| license: apache-2.0 | |
| task_categories: | |
| - robotics | |
| tags: | |
| - LeRobot | |
| - LeRobot | |
| - unitree | |
| - robotics | |
| - manipulation | |
| - unified-format | |
| 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": "v2.1", | |
| "robot_type": "unitree", | |
| "total_episodes": 2, | |
| "total_frames": 240, | |
| "total_tasks": 1, | |
| "total_videos": 0, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 60, | |
| "splits": { | |
| "train": "0:2" | |
| }, | |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", | |
| "video_path": null, | |
| "features": { | |
| "observation.images.color_0": { | |
| "dtype": "image", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "observation.images.color_1": { | |
| "dtype": "image", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "observation.images.color_2": { | |
| "dtype": "image", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "observation.images.color_3": { | |
| "dtype": "image", | |
| "shape": [ | |
| 480, | |
| 640, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channels" | |
| ] | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 28 | |
| ], | |
| "names": [ | |
| "left_arm_joint_0", | |
| "left_arm_joint_1", | |
| "left_arm_joint_2", | |
| "left_arm_joint_3", | |
| "left_arm_joint_4", | |
| "left_arm_joint_5", | |
| "left_arm_joint_6", | |
| "left_ee_joint_0", | |
| "left_ee_joint_1", | |
| "left_ee_joint