| { |
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| "robot_type": null, |
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| "total_frames": 47528, |
| "total_tasks": 1, |
| "total_videos": 27, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 50, |
| "splits": { |
| "train": "0:27" |
| }, |
| "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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| 640, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
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| "video.width": 640, |
| "video.codec": "h264", |
| "video.pix_fmt": "yuv420p", |
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| "has_audio": false |
| } |
| }, |
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| ], |
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| "left_hip_roll_joint", |
| "left_hip_yaw_joint", |
| "left_knee_joint", |
| "left_ankle_pitch_joint", |
| "left_ankle_roll_joint", |
| "right_hip_pitch_joint", |
| "right_hip_roll_joint", |
| "right_hip_yaw_joint", |
| "right_knee_joint", |
| "right_ankle_pitch_joint", |
| "right_ankle_roll_joint", |
| "waist_yaw_joint", |
| "waist_roll_joint", |
| "waist_pitch_joint", |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "left_elbow_joint", |
| "left_wrist_roll_joint", |
| "left_wrist_pitch_joint", |
| "left_wrist_yaw_joint", |
| "left_hand_index_0_joint", |
| "left_hand_index_1_joint", |
| "left_hand_middle_0_joint", |
| "left_hand_middle_1_joint", |
| "left_hand_thumb_0_joint", |
| "left_hand_thumb_1_joint", |
| "left_hand_thumb_2_joint", |
| "right_shoulder_pitch_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_yaw_joint", |
| "right_elbow_joint", |
| "right_wrist_roll_joint", |
| "right_wrist_pitch_joint", |
| "right_wrist_yaw_joint", |
| "right_hand_index_0_joint", |
| "right_hand_index_1_joint", |
| "right_hand_middle_0_joint", |
| "right_hand_middle_1_joint", |
| "right_hand_thumb_0_joint", |
| "right_hand_thumb_1_joint", |
| "right_hand_thumb_2_joint" |
| ] |
| }, |
| "observation.eef_state": { |
| "dtype": "float64", |
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| ], |
| "names": [ |
| "left_wrist_pos", |
| "left_wrist_abs_quat", |
| "right_wrist_pos", |
| "right_wrist_abs_quat" |
| ] |
| }, |
| "action.wbc": { |
| "dtype": "float64", |
| "shape": [ |
| 43 |
| ], |
| "names": [ |
| "left_hip_pitch_joint", |
| "left_hip_roll_joint", |
| "left_hip_yaw_joint", |
| "left_knee_joint", |
| "left_ankle_pitch_joint", |
| "left_ankle_roll_joint", |
| "right_hip_pitch_joint", |
| "right_hip_roll_joint", |
| "right_hip_yaw_joint", |
| "right_knee_joint", |
| "right_ankle_pitch_joint", |
| "right_ankle_roll_joint", |
| "waist_yaw_joint", |
| "waist_roll_joint", |
| "waist_pitch_joint", |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "left_elbow_joint", |
| "left_wrist_roll_joint", |
| "left_wrist_pitch_joint", |
| "left_wrist_yaw_joint", |
| "left_hand_index_0_joint", |
| "left_hand_index_1_joint", |
| "left_hand_middle_0_joint", |
| "left_hand_middle_1_joint", |
| "left_hand_thumb_0_joint", |
| "left_hand_thumb_1_joint", |
| "left_hand_thumb_2_joint", |
| "right_shoulder_pitch_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_yaw_joint", |
| "right_elbow_joint", |
| "right_wrist_roll_joint", |
| "right_wrist_pitch_joint", |
| "right_wrist_yaw_joint", |
| "right_hand_index_0_joint", |
| "right_hand_index_1_joint", |
| "right_hand_middle_0_joint", |
| "right_hand_middle_1_joint", |
| "right_hand_thumb_0_joint", |
| "right_hand_thumb_1_joint", |
| "right_hand_thumb_2_joint" |
| ] |
| }, |
| "observation.root_orientation": { |
| "dtype": "float64", |
| "shape": [ |
| 4 |
| ], |
| "names": [ |
| "base_qw", |
| "base_qx", |
| "base_qy", |
| "base_qz" |
| ] |
| }, |
| "observation.projected_gravity": { |
| "dtype": "float64", |
| "shape": [ |
| 3 |
| ], |
| "names": [ |
| "gravity_x", |
| "gravity_y", |
| "gravity_z" |
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| }, |
| "observation.cpp_rotation_offset": { |
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| ], |
| "names": [ |
| "rot_offset_qw", |
| "rot_offset_qx", |
| "rot_offset_qy", |
| "rot_offset_qz" |
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| }, |
| "observation.init_base_quat": { |
| "dtype": "float64", |
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| 4 |
| ], |
| "names": [ |
| "init_base_qw", |
| "init_base_qx", |
| "init_base_qy", |
| "init_base_qz" |
| ] |
| }, |
| "teleop.delta_heading": { |
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| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "delta_heading" |
