Datasets:
Download meta/info.json from Makolon0321/unitree_g1_block_stack: direct link, hf CLI and curl.
- Browser
- Download file 8.11 kB
-
https://huggingface.co/datasets/Makolon0321/unitree_g1_block_stack/resolve/main/meta/info.json
- Command line
-
hf download hf://datasets/Makolon0321/unitree_g1_block_stack/meta/info.json
-
curl -L -o info.json https://huggingface.co/datasets/Makolon0321/unitree_g1_block_stack/resolve/main/meta/info.json
8.11 kB
| { | |
| "codebase_version": "v2.0", | |
| "robot_type": "unitree_g1", | |
| "total_episodes": 21, | |
| "total_frames": 13726, | |
| "total_tasks": 1, | |
| "total_videos": 21, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 10, | |
| "splits": { | |
| "train": "0:21" | |
| }, | |
| "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.image.front": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "video_info": { | |
| "video.fps": 5.0, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": "false", | |
| "has_audio": "false" | |
| }, | |
| "info": { | |
| "video.fps": 10.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "hevc", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 74 | |
| ], | |
| "names": { | |
| "joint_pos": [ | |
| "left_hip_pitch_joint", | |
| "left_knee_joint", | |
| "left_ankle_pitch_joint", | |
| "left_elbow_pitch_joint", | |
| "left_elbow_roll_joint", | |
| "left_shoulder_roll_joint", | |
| "left_shoulder_pitch_joint", | |
| "left_shoulder_yaw_joint", | |
| "left_five_joint", | |
| "left_three_joint", | |
| "left_six_joint", | |
| "left_four_joint", | |
| "left_zero_joint", | |
| "left_one_joint", | |
| "left_two_joint", | |
| "right_hip_pitch_joint", | |
| "right_knee_joint", | |
| "right_ankle_pitch_joint", | |
| "right_elbow_pitch_joint", | |
| "right_elbow_roll_joint", | |
| "right_shoulder_roll_joint", | |
| "right_shoulder_pitch_joint", | |
| "right_shoulder_yaw_joint", | |
| "right_five_joint", | |
| "right_three_joint", | |
| "right_six_joint", | |
| "right_four_joint", | |
| "right_zero_joint", | |
| "right_one_joint", | |
| "right_two_joint" | |
| ], | |
| "joint_vel": [ | |
| "left_hip_pitch_joint", | |
| "left_knee_joint", | |
| "left_ankle_pitch_joint", | |
| "left_elbow_pitch_joint", | |
| "left_elbow_roll_joint", | |
| "left_shoulder_roll_joint", | |
| "left_shoulder_pitch_joint", | |
| "left_shoulder_yaw_joint", | |
| "left_five_joint", | |
| "left_three_joint", | |
| "left_six_joint", | |
| "left_four_joint", | |
| "left_zero_joint", | |
| "left_one_joint", | |
| "left_two_joint", | |
| "right_hip_pitch_joint", | |
| "right_knee_joint", | |
| "right_ankle_pitch_joint", | |
| "right_elbow_pitch_joint", | |
| "right_elbow_roll_joint", | |
| "right_shoulder_roll_joint", | |
| "right_shoulder_pitch_joint", | |
| "right_shoulder_yaw_joint", | |
| "right_five_joint", | |
| "right_three_joint", | |
| "right_six_joint", | |
| "right_four_joint", | |
| "right_zero_joint", | |
| "right_one_joint", | |
| "right_two_joint" | |
| ], | |
| "object_postion": [ | |
| "x", | |
| "y", | |
| "z", | |
| "w", | |
| "x", | |
| "y", | |
| "z" | |
| ], | |
| "target_object_position": [ | |
| "x", | |
| "y", | |
| "z", | |
| "w", | |
| "x", | |
| "y", | |
| "z" | |
| ], | |
| "actions": { | |
| "left_ee_pose": [ | |
| "x", | |
| "y", | |
| "z", | |
| "w", | |
| "x", | |
| "y", | |
| "z" | |
| ], | |
| "left_gripper": [ | |
| "left_five_joint", | |
| "left_three_joint", | |
| "left_six_joint", | |
| "left_four_joint", | |
| "left_zero_joint", | |
| "left_one_joint", | |
| "left_two_joint" | |
| ], | |
| "right_ee_pose": [ | |
| "x", | |
| "y", | |
| "z", | |
| "w", | |
| "x", | |
| "y", | |
| "z" | |
| ], | |
| "right_gripper": [ | |
| "right_five_joint", | |
| "right_three_joint", | |
| "right_six_joint", | |
| "right_four_joint", | |
| "right_zero_joint", | |
| "right_one_joint", | |
| "right_two_joint" | |
| ] | |
| } | |
| } | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 28 | |
| ], | |
| "names": { | |
| "left_ee_pose": [ | |
| "x", | |
| "y", | |
| "z", | |
| "w", | |
| "x", | |
| "y", | |
| "z" | |
| ], | |
| "left_gripper": [ | |
| "left_five_joint", | |
| "left_three_joint", | |
| "left_six_joint", | |
| "left_four_joint", | |
| "left_zero_joint", | |
| "left_one_joint", | |
| "left_two_joint" | |
| ], | |
| "right_ee_pose": [ | |
| "x", | |
| "y", | |
| "z", | |
| "w", | |
| "x", | |
| "y", | |
| "z" | |
| ], | |
| "right_gripper": [ | |
| "right_five_joint", | |
| "right_three_joint", | |
| "right_six_joint", | |
| "right_four_joint", | |
| "right_zero_joint", | |
| "right_one_joint", | |
| "right_two_joint" | |
| ] | |
| } | |
| }, | |
| "next.done": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "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 | |
| } | |
| } | |
| } |