--- 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_Inspire", "total_episodes": 116, "total_frames": 37599, "total_tasks": 2, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:116" }, "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": { "observation.state": { "dtype": "float32", "shape": [ 26 ], "names": [ [ "kLeftShoulderPitch", "kLeftShoulderRoll", "kLeftShoulderYaw", "kLeftElbow", "kLeftWristRoll", "kLeftWristPitch", "kLeftWristYaw", "kLeftHandPinky", "kLeftHandRing", "kLeftHandMiddle", "kLeftHandIndex", "kLeftHandThumbBend", "kLeftHandThumbRotation", "kRightShoulderPitch", "kRightShoulderRoll", "kRightShoulderYaw", "kRightElbow", "kRightWristRoll", "kRightWristPitch", "kRightWristYaw", "kRightHandPinky", "kRightHandRing", "kRightHandMiddle", "kRightHandIndex", "kRightHandThumbBend", "kRightHandThumbRotation" ] ], "fps": 30 }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ [ "kLeftShoulderPitch", "kLeftShoulderRoll", "kLeftShoulderYaw", "kLeftElbow", "kLeftWristRoll", "kLeftWristPitch", "kLeftWristYaw", "kLeftHandPinky", "kLeftHandRing", "kLeftHandMiddle", "kLeftHandIndex", "kLeftHandThumbBend", "kLeftHandThumbRotation", "kRightShoulderPitch", "kRightShoulderRoll", "kRightShoulderYaw", "kRightElbow", "kRightWristRoll", "kRightWristPitch", "kRightWristYaw", "kRightHandPinky", "kRightHandRing", "kRightHandMiddle", "kRightHandIndex", "kRightHandThumbBend", "kRightHandThumbRotation" ] ], "fps": 30 }, "observation.images.cam_left_high": { "dtype": "video", "shape": [ 3, 480, 848 ], "names": [ "channels", "height", "width" ], "info": { "video.fps": 30.0, "video.height": 480, "video.width": 848, "video.channels": 3, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.cam_third": { "dtype": "video", "shape": [ 3, 480, 640 ], "names": [ "channels", "height", "width" ], "info": { "video.fps": 30.0, "video.height": 480, "video.width": 640, "video.channels": 3, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.left_tactile_little_finger_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.left_tactile_little_finger_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.left_tactile_little_finger_pad": { "dtype": "image", "shape": [ 3, 10, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.left_tactile_ring_finger_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.left_tactile_ring_finger_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.left_tactile_ring_finger_pad": { "dtype": "image", "shape": [ 3, 10, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.left_tactile_middle_finger_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.left_tactile_middle_finger_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.left_tactile_middle_finger_pad": { "dtype": "image", "shape": [ 3, 10, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.left_tactile_index_finger_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.left_tactile_index_finger_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.left_tactile_index_finger_pad": { "dtype": "image", "shape": [ 3, 10, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.left_tactile_thumb_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.left_tactile_thumb_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.left_tactile_thumb_middle": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.left_tactile_thumb_pad": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.left_tactile_palm": { "dtype": "image", "shape": [ 3, 8, 14 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.right_tactile_little_finger_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.right_tactile_little_finger_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.right_tactile_little_finger_pad": { "dtype": "image", "shape": [ 3, 10, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.right_tactile_ring_finger_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.right_tactile_ring_finger_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.right_tactile_ring_finger_pad": { "dtype": "image", "shape": [ 3, 10, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.right_tactile_middle_finger_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.right_tactile_middle_finger_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.right_tactile_middle_finger_pad": { "dtype": "image", "shape": [ 3, 10, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.right_tactile_index_finger_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.right_tactile_index_finger_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.right_tactile_index_finger_pad": { "dtype": "image", "shape": [ 3, 10, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.right_tactile_thumb_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.right_tactile_thumb_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.right_tactile_thumb_middle": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.right_tactile_thumb_pad": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.right_tactile_palm": { "dtype": "image", "shape": [ 3, 8, 14 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "observation.images.carpet_0": { "dtype": "image", "shape": [ 3, 32, 32 ], "names": [ "channels", "height", "width", "channel" ], "fps": 30 }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null, "fps": 30 }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null, "fps": 30 }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null, "fps": 30 }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null, "fps": 30 }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null, "fps": 30 } }, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200 } ``` ## Citation **BibTeX:** ```bibtex [More Information Needed] ```