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{
"codebase_version": "v2.1",
"dataset_name": "unitree_g1_teleop",
"robot_type": "Unitree_G1",
"task_type": "humanoid_teleoperation",
"fps": 30,
"total_episodes": 0,
"total_frames": 0,
"total_tasks": 1,
"total_videos": 0,
"splits": {
"train": "0:"
},
"chunks_size": 1000,
"total_chunks": 1,
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
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],
"names": [
[
"pelvis_x",
"pelvis_y",
"pelvis_z",
"pelvis_roll",
"pelvis_pitch",
"pelvis_yaw",
"left_hip",
"left_knee",
"left_ankle",
"right_hip",
"right_knee",
"right_ankle",
"torso_yaw",
"torso_pitch",
"left_shoulder_pitch",
"left_shoulder_roll",
"left_elbow",
"right_shoulder_pitch",
"right_shoulder_roll",
"right_elbow",
"left_wrist",
"right_wrist",
"left_hand",
"right_hand",
"head_yaw",
"head_pitch",
"imu_ax",
"imu_ay",
"imu_az"
]
]
},
"action": {
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],
"names": [
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"pelvis_roll",
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"left_hip",
"left_knee",
"left_ankle",
"right_hip",
"right_knee",
"right_ankle",
"torso_yaw",
"torso_pitch",
"left_shoulder_pitch",
"left_shoulder_roll",
"left_elbow",
"right_shoulder_pitch",
"right_shoulder_roll",
"right_elbow",
"left_wrist",
"right_wrist",
"left_hand",
"right_hand",
"head_yaw",
"head_pitch",
"imu_ax",
"imu_ay",
"imu_az"
]
]
},
"observation.images.main": {
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"shape": [
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720,
1280
],
"names": [
"channels",
"height",
"width"
],
"info": {
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"video.height": 720,
"video.width": 1280,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
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},
"frame_index": {
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},
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},
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}
}
}