| ] |
| }, |
| "action.motion_token": { |
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| ], |
| "names": "motion_token" |
| }, |
| "teleop.smpl_joints": { |
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| ], |
| "names": "smpl_joints" |
| }, |
| "teleop.smpl_pose": { |
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| ], |
| "names": "smpl_pose" |
| }, |
| "teleop.body_quat_w": { |
| "dtype": "float32", |
| "shape": [ |
| 4 |
| ], |
| "names": "body_quat_w" |
| }, |
| "teleop.target_body_orientation": { |
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| "shape": [ |
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| ], |
| "names": [ |
| "target_body_r00", |
| "target_body_r10", |
| "target_body_r01", |
| "target_body_r11", |
| "target_body_r02", |
| "target_body_r12" |
| ] |
| }, |
| "teleop.left_hand_joints": { |
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| "shape": [ |
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| ], |
| "names": "left_hand_joints" |
| }, |
| "teleop.right_hand_joints": { |
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| ], |
| "names": "right_hand_joints" |
| }, |
| "teleop.smpl_frame_index": { |
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| ], |
| "names": [ |
| "smpl_frame_index" |
| ] |
| }, |
| "teleop.left_wrist_joints": { |
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| 3 |
| ], |
| "names": [ |
| "left_wrist_roll", |
| "left_wrist_pitch", |
| "left_wrist_yaw" |
| ] |
| }, |
| "teleop.right_wrist_joints": { |
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| "shape": [ |
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| ], |
| "names": [ |
| "right_wrist_roll", |
| "right_wrist_pitch", |
| "right_wrist_yaw" |
| ] |
| }, |
| "teleop.stream_mode": { |
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| ], |
| "names": [ |
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| ] |
| }, |
| "teleop.planner_mode": { |
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| ], |
| "names": [ |
| "locomotion_mode" |
| ] |
| }, |
| "teleop.planner_movement": { |
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| 3 |
| ], |
| "names": [ |
| "movement_x", |
| "movement_y", |
| "movement_z" |
| ] |
| }, |
| "teleop.planner_facing": { |
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| 3 |
| ], |
| "names": [ |
| "facing_x", |
| "facing_y", |
| "facing_z" |
| ] |
| }, |
| "teleop.planner_speed": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "speed" |
| ] |
| }, |
| "teleop.planner_height": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": [ |
| "height" |
| ] |
| }, |
| "teleop.vr_3pt_position": { |
| "dtype": "float32", |
| "shape": [ |
| 9 |
| ], |
| "names": [ |
| "lwrist_x", |
| "lwrist_y", |
| "lwrist_z", |
| "rwrist_x", |
| "rwrist_y", |
| "rwrist_z", |
| "neck_x", |
| "neck_y", |
| "neck_z" |
| ] |
| }, |
| "teleop.vr_3pt_orientation": { |
| "dtype": "float32", |
| "shape": [ |
| 18 |
| ], |
| "names": [ |
| "lwrist_r00", |
| "lwrist_r10", |
| "lwrist_r01", |
| "lwrist_r11", |
| "lwrist_r02", |
| "lwrist_r12", |
| "rwrist_r00", |
| "rwrist_r10", |
| "rwrist_r01", |
| "rwrist_r11", |
| "rwrist_r02", |
| "rwrist_r12", |
| "neck_r00", |
| "neck_r10", |
| "neck_r01", |
| "neck_r11", |
| "neck_r02", |
| "neck_r12" |
| ] |
| }, |
| "timestamp": { |
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| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
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| 1 |
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| "names": null |
| }, |
| "episode_index": { |
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| 1 |
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| "names": null |
| }, |
| "index": { |
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| "names": null |
| }, |
| "task_index": { |
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| ], |
| "names": null |
| } |
| }, |
| "script_config": { |
| "control_frequency": 50.0, |
| "encoder_file": "policy/release/model_encoder.onnx", |
| "is_using_encoder": true, |
| "model_path": "policy/release/model_decoder.onnx", |
| "obs_config_path": "policy/release/observation_config.yaml", |
| "planner_fp16": false, |
| "planner_frequency": 10.0, |
| "planner_path": "planner/target_vel/V2/planner_sonic.onnx", |
| "policy_fp16": false, |
| "reference_motion_path": "reference/example/", |
| "record_wrist_cameras": false |
| }, |
| "discarded_episode_indices": [ |
| 0, |
| 3 |
| ] |
| } |
