|
|
{ |
|
|
"codebase_version": "v3.0", |
|
|
"robot_type": "Unitree_G1_Inspire", |
|
|
"total_episodes": 37, |
|
|
"total_frames": 34813, |
|
|
"total_tasks": 1, |
|
|
"chunks_size": 1000, |
|
|
"data_files_size_in_mb": 100, |
|
|
"video_files_size_in_mb": 500, |
|
|
"fps": 30, |
|
|
"splits": { |
|
|
"train": "0:37" |
|
|
}, |
|
|
"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": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
26 |
|
|
], |
|
|
"names": [ |
|
|
[ |
|
|
"kLeftShoulderPitch", |
|
|
"kLeftShoulderRoll", |
|
|
"kLeftShoulderYaw", |
|
|
"kLeftElbow", |
|
|
"kLeftWristRoll", |
|
|
"kLeftWristPitch", |
|
|
"kLeftWristYaw", |
|
|
"kRightShoulderPitch", |
|
|
"kRightShoulderRoll", |
|
|
"kRightShoulderYaw", |
|
|
"kRightElbow", |
|
|
"kRightWristRoll", |
|
|
"kRightWristPitch", |
|
|
"kRightWristYaw", |
|
|
"kLeftHandPinky", |
|
|
"kLeftHandRing", |
|
|
"kLeftHandMiddle", |
|
|
"kLeftHandIndex", |
|
|
"kLeftHandThumbBend", |
|
|
"kLeftHandThumbRotation", |
|
|
"kRightHandPinky", |
|
|
"kRightHandRing", |
|
|
"kRightHandMiddle", |
|
|
"kRightHandIndex", |
|
|
"kRightHandThumbBend", |
|
|
"kRightHandThumbRotation" |
|
|
] |
|
|
] |
|
|
}, |
|
|
"action": { |
|
|
"dtype": "float32", |
|
|
"shape": [ |
|
|
26 |
|
|
], |
|
|
"names": [ |
|
|
[ |
|
|
"kLeftShoulderPitch", |
|
|
"kLeftShoulderRoll", |
|
|
"kLeftShoulderYaw", |
|
|
"kLeftElbow", |
|
|
"kLeftWristRoll", |
|
|
"kLeftWristPitch", |
|
|
"kLeftWristYaw", |
|
|
"kRightShoulderPitch", |
|
|
"kRightShoulderRoll", |
|
|
"kRightShoulderYaw", |
|
|
"kRightElbow", |
|
|
"kRightWristRoll", |
|
|
"kRightWristPitch", |
|
|
"kRightWristYaw", |
|
|
"kLeftHandPinky", |
|
|
"kLeftHandRing", |
|
|
"kLeftHandMiddle", |
|
|
"kLeftHandIndex", |
|
|
"kLeftHandThumbBend", |
|
|
"kLeftHandThumbRotation", |
|
|
"kRightHandPinky", |
|
|
"kRightHandRing", |
|
|
"kRightHandMiddle", |
|
|
"kRightHandIndex", |
|
|
"kRightHandThumbBend", |
|
|
"kRightHandThumbRotation" |
|
|
] |
|
|
] |
|
|
}, |
|
|
"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 |
|
|
}, |
|
|
"frame_index": { |
|
|
"dtype": "int64", |
|
|
"shape": [ |
|
|
1 |
|
|
], |
|
|
"names": null |
|
|
}, |
|
|
"episode_index": { |
|
|
"dtype": "int64", |
|
|
"shape": [ |
|
|
1 |
|
|
], |
|
|
"names": null |
|
|
}, |
|
|
"index": { |
|
|
"dtype": "int64", |
|
|
"shape": [ |
|
|
1 |
|
|
], |
|
|
"names": null |
|
|
}, |
|
|
"task_index": { |
|
|
"dtype": "int64", |
|
|
"shape": [ |
|
|
1 |
|
|
], |
|
|
"names": null |
|
|
} |
|
|
} |
|
|
} |
