| { |
| "chunks_size": 1000, |
| "codebase_version": "v3.0", |
| "data_files_size_in_mb": 100, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "features": { |
| "action": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": [ |
| "left_ee_dpos_x", |
| "left_ee_dpos_y", |
| "left_ee_dpos_z", |
| "left_ee_drot_x", |
| "left_ee_drot_y", |
| "left_ee_drot_z", |
| "right_ee_dpos_x", |
| "right_ee_dpos_y", |
| "right_ee_dpos_z", |
| "right_ee_drot_x", |
| "right_ee_drot_y", |
| "right_ee_drot_z", |
| "right_index_proximal_joint", |
| "right_index_distal_joint", |
| "right_middle_proximal_joint", |
| "right_middle_distal_joint", |
| "right_pinky_proximal_joint", |
| "right_pinky_distal_joint", |
| "right_ring_proximal_joint", |
| "right_ring_distal_joint", |
| "right_thumb_metacarpal_joint", |
| "right_thumb_proximal_joint", |
| "right_thumb_distal_joint", |
| "left_index_proximal_joint", |
| "left_index_distal_joint", |
| "left_middle_proximal_joint", |
| "left_middle_distal_joint", |
| "left_pinky_proximal_joint", |
| "left_pinky_distal_joint", |
| "left_ring_proximal_joint", |
| "left_ring_distal_joint", |
| "left_thumb_metacarpal_joint", |
| "left_thumb_proximal_joint", |
| "left_thumb_distal_joint", |
| "head_quat_x", |
| "head_quat_y", |
| "head_quat_z", |
| "head_quat_w", |
| "root_lin_vel_x", |
| "root_lin_vel_y", |
| "root_lin_vel_z", |
| "root_ang_vel_x", |
| "root_ang_vel_y", |
| "root_ang_vel_z" |
| ], |
| "shape": [ |
| 44 |
| ] |
| }, |
| "action.ee_delta": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": [ |
| "left_ee_dpos_x", |
| "left_ee_dpos_y", |
| "left_ee_dpos_z", |
| "left_ee_drot_x", |
| "left_ee_drot_y", |
| "left_ee_drot_z", |
| "right_ee_dpos_x", |
| "right_ee_dpos_y", |
| "right_ee_dpos_z", |
| "right_ee_drot_x", |
| "right_ee_drot_y", |
| "right_ee_drot_z" |
| ], |
| "shape": [ |
| 12 |
| ] |
| }, |
| "action.head_rotation": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": [ |
| "head_quat_x", |
| "head_quat_y", |
| "head_quat_z", |
| "head_quat_w" |
| ], |
| "shape": [ |
| 4 |
| ] |
| }, |
| "action.left_finger_position": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": [ |
| "left_index_proximal_joint", |
| "left_index_distal_joint", |
| "left_middle_proximal_joint", |
| "left_middle_distal_joint", |
| "left_pinky_proximal_joint", |
| "left_pinky_distal_joint", |
| "left_ring_proximal_joint", |
| "left_ring_distal_joint", |
| "left_thumb_metacarpal_joint", |
| "left_thumb_proximal_joint", |
| "left_thumb_distal_joint" |
| ], |
| "shape": [ |
| 11 |
| ] |
| }, |
| "action.right_finger_position": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": [ |
| "right_index_proximal_joint", |
| "right_index_distal_joint", |
| "right_middle_proximal_joint", |
| "right_middle_distal_joint", |
| "right_pinky_proximal_joint", |
| "right_pinky_distal_joint", |
| "right_ring_proximal_joint", |
| "right_ring_distal_joint", |
| "right_thumb_metacarpal_joint", |
| "right_thumb_proximal_joint", |
| "right_thumb_distal_joint" |
| ], |
| "shape": [ |
| 11 |
| ] |
| }, |
| "action.root_angular_velocity": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": [ |
| "root_ang_vel_x", |
| "root_ang_vel_y", |
| "root_ang_vel_z" |
| ], |
| "shape": [ |
| 3 |
| ] |
| }, |
| "action.root_linear_velocity": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": [ |
| "root_lin_vel_x", |
| "root_lin_vel_y", |
| "root_lin_vel_z" |
