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{ |
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"codebase_version": "v2.1", |
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"robot_type": "unitree_g1", |
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"total_episodes": 100, |
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"total_frames": 94936, |
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"total_tasks": 1, |
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"total_videos": 100, |
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"total_chunks": 0, |
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"chunks_size": 1000, |
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"fps": 50, |
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"splits": { |
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"train": "0:100" |
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}, |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
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"features": { |
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"observation.images.ego_view": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"video_info": { |
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"video.width": 640, |
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"video.height": 480, |
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"video.fps": 50.0, |
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"video.codec": "h264", |
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"video.pix_fmt": "yuv420p", |
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"video.channels": 3, |
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"video.is_depth_map": false, |
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"has_audio": false |
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} |
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}, |
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"observation.state": { |
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"dtype": "float32", |
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"shape": [ |
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43 |
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], |
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"names": [ |
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"left_hip_pitch_joint", |
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"left_hip_roll_joint", |
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|
"left_hip_yaw_joint", |
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|
"left_knee_joint", |
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|
"left_ankle_pitch_joint", |
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|
"left_ankle_roll_joint", |
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|
"right_hip_pitch_joint", |
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|
"right_hip_roll_joint", |
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|
"right_hip_yaw_joint", |
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|
"right_knee_joint", |
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|
"right_ankle_pitch_joint", |
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|
"right_ankle_roll_joint", |
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|
"waist_yaw_joint", |
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|
"waist_roll_joint", |
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|
"waist_pitch_joint", |
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|
"left_shoulder_pitch_joint", |
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|
"left_shoulder_roll_joint", |
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|
"left_shoulder_yaw_joint", |
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|
"left_elbow_joint", |
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|
"left_wrist_roll_joint", |
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|
"left_wrist_pitch_joint", |
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|
"left_wrist_yaw_joint", |
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|
"left_hand_index_0_joint", |
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|
"left_hand_index_1_joint", |
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|
"left_hand_middle_0_joint", |
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|
"left_hand_middle_1_joint", |
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|
"left_hand_thumb_0_joint", |
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|
"left_hand_thumb_1_joint", |
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|
"left_hand_thumb_2_joint", |
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|
"right_shoulder_pitch_joint", |
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|
"right_shoulder_roll_joint", |
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|
"right_shoulder_yaw_joint", |
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|
"right_elbow_joint", |
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|
"right_wrist_roll_joint", |
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|
"right_wrist_pitch_joint", |
|
|
"right_wrist_yaw_joint", |
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|
"right_hand_index_0_joint", |
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|
"right_hand_index_1_joint", |
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|
"right_hand_middle_0_joint", |
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|
"right_hand_middle_1_joint", |
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|
"right_hand_thumb_0_joint", |
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|
"right_hand_thumb_1_joint", |
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"right_hand_thumb_2_joint" |
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|
] |
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}, |
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"action": { |
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"dtype": "float32", |
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"shape": [ |
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|
43 |
|
|
], |
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"names": [ |
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|
"left_hip_pitch_joint", |
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|
"left_hip_roll_joint", |
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|
"left_hip_yaw_joint", |
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|
"left_knee_joint", |
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|
"left_ankle_pitch_joint", |
|
|
"left_ankle_roll_joint", |
|
|
"right_hip_pitch_joint", |
|
|
"right_hip_roll_joint", |
|
|
"right_hip_yaw_joint", |
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|
"right_knee_joint", |
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|
"right_ankle_pitch_joint", |
|
|
"right_ankle_roll_joint", |
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|
"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", |
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|
"left_wrist_yaw_joint", |
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|
"left_hand_index_0_joint", |
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|
"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" |
|
|
] |
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|
}, |
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"timestamp": { |
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"dtype": "float64", |
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"shape": [ |
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1 |
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] |
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}, |
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"observation.eef_pose": { |
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"dtype": "float64", |
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"shape": [ |
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14 |
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] |
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}, |
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"action.eef_pose": { |
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"dtype": "float64", |
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"shape": [ |
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14 |
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] |
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}, |
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"teleop.base_height_command": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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] |
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|
}, |
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"teleop.navigate_command": { |
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|
"dtype": "float32", |
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"shape": [ |
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|
3 |
|
|
] |
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|
}, |
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"teleop.torso_orientation_rpy_command": { |
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"dtype": "float32", |
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"shape": [ |
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3 |
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] |
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}, |
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"annotation.human.task_description": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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] |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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] |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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] |
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}, |
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"index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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] |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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] |
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}, |
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"next.reward": { |
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"dtype": "float64", |
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"shape": [ |
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1 |
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|
] |
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}, |
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"next.done": { |
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"dtype": "bool", |
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"shape": [ |
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1 |
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] |
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}, |
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"observation.img_state_delta": { |
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|
"dtype": "float64", |
|
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"shape": [ |
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1 |
|
|
] |
|
|
} |
|
|
} |
|
|
} |
