Add files using upload-large-folder tool
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "unitree_g1",
|
| 4 |
+
"total_episodes": 1009,
|
| 5 |
+
"total_frames": 496037,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:1009"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.images.head_stereo_left": {
|
| 18 |
+
"dtype": "video",
|
| 19 |
+
"shape": [
|
| 20 |
+
480,
|
| 21 |
+
640,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channel"
|
| 28 |
+
],
|
| 29 |
+
"info": {
|
| 30 |
+
"video.height": 480,
|
| 31 |
+
"video.width": 640,
|
| 32 |
+
"video.codec": "av1",
|
| 33 |
+
"video.pix_fmt": "yuv420p",
|
| 34 |
+
"video.is_depth_map": false,
|
| 35 |
+
"video.fps": 30,
|
| 36 |
+
"video.channels": 3,
|
| 37 |
+
"has_audio": false
|
| 38 |
+
}
|
| 39 |
+
},
|
| 40 |
+
"observation.images.head_stereo_right": {
|
| 41 |
+
"dtype": "video",
|
| 42 |
+
"shape": [
|
| 43 |
+
480,
|
| 44 |
+
640,
|
| 45 |
+
3
|
| 46 |
+
],
|
| 47 |
+
"names": [
|
| 48 |
+
"height",
|
| 49 |
+
"width",
|
| 50 |
+
"channel"
|
| 51 |
+
],
|
| 52 |
+
"info": {
|
| 53 |
+
"video.height": 480,
|
| 54 |
+
"video.width": 640,
|
| 55 |
+
"video.codec": "av1",
|
| 56 |
+
"video.pix_fmt": "yuv420p",
|
| 57 |
+
"video.is_depth_map": false,
|
| 58 |
+
"video.fps": 30,
|
| 59 |
+
"video.channels": 3,
|
| 60 |
+
"has_audio": false
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"observation.images.wrist_left": {
|
| 64 |
+
"dtype": "video",
|
| 65 |
+
"shape": [
|
| 66 |
+
480,
|
| 67 |
+
640,
|
| 68 |
+
3
|
| 69 |
+
],
|
| 70 |
+
"names": [
|
| 71 |
+
"height",
|
| 72 |
+
"width",
|
| 73 |
+
"channel"
|
| 74 |
+
],
|
| 75 |
+
"info": {
|
| 76 |
+
"video.height": 480,
|
| 77 |
+
"video.width": 640,
|
| 78 |
+
"video.codec": "av1",
|
| 79 |
+
"video.pix_fmt": "yuv420p",
|
| 80 |
+
"video.is_depth_map": false,
|
| 81 |
+
"video.fps": 30,
|
| 82 |
+
"video.channels": 3,
|
| 83 |
+
"has_audio": false
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
+
"observation.images.wrist_right": {
|
| 87 |
+
"dtype": "video",
|
| 88 |
+
"shape": [
|
| 89 |
+
480,
|
| 90 |
+
640,
|
| 91 |
+
3
|
| 92 |
+
],
|
| 93 |
+
"names": [
|
| 94 |
+
"height",
|
| 95 |
+
"width",
|
| 96 |
+
"channel"
|
| 97 |
+
],
|
| 98 |
+
"info": {
|
| 99 |
+
"video.height": 480,
|
| 100 |
+
"video.width": 640,
|
| 101 |
+
"video.codec": "av1",
|
| 102 |
+
"video.pix_fmt": "yuv420p",
|
| 103 |
+
"video.is_depth_map": false,
|
| 104 |
+
"video.fps": 30,
|
| 105 |
+
"video.channels": 3,
|
| 106 |
+
"has_audio": false
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"observation.state.left_arm": {
|
| 110 |
+
"dtype": "float32",
|
| 111 |
+
"shape": [
|
| 112 |
+
7
|
| 113 |
+
],
|
| 114 |
+
"names": [
|
| 115 |
+
"shoulder_pitch",
|
| 116 |
+
"shoulder_roll",
|
| 117 |
+
"shoulder_yaw",
|
| 118 |
+
"elbow",
|
| 119 |
+
"wrist_yaw",
|
| 120 |
+
"wrist_roll",
|
| 121 |
+
"wrist_pitch"
|
| 122 |
+
]
|
| 123 |
+
},
|
| 124 |
+
"observation.state.right_arm": {
|
| 125 |
+
"dtype": "float32",
|
| 126 |
+
