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| "total_frames": 84001, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "fps": 20, |
| "splits": { |
| "train": "0:169" |
| }, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
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| 640, |
| 3 |
| ], |
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| "width", |
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| "has_audio": false |
| } |
| }, |
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| ], |
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| "left_hip_pitch_joint", |
| "left_hip_roll_joint", |
| "left_hip_yaw_joint", |
| "left_knee_joint", |
| "left_ankle_pitch_joint", |
| "left_ankle_roll_joint", |
| "right_hip_pitch_joint", |
| "right_hip_roll_joint", |
| "right_hip_yaw_joint", |
| "right_knee_joint", |
| "right_ankle_pitch_joint", |
| "right_ankle_roll_joint", |
| "waist_yaw_joint", |
| "waist_roll_joint", |
| "waist_pitch_joint", |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "left_elbow_joint", |
| "left_wrist_roll_joint", |
| "left_wrist_pitch_joint", |
| "left_wrist_yaw_joint", |
| "left_hand_index_0_joint", |
| "left_hand_index_1_joint", |
| "left_hand_middle_0_joint", |
| "left_hand_middle_1_joint", |
| "left_hand_thumb_0_joint", |
| "left_hand_thumb_1_joint", |
| "left_hand_thumb_2_joint", |
| "right_shoulder_pitch_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_yaw_joint", |
| "right_elbow_joint", |
| "right_wrist_roll_joint", |
| "right_wrist_pitch_joint", |
| "right_wrist_yaw_joint", |
| "right_hand_index_0_joint", |
| "right_hand_index_1_joint", |
| "right_hand_middle_0_joint", |
| "right_hand_middle_1_joint", |
| "right_hand_thumb_0_joint", |
| "right_hand_thumb_1_joint", |
| "right_hand_thumb_2_joint" |
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| "left_wrist_abs_quat", |
| "right_wrist_pos", |
| "right_wrist_abs_quat" |
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| "action": { |
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| "left_hip_yaw_joint", |
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| "left_ankle_pitch_joint", |
| "left_ankle_roll_joint", |
| "right_hip_pitch_joint", |
| "right_hip_roll_joint", |
| "right_hip_yaw_joint", |
| "right_knee_joint", |
| "right_ankle_pitch_joint", |
| "right_ankle_roll_joint", |
| "waist_yaw_joint", |
| "waist_roll_joint", |
| "waist_pitch_joint", |
| "left_shoulder_pitch_joint", |
| "left_shoulder_roll_joint", |
| "left_shoulder_yaw_joint", |
| "left_elbow_joint", |
| "left_wrist_roll_joint", |
| "left_wrist_pitch_joint", |
| "left_wrist_yaw_joint", |
| "left_hand_index_0_joint", |
| "left_hand_index_1_joint", |
| "left_hand_middle_0_joint", |
| "left_hand_middle_1_joint", |
| "left_hand_thumb_0_joint", |
| "left_hand_thumb_1_joint", |
| "left_hand_thumb_2_joint", |
| "right_shoulder_pitch_joint", |
| "right_shoulder_roll_joint", |
| "right_shoulder_yaw_joint", |
| "right_elbow_joint", |
| "right_wrist_roll_joint", |
| "right_wrist_pitch_joint", |
| "right_wrist_yaw_joint", |
| "right_hand_index_0_joint", |
| "right_hand_index_1_joint", |
| "right_hand_middle_0_joint", |
| "right_hand_middle_1_joint", |
| "right_hand_thumb_0_joint", |
| "right_hand_thumb_1_joint", |
| "right_hand_thumb_2_joint" |
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| "right_wrist_pos", |
| "right_wrist_abs_quat" |
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| "lin_vel_y", |
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| } |
| }, |
| "script_config": { |
| "wbc_version": "gear_wbc", |
| "wbc_model_path": "policy/GR00T-WholeBodyControl-Balance.onnx,policy/GR00T-WholeBodyControl-Walk.onnx", |
| "wbc_policy_class": "G1DecoupledWholeBodyPolicy", |
| "interface": "eno1", |
| "simulator": "mujoco", |
| "sim_sync_mode": false, |
| "control_frequency": 50, |
| "sim_frequency": 200, |
| "enable_waist": false, |
| "with_hands": false, |
| "hand_type": "dex3", |
| "high_elbow_pose": false, |
| "verbose": true, |
| "enable_offscreen": false, |
| "enable_onscreen": true, |
| "upper_body_joint_speed": 1000, |
| "env_name": "default", |
| "ik_indicator": false, |
| "verbose_timing": false, |
| "keyboard_dispatcher_type": "raw", |
| "enable_gravity_compensation": false, |
| "gravity_compensation_joints": null, |
| "body_control_device": "dummy", |
| "hand_control_device": "dummy", |
| "body_streamer_ip": "10.112.210.229", |
| "body_streamer_keyword": "knee", |
| "enable_visualization": false, |
| "enable_real_device": true, |
| "teleop_frequency": 20, |
| "teleop_replay_path": null, |
| "robot_ip": "192.168.123.164", |
| "data_collection": true, |
| "data_collection_frequency": 20, |
| "root_output_dir": "outputs", |
| "enable_upper_body_operation": true, |
| "upper_body_operation_mode": "teleop" |
| }, |
| "discarded_episode_indices": [], |
| "data_collection_info": { |
| "lower_body_policy": null, |
| "wbc_model_path": null, |
| "teleoperator_username": null, |
| "support_operator_username": null, |
| "robot_type": null, |
| "robot_id": null |
| }, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 200 |
| } |