| ], |
| "shape": [ |
| 3 |
| ] |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "fps": 25.00000987202319, |
| "names": null, |
| "shape": [ |
| 1 |
| ] |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "fps": 25.00000987202319, |
| "names": null, |
| "shape": [ |
| 1 |
| ] |
| }, |
| "index": { |
| "dtype": "int64", |
| "fps": 25.00000987202319, |
| "names": null, |
| "shape": [ |
| 1 |
| ] |
| }, |
| "next.done": { |
| "dtype": "bool", |
| "fps": 25.00000987202319, |
| "names": null, |
| "shape": [ |
| 1 |
| ] |
| }, |
| "observation.ee_delta_action": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": [ |
| "left_ee_dpos_x", |
| "left_ee_dpos_y", |
| "left_ee_dpos_z", |
| "left_ee_drot_x", |
| "left_ee_drot_y", |
| "left_ee_drot_z", |
| "right_ee_dpos_x", |
| "right_ee_dpos_y", |
| "right_ee_dpos_z", |
| "right_ee_drot_x", |
| "right_ee_drot_y", |
| "right_ee_drot_z" |
| ], |
| "shape": [ |
| 12 |
| ] |
| }, |
| "observation.ee_pose": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": [ |
| "left_ee_pos_x", |
| "left_ee_pos_y", |
| "left_ee_pos_z", |
| "left_ee_quat_x", |
| "left_ee_quat_y", |
| "left_ee_quat_z", |
| "left_ee_quat_w", |
| "right_ee_pos_x", |
| "right_ee_pos_y", |
| "right_ee_pos_z", |
| "right_ee_quat_x", |
| "right_ee_quat_y", |
| "right_ee_quat_z", |
| "right_ee_quat_w" |
| ], |
| "shape": [ |
| 14 |
| ] |
| }, |
| "observation.finger_contact": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": [ |
| "contact_right_base_link", |
| "contact_right_thumb_metacarpal_link", |
| "contact_right_thumb_proximal_link", |
| "contact_right_thumb_distal_link", |
| "contact_right_thumb_touch_link", |
| "contact_right_index_proximal_link", |
| "contact_right_index_distal_link", |
| "contact_right_index_touch_link", |
| "contact_right_middle_proximal_link", |
| "contact_right_middle_distal_link", |
| "contact_right_middle_touch_link", |
| "contact_right_ring_proximal_link", |
| "contact_right_ring_distal_link", |
| "contact_right_ring_touch_link", |
| "contact_right_pinky_proximal_link", |
| "contact_right_pinky_distal_link", |
| "contact_right_pinky_touch_link", |
| "contact_left_base_link", |
| "contact_left_thumb_metacarpal_link", |
| "contact_left_thumb_proximal_link", |
| "contact_left_thumb_distal_link", |
| "contact_left_thumb_touch_link", |
| "contact_left_index_proximal_link", |
| "contact_left_index_distal_link", |
| "contact_left_index_touch_link", |
| "contact_left_middle_proximal_link", |
| "contact_left_middle_distal_link", |
| "contact_left_middle_touch_link", |
| "contact_left_ring_proximal_link", |
| "contact_left_ring_distal_link", |
| "contact_left_ring_touch_link", |
| "contact_left_pinky_proximal_link", |
| "contact_left_pinky_distal_link", |
| "contact_left_pinky_touch_link" |
| ], |
| "shape": [ |
| 34 |
| ] |
| }, |
| "observation.finger_contact_force": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": [ |
| "contact_right_base_link", |
| "contact_right_thumb_metacarpal_link", |
| "contact_right_thumb_proximal_link", |
| "contact_right_thumb_distal_link", |
| "contact_right_thumb_touch_link", |
| "contact_right_index_proximal_link", |
| "contact_right_index_distal_link", |
| "contact_right_index_touch_link", |
| "contact_right_middle_proximal_link", |
| "contact_right_middle_distal_link", |
| "contact_right_middle_touch_link", |
| "contact_right_ring_proximal_link", |