"shape": [
|
| 127 |
+
7
|
| 128 |
+
],
|
| 129 |
+
"names": [
|
| 130 |
+
"shoulder_pitch",
|
| 131 |
+
"shoulder_roll",
|
| 132 |
+
"shoulder_yaw",
|
| 133 |
+
"elbow",
|
| 134 |
+
"wrist_yaw",
|
| 135 |
+
"wrist_roll",
|
| 136 |
+
"wrist_pitch"
|
| 137 |
+
]
|
| 138 |
+
},
|
| 139 |
+
"observation.state.left_gripper": {
|
| 140 |
+
"dtype": "float32",
|
| 141 |
+
"shape": [
|
| 142 |
+
1
|
| 143 |
+
],
|
| 144 |
+
"names": [
|
| 145 |
+
"gripper_pos"
|
| 146 |
+
]
|
| 147 |
+
},
|
| 148 |
+
"observation.state.right_gripper": {
|
| 149 |
+
"dtype": "float32",
|
| 150 |
+
"shape": [
|
| 151 |
+
1
|
| 152 |
+
],
|
| 153 |
+
"names": [
|
| 154 |
+
"gripper_pos"
|
| 155 |
+
]
|
| 156 |
+
},
|
| 157 |
+
"observation.state.lower_body": {
|
| 158 |
+
"dtype": "float32",
|
| 159 |
+
"shape": [
|
| 160 |
+
15
|
| 161 |
+
],
|
| 162 |
+
"names": [
|
| 163 |
+
"left_hip_pitch",
|
| 164 |
+
"left_hip_roll",
|
| 165 |
+
"left_hip_yaw",
|
| 166 |
+
"left_knee",
|
| 167 |
+
"left_ankle_pitch",
|
| 168 |
+
"left_ankle_roll",
|
| 169 |
+
"right_hip_pitch",
|
| 170 |
+
"right_hip_roll",
|
| 171 |
+
"right_hip_yaw",
|
| 172 |
+
"right_knee",
|
| 173 |
+
"right_ankle_pitch",
|
| 174 |
+
"right_ankle_roll",
|
| 175 |
+
"waist_yaw",
|
| 176 |
+
"waist_roll",
|
| 177 |
+
"waist_pitch"
|
| 178 |
+
]
|
| 179 |
+
},
|
| 180 |
+
"observation.state.left_leg": {
|
| 181 |
+
"dtype": "float32",
|
| 182 |
+
"shape": [
|
| 183 |
+
6
|
| 184 |
+
],
|
| 185 |
+
"names": [
|
| 186 |
+
"hip_pitch",
|
| 187 |
+
"hip_roll",
|
| 188 |
+
"hip_yaw",
|
| 189 |
+
"knee",
|
| 190 |
+
"ankle_pitch",
|
| 191 |
+
"ankle_roll"
|
| 192 |
+
]
|
| 193 |
+
},
|
| 194 |
+
"observation.state.right_leg": {
|
| 195 |
+
"dtype": "float32",
|
| 196 |
+
"shape": [
|
| 197 |
+
6
|
| 198 |
+
],
|
| 199 |
+
"names": [
|
| 200 |
+
"hip_pitch",
|
| 201 |
+
"hip_roll",
|
| 202 |
+
"hip_yaw",
|
| 203 |
+
"knee",
|
| 204 |
+
"ankle_pitch",
|
| 205 |
+
"ankle_roll"
|
| 206 |
+
]
|
| 207 |
+
},
|
| 208 |
+
"observation.state.left_ee_pose_gripper_base": {
|
| 209 |
+
"dtype": "float32",
|
| 210 |
+
"shape": [
|
| 211 |
+
6
|
| 212 |
+
],
|
| 213 |
+
"names": [
|
| 214 |
+
"x",
|
| 215 |
+
"y",
|
| 216 |
+
"z",
|
| 217 |
+
"roll",
|
| 218 |
+
"pitch",
|
| 219 |
+
"yaw"
|
| 220 |
+
]
|
| 221 |
+
},
|
| 222 |
+
"observation.state.right_ee_pose_gripper_base": {
|
| 223 |
+
"dtype": "float32",
|
| 224 |
+
"shape": [
|
| 225 |
+
6
|
| 226 |
+
],
|
| 227 |
+
"names": [
|
| 228 |
+
"x",
|
| 229 |
+
"y",
|
| 230 |
+
"z",
|
| 231 |
+
"roll",
|
| 232 |
+
"pitch",
|
| 233 |
+
"yaw"
|
| 234 |
+
]
|
| 235 |
+
},
|
| 236 |
+
"observation.state.state_torso": {
|
| 237 |
+
"dtype": "float32",
|
| 238 |
+
"shape": [
|
| 239 |
+
6
|
| 240 |
+
],
|
| 241 |
+
"names": [
|
| 242 |
+
"x",
|
| 243 |
+
"y",
|
| 244 |
+
"z",
|
| 245 |
+
"roll",
|
| 246 |
+
"pitch",
|
| 247 |
+
"yaw"
|
| 248 |
+
]
|
| 249 |
+
},
|
| 250 |
+
"observation.state.state_d435": {
|
| 251 |
+
"dtype": "float32",
|
| 252 |
+
"shape": [
|
| 253 |
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6
