| { |
| "codebase_version": "v2.1", |
| "robot_type": "unitree_g1_inspire_sonic", |
| "total_episodes": 5, |
| "total_frames": 1689, |
| "total_tasks": 1, |
| "total_videos": 5, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 50, |
| "splits": { |
| "train": "0:5" |
| }, |
| "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.images.ego_view": { |
| "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": 50, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 43 |
| ], |
| "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_0_joint", |
| "left_hand_index_1_joint", |
| "left_hand_middle_0_joint", |
| "left_hand_middle_1_joint", |
| "left_hand_thumb_0_joint", |
| "left_hand_thumb_1_joint", |
| "left_hand_thumb_2_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_0_joint", |
| "right_hand_index_1_joint", |
| "right_hand_middle_0_joint", |
| "right_hand_middle_1_joint", |
| "right_hand_thumb_0_joint", |
| "right_hand_thumb_1_joint", |
| "right_hand_thumb_2_joint" |
| ] |
| }, |
| "observation.projected_gravity": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "gravity_x", |
| "gravity_y", |
| "gravity_z" |
| ] |
| }, |
| "observation.root_orientation": { |
| "dtype": "float32", |
| "shape": [ |
| 4 |
| ], |
| "names": [ |
| "base_qw", |
| "base_qx", |
| "base_qy", |
| "base_qz" |
| ] |
| }, |
| "observation.base_angular_velocity": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "angular_velocity_x", |
| "angular_velocity_y", |
| "angular_velocity_z" |
| ] |
| }, |
| "observation.inspire_left_raw": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "left_pinky_proximal_joint", |
| "left_ring_proximal_joint", |
| "left_middle_proximal_joint", |
| "left_index_proximal_joint", |
| "left_thumb_proximal_pitch_joint", |
| "left_thumb_proximal_yaw_joint" |
| ] |
| }, |
| "observation.inspire_right_raw": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "right_pinky_proximal_joint", |
| "right_ring_proximal_joint", |
| "right_middle_proximal_joint", |
| "right_index_proximal_joint", |
| "right_thumb_proximal_pitch_joint", |
| "right_thumb_proximal_yaw_joint" |
| ] |
| }, |
| "action.motion_token": { |
| "dtype": "float32", |
| "shape": [ |
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| ], |
| "names": [ |
| "motion_token_00", |
| "motion_token_01", |
| "motion_token_02", |
| "motion_token_03", |
| "motion_token_04", |
| "motion_token_05", |
| "motion_token_06", |
| "motion_token_07", |
| "motion_token_08", |
| "motion_token_09", |
| "motion_token_10", |
| "motion_token_11", |
| "motion_token_12", |
| "motion_token_13", |
| "motion_token_14", |
| "motion_token_15", |
| "motion_token_16", |
| "motion_token_17", |
| "motion_token_18", |
| "motion_token_19", |
| "motion_token_20", |
| "motion_token_21", |
| "motion_token_22", |
| "motion_token_23", |
| "motion_token_24", |
| "motion_token_25", |
| "motion_token_26", |
| "motion_token_27", |
| "motion_token_28", |
| "motion_token_29", |
| "motion_token_30", |
| "motion_token_31", |
| "motion_token_32", |
| "motion_token_33", |
| "motion_token_34", |
| "motion_token_35", |
| "motion_token_36", |
| "motion_token_37", |
| "motion_token_38", |
| "motion_token_39", |
| "motion_token_40", |
| "motion_token_41", |
| "motion_token_42", |
| "motion_token_43", |
| "motion_token_44", |
| "motion_token_45", |
| "motion_token_46", |
| "motion_token_47", |
| "motion_token_48", |
| "motion_token_49", |
| "motion_token_50", |
| "motion_token_51", |
| "motion_token_52", |
| "motion_token_53", |
| "motion_token_54", |
| "motion_token_55", |
| "motion_token_56", |
| "motion_token_57", |
| "motion_token_58", |
| "motion_token_59", |
| "motion_token_60", |
| "motion_token_61", |
| "motion_token_62", |
| "motion_token_63" |
| ] |
| }, |
| "teleop.left_hand_joints": { |
| "dtype": "float32", |
| "shape": [ |
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| ], |
| "names": [ |
| "index_0_joint", |
| "index_1_joint", |
| "middle_0_joint", |
| "middle_1_joint", |
| "thumb_0_joint", |
| "thumb_1_joint", |
| "thumb_2_joint" |
| ] |
| }, |
| "teleop.right_hand_joints": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "index_0_joint", |
| "index_1_joint", |
| "middle_0_joint", |
| "middle_1_joint", |
| "thumb_0_joint", |
| "thumb_1_joint", |
| "thumb_2_joint" |
| ] |
| }, |
| "action.inspire_left_raw": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "left_pinky_proximal_joint", |
| "left_ring_proximal_joint", |
| "left_middle_proximal_joint", |
| "left_index_proximal_joint", |
| "left_thumb_proximal_pitch_joint", |
| "left_thumb_proximal_yaw_joint" |
| ] |
| }, |
| "action.inspire_right_raw": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "right_pinky_proximal_joint", |
| "right_ring_proximal_joint", |
| "right_middle_proximal_joint", |
| "right_index_proximal_joint", |
| "right_thumb_proximal_pitch_joint", |
| "right_thumb_proximal_yaw_joint" |
| ] |
| }, |
| "teleop.vr_3pt_position": { |
| "dtype": "float32", |
| "shape": [ |
| 9 |
| ], |
| "names": [ |
| "lwrist_x", |
| "lwrist_y", |
| "lwrist_z", |
| "rwrist_x", |
| "rwrist_y", |
| "rwrist_z", |
| "head_x", |
| "head_y", |
| "head_z" |
| ] |
| }, |
| "teleop.vr_3pt_orientation_wxyz": { |
| "dtype": "float32", |
| "shape": [ |
| 12 |
| ], |
| "names": [ |
| "lwrist_qw", |
| "lwrist_qx", |
| "lwrist_qy", |
| "lwrist_qz", |
| "rwrist_qw", |
| "rwrist_qx", |
| "rwrist_qy", |
| "rwrist_qz", |
| "head_qw", |
| "head_qx", |
| "head_qy", |
| "head_qz" |
| ] |
| }, |
| "episode.success": { |
| "dtype": "uint8", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "success" |
| ] |
| }, |
| "observation.left_hand_valid": { |
| "dtype": "uint8", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "left_hand_valid" |
| ] |
| }, |
| "observation.right_hand_valid": { |
| "dtype": "uint8", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "right_hand_valid" |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
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| "names": null |
| }, |
| "episode_index": { |
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| "index": { |
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| }, |
| "task_index": { |
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| "names": null |
| } |
| } |
| } |
