| | { |
| | "codebase_version": "v3.0", |
| | "robot_type": null, |
| | "total_episodes": 169, |
| | "total_frames": 84001, |
| | "total_tasks": 1, |
| | "chunks_size": 1000, |
| | "fps": 20, |
| | "splits": { |
| | "train": "0:169" |
| | }, |
| | "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.images.ego_view": { |
| | "dtype": "video", |
| | "shape": [ |
| | 480, |
| | 640, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channel" |
| | ], |
| | "info": { |
| | "video.height": 480, |
| | "video.width": 640, |
| | "video.codec": "h264", |
| | "video.pix_fmt": "yuv420p", |
| | "video.is_depth_map": false, |
| | "video.fps": 20, |
| | "video.channels": 3, |
| | "has_audio": false |
| | } |
| | }, |
| | "observation.state": { |
| | "dtype": "float64", |
| | "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" |
| | ], |
| | "fps": 20 |
| | }, |
| | "observation.eef_state": { |
| | "dtype": "float64", |
| | "shape": [ |
| | 14 |
| | ], |
| | "names": [ |
| | "left_wrist_pos", |
| | "left_wrist_abs_quat", |
| | "right_wrist_pos", |
| | "right_wrist_abs_quat" |
| | ], |
| | "fps": 20 |
| | }, |
| | "action": { |
| | "dtype": "float64", |
| | "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" |
| | ], |
| | "fps": 20 |
| | }, |
| | "action.eef": { |
| | "dtype": "float64", |
| | "shape": [ |
| | 14 |
| | ], |
| | "names": [ |
| | "left_wrist_pos", |
| | "left_wrist_abs_quat", |
| | "right_wrist_pos", |
| | "right_wrist_abs_quat" |
| | ], |
| | "fps": 20 |
| | }, |
| | "observation.img_state_delta": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": "img_state_delta", |
| | "fps": 20 |
| | }, |
| | "teleop.navigate_command": { |
| | "dtype": "float64", |
| | "shape": [ |
| | 3 |
| | ], |
| | "names": [ |
| | "lin_vel_x", |
| | "lin_vel_y", |
| | "ang_vel_z" |
| | ], |
| | "fps": 20 |
| | }, |
| | "teleop.base_height_command": { |
| | "dtype": "float64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": "base_height_command", |
| | "fps": 20 |
| | }, |
| | "timestamp": { |
| | "dtype": "float32", |
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| | 1 |
| | ], |
| | "names": null, |
| | "fps": 20 |
| | }, |
| | "frame_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null, |
| | "fps": 20 |
| | }, |
| | "episode_index": { |
| | "dtype": "int64", |
| | "shape": [ |
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| | ], |
| | "names": null, |
| | "fps": 20 |
| | }, |
| | "index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null, |
| | "fps": 20 |
| | }, |
| | "task_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null, |
| | "fps": 20 |
| | } |
| | }, |
| | "script_config": { |
| | "wbc_version": "gear_wbc", |
| | "wbc_model_path": "policy/GR00T-WholeBodyControl-Balance.onnx,policy/GR00T-WholeBodyControl-Walk.onnx", |
| | "wbc_policy_class": "G1DecoupledWholeBodyPolicy", |
| | "interface": "eno1", |
| | "simulator": "mujoco", |
| | "sim_sync_mode": false, |
| | "control_frequency": 50, |
| | "sim_frequency": 200, |
| | "enable_waist": false, |
| | "with_hands": false, |
| | "hand_type": "dex3", |
| | "high_elbow_pose": false, |
| | "verbose": true, |
| | "enable_offscreen": false, |
| | "enable_onscreen": true, |
| | "upper_body_joint_speed": 1000, |
| | "env_name": "default", |
| | "ik_indicator": false, |
| | "verbose_timing": false, |
| | "keyboard_dispatcher_type": "raw", |
| | "enable_gravity_compensation": false, |
| | "gravity_compensation_joints": null, |
| | "body_control_device": "dummy", |
| | "hand_control_device": "dummy", |
| | "body_streamer_ip": "10.112.210.229", |
| | "body_streamer_keyword": "knee", |
| | "enable_visualization": false, |
| | "enable_real_device": true, |
| | "teleop_frequency": 20, |
| | "teleop_replay_path": null, |
| | "robot_ip": "192.168.123.164", |
| | "data_collection": true, |
| | "data_collection_frequency": 20, |
| | "root_output_dir": "outputs", |
| | "enable_upper_body_operation": true, |
| | "upper_body_operation_mode": "teleop" |
| | }, |
| | "discarded_episode_indices": [], |
| | "data_collection_info": { |
| | "lower_body_policy": null, |
| | "wbc_model_path": null, |
| | "teleoperator_username": null, |
| | "support_operator_username": null, |
| | "robot_type": null, |
| | "robot_id": null |
| | }, |
| | "data_files_size_in_mb": 100, |
| | "video_files_size_in_mb": 200 |
| | } |