| "contact_right_ring_distal_link", |
| "contact_right_ring_touch_link", |
| "contact_right_pinky_proximal_link", |
| "contact_right_pinky_distal_link", |
| "contact_right_pinky_touch_link", |
| "contact_left_base_link", |
| "contact_left_thumb_metacarpal_link", |
| "contact_left_thumb_proximal_link", |
| "contact_left_thumb_distal_link", |
| "contact_left_thumb_touch_link", |
| "contact_left_index_proximal_link", |
| "contact_left_index_distal_link", |
| "contact_left_index_touch_link", |
| "contact_left_middle_proximal_link", |
| "contact_left_middle_distal_link", |
| "contact_left_middle_touch_link", |
| "contact_left_ring_proximal_link", |
| "contact_left_ring_distal_link", |
| "contact_left_ring_touch_link", |
| "contact_left_pinky_proximal_link", |
| "contact_left_pinky_distal_link", |
| "contact_left_pinky_touch_link" |
| ], |
| "shape": [ |
| 34 |
| ] |
| }, |
| "observation.head_rotation": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": [ |
| "head_quat_x", |
| "head_quat_y", |
| "head_quat_z", |
| "head_quat_w" |
| ], |
| "shape": [ |
| 4 |
| ] |
| }, |
| "observation.images.r1_head": { |
| "dtype": "video", |
| "fps": 25.00000987202319, |
| "info": { |
| "has_audio": false, |
| "video.channels": 3, |
| "video.codec": "mp4v", |
| "video.fps": 25.00000987202319, |
| "video.height": 480, |
| "video.is_depth_map": false, |
| "video.pix_fmt": "yuv420p", |
| "video.width": 640 |
| }, |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "shape": [ |
| 480, |
| 640, |
| 3 |
| ] |
| }, |
| "observation.left_finger_position": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": [ |
| "left_index_proximal_joint", |
| "left_index_distal_joint", |
| "left_middle_proximal_joint", |
| "left_middle_distal_joint", |
| "left_pinky_proximal_joint", |
| "left_pinky_distal_joint", |
| "left_ring_proximal_joint", |
| "left_ring_distal_joint", |
| "left_thumb_metacarpal_joint", |
| "left_thumb_proximal_joint", |
| "left_thumb_distal_joint" |
| ], |
| "shape": [ |
| 11 |
| ] |
| }, |
| "observation.right_finger_position": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": [ |
| "right_index_proximal_joint", |
| "right_index_distal_joint", |
| "right_middle_proximal_joint", |
| "right_middle_distal_joint", |
| "right_pinky_proximal_joint", |
| "right_pinky_distal_joint", |
| "right_ring_proximal_joint", |
| "right_ring_distal_joint", |
| "right_thumb_metacarpal_joint", |
| "right_thumb_proximal_joint", |
| "right_thumb_distal_joint" |
| ], |
| "shape": [ |
| 11 |
| ] |
| }, |
| "observation.root_angular_velocity": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": [ |
| "root_ang_vel_x", |
| "root_ang_vel_y", |
| "root_ang_vel_z" |
| ], |
| "shape": [ |
| 3 |
| ] |
| }, |
| "observation.root_height": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": null, |
| "shape": [ |
| 1 |
| ] |
| }, |
| "observation.root_linear_velocity": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": [ |
| "root_lin_vel_x", |
| "root_lin_vel_y", |
| "root_lin_vel_z" |
| ], |
| "shape": [ |
| 3 |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": [ |
| "left_ee_pos_x", |
| "left_ee_pos_y", |
| "left_ee_pos_z", |
| "left_ee_quat_x", |
| "left_ee_quat_y", |
| "left_ee_quat_z", |
| "left_ee_quat_w", |
| "right_ee_pos_x", |
| "right_ee_pos_y", |
| "right_ee_pos_z", |
| "right_ee_quat_x", |
| "right_ee_quat_y", |
| "right_ee_quat_z", |
| "right_ee_quat_w", |
