Download meta/info.json from unitreerobotics/G1_WBT_SMPL_Brainco_Operate_Washing_Machine: direct link, hf CLI and curl.
- Browser
- Download file 7.62 kB
-
https://huggingface.co/datasets/unitreerobotics/G1_WBT_SMPL_Brainco_Operate_Washing_Machine/resolve/main/meta/info.json
- Command line
-
hf download hf://datasets/unitreerobotics/G1_WBT_SMPL_Brainco_Operate_Washing_Machine/meta/info.json
-
curl -L -o info.json https://huggingface.co/datasets/unitreerobotics/G1_WBT_SMPL_Brainco_Operate_Washing_Machine/resolve/main/meta/info.json
7.62 kB
| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "unitree_g1_brainco", | |
| "total_episodes": 375, | |
| "total_frames": 832812, | |
| "total_tasks": 1, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:375" | |
| }, | |
| "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.images.head_stereo_left": { | |
| "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.head_stereo_right": { | |
| "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.wrist_left": { | |
| "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.wrist_right": { | |
| "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.state.robot_q_current": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 36 | |
| ], | |
| "names": [ | |
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| "q_5", | |
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| "q_9", | |
| "q_10", | |
| "q_11", | |
| "q_12", | |
| "q_13", | |
| "q_14", | |
| "q_15", | |
| "q_16", | |
| "q_17", | |
| "q_18", | |
| "q_19", | |
| "q_20", | |
| "q_21", | |
| "q_22", | |
| "q_23", | |
| "q_24", | |
| "q_25", | |
| "q_26", | |
| "q_27", | |
| "q_28", | |
| "q_29", | |
| "q_30", | |
| "q_31", | |
| "q_32", | |
| "q_33", | |
| "q_34", | |
| "q_35" | |
| ] | |
| }, | |
| "observation.state.hand_state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 12 | |
| ], | |
| "names": [ | |
| "finger_0", | |
| "finger_1", | |
| "finger_2", | |
| "finger_3", | |
| "finger_4", | |
| "finger_5", | |
| "finger_6", | |
| "finger_7", | |
| "finger_8", | |
| "finger_9", | |
| "finger_10", | |
| "finger_11" | |
| ] | |
| }, | |
| "action.hand": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 12 | |
| ], | |
| "names": [ | |
| "finger_0", | |
| "finger_1", | |
| "finger_2", | |
| "finger_3", | |
| "finger_4", | |
| "finger_5", | |
| "finger_6", | |
| "finger_7", | |
| "finger_8", | |
| "finger_9", | |
| "finger_10", | |
| "finger_11" | |
| ] | |
| }, | |
| "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 | |
| }, | |
| "action.robot_wrist_ref": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 6 | |
| ], | |
| "names": [ | |
| "human_76", | |
| "human_77", | |
| "human_78", | |
| "human_79", | |
| "human_80", | |
| "human_81" | |
| ] | |
| }, | |
| "action.frame_axis": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 24, | |
| 3 | |
| ], | |
| "names": [ | |
| "joint", | |
| "axis" | |
| ], | |
| "info": { | |
| "joint_names": [ | |
| "pelvis", | |
| "left_hip", | |
| "right_hip", | |
| "spine1", | |
| "left_knee", | |
| "right_knee", | |
| "spine2", | |
| "left_ankle", | |
| "right_ankle", | |
| "spine3", | |
| "left_foot", | |
| "right_foot", | |
| "neck", | |
| "left_collar", | |
| "right_collar", | |
| "head", | |
| "left_shoulder", | |
| "right_shoulder", | |
| "left_elbow", | |
| "right_elbow", | |
| "left_wrist", | |
| "right_wrist", | |
| "left_thumb_tip", | |
| "right_thumb_tip" | |
| ], | |
| "axis_names": [ | |
| "x", | |
| "y", | |
| "z" | |
| ], | |
| "units": "radians", | |
| "coordinate_system": "Y-up", | |
| "rest": "SOURCE_REST", | |
| "solver": "source_bone_direction_v2" | |
| } | |
| } | |
| } | |
| } |