|
| 254 |
+
],
|
| 255 |
+
"names": [
|
| 256 |
+
"x",
|
| 257 |
+
"y",
|
| 258 |
+
"z",
|
| 259 |
+
"roll",
|
| 260 |
+
"pitch",
|
| 261 |
+
"yaw"
|
| 262 |
+
]
|
| 263 |
+
},
|
| 264 |
+
"observation.state.left_ee_pose_gripper_torso": {
|
| 265 |
+
"dtype": "float32",
|
| 266 |
+
"shape": [
|
| 267 |
+
6
|
| 268 |
+
],
|
| 269 |
+
"names": [
|
| 270 |
+
"x",
|
| 271 |
+
"y",
|
| 272 |
+
"z",
|
| 273 |
+
"roll",
|
| 274 |
+
"pitch",
|
| 275 |
+
"yaw"
|
| 276 |
+
]
|
| 277 |
+
},
|
| 278 |
+
"observation.state.right_ee_pose_gripper_torso": {
|
| 279 |
+
"dtype": "float32",
|
| 280 |
+
"shape": [
|
| 281 |
+
6
|
| 282 |
+
],
|
| 283 |
+
"names": [
|
| 284 |
+
"x",
|
| 285 |
+
"y",
|
| 286 |
+
"z",
|
| 287 |
+
"roll",
|
| 288 |
+
"pitch",
|
| 289 |
+
"yaw"
|
| 290 |
+
]
|
| 291 |
+
},
|
| 292 |
+
"observation.state.waist_state_joint": {
|
| 293 |
+
"dtype": "float32",
|
| 294 |
+
"shape": [
|
| 295 |
+
3
|
| 296 |
+
],
|
| 297 |
+
"names": [
|
| 298 |
+
"yaw",
|
| 299 |
+
"roll",
|
| 300 |
+
"pitch"
|
| 301 |
+
]
|
| 302 |
+
},
|
| 303 |
+
"observation.state.recomputed_ee_valid": {
|
| 304 |
+
"dtype": "int8",
|
| 305 |
+
"shape": [
|
| 306 |
+
1
|
| 307 |
+
],
|
| 308 |
+
"names": [
|
| 309 |
+
"valid"
|
| 310 |
+
]
|
| 311 |
+
},
|
| 312 |
+
"action.left_arm": {
|
| 313 |
+
"dtype": "float32",
|
| 314 |
+
"shape": [
|
| 315 |
+
7
|
| 316 |
+
],
|
| 317 |
+
"names": [
|
| 318 |
+
"shoulder_pitch",
|
| 319 |
+
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meta/stats.json
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@@ -0,0 +1,3150 @@
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|
| 1 |
+
{
|
| 2 |
+
"action.pivot": {
|
| 3 |
+
"min": [
|
| 4 |
+
-3.12142692564521e-05,
|
| 5 |
+
-0.00017603684682399035,
|
| 6 |
+
-0.800000011920929,
|
| 7 |
+
0.0,
|
| 8 |
+
0.15000000596046448,
|
| 9 |
+
0.0,
|
| 10 |
+
0.6626172065734863
|
| 11 |
+
],
|
| 12 |
+
"max": [
|
| 13 |
+
0.00013593085168395191,
|
| 14 |
+
7.19695344986171e-11,
|
| 15 |
+
0.800000011920929,
|
| 16 |
+
0.0,
|
| 17 |
+
0.15000000596046448,
|
| 18 |
+
0.0,
|
| 19 |
+
0.7400000095367432
|
| 20 |
+
],
|
| 21 |
+
"mean": [
|
| 22 |
+
4.5963315048857175e-09,
|
| 23 |
+
-3.955991260815317e-09,
|
| 24 |
+
4.258757469675225e-06,
|
| 25 |
+
0.0,
|
| 26 |
+
0.15000070376076347,
|
| 27 |
+
0.0,
|
| 28 |
+
0.7378551542058281
|
| 29 |
+
],
|
| 30 |
+
"std": [
|
| 31 |
+
5.795502999328592e-07,
|
| 32 |
+
5.769411786859062e-07,
|
| 33 |
+
0.005399096755254021,
|
| 34 |
+
0.0,
|
| 35 |
+
4.205188250534471e-06,
|
| 36 |
+
0.0,
|
| 37 |
+
0.007676358100810624
|
| 38 |
+
],
|
| 39 |
+
"count": [
|
| 40 |
+
496037
|
| 41 |
+
],
|
| 42 |
+
"q01": [
|
| 43 |
+
-2.0366223586516612e-08,
|
| 44 |
+
-1.0036117720361313e-07,
|
| 45 |
+
-0.0009813062575991256,
|
| 46 |
+
3.999578446212122e-16,
|
| 47 |
+
0.15000000596046448,
|
| 48 |
+
3.999578446212122e-16,
|
| 49 |
+
0.7378564999947792
|
| 50 |
+
],
|
| 51 |
+
"q10": [
|
| 52 |
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