| { |
| "codebase_version": "v3.0", |
| "robot_type": "unitree_g1_dex3", |
| "total_episodes": 1, |
| "total_frames": 500, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200, |
| "fps": 30, |
| "splits": { |
| "train": "0:1" |
| }, |
| "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": { |
| "action": { |
| "dtype": "float32", |
| "names": [ |
| "kLeftHipPitch.q", |
| "kLeftHipRoll.q", |
| "kLeftHipYaw.q", |
| "kLeftKnee.q", |
| "kLeftAnklePitch.q", |
| "kLeftAnkleRoll.q", |
| "kRightHipPitch.q", |
| "kRightHipRoll.q", |
| "kRightHipYaw.q", |
| "kRightKnee.q", |
| "kRightAnklePitch.q", |
| "kRightAnkleRoll.q", |
| "kWaistYaw.q", |
| "kWaistRoll.q", |
| "kWaistPitch.q", |
| "kLeftShoulderPitch.q", |
| "kLeftShoulderRoll.q", |
| "kLeftShoulderYaw.q", |
| "kLeftElbow.q", |
| "kLeftWristRoll.q", |
| "kLeftWristPitch.q", |
| "kLeftWristyaw.q", |
| "kRightShoulderPitch.q", |
| "kRightShoulderRoll.q", |
| "kRightShoulderYaw.q", |
| "kRightElbow.q", |
| "kRightWristRoll.q", |
| "kRightWristPitch.q", |
| "kRightWristYaw.q", |
| "left_hand_thumb_0_joint.q", |
| "left_hand_thumb_1_joint.q", |
| "left_hand_thumb_2_joint.q", |
| "left_hand_middle_0_joint.q", |
| "left_hand_middle_1_joint.q", |
| "left_hand_index_0_joint.q", |
| "left_hand_index_1_joint.q", |
| "right_hand_thumb_0_joint.q", |
| "right_hand_thumb_1_joint.q", |
| "right_hand_thumb_2_joint.q", |
| "right_hand_index_0_joint.q", |
| "right_hand_index_1_joint.q", |
| "right_hand_middle_0_joint.q", |
| "right_hand_middle_1_joint.q" |
| ], |
| "shape": [ |
| 43 |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "names": [ |
| "kLeftHipPitch.q", |
| "kLeftHipRoll.q", |
| "kLeftHipYaw.q", |
| "kLeftKnee.q", |
| "kLeftAnklePitch.q", |
| "kLeftAnkleRoll.q", |
| "kRightHipPitch.q", |
| "kRightHipRoll.q", |
| "kRightHipYaw.q", |
| "kRightKnee.q", |
| "kRightAnklePitch.q", |
| "kRightAnkleRoll.q", |
| "kWaistYaw.q", |
| "kWaistRoll.q", |
| "kWaistPitch.q", |
| "kLeftShoulderPitch.q", |
| "kLeftShoulderRoll.q", |
| "kLeftShoulderYaw.q", |
| "kLeftElbow.q", |
| "kLeftWristRoll.q", |
| "kLeftWristPitch.q", |
| "kLeftWristyaw.q", |
| "kRightShoulderPitch.q", |
| "kRightShoulderRoll.q", |
| "kRightShoulderYaw.q", |
| "kRightElbow.q", |
| "kRightWristRoll.q", |
| "kRightWristPitch.q", |
| "kRightWristYaw.q", |
| "left_hand_thumb_0_joint.q", |
| "left_hand_thumb_1_joint.q", |
| "left_hand_thumb_2_joint.q", |
| "left_hand_middle_0_joint.q", |
| "left_hand_middle_1_joint.q", |
| "left_hand_index_0_joint.q", |
| "left_hand_index_1_joint.q", |
| "right_hand_thumb_0_joint.q", |
| "right_hand_thumb_1_joint.q", |
| "right_hand_thumb_2_joint.q", |
| "right_hand_index_0_joint.q", |
| "right_hand_index_1_joint.q", |
| "right_hand_middle_0_joint.q", |
| "right_hand_middle_1_joint.q" |
| ], |
| "shape": [ |
| 43 |
| ] |
| }, |
| "observation.images.head_camera": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.height": 480, |
| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false |
| } |
| }, |
| "observation.images.head_camera_depth": { |
| "dtype": "video", |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channels" |
| ], |
| "info": { |
| "video.fps": 30, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
| "video.channels": 3, |
| "has_audio": false, |
| "video.is_depth_map": true |
| } |
| }, |
| "observation.left_hand_pressure": { |
| "dtype": "float32", |
| "names": [ |
| "left_hand_pressure_0", |
| "left_hand_pressure_1", |
| "left_hand_pressure_2", |
| "left_hand_pressure_3", |
| "left_hand_pressure_4", |
| "left_hand_pressure_5", |
| "left_hand_pressure_6", |
| "left_hand_pressure_7", |
| "left_hand_pressure_8", |
| "left_hand_pressure_9", |
| "left_hand_pressure_10", |
| "left_hand_pressure_11", |
| "left_hand_pressure_12", |
| "left_hand_pressure_13", |
| "left_hand_pressure_14", |
| "left_hand_pressure_15", |
| "left_hand_pressure_16", |
| "left_hand_pressure_17", |
| "left_hand_pressure_18", |
| "left_hand_pressure_19", |
| "left_hand_pressure_20", |
| "left_hand_pressure_21", |
| "left_hand_pressure_22", |
| "left_hand_pressure_23", |
| "left_hand_pressure_24", |
| "left_hand_pressure_25", |
| "left_hand_pressure_26", |
| "left_hand_pressure_27", |
| "left_hand_pressure_28", |
| "left_hand_pressure_29", |
| "left_hand_pressure_30", |
| "left_hand_pressure_31", |
| "left_hand_pressure_32" |
| ], |
| "shape": [ |
| 33 |
| ] |
| }, |
| "observation.right_hand_pressure": { |
| "dtype": "float32", |
| "names": [ |
| "right_hand_pressure_0", |
| "right_hand_pressure_1", |
| "right_hand_pressure_2", |
| "right_hand_pressure_3", |
| "right_hand_pressure_4", |
| "right_hand_pressure_5", |
| "right_hand_pressure_6", |
| "right_hand_pressure_7", |
| "right_hand_pressure_8", |
| "right_hand_pressure_9", |
| "right_hand_pressure_10", |
| "right_hand_pressure_11", |
| "right_hand_pressure_12", |
| "right_hand_pressure_13", |
| "right_hand_pressure_14", |
| "right_hand_pressure_15", |
| "right_hand_pressure_16", |
| "right_hand_pressure_17", |
| "right_hand_pressure_18", |
| "right_hand_pressure_19", |
| "right_hand_pressure_20", |
| "right_hand_pressure_21", |
| "right_hand_pressure_22", |
| "right_hand_pressure_23", |
| "right_hand_pressure_24", |
| "right_hand_pressure_25", |
| "right_hand_pressure_26", |
| "right_hand_pressure_27", |
| "right_hand_pressure_28", |
| "right_hand_pressure_29", |
| "right_hand_pressure_30", |
| "right_hand_pressure_31", |
| "right_hand_pressure_32" |
| ], |
| "shape": [ |
| 33 |
| ] |
| }, |
| "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 |
| } |
| } |
| } |
