| { |
| "codebase_version": "v2.1", |
| "robot_type": "unitree_g1", |
| "fps": 30.0, |
| "total_episodes": 221, |
| "total_frames": 99178, |
| "total_tasks": 1, |
| "total_videos": 200, |
| "splits": { |
| "train": "0:221" |
| }, |
| "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", |
| "features": { |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 41 |
| ], |
| "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", |
| "waist_yaw_joint", |
| "waist_roll_joint", |
| "waist_pitch_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", |
| "left_hand_index_joint", |
| "left_hand_little_joint", |
| "left_hand_middle_joint", |
| "left_hand_ring_joint", |
| "left_hand_thumb_side_joint", |
| "left_hand_thumb_bend_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_joint", |
| "right_hand_little_joint", |
| "right_hand_middle_joint", |
| "right_hand_ring_joint", |
| "right_hand_thumb_side_joint", |
| "right_hand_thumb_bend_joint" |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 41 |
| ], |
| "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", |
| "waist_yaw_joint", |
| "waist_roll_joint", |
| "waist_pitch_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", |
| "left_hand_index_joint", |
| "left_hand_little_joint", |
| "left_hand_middle_joint", |
| "left_hand_ring_joint", |
| "left_hand_thumb_side_joint", |
| "left_hand_thumb_bend_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_joint", |
| "right_hand_little_joint", |
| "right_hand_middle_joint", |
| "right_hand_ring_joint", |
| "right_hand_thumb_side_joint", |
| "right_hand_thumb_bend_joint" |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ] |
| }, |
| "observation.images.ego_view": { |
| "dtype": "video", |
| "shape": [ |
| null, |
| null, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.fps": 30.0, |
| "video.codec": "libx264" |
| } |
| } |
| }, |
| "g1_dof_exception": "observation.state/action recorded at 53 DoF (29 body + 24 Inspire hands). Contract's Camera Manifest table lists G1=29 DoF \u2014 pending formal manifest update/sign-off in AI-Teleop-Data-Contract-v1 (owner: Tiffany Gomez)." |
| } |
