| { |
| "codebase_version": "v3.0", |
| "robot_type": "unitree_g1", |
| "total_episodes": 1533, |
| "total_frames": 625771, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:1533" |
| }, |
| "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.head_stereo_left": { |
| "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.head_stereo_right": { |
| "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.wrist_left": { |
| "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.wrist_right": { |
| "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.state.left_arm": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "shoulder_pitch", |
| "shoulder_roll", |
| "shoulder_yaw", |
| "elbow", |
| "wrist_yaw", |
| "wrist_roll", |
| "wrist_pitch" |
| ] |
| }, |
| "observation.state.right_arm": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "shoulder_pitch", |
| "shoulder_roll", |
| "shoulder_yaw", |
| "elbow", |
| "wrist_yaw", |
| "wrist_roll", |
| "wrist_pitch" |
| ] |
| }, |
| "observation.state.left_gripper": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper_pos" |
| ] |
| }, |
| "observation.state.right_gripper": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper_pos" |
| ] |
| }, |
| "observation.state.lower_body": { |
| "dtype": "float32", |
| "shape": [ |
| 15 |
| ], |
| "names": [ |
| "left_hip_pitch", |
| "left_hip_roll", |
| "left_hip_yaw", |
| "left_knee", |
| "left_ankle_pitch", |
| "left_ankle_roll", |
| "right_hip_pitch", |
| "right_hip_roll", |
| "right_hip_yaw", |
| "right_knee", |
| "right_ankle_pitch", |
| "right_ankle_roll", |
| "waist_yaw", |
| "waist_roll", |
| "waist_pitch" |
| ] |
| }, |
| "observation.state.left_leg": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "hip_pitch", |
| "hip_roll", |
| "hip_yaw", |
| "knee", |
| "ankle_pitch", |
| "ankle_roll" |
| ] |
| }, |
| "observation.state.right_leg": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "hip_pitch", |
| "hip_roll", |
| "hip_yaw", |
| "knee", |
| "ankle_pitch", |
| "ankle_roll" |
| ] |
| }, |
| "observation.state.left_ee_pose_gripper_base": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| }, |
| "observation.state.right_ee_pose_gripper_base": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| }, |
| "observation.state.state_torso": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| }, |
| "observation.state.state_d435": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| }, |
| "observation.state.left_ee_pose_gripper_torso": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| }, |
| "observation.state.right_ee_pose_gripper_torso": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| }, |
| "observation.state.waist_state_joint": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "yaw", |
| "roll", |
| "pitch" |
| ] |
| }, |
| "observation.state.recomputed_ee_valid": { |
| "dtype": "int8", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "valid" |
| ] |
| }, |
| "action.left_arm": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "shoulder_pitch", |
| "shoulder_roll", |
| "shoulder_yaw", |
| "elbow", |
| "wrist_yaw", |
| "wrist_roll", |
| "wrist_pitch" |
| ] |
| }, |
| "action.right_arm": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "shoulder_pitch", |
| "shoulder_roll", |
| "shoulder_yaw", |
| "elbow", |
| "wrist_yaw", |
| "wrist_roll", |
| "wrist_pitch" |
| ] |
| }, |
| "action.left_gripper": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper_pos" |
| ] |
| }, |
| "action.right_gripper": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "gripper_pos" |
| ] |
| }, |
| "action.lower_body": { |
| "dtype": "float32", |
| "shape": [ |
| 15 |
| ], |
| "names": [ |
| "left_hip_pitch", |
| "left_hip_roll", |
| "left_hip_yaw", |
| "left_knee", |
| "left_ankle_pitch", |
| "left_ankle_roll", |
