meta/info.json

{
  "codebase_version": "v3.0",
  "robot_type": "Unitree_G1_Inspire",
  "total_episodes": 301,
  "total_frames": 281196,
  "total_tasks": 1,
  "total_chunks": 1,
  "chunks_size": 301,
  "fps": 30.0,
  "splits": {
    "train": "0:301"
  },
  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
  "features": {
    "observation.state": {
      "dtype": "float32",
      "shape": [
        53
      ],
      "names": [
        [
          "left_hip_pitch_joint",
          "left_hip_roll_joint",
          "left_hip_yaw_joint",
          "left_knee_joint",
          "left_ankle_pitch_joint",
          "left_ankle_roll_joint",
          "right_hip_pitch_joint",
          "right_hip_roll_joint",
          "right_hip_yaw_joint",
          "right_knee_joint",
          "right_ankle_pitch_joint",
          "right_ankle_roll_joint",
          "torso_joint",
          "head_joint",
          "head_yaw_joint",
          "left_shoulder_pitch_joint",
          "left_shoulder_roll_joint",
          "left_shoulder_yaw_joint",
          "left_elbow_joint",
          "left_wrist_roll_joint",
          "left_wrist_pitch_joint",
          "left_wrist_yaw_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",
          "L_thumb_proximal_yaw_joint",
          "L_thumb_proximal_pitch_joint",
          "L_thumb_intermediate_joint",
          "L_thumb_distal_joint",
          "L_index_proximal_joint",
          "L_index_intermediate_joint",
          "L_index_distal_joint",
          "L_middle_proximal_joint",
          "L_middle_distal_joint",
          "L_ring_proximal_joint",
          "L_ring_distal_joint",
          "L_pinky_proximal_joint",
          "R_thumb_proximal_yaw_joint",
          "R_thumb_proximal_pitch_joint",
          "R_thumb_intermediate_joint",
          "R_thumb_distal_joint",
          "R_index_proximal_joint",
          "R_index_intermediate_joint",
          "R_index_distal_joint",
          "R_middle_proximal_joint",
          "R_middle_distal_joint",
          "R_ring_proximal_joint",
          "R_ring_distal_joint",
          "R_pinky_proximal_joint"
        ]
      ]
    },
    "action": {
      "dtype": "float32",
      "shape": [
        53
      ],
      "names": [
        [
          "left_hip_pitch_joint",
          "left_hip_roll_joint",
          "left_hip_yaw_joint",
          "left_knee_joint",
          "left_ankle_pitch_joint",
          "left_ankle_roll_joint",
          "right_hip_pitch_joint",
          "right_hip_roll_joint",
          "right_hip_yaw_joint",
          "right_knee_joint",
          "right_ankle_pitch_joint",
          "right_ankle_roll_joint",
          "torso_joint",
          "head_joint",
          "head_yaw_joint",
          "left_shoulder_pitch_joint",
          "left_shoulder_roll_joint",
          "left_shoulder_yaw_joint",
          "left_elbow_joint",
          "left_wrist_roll_joint",
          "left_wrist_pitch_joint",
          "left_wrist_yaw_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",
          "L_thumb_proximal_yaw_joint",
          "L_thumb_proximal_pitch_joint",
          "L_thumb_intermediate_joint",
          "L_thumb_distal_joint",
          "L_index_proximal_joint",
          "L_index_intermediate_joint",
          "L_index_distal_joint",
          "L_middle_proximal_joint",
          "L_middle_distal_joint",
          "L_ring_proximal_joint",
          "L_ring_distal_joint",
          "L_pinky_proximal_joint",
          "R_thumb_proximal_yaw_joint",
          "R_thumb_proximal_pitch_joint",
          "R_thumb_intermediate_joint",
          "R_thumb_distal_joint",
          "R_index_proximal_joint",
          "R_index_intermediate_joint",
          "R_index_distal_joint",
          "R_middle_proximal_joint",
          "R_middle_distal_joint",
          "R_ring_proximal_joint",
          "R_ring_distal_joint",
          "R_pinky_proximal_joint"
        ]
      ]
    },
    "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
    },
    "observation.images.cam_left_high": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channel"
      ],
      "info": {
        "video.fps": 30.0,
        "video.height": 480,
        "video.width": 640,
        "video.channels": 3,
        "video.codec": "av1",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "has_audio": false
      }
    }
  },
  "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4"
}