| "right_index_proximal_joint", |
| "right_index_distal_joint", |
| "right_middle_proximal_joint", |
| "right_middle_distal_joint", |
| "right_pinky_proximal_joint", |
| "right_pinky_distal_joint", |
| "right_ring_proximal_joint", |
| "right_ring_distal_joint", |
| "right_thumb_metacarpal_joint", |
| "right_thumb_proximal_joint", |
| "right_thumb_distal_joint", |
| "left_index_proximal_joint", |
| "left_index_distal_joint", |
| "left_middle_proximal_joint", |
| "left_middle_distal_joint", |
| "left_pinky_proximal_joint", |
| "left_pinky_distal_joint", |
| "left_ring_proximal_joint", |
| "left_ring_distal_joint", |
| "left_thumb_metacarpal_joint", |
| "left_thumb_proximal_joint", |
| "left_thumb_distal_joint", |
| "head_quat_x", |
| "head_quat_y", |
| "head_quat_z", |
| "head_quat_w", |
| "root_lin_vel_x", |
| "root_lin_vel_y", |
| "root_lin_vel_z", |
| "root_ang_vel_x", |
| "root_ang_vel_y", |
| "root_ang_vel_z", |
| "root_height", |
| "contact_right_base_link", |
| "contact_right_thumb_metacarpal_link", |
| "contact_right_thumb_proximal_link", |
| "contact_right_thumb_distal_link", |
| "contact_right_thumb_touch_link", |
| "contact_right_index_proximal_link", |
| "contact_right_index_distal_link", |
| "contact_right_index_touch_link", |
| "contact_right_middle_proximal_link", |
| "contact_right_middle_distal_link", |
| "contact_right_middle_touch_link", |
| "contact_right_ring_proximal_link", |
| "contact_right_ring_distal_link", |
| "contact_right_ring_touch_link", |
| "contact_right_pinky_proximal_link", |
| "contact_right_pinky_distal_link", |
| "contact_right_pinky_touch_link", |
| "contact_left_base_link", |
| "contact_left_thumb_metacarpal_link", |
| "contact_left_thumb_proximal_link", |
| "contact_left_thumb_distal_link", |
| "contact_left_thumb_touch_link", |
| "contact_left_index_proximal_link", |
| "contact_left_index_distal_link", |
| "contact_left_index_touch_link", |
| "contact_left_middle_proximal_link", |
| "contact_left_middle_distal_link", |
| "contact_left_middle_touch_link", |
| "contact_left_ring_proximal_link", |
| "contact_left_ring_distal_link", |
| "contact_left_ring_touch_link", |
| "contact_left_pinky_proximal_link", |
| "contact_left_pinky_distal_link", |
| "contact_left_pinky_touch_link" |
| ], |
| "shape": [ |
| 81 |
| ] |
| }, |
| "r1.finger_contact_link_names": { |
| "dtype": "string", |
| "fps": 25.00000987202319, |
| "names": null, |
| "shape": [ |
| 1 |
| ] |
| }, |
| "r1.original_frame_index": { |
| "dtype": "int64", |
| "fps": 25.00000987202319, |
| "names": null, |
| "shape": [ |
| 1 |
| ] |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "fps": 25.00000987202319, |
| "names": null, |
| "shape": [ |
| 1 |
| ] |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "fps": 25.00000987202319, |
| "names": null, |
| "shape": [ |
| 1 |
| ] |
| } |
| }, |
| "fps": 25.00000987202319, |
| "merged_from": { |
| "/home/shadeform/lerobot_datasets/r1_ep00006_v2/workers/w0_c0": 11, |
| "/home/shadeform/lerobot_datasets/r1_ep00006_v2/workers/w1_c0": 10, |
| "/home/shadeform/lerobot_datasets/r1_ep00006_v2/workers/w2_c1": 7 |
| }, |
| "robot_type": "unitree_r1_revo2", |
| "splits": { |
| "train": "0:28" |
| }, |
| "total_chunks": 1, |
| "total_episodes": 28, |
| "total_frames": 31264, |
| "total_tasks": 2, |
| "total_videos": 28, |
| "video_files_size_in_mb": 500, |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4" |
| } |
