Datasets:
| license: apache-2.0 | |
| task_categories: | |
| - robotics | |
| tags: | |
| - LeRobot | |
| configs: | |
| - config_name: default | |
| data_files: data/*/*.parquet | |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). | |
| ## Dataset Description | |
| - **Homepage:** [More Information Needed] | |
| - **Paper:** [More Information Needed] | |
| - **License:** apache-2.0 | |
| ## Dataset Structure | |
| [meta/info.json](meta/info.json): | |
| ```json | |
| { | |
| "codebase_version": "v3.0", | |
| "robot_type": "unitree_g1", | |
| "total_episodes": 0, | |
| "total_frames": 0, | |
| "total_tasks": 0, | |
| "chunks_size": 1000, | |
| "data_files_size_in_mb": 100, | |
| "video_files_size_in_mb": 200, | |
| "fps": 30, | |
| "splits": {}, | |
| "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", | |
| "features": { | |
| "action": { | |
| "dtype": "float32", | |
| "names": [ | |
| "kLeftHipPitch.q", | |
| "kLeftHipRoll.q", | |
| "kLeftHipYaw.q", | |
| "kLeftKnee.q", | |
| "kLeftAnklePitch.q", | |
| "kLeftAnkleRoll.q", | |
| "kRightHipPitch.q", | |
| "kRightHipRoll.q", | |
| "kRightHipYaw.q", | |
| "kRightKnee.q", | |
| "kRightAnklePitch.q", | |
| "kRightAnkleRoll.q", | |
| "kWaistYaw.q", | |
| "kWaistRoll.q", | |
| "kWaistPitch.q", | |
| "kLeftShoulderPitch.q", | |
| "kLeftShoulderRoll.q", | |
| "kLeftShoulderYaw.q", | |
| "kLeftElbow.q", | |
| "kLeftWristRoll.q", | |
| "kLeftWristPitch.q", | |
| "kLeftWristyaw.q", | |
| "kRightShoulderPitch.q", | |
| "kRightShoulderRoll.q", | |
| "kRightShoulderYaw.q", | |
| "kRightElbow.q", | |
| "kRightWristRoll.q", | |
| "kRightWristPitch.q", | |
| "kRightWristYaw.q" | |
| ], | |
| "shape": [ | |
| 29 | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "names": [ | |
| "kLeftHipPitch.q", | |
| "kLeftHipRoll.q", | |
| "kLeftHipYaw.q", | |
| "kLeftKnee.q", | |
| "kLeftAnklePitch.q", | |
| "kLeftAnkleRoll.q", | |
| "kRightHipPitch.q", | |
| "kRightHipRoll.q", | |
| "kRightHipYaw.q", | |
| "kRightKnee.q", | |
| "kRightAnklePitch.q", | |
| "kRightAnkleRoll.q", | |
| "kWaistYaw.q", | |
| "kWaistRoll.q", | |
| "kWaistPitch.q", | |
| "kLeftShoulderPitch.q", | |
| "kLeftShoulderRoll.q", | |
| "kLeftShoulderYaw.q", | |
| "kLeftElbow.q", | |
| "kLeftWristRoll.q", | |
| "kLeftWristPitch.q", | |
| "kLeftWristyaw.q", | |
| "kRightShoulderPitch.q", | |
| "kRightShoulderRoll.q", | |
| "kRightShoulderYaw.q", | |
| "kRightElbow.q", | |
| "kRightWristRoll.q", | |
| "kRightWristPitch.q", | |
| "kRightWristYaw.q" | |
| ], | |
| "shape": [ | |
| 29 | |
| ] | |
| }, | |
| "observation.images.front": { | |
| "dtype": "video", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "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] | |
| ``` |