Hugging Face's logo

Timsty
/
groot_deployment

ONNX
Model card Files
xet
 Community
groot_deployment
File size: 5,160 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_04",
  "logical_dataset": "unitreerobotics",
  "dataset_id": "G1_WBT_Dex1_Put_Clothes_into_Washing_Machine",
  "schema_group": "unitree_wbt_dex1",
  "episode_index": 140,
  "task": "Pick up the clothes and place them into the washing machine",
  "frames": 743,
  "fps": 30,
  "duration_seconds": 24.766666666666666,
  "state": 50,
  "action": 50,
  "state_keys": {
    "observation.state.ee_state": [
      12
    ],
    "observation.state.hand_state": [
      2
    ],
    "observation.state.robot_q_current": [
      36
    ]
  },
  "action_keys": {
    "action.ee_action": [
      12
    ],
    "action.hand_cmd": [
      2
    ],
    "action.robot_q_desired": [
      36
    ]
  },
  "selection_source": "unitree_realsource.json",
  "state_dim": 50,
  "action_dim": 50,
  "source_relative_root": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine",
  "robot_type": "unitree_g1",
  "files": [
    {
      "role": "parquet_path",
      "key": null,
      "path": "unitreerobotics/sample_04/data.parquet",
      "source_relative_path": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine/data/chunk-000/episode_000140.parquet",
      "size_bytes": 433812,
      "sha256": "57d71bf71913cd4e5ee89194458307aa7009637694edcb67ba5cebddc262fedc"
    },
    {
      "role": "video_paths",
      "key": null,
      "path": "unitreerobotics/sample_04/videos/observation.images.head_stereo_left.mp4",
      "source_relative_path": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine/videos/chunk-000/observation.images.head_stereo_left/episode_000140.mp4",
      "size_bytes": 10650017,
      "sha256": "91dfc11b2626f449c40fc56ec3df9a6b31f2d27ff4acc4e95607031b14fd9bf9",
      "video": {
        "codec_name": "av1",
        "width": 640,
        "height": 480,
        "r_frame_rate": "30/1",
        "nb_frames": 743
      }
    },
    {
      "role": "video_paths",
      "key": null,
      "path": "unitreerobotics/sample_04/videos/observation.images.head_stereo_right.mp4",
      "source_relative_path": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine/videos/chunk-000/observation.images.head_stereo_right/episode_000140.mp4",
      "size_bytes": 14192712,
      "sha256": "439b2f135f93523b319c1c62355dec6d026bb8f2015ea27197ebe2144c66fd73",
      "video": {
        "codec_name": "av1",
        "width": 640,
        "height": 480,
        "r_frame_rate": "30/1",
        "nb_frames": 743
      }
    },
    {
      "role": "video_paths",
      "key": null,
      "path": "unitreerobotics/sample_04/videos/observation.images.wrist_left.mp4",
      "source_relative_path": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine/videos/chunk-000/observation.images.wrist_left/episode_000140.mp4",
      "size_bytes": 10923303,
      "sha256": "6499a45d9488354dbe553d5ecfd54b83bb0e599ada361acf52d9b97ebcf6bcef",
      "video": {
        "codec_name": "av1",
        "width": 640,
        "height": 480,
        "r_frame_rate": "30/1",
        "nb_frames": 743
      }
    },
    {
      "role": "video_paths",
      "key": null,
      "path": "unitreerobotics/sample_04/videos/observation.images.wrist_right.mp4",
      "source_relative_path": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine/videos/chunk-000/observation.images.wrist_right/episode_000140.mp4",
      "size_bytes": 14863539,
      "sha256": "441c5455365efff87843b180f0431ee572eb61fde27da473bf975e578437e24c",
      "video": {
        "codec_name": "av1",
        "width": 640,
        "height": 480,
        "r_frame_rate": "30/1",
        "nb_frames": 743
      }
    },
    {
      "role": "sidecar_paths",
      "key": null,
      "path": "unitreerobotics/sample_04/source_meta/info.json",
      "source_relative_path": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine/meta/info.json",
      "size_bytes": 8403,
      "sha256": "f8d066fd6a0ac05d6791afacd7f067eb94e5b35003f57fb61039fe66d9e517c4"
    },
    {
      "role": "sidecar_paths",
      "key": null,
      "path": "unitreerobotics/sample_04/source_meta/tasks.jsonl",
      "source_relative_path": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine/meta/tasks.jsonl",
      "size_bytes": 89,
      "sha256": "c3d740c05e2edaf32031553610156c8efce6bed9920093b7881f123712047e6c"
    },
    {
      "role": "sidecar_paths",
      "key": null,
      "path": "unitreerobotics/sample_04/source_meta/episodes.jsonl",
      "source_relative_path": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine/meta/episodes.jsonl",
      "size_bytes": 17156,
      "sha256": "4d7bcfaad5bdbb9700726611ab3356fb07f1c1bde2e2dfcc6b86d7f3154e0cfe"
    },
    {
      "role": "sidecar_paths",
      "key": null,
      "path": "unitreerobotics/sample_04/source_meta/episodes_stats.jsonl",
      "source_relative_path": "unitreerobotics_v21/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine/meta/episodes_stats.jsonl",
      "size_bytes": 1590901,
      "sha256": "175317cafd629eaef4bbfb3df973c6c0e0564194b516c9f94f132248987a2563"
    }
  ],
  "payload_bytes": 52679932,
  "video_count": 4
}