{ "codebase_version": "v3.0", "robot_type": "unitree_g1", "total_episodes": 1006, "total_frames": 426552, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:1006" }, "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": [ [ 186.02548688009486, 0.0, 361.87371408166166 ], [ 0.0, 186.50151281181945, 232.9184184847101 ], [ 0.0, 0.0, 1.0 ] ], "camera_matrix_right": [ [ 185.81620769165832, 0.0, 375.00595273589215 ], [ 0.0, 185.62207297096398, 229.0838544480616 ], [ 0.0, 0.0, 1.0 ] ], "dist_coeffs_left": [ 0.03848266153765867, -0.055527641274326654, -0.009074199850627268, -0.00017678620927170078, 0.011804303591621282 ], "dist_coeffs_right": [ 0.050750788812328, -0.07750527387467548, -0.014013144971239691, -0.002962762038987012, 0.018505209430448828 ], "R": [ [ 0.9999946327831465, -0.000621414518154029, 0.0032168694248491444 ], [ 0.0006093664824905227, 0.9999928021966235, 0.0037448935144686916 ], [ -0.0032191734016543743, -0.0037429131624070492, 0.9999878136875813 ] ], "T": [ -54.840818583884186, -1.3061102489992982, 1.6889401838002212 ], "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 ] } } } } }