| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "Unitree_G1_Dex3", | |
| "total_episodes": 203, | |
| "total_frames": 300557, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "fps": 30.0, | |
| "splits": { | |
| "train": "0:203" | |
| }, | |
| "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.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 28 | |
| ], | |
| "names": [ | |
| [ | |
| "kLeftShoulderPitch", | |
| "kLeftShoulderRoll", | |
| "kLeftShoulderYaw", | |
| "kLeftElbow", | |
| "kLeftWristRoll", | |
| "kLeftWristPitch", | |
| "kLeftWristYaw", | |
| "kRightShoulderPitch", | |
| "kRightShoulderRoll", | |
| "kRightShoulderYaw", | |
| "kRightElbow", | |
| "kRightWristRoll", | |
| "kRightWristPitch", | |
| "kRightWristYaw", | |
| "kLeftHandThumb0", | |
| "kLeftHandThumb1", | |
| "kLeftHandThumb2", | |
| "kLeftHandMiddle0", | |
| "kLeftHandMiddle1", | |
| "kLeftHandIndex0", | |
| "kLeftHandIndex1", | |
| "kRightHandThumb0", | |
| "kRightHandThumb1", | |
| "kRightHandThumb2", | |
| "kRightHandIndex0", | |
| "kRightHandIndex1", | |
| "kRightHandMiddle0", | |
| "kRightHandMiddle1" | |
| ] | |
| ], | |
| "fps": 30.0 | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 28 | |
| ], | |
| "names": [ | |
| [ | |
| "kLeftShoulderPitch", | |
| "kLeftShoulderRoll", | |
| "kLeftShoulderYaw", | |
| "kLeftElbow", | |
| "kLeftWristRoll", | |
| "kLeftWristPitch", | |
| "kLeftWristYaw", | |
| "kRightShoulderPitch", | |
| "kRightShoulderRoll", | |
| "kRightShoulderYaw", | |
| "kRightElbow", | |
| "kRightWristRoll", | |
| "kRightWristPitch", | |
| "kRightWristYaw", | |
| "kLeftHandThumb0", | |
| "kLeftHandThumb1", | |
| "kLeftHandThumb2", | |
| "kLeftHandMiddle0", | |
| "kLeftHandMiddle1", | |
| "kLeftHandIndex0", | |
| "kLeftHandIndex1", | |
| "kRightHandThumb0", | |
| "kRightHandThumb1", | |
| "kRightHandThumb2", | |
| "kRightHandIndex0", | |
| "kRightHandIndex1", | |
| "kRightHandMiddle0", | |
| "kRightHandMiddle1" | |
| ] | |
| ], | |
| "fps": 30.0 | |
| }, | |
| "observation.images.cam_left_high": { | |
| "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.cam_right_high": { | |
| "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 | |
| } | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30.0 | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30.0 | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30.0 | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null, | |
| "fps": 30.0 | |
| }, | |
| "task_index": { | |
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| 1 | |
| ], | |
| "names": null, | |
| "fps": 30.0 | |
| } | |
| }, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 500 | |
| } |