Datasets:
Add files using upload-large-folder tool
Browse files- data/chunk-000/episode_000023.parquet +3 -0
- data/chunk-000/episode_000085.parquet +3 -0
- data/chunk-000/episode_000091.parquet +3 -0
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- videos/chunk-000/observation.images.cam_third/episode_000002.mp4 +3 -0
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data/chunk-000/episode_000023.parquet
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data/chunk-000/episode_000098.parquet
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data/chunk-000/episode_000105.parquet
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meta/episodes.jsonl
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meta/episodes_stats.jsonl
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meta/info.json
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|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "Unitree_G1_Inspire",
|
| 4 |
+
"total_episodes": 116,
|
| 5 |
+
"total_frames": 37599,
|
| 6 |
+
"total_tasks": 2,
|
| 7 |
+
"total_videos": 232,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:116"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.state": {
|
| 18 |
+
"dtype": "float32",
|
| 19 |
+
"shape": [
|
| 20 |
+
26
|
| 21 |
+
],
|
| 22 |
+
"names": [
|
| 23 |
+
[
|
| 24 |
+
"kLeftShoulderPitch",
|
| 25 |
+
"kLeftShoulderRoll",
|
| 26 |
+
"kLeftShoulderYaw",
|
| 27 |
+
"kLeftElbow",
|
| 28 |
+
"kLeftWristRoll",
|
| 29 |
+
"kLeftWristPitch",
|
| 30 |
+
"kLeftWristYaw",
|
| 31 |
+
"kLeftHandPinky",
|
| 32 |
+
"kLeftHandRing",
|
| 33 |
+
"kLeftHandMiddle",
|
| 34 |
+
"kLeftHandIndex",
|
| 35 |
+
"kLeftHandThumbBend",
|
| 36 |
+
"kLeftHandThumbRotation",
|
| 37 |
+
"kRightShoulderPitch",
|
| 38 |
+
"kRightShoulderRoll",
|
| 39 |
+
"kRightShoulderYaw",
|
| 40 |
+
"kRightElbow",
|
| 41 |
+
"kRightWristRoll",
|
| 42 |
+
"kRightWristPitch",
|
| 43 |
+
"kRightWristYaw",
|
| 44 |
+
"kRightHandPinky",
|
| 45 |
+
"kRightHandRing",
|
| 46 |
+
"kRightHandMiddle",
|
| 47 |
+
"kRightHandIndex",
|
| 48 |
+
"kRightHandThumbBend",
|
| 49 |
+
"kRightHandThumbRotation"
|
| 50 |
+
]
|
| 51 |
+
]
|
| 52 |
+
},
|
| 53 |
+
"action": {
|
| 54 |
+
"dtype": "float32",
|
| 55 |
+
"shape": [
|
| 56 |
+
26
|
| 57 |
+
],
|
| 58 |
+
"names": [
|
| 59 |
+
[
|
| 60 |
+
"kLeftShoulderPitch",
|
| 61 |
+
"kLeftShoulderRoll",
|
| 62 |
+
"kLeftShoulderYaw",
|
| 63 |
+
"kLeftElbow",
|
| 64 |
+
"kLeftWristRoll",
|
| 65 |
+
"kLeftWristPitch",
|
| 66 |
+
"kLeftWristYaw",
|
| 67 |
+
"kLeftHandPinky",
|
| 68 |
+
"kLeftHandRing",
|
| 69 |
+
"kLeftHandMiddle",
|
| 70 |
+
"kLeftHandIndex",
|
| 71 |
+
"kLeftHandThumbBend",
|
| 72 |
+
"kLeftHandThumbRotation",
|
| 73 |
+
"kRightShoulderPitch",
|
| 74 |
+
"kRightShoulderRoll",
|
| 75 |
+
"kRightShoulderYaw",
|
| 76 |
+
"kRightElbow",
|
| 77 |
+
"kRightWristRoll",
|
| 78 |
+
"kRightWristPitch",
|
| 79 |
+
"kRightWristYaw",
|
| 80 |
+
"kRightHandPinky",
|
| 81 |
+
"kRightHandRing",
|
| 82 |
+
"kRightHandMiddle",
|
| 83 |
+
"kRightHandIndex",
|
| 84 |
+
"kRightHandThumbBend",
|
| 85 |
+
"kRightHandThumbRotation"
|
| 86 |
+
]
|
| 87 |
+
]
|
| 88 |
+
},
|
| 89 |
+
"observation.images.cam_left_high": {
|
| 90 |
+
"dtype": "video",
|
| 91 |
+
"shape": [
|
| 92 |
+
3,
|
| 93 |
+
480,
|
| 94 |
+
848
|
| 95 |
+
],
|
| 96 |
+
"names": [
|
| 97 |
+
"channels",
|
| 98 |
+
"height",
|
| 99 |
+
"width"
|
| 100 |
+
],
|
| 101 |
+
"info": {
|
| 102 |
+
"video.fps": 30.0,
|
| 103 |
+
"video.height": 480,
|
| 104 |
+
"video.width": 848,
|
| 105 |
+
"video.channels": 3,
|
| 106 |
+
"video.codec": "av1",
|
| 107 |
+
"video.pix_fmt": "yuv420p",
|
| 108 |
+
"video.is_depth_map": false,
|
| 109 |
+
"has_audio": false
|
| 110 |
+
}
|
| 111 |
+
},
|
| 112 |
+
"observation.images.cam_third": {
|
| 113 |
+
"dtype": "video",
|
| 114 |
+
"shape": [
|
| 115 |
+
3,
|
| 116 |
+
480,
|
| 117 |
+
640
|
| 118 |
+
],
|
| 119 |
+
"names": [
|
| 120 |
+
"channels",
|
| 121 |
+
"height",
|
| 122 |
+
"width"
|
| 123 |
+
],
|
| 124 |
+
"info": {
|
| 125 |
+
"video.fps": 30.0,
|
| 126 |
+
"video.height": 480,
|
| 127 |
+
"video.width": 640,
|
| 128 |
+
"video.channels": 3,
|
| 129 |
+
"video.codec": "av1",
|
| 130 |
+
"video.pix_fmt": "yuv420p",
|
| 131 |
+
"video.is_depth_map": false,
|
| 132 |
+
"has_audio": false
|
| 133 |
+
}
|
| 134 |
+
},
|
| 135 |
+
"observation.images.left_tactile_little_finger_tip": {
|
| 136 |
+
"dtype": "image",
|
| 137 |
+
"shape": [
|
| 138 |
+
3,
|
| 139 |
+
3,
|
| 140 |
+
3
|
| 141 |
+
],
|
| 142 |
+
"names": [
|
| 143 |
+
"channels",
|
| 144 |
+
"height",
|
| 145 |
+
"width",
|
| 146 |
+
"channel"
|
| 147 |
+
]
|
| 148 |
+
},
|
| 149 |
+
"observation.images.left_tactile_little_finger_nail": {
|
| 150 |
+
"dtype": "image",
|
| 151 |
+
"shape": [
|
| 152 |
+
3,
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