| | { |
| | "codebase_version": "v3.0", |
| | "robot_type": "Unitree_G1_Dex3_Sim", |
| | "total_episodes": 20, |
| | "total_frames": 16064, |
| | "total_tasks": 1, |
| | "chunks_size": 1000, |
| | "fps": 30, |
| | "splits": { |
| | "train": "0:20" |
| | }, |
| | "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| | "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| | "features": { |
| | "observation.state_0": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftShoulderPitch" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_0": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftShoulderPitch" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_1": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftShoulderRoll" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_1": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftShoulderRoll" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_2": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftShoulderYaw" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_2": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftShoulderYaw" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_3": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftElbow" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_3": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftElbow" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_4": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftWristRoll" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_4": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftWristRoll" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_5": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftWristPitch" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_5": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftWristPitch" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_6": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftWristYaw" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_6": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftWristYaw" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_7": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightShoulderPitch" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_7": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightShoulderPitch" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_8": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightShoulderRoll" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_8": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightShoulderRoll" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_9": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightShoulderYaw" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_9": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightShoulderYaw" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_10": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightElbow" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_10": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightElbow" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_11": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightWristRoll" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_11": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightWristRoll" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_12": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightWristPitch" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_12": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightWristPitch" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_13": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightWristYaw" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_13": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightWristYaw" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_14": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftHandThumb0" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_14": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftHandThumb0" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_15": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftHandThumb1" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_15": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftHandThumb1" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_16": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftHandThumb2" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_16": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftHandThumb2" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_17": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftHandMiddle0" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_17": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftHandMiddle0" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_18": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftHandMiddle1" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_18": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftHandMiddle1" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_19": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftHandIndex0" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_19": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftHandIndex0" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_20": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftHandIndex1" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_20": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kLeftHandIndex1" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_21": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightHandThumb0" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_21": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightHandThumb0" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_22": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightHandThumb1" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_22": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightHandThumb1" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_23": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightHandThumb2" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_23": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightHandThumb2" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_24": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightHandIndex0" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_24": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightHandIndex0" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_25": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightHandIndex1" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_25": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightHandIndex1" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_26": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightHandMiddle0" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_26": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightHandMiddle0" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.state_27": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightHandMiddle1" |
| | ], |
| | "fps": 30 |
| | }, |
| | "action_27": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "kRightHandMiddle1" |
| | ], |
| | "fps": 30 |
| | }, |
| | "observation.images.cam_left_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, |
| | "fps": 30 |
| | }, |
| | "frame_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null, |
| | "fps": 30 |
| | }, |
| | "episode_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null, |
| | "fps": 30 |
| | }, |
| | "index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null, |
| | "fps": 30 |
| | }, |
| | "task_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null, |
| | "fps": 30 |
| | } |
| | }, |
| | "data_files_size_in_mb": 100, |
| | "video_files_size_in_mb": 500 |
| | } |