| "right_hip_pitch", |
| "right_hip_roll", |
| "right_hip_yaw", |
| "right_knee", |
| "right_ankle_pitch", |
| "right_ankle_roll", |
| "waist_yaw", |
| "waist_roll", |
| "waist_pitch" |
| ] |
| }, |
| "action.pivot": { |
| "dtype": "float32", |
| "shape": [ |
| 7 |
| ], |
| "names": [ |
| "vx", |
| "vy", |
| "angle_z", |
| "pivot_3", |
| "pivot_4", |
| "pivot_5", |
| "height" |
| ] |
| }, |
| "action.gripper_controls": { |
| "dtype": "float32", |
| "shape": [ |
| 4 |
| ], |
| "names": [ |
| "left_trigger", |
| "left_squeeze", |
| "right_trigger", |
| "right_squeeze" |
| ] |
| }, |
| "action.left_leg": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "hip_pitch", |
| "hip_roll", |
| "hip_yaw", |
| "knee", |
| "ankle_pitch", |
| "ankle_roll" |
| ] |
| }, |
| "action.right_leg": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "hip_pitch", |
| "hip_roll", |
| "hip_yaw", |
| "knee", |
| "ankle_pitch", |
| "ankle_roll" |
| ] |
| }, |
| "action.base_command": { |
| "dtype": "float32", |
| "shape": [ |
| 4 |
| ], |
| "names": [ |
| "vx", |
| "vy", |
| "angle_z", |
| "height" |
| ] |
| }, |
| "action.left_ee_pose_gripper_base": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| }, |
| "action.right_ee_pose_gripper_base": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| }, |
| "action.action_torso": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| }, |
| "action.action_d435": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| }, |
| "action.left_ee_pose_gripper_torso": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| }, |
| "action.right_ee_pose_gripper_torso": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ], |
| "names": [ |
| "x", |
| "y", |
| "z", |
| "roll", |
| "pitch", |
| "yaw" |
| ] |
| }, |
| "action.waist_action_joint": { |
| "dtype": "float32", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "yaw", |
| "roll", |
| "pitch" |
| ] |
| }, |
| "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 |
| } |
| }, |
| "camera_params": { |
| "head_stereo": { |
| "camera_matrix_left": [ |
| [ |
| 263.37747560667196, |
| 0.0, |
| 314.69567865265043 |
| ], |
| [ |
| 0.0, |
| 262.7834068116183, |
| 274.15575154282067 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "camera_matrix_right": [ |
| [ |
| 264.828425023489, |
| 0.0, |
| 342.3288924992449 |
| ], |
| [ |
| 0.0, |
| 263.2643434468811, |
| 279.30664852226766 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "dist_coeffs_left": [ |
| 0.043550305244992885, |
| -0.06718835464982902, |
| -0.000654452252539685, |
| 0.0029372488732690135, |
| 0.01673076964618674 |
| ], |
| "dist_coeffs_right": [ |
| 0.02468167332302662, |
| -0.04344656241494415, |
| -0.0005093924601102697, |
| 0.004008155614853676, |
| 0.008928713179171852 |
| ], |
| "R": [ |
| [ |
| 0.9997972675663425, |
| -0.0003211552849372972, |
| -0.020132576242457765 |
| ], |
| [ |
| 0.0003891684850911496, |
| 0.9999942308371104, |
| 0.0033744392699062145 |
| ], |
| [ |
| 0.020131376375340803, |
| -0.003381590125818055, |
| 0.999791624556565 |
| ] |
| ], |
| "T": [ |
| -56.47736381799561, |
| 1.4208119154266123, |
| -1.4116118769792274 |
| ], |
| "rectified": true |
| }, |
| "wrist_left": { |
| "color": { |
| "camera_matrix": [ |
| [ |
| 432.89300537109375, |
| 0.0, |
| 310.5044860839844 |
| ], |
| [ |
| 0.0, |
| 431.7276306152344, |
| 239.14547729492188 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "dist_coeffs": [ |
| -0.053470805287361145, |
| 0.060181956738233566, |
| 0.00025315434322692454, |
| 0.0004132194153498858, |
| -0.019889580085873604 |
| ], |
| "width": 640, |
| "height": 480, |
| "model": "distortion.inverse_brown_conrady" |
| }, |
| "ir1": { |
| "camera_matrix": [ |
| [ |
| 384.39923095703125, |
| 0.0, |
| 315.0811767578125 |
| ], |
| [ |
| 0.0, |
