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meta/info.json

@@ -0,0 +1,357 @@
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+            ],
+            "names": "base_height_command"
+        },
+        "observation.robot_base_pose": {
+            "dtype": "float64",
+            "shape": [
+                7
+            ],
+            "names": [
+                "x",
+                "y",
+                "z",
+                "qx",
+                "qy",
+                "qz",
+                "qw"
+            ]
+        },
+        "observation.images.ego_view_left_mono": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.ego_view_right_mono": {
+            "dtype": "video",
+            "shape": [
+                360,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 360,
+                "video.width": 640,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 20,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.obj_pos": {
+            "dtype": "float64",
+            "shape": [
+                3
+            ],
+            "names": [
+                "dim_0",
+                "dim_1",
+                "dim_2"
+            ]
+        },
+        "observation.obj_quat": {
+            "dtype": "float64",
+            "shape": [
+                4
+            ],
+            "names": [
+                "dim_0",
+                "dim_1",
+                "dim_2",
+                "dim_3"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    },
+    "script_config": {
+        "wbc_version": "gear_wbc",
+        "wbc_model_path": "policy/GR00T-WholeBodyControl-Balance.onnx,policy/GR00T-WholeBodyControl-Walk.onnx",
+        "wbc_policy_class": "G1DecoupledWholeBodyPolicy",
+        "interface": "lo",
+        "simulator": "None",
+        "sim_sync_mode": false,
+        "control_frequency": 50,
+        "sim_frequency": 200,
+        "enable_waist": false,
+        "with_hands": true,
+        "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": "gear_wbc",
+        "wbc_model_path": "policy/GR00T-WholeBodyControl-Balance.onnx,policy/GR00T-WholeBodyControl-Walk.onnx",
+        "teleoperator_username": "NEW_USER",
+        "support_operator_username": "NEW_USER",
+        "robot_type": "g1",
+        "robot_id": "sim"
+    }
+}

meta/modality.json

@@ -0,0 +1,147 @@
+{
+    "state": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 15
+        },
+        "left_arm": {
+            "start": 15,
+            "end": 22
+        },
+        "left_hand": {
+            "start": 22,
+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
+        "right_hand": {
+            "start": 36,
+            "end": 43
+        },
+        "left_wrist_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.eef_state"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "observation.eef_state"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "observation.eef_state",
+            "rotation_type": "quaternion"
+        },
+        "robot_base_pose": {
+            "start": 0,
+            "end": 7,
+            "original_key": "observation.robot_base_pose"
+        },
+        "obj_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "observation.obj_pos"
+        },
+        "obj_quat": {
+            "start": 0,
+            "end": 4,
+            "original_key": "observation.obj_quat"
+        }
+    },
+    "action": {
+        "left_leg": {
+            "start": 0,
+            "end": 6
+        },
+        "right_leg": {
+            "start": 6,
+            "end": 12
+        },
+        "waist": {
+            "start": 12,
+            "end": 15
+        },
+        "left_arm": {
+            "start": 15,
+            "end": 22
+        },
+        "left_hand": {
+            "start": 22,
+            "end": 29
+        },
+        "right_arm": {
+            "start": 29,
+            "end": 36
+        },
+        "right_hand": {
+            "start": 36,
+            "end": 43
+        },
+        "left_wrist_pos": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.eef"
+        },
+        "left_wrist_abs_quat": {
+            "start": 3,
+            "end": 7,
+            "original_key": "action.eef",
+            "rotation_type": "quaternion"
+        },
+        "right_wrist_pos": {
+            "start": 7,
+            "end": 10,
+            "original_key": "action.eef"
+        },
+        "right_wrist_abs_quat": {
+            "start": 10,
+            "end": 14,
+            "original_key": "action.eef",
+            "rotation_type": "quaternion"
+        },
+        "base_height_command": {
+            "start": 0,
+            "end": 1,
+            "original_key": "teleop.base_height_command"
+        },
+        "navigate_command": {
+            "start": 0,
+            "end": 3,
+            "original_key": "teleop.navigate_command"
+        }
+    },
+    "video": {
+        "ego_view": {
+            "original_key": "observation.images.ego_view"
+        },
+        "ego_view_left_mono": {
+            "original_key": "observation.images.ego_view_left_mono"
+        },
+        "ego_view_right_mono": {
+            "original_key": "observation.images.ego_view_right_mono"
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "turn right, move in front of the water bottle on the counter in front of the fridge, pick up the water bottle, then turn left, walk to the sink, and place the water bottle into the sink."}