_pos_1", |
| "right_hand_pos_2", |
| "right_hand_pos_3", |
| "right_hand_pos_4", |
| "right_hand_pos_5", |
| "right_hand_pos_6", |
| "right_hand_pos_7", |
| "right_hand_pos_8", |
| "right_hand_pos_9", |
| "right_hand_pos_10", |
| "right_hand_pos_11", |
| "right_hand_pos_12", |
| "right_hand_pos_13", |
| "right_hand_pos_14", |
| "right_hand_pos_15", |
| "right_hand_pos_16", |
| "right_hand_pos_17", |
| "right_hand_pos_18", |
| "right_hand_pos_19", |
| "right_hand_pos_20", |
| "right_hand_pos_21", |
| "right_hand_pos_22", |
| "right_hand_pos_23", |
| "right_hand_pos_24", |
| "right_hand_pos_25", |
| "right_hand_pos_26", |
| "right_hand_pos_27", |
| "right_hand_pos_28", |
| "right_hand_pos_29", |
| "right_hand_pos_30", |
| "right_hand_pos_31", |
| "right_hand_pos_32", |
| "right_hand_pos_33", |
| "right_hand_pos_34", |
| "right_hand_pos_35", |
| "right_hand_pos_36", |
| "right_hand_pos_37", |
| "right_hand_pos_38", |
| "right_hand_pos_39", |
| "right_hand_pos_40", |
| "right_hand_pos_41", |
| "right_hand_pos_42", |
| "right_hand_pos_43", |
| "right_hand_pos_44", |
| "right_hand_pos_45", |
| "right_hand_pos_46", |
| "right_hand_pos_47", |
| "right_hand_pos_48", |
| "right_hand_pos_49", |
| "right_hand_pos_50", |
| "right_hand_pos_51", |
| "right_hand_pos_52", |
| "right_hand_pos_53", |
| "right_hand_pos_54", |
| "right_hand_pos_55", |
| "right_hand_pos_56", |
| "right_hand_pos_57", |
| "right_hand_pos_58", |
| "right_hand_pos_59", |
| "right_hand_pos_60", |
| "right_hand_pos_61", |
| "right_hand_pos_62", |
| "right_hand_pos_63", |
| "right_hand_pos_64", |
| "right_hand_pos_65", |
| "right_hand_pos_66", |
| "right_hand_pos_67", |
| "right_hand_pos_68", |
| "right_hand_pos_69", |
| "right_hand_pos_70", |
| "right_hand_pos_71", |
| "right_hand_pos_72", |
| "right_hand_pos_73", |
| "right_hand_pos_74" |
| ] |
| } |
| }, |
| "observation.images.depth_high": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "depth" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.depth_left_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "depth" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
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| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.depth_right_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "depth" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
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| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_high": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_left_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.cam_right_wrist": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
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| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
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| }, |
| "index": { |
| "dtype": "int64", |
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| 1 |
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| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "vr_data_names": { |
| "left_arm_pose": "4x4 transformation matrix (flattened to 16 elements)", |
| "right_arm_pose": "4x4 transformation matrix (flattened to 16 elements)", |
| "left_hand_pos": "75-dimensional hand pose data", |
| "right_hand_pos": "75-dimensional hand pose data", |
| "left_gripper_value": "Gripper control value [0,1]", |
| "right_gripper_value": "Gripper control value [0,1]", |
| "tele_state": "Controller state information" |
| }, |
| "urdf_files": { |
| "g1_body": "urdf/g1_body29_hand14.urdf", |
| "left_hand": "urdf/unitree_dex3_left.urdf", |
| "right_hand": "urdf/unitree_dex3_right.urdf" |
| }, |
| "camera_specifications": { |
| "head_camera": { |
| "model": "Intel RealSense D435i", |
| "product_line": "Intel RealSense Camera", |
| "release_date": "Q1 2019", |
| "depth_technology": "Active Stereoscopic", |
| "operating_range": "0.3m - 3m", |
| "depth_resolution": "1280x720 @ 30fps", |
| "fov": { |
| "horizontal": 87, |
| "vertical": 58 |
| }, |
| "rgb_sensor": true, |
| "tracking_module": false, |
| "dimensions": "90mm x 25mm x 25mm", |
| "power_consumption": "N/A", |
| "interface": "USB 3.0" |
| }, |
| "wrist_camera": { |
| "model": "Intel RealSense D405", |
| "product_line": "Intel RealSense Camera", |
| "release_date": "Q1 2022", |
| "depth_technology": "Stereo", |
| "operating_range": "7cm - 50cm", |
| "depth_resolution": "720p @ 30fps", |
| "fov": { |
| "horizontal": 87, |
| "vertical": 58 |
| }, |
| "rgb_sensor": true, |
| "tracking_module": false, |
| "dimensions": "42mm x 42mm x 23mm", |
| "power_consumption": "1.55 W", |
| "interface": "USB" |
| } |
| } |
| } |
| } |
