| { |
| "codebase_version": "v3.0", |
| "robot_type": "unitree_g1", |
| "total_episodes": 1034, |
| "total_frames": 474353, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:1034" |
| }, |
| "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": [ |
| [ |
| 275.5197042994271, |
| 0.0, |
| 365.42679851507796 |
| ], |
| [ |
| 0.0, |
| 278.1229752635271, |
| 264.0495467123561 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "camera_matrix_right": [ |
| [ |
| 271.87544402716526, |
| 0.0, |
| 373.3014376892149 |
| ], |
| [ |
| 0.0, |
| 275.3417793830935, |
| 254.87016703556432 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "dist_coeffs_left": [ |
| 0.11117660523549507, |
| -0.12799320229353126, |
| 0.01981116427943563, |
| 0.008698836821607655, |
| 0.04526364070242152 |
| ], |
| "dist_coeffs_right": [ |
| 0.05835188011531274, |
| -0.04878919384296239, |
| 0.013758119687667032, |
| 0.00010287510437453315, |
| 0.006985605182766358 |
| ], |
| "R": [ |
| [ |
| 0.9998577895066263, |
| -0.0009600367926112495, |
| 0.01683683735978589 |
| ], |
| [ |
| 0.0006602356761145026, |
| 0.9998412998161733, |
| 0.01780278828602596 |
| ], |
| [ |
| -0.016851256682367484, |
| -0.01778914026202251, |
| 0.9996997457421719 |
| ] |
| ], |
| "T": [ |
| -48.3987090674667, |
| 7.978322823132491, |
| -18.873662634343646 |
| ], |
| "rectified": true |
| }, |
| "wrist_left": { |
| "color": { |
| "camera_matrix": [ |
| [ |
| 434.0075378417969, |
| 0.0, |
| 321.1601257324219 |
| ], |
| [ |
| 0.0, |
| 432.8462829589844, |
| 238.69046020507812 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "dist_coeffs": [ |
| -0.05290508270263672, |
| 0.05990612506866455, |
| -0.00014540919801220298, |
| 0.0006168291438370943, |
| -0.01975332200527191 |
| ], |
| "width": 640, |
| "height": 480, |
| "model": "distortion.inverse_brown_conrady" |
| }, |
| "ir1": { |
| "camera_matrix": [ |
| [ |
| 386.1162109375, |
| 0.0, |
| 324.0278625488281 |
| ], |
| [ |
| 0.0, |
| 386.1162109375, |
| 237.8682861328125 |
| ], |
| [ |
| 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": [ |
| 0.9999826550483704, |
| 0.0024157725274562836, |
| -0.005375828593969345, |
| -0.0024108383804559708, |
| 0.9999966621398926, |
| 0.0009241300285793841, |
| 0.005378042813390493, |
| -0.0009111537365242839, |
| 0.9999850988388062 |
| ], |
| "translation": [ |
| 1.0000000656873453e-05, |
| 9.999999747378752e-06, |
| 6.119342288002372e-06 |
| ] |
| } |
| }, |
| "ir2": { |
| "camera_matrix": [ |
| [ |
| 386.1162109375, |
| 0.0, |
| 324.0278625488281 |
| ], |
| [ |
| 0.0, |
| 386.1162109375, |
| 237.8682861328125 |
| ], |
| [ |
| 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": [ |
| 0.9999826550483704, |
| 0.0024157725274562836, |
| -0.005375828593969345, |
| -0.0024108383804559708, |
| 0.9999966621398926, |
| 0.0009241300285793841, |
| 0.005378042813390493, |
| -0.0009111537365242839, |
| 0.9999850988388062 |
| ], |
| "translation": [ |
| 0.018102869391441345, |
| 5.3709012718172744e-05, |
| -9.114650310948491e-05 |
| ] |
| }, |
| "extrinsics_to_ir1": { |
| "rotation": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| "translation": [ |
| 0.018093181774020195, |
| 0.0, |
| 0.0 |
| ] |
| } |
| } |
| }, |
| "wrist_right": { |
| "color": { |
| "camera_matrix": [ |
| [ |
| 436.0645751953125, |
| 0.0, |
| 321.3451843261719 |
| ], |
| [ |
| 0.0, |
| 435.6025085449219, |
| 242.51589965820312 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "dist_coeffs": [ |
| -0.055401865392923355, |
| 0.05923536792397499, |
| -0.0007110995939001441, |
| 0.000997434020973742, |
| -0.019842663779854774 |
| ], |
| "width": 640, |
| "height": 480, |
| "model": "distortion.inverse_brown_conrady" |
| }, |
| "ir1": { |
| "camera_matrix": [ |
| [ |
| 386.5292053222656, |
| 0.0, |
| 323.0304870605469 |
| ], |
| [ |
| 0.0, |
| 386.5292053222656, |
| 241.76202392578125 |
| ], |
| [ |
| 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": [ |
| 0.9999929666519165, |
| -0.0032505381386727095, |
| -0.0018669050186872482, |
| 0.003252550261095166, |
| 0.999994158744812, |
| 0.0010758723365142941, |
| 0.0018633968429639935, |
| -0.0010819369927048683, |
| 0.9999976754188538 |
| ], |
| "translation": [ |
| -3.54917356162332e-05, |
| -1.390902980347164e-06, |
| 5.775820682174526e-05 |
| ] |
| } |
| }, |
| "ir2": { |
| "camera_matrix": [ |
| [ |
| 386.5292053222656, |
| 0.0, |
| 323.0304870605469 |
| ], |
| [ |
| 0.0, |
| 386.5292053222656, |
| 241.76202392578125 |
| ], |
| [ |
| 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": [ |
| 0.9999929666519165, |
| -0.0032505381386727095, |
| -0.0018669050186872482, |
| 0.003252550261095166, |
| 0.999994158744812, |
| 0.0010758723365142941, |
| 0.0018633968429639935, |
| -0.0010819369927048683, |
| 0.9999976754188538 |
| ], |
| "translation": [ |
| 0.017917228862643242, |
| -5.9747311752289534e-05, |
| 2.4241948267444968e-05 |
| ] |
| }, |
| "extrinsics_to_ir1": { |
| "rotation": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| "translation": [ |
| 0.017952846363186836, |
| 0.0, |
| 0.0 |
| ] |
| } |
| } |
| } |
| } |
| } |
