---
license: cc-by-nc-4.0
task_categories:
- robotics
tags:
- LeRobot
- lerobot
- humanoid
- motion-capture
- motion-tracking
- berkeley-humanoids
- lite
- lafan1
configs:
- config_name: default
  data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).


<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=Berkeley-Humanoids/Lite-Motion-Tracking-Dataset">
<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
</a>


## Dataset Description



- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** cc-by-nc-4.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "codebase_version": "v3.0",
    "robot_type": "lite",
    "total_episodes": 40,
    "total_frames": 264705,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:40"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": null,
    "features": {
        "base_pos": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "x",
                "y",
                "z"
            ]
        },
        "base_quat": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": [
                "w",
                "x",
                "y",
                "z"
            ]
        },
        "base_lin_vel": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "vx",
                "vy",
                "vz"
            ]
        },
        "base_ang_vel": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "wx",
                "wy",
                "wz"
            ]
        },
        "joint_pos": {
            "dtype": "float32",
            "shape": [
                74
            ],
            "names": null
        },
        "joint_vel": {
            "dtype": "float32",
            "shape": [
                74
            ],
            "names": null
        },
        "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
        }
    }
}
```


## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```