| 384.39923095703125, |
| 240.47177124023438 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "dist_coeffs": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "width": 640, |
| "height": 480, |
| "model": "distortion.brown_conrady", |
| "extrinsics_to_color": { |
| "rotation": [ |
| 0.9999831318855286, |
| 0.005208137910813093, |
| -0.0025818711146712303, |
| -0.005206616595387459, |
| 0.9999862909317017, |
| 0.0005956114619038999, |
| 0.0025849377270787954, |
| -0.0005821586237289011, |
| 0.9999964833259583 |
| ], |
| "translation": [ |
| 1.0000000656873453e-05, |
| 1.0000000656873453e-05, |
| 1.0000000656873453e-05 |
| ] |
| } |
| }, |
| "ir2": { |
| "camera_matrix": [ |
| [ |
| 384.39923095703125, |
| 0.0, |
| 315.0811767578125 |
| ], |
| [ |
| 0.0, |
| 384.39923095703125, |
| 240.47177124023438 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "dist_coeffs": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "width": 640, |
| "height": 480, |
| "model": "distortion.brown_conrady", |
| "extrinsics_to_color": { |
| "rotation": [ |
| 0.9999831318855286, |
| 0.005208137910813093, |
| -0.0025818711146712303, |
| -0.005206616595387459, |
| 0.9999862909317017, |
| 0.0005956114619038999, |
| 0.0025849377270787954, |
| -0.0005821586237289011, |
| 0.9999964833259583 |
| ], |
| "translation": [ |
| 0.018011314794421196, |
| 0.00010375491547165439, |
| -3.64778570656199e-05 |
| ] |
| }, |
| "extrinsics_to_ir1": { |
| "rotation": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| "translation": [ |
| 0.0180016178637743, |
| 0.0, |
| 0.0 |
| ] |
| } |
| } |
| }, |
| "wrist_right": { |
| "color": { |
| "camera_matrix": [ |
| [ |
| 433.9271240234375, |
| 0.0, |
| 315.7923583984375 |
| ], |
| [ |
| 0.0, |
| 432.9021301269531, |
| 238.669921875 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "dist_coeffs": [ |
| -0.05036025121808052, |
| 0.06133435666561127, |
| 0.00013044568186160177, |
| 0.0006203551893122494, |
| -0.020947406068444252 |
| ], |
| "width": 640, |
| "height": 480, |
| "model": "distortion.inverse_brown_conrady" |
| }, |
| "ir1": { |
| "camera_matrix": [ |
| [ |
| 387.0810546875, |
| 0.0, |
| 315.7379150390625 |
| ], |
| [ |
| 0.0, |
| 387.0810546875, |
| 237.78648376464844 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "dist_coeffs": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "width": 640, |
| "height": 480, |
| "model": "distortion.brown_conrady", |
| "extrinsics_to_color": { |
| "rotation": [ |
| 0.9999945163726807, |
| -0.0027939847204834223, |
| -0.0017752363346517086, |
| 0.002795255510136485, |
| 0.9999958276748657, |
| 0.0007136373315006495, |
| 0.0017732350388541818, |
| -0.0007185956928879023, |
| 0.999998152256012 |
| ], |
| "translation": [ |
| 9.932849934557453e-06, |
| 1.0000000656873453e-05, |
| 1.0000000656873453e-05 |
| ] |
| } |
| }, |
| "ir2": { |
| "camera_matrix": [ |
| [ |
| 387.0810546875, |
| 0.0, |
| 315.7379150390625 |
| ], |
| [ |
| 0.0, |
| 387.0810546875, |
| 237.78648376464844 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "dist_coeffs": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "width": 640, |
| "height": 480, |
| "model": "distortion.brown_conrady", |
| "extrinsics_to_color": { |
| "rotation": [ |
| 0.9999945163726807, |
| -0.0027939847204834223, |
| -0.0017752363346517086, |
| 0.002795255510136485, |
| 0.9999958276748657, |
| 0.0007136373315006495, |
| 0.0017732350388541818, |
| -0.0007185956928879023, |
| 0.999998152256012 |
| ], |
| "translation": [ |
| 0.018061211332678795, |
| -4.043527223984711e-05, |
| -2.2045460355002433e-05 |
| ] |
| }, |
| "extrinsics_to_ir1": { |
| "rotation": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| "translation": [ |
| 0.018051376566290855, |
| 0.0, |
| 0.0 |
| ] |
| } |
| } |
| } |
| } |
| } |
