File size: 4,934 Bytes
749a983 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 | {
"bundle_sample_id": "unitreerobotics/sample_01",
"logical_dataset": "unitreerobotics",
"dataset_id": "G1_WBT_Brainco_Make_The_Bed",
"schema_group": "unitree_wbt_brainco",
"episode_index": 147,
"task": "Make the bed neatly",
"frames": 751,
"fps": 30,
"duration_seconds": 25.033333333333335,
"state": 60,
"action": 60,
"state_keys": {
"observation.state.ee_state": [
12
],
"observation.state.hand_state": [
12
],
"observation.state.robot_q_current": [
36
]
},
"action_keys": {
"action.ee_action": [
12
],
"action.hand_cmd": [
12
],
"action.robot_q_desired": [
36
]
},
"selection_source": "unitree_realsource.json",
"state_dim": 60,
"action_dim": 60,
"source_relative_root": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed",
"robot_type": "unitree_g1",
"files": [
{
"role": "parquet_path",
"key": null,
"path": "unitreerobotics/sample_01/data.parquet",
"source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/data/chunk-000/episode_000147.parquet",
"size_bytes": 437247,
"sha256": "8ec69d573e34a1e6ea15b9945d0e48fa3d7631913210e6d4eb6c6797f11099b4"
},
{
"role": "video_paths",
"key": null,
"path": "unitreerobotics/sample_01/videos/observation.images.head_stereo_left.mp4",
"source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/videos/chunk-000/observation.images.head_stereo_left/episode_000147.mp4",
"size_bytes": 7697565,
"sha256": "23778e7bc6c3f375258835e17257d99a0534f69a6288701e2a9fbadb58a47719",
"video": {
"codec_name": "av1",
"width": 640,
"height": 480,
"r_frame_rate": "30/1",
"nb_frames": 751
}
},
{
"role": "video_paths",
"key": null,
"path": "unitreerobotics/sample_01/videos/observation.images.head_stereo_right.mp4",
"source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/videos/chunk-000/observation.images.head_stereo_right/episode_000147.mp4",
"size_bytes": 6906024,
"sha256": "eb6e387ece0dcf24ed3c9f6494d4554699f4434e74a4cd15d45b2b1fd3233daf",
"video": {
"codec_name": "av1",
"width": 640,
"height": 480,
"r_frame_rate": "30/1",
"nb_frames": 751
}
},
{
"role": "video_paths",
"key": null,
"path": "unitreerobotics/sample_01/videos/observation.images.wrist_left.mp4",
"source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/videos/chunk-000/observation.images.wrist_left/episode_000147.mp4",
"size_bytes": 4353306,
"sha256": "80dda26ec1756c27b10a59cc05c2f4d6824d496b59fe259ae341e6ec101e9602",
"video": {
"codec_name": "av1",
"width": 640,
"height": 480,
"r_frame_rate": "30/1",
"nb_frames": 751
}
},
{
"role": "video_paths",
"key": null,
"path": "unitreerobotics/sample_01/videos/observation.images.wrist_right.mp4",
"source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/videos/chunk-000/observation.images.wrist_right/episode_000147.mp4",
"size_bytes": 7564324,
"sha256": "f169f4325de96c4ca897706374c9aa5a4c5a9ae7753c0506643040eae7a2cc2d",
"video": {
"codec_name": "av1",
"width": 640,
"height": 480,
"r_frame_rate": "30/1",
"nb_frames": 751
}
},
{
"role": "sidecar_paths",
"key": null,
"path": "unitreerobotics/sample_01/source_meta/info.json",
"source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/meta/info.json",
"size_bytes": 9030,
"sha256": "86b16460b9507ef2570d44051b027f0391e8c639cca6917f1c6c62f8ccb722b2"
},
{
"role": "sidecar_paths",
"key": null,
"path": "unitreerobotics/sample_01/source_meta/tasks.jsonl",
"source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/meta/tasks.jsonl",
"size_bytes": 49,
"sha256": "76bcbfe71480e1043f52585287b42f852132fe2b848a6c2f1429fe2429947530"
},
{
"role": "sidecar_paths",
"key": null,
"path": "unitreerobotics/sample_01/source_meta/episodes.jsonl",
"source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/meta/episodes.jsonl",
"size_bytes": 21517,
"sha256": "83560440e8c1d6e1fefd496cf9838c30a3e0de850c15021c8e73054343658db6"
},
{
"role": "sidecar_paths",
"key": null,
"path": "unitreerobotics/sample_01/source_meta/episodes_stats.jsonl",
"source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/meta/episodes_stats.jsonl",
"size_bytes": 3461908,
"sha256": "a4405845171aab14a0d9874e6bdb17737e3abe25d1adfa17e53c19d39d019149"
}
],
"payload_bytes": 30450970,
"video_count": 4
}
|