| { | |
| "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": { | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 29 | |
| ], | |
| "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": { | |
| "dtype": "float32", | |
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| 29 | |
| ], | |
| "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" | |
| ] | |
| ] | |
| }, | |
| "observation.images.main": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 720, | |
| 1280 | |
| ], | |
| "names": [ | |
| "channels", | |
| "height", | |
| "width" | |
| ], | |
| "info": { | |
| "video.fps": 30, | |
| "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": { | |
| "dtype": "float32", | |
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| 1 | |
| ] | |
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| "frame_index": { | |
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| "episode_index": { | |
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| "index": { | |
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| }, | |
| "task_index": { | |
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| } | |
| } | |
| } |