| | { |
| | "codebase_version": "v2.1", |
| | "robot_type": "unitree_g1", |
| | "total_episodes": 100, |
| | "total_frames": 94936, |
| | "total_tasks": 1, |
| | "total_videos": 100, |
| | "total_chunks": 0, |
| | "chunks_size": 1000, |
| | "fps": 50, |
| | "splits": { |
| | "train": "0:100" |
| | }, |
| | "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" |
| | ], |
| | "video_info": { |
| | "video.width": 640, |
| | "video.height": 480, |
| | "video.fps": 50.0, |
| | "video.codec": "h264", |
| | "video.pix_fmt": "yuv420p", |
| | "video.channels": 3, |
| | "video.is_depth_map": false, |
| | "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" |
| | ] |
| | }, |
| | "action": { |
| | "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" |
| | ] |
| | }, |
| | "timestamp": { |
| | "dtype": "float64", |
| | "shape": [ |
| | 1 |
| | ] |
| | }, |
| | "observation.eef_pose": { |
| | "dtype": "float64", |
| | "shape": [ |
| | 14 |
| | ] |
| | }, |
| | "action.eef_pose": { |
| | "dtype": "float64", |
| | "shape": [ |
| | 14 |
| | ] |
| | }, |
| | "teleop.base_height_command": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ] |
| | }, |
| | "teleop.navigate_command": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 3 |
| | ] |
| | }, |
| | "teleop.torso_orientation_rpy_command": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 3 |
| | ] |
| | }, |
| | "annotation.human.task_description": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ] |
| | }, |
| | "episode_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ] |
| | }, |
| | "task_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ] |
| | }, |
| | "index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ] |
| | }, |
| | "frame_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ] |
| | }, |
| | "next.reward": { |
| | "dtype": "float64", |
| | "shape": [ |
| | 1 |
| | ] |
| | }, |
| | "next.done": { |
| | "dtype": "bool", |
| | "shape": [ |
| | 1 |
| | ] |
| | }, |
| | "observation.img_state_delta": { |
| | "dtype": "float64", |
| | "shape": [ |
| | 1 |
| | ] |
| | } |
| | } |
| | } |
