| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "Unitree_G1_Dex3", | |
| "total_episodes": 4, | |
| "total_frames": 2688, | |
| "total_tasks": 1, | |
| "total_videos": 16, | |
| "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.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": [ | |
| 640, | |
| 480, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.height": 640, | |
| "video.width": 480, | |
| "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": [ | |
| 640, | |
| 480, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.height": 640, | |
| "video.width": 480, | |
| "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", | |
| "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 | |
| }, | |
| "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" | |
| } | |
| } | |
| } | |
| } |