| { |
| "bundle_sample_id": "unitreerobotics/sample_00", |
| "logical_dataset": "unitreerobotics", |
| "dataset_id": "G1_Dex1_PlugInEthernet", |
| "schema_group": "unitree_dex1", |
| "episode_index": 84, |
| "task": "Plug the Ethernet cable into the network port.@Insert the network cable into the port jack.@Fit the Ethernet cord into the network port.@Connect the Ethernet cable to the port.@Push the network cable into the network port.", |
| "frames": 751, |
| "fps": 30, |
| "duration_seconds": 25.033333333333335, |
| "state": 83, |
| "action": 97, |
| "state_keys": { |
| "observation.state.left_arm": [ |
| 7 |
| ], |
| "observation.state.right_arm": [ |
| 7 |
| ], |
| "observation.state.left_gripper": [ |
| 1 |
| ], |
| "observation.state.right_gripper": [ |
| 1 |
| ], |
| "observation.state.lower_body": [ |
| 15 |
| ], |
| "observation.state.left_leg": [ |
| 6 |
| ], |
| "observation.state.right_leg": [ |
| 6 |
| ], |
| "observation.state.left_ee_pose_gripper_base": [ |
| 6 |
| ], |
| "observation.state.right_ee_pose_gripper_base": [ |
| 6 |
| ], |
| "observation.state.state_torso": [ |
| 6 |
| ], |
| "observation.state.state_d435": [ |
| 6 |
| ], |
| "observation.state.left_ee_pose_gripper_torso": [ |
| 6 |
| ], |
| "observation.state.right_ee_pose_gripper_torso": [ |
| 6 |
| ], |
| "observation.state.waist_state_joint": [ |
| 3 |
| ], |
| "observation.state.recomputed_ee_valid": [ |
| 1 |
| ] |
| }, |
| "action_keys": { |
| "action.left_arm": [ |
| 7 |
| ], |
| "action.right_arm": [ |
| 7 |
| ], |
| "action.left_gripper": [ |
| 1 |
| ], |
| "action.right_gripper": [ |
| 1 |
| ], |
| "action.lower_body": [ |
| 15 |
| ], |
| "action.pivot": [ |
| 7 |
| ], |
| "action.gripper_controls": [ |
| 4 |
| ], |
| "action.left_leg": [ |
| 6 |
| ], |
| "action.right_leg": [ |
| 6 |
| ], |
| "action.base_command": [ |
| 4 |
| ], |
| "action.left_ee_pose_gripper_base": [ |
| 6 |
| ], |
| "action.right_ee_pose_gripper_base": [ |
| 6 |
| ], |
| "action.action_torso": [ |
| 6 |
| ], |
| "action.action_d435": [ |
| 6 |
| ], |
| "action.left_ee_pose_gripper_torso": [ |
| 6 |
| ], |
| "action.right_ee_pose_gripper_torso": [ |
| 6 |
| ], |
| "action.waist_action_joint": [ |
| 3 |
| ] |
| }, |
| "selection_source": "unitree_realsource.json", |
| "state_dim": 83, |
| "action_dim": 97, |
| "source_relative_root": "unitreerobotics_v21/G1_Dex1_PlugInEthernet", |
| "robot_type": "unitree_g1", |
| "files": [ |
| { |
| "role": "parquet_path", |
| "key": null, |
| "path": "unitreerobotics/sample_00/data.parquet", |
| "source_relative_path": "unitreerobotics_v21/G1_Dex1_PlugInEthernet/data/chunk-000/episode_000084.parquet", |
| "size_bytes": 638270, |
| "sha256": "1abdf60748d6c4ca6b30a6b6c0916bca3aefd05e54cda74005f3fbe7d93f9456" |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_00/videos/observation.images.head_stereo_left.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_Dex1_PlugInEthernet/videos/chunk-000/observation.images.head_stereo_left/episode_000084.mp4", |
| "size_bytes": 7086066, |
| "sha256": "2564d08d07f0212fe69b90f7345900c18a8b899aebd9d3558646eca5af49cc29", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_00/videos/observation.images.head_stereo_right.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_Dex1_PlugInEthernet/videos/chunk-000/observation.images.head_stereo_right/episode_000084.mp4", |
| "size_bytes": 7025370, |
| "sha256": "2568a3bc6f81c5b7ca2048e1d4aee75982e4d7704f6c1ee6f70d0d42ec009586", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_00/videos/observation.images.wrist_left.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_Dex1_PlugInEthernet/videos/chunk-000/observation.images.wrist_left/episode_000084.mp4", |
| "size_bytes": 3341245, |
| "sha256": "0ac7cc6d751cca5167a504b8814a20b55f8aa8779add5c6d3c8ab175aef3e198", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "video_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_00/videos/observation.images.wrist_right.mp4", |
| "source_relative_path": "unitreerobotics_v21/G1_Dex1_PlugInEthernet/videos/chunk-000/observation.images.wrist_right/episode_000084.mp4", |
| "size_bytes": 5269274, |
| "sha256": "b638ab5fb6bb8080bf1313ca3c1dc4828175b2b098f35cb63109d7cde4ac4210", |
| "video": { |
| "codec_name": "av1", |
| "width": 640, |
| "height": 480, |
| "r_frame_rate": "30/1", |
| "nb_frames": 751 |
| } |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_00/source_meta/info.json", |
| "source_relative_path": "unitreerobotics_v21/G1_Dex1_PlugInEthernet/meta/info.json", |
| "size_bytes": 25590, |
| "sha256": "a81cf708ac0c5723d0fe01627eed6ec9e1911dc60d8c27a30663687e59db1ce9" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_00/source_meta/tasks.jsonl", |
| "source_relative_path": "unitreerobotics_v21/G1_Dex1_PlugInEthernet/meta/tasks.jsonl", |
| "size_bytes": 252, |
| "sha256": "468eef8d674220bda23f5a38bc870d9e7fa6cdaf7e3d36d5414e08b138af6b35" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_00/source_meta/episodes.jsonl", |
| "source_relative_path": "unitreerobotics_v21/G1_Dex1_PlugInEthernet/meta/episodes.jsonl", |
| "size_bytes": 341958, |
| "sha256": "8348f6194be2be9569a2b58825897ba6f99d695ecc8b4b4e73b38214457a42bf" |
| }, |
| { |
| "role": "sidecar_paths", |
| "key": null, |
| "path": "unitreerobotics/sample_00/source_meta/episodes_stats.jsonl", |
| "source_relative_path": "unitreerobotics_v21/G1_Dex1_PlugInEthernet/meta/episodes_stats.jsonl", |
| "size_bytes": 18931660, |
| "sha256": "a420161640102f2866d318d2ccdc4c12597fc1725eeaeb0229d30100e87d7fff" |
| } |
| ], |
| "payload_bytes": 42659685, |
| "video_count": 4 |
| } |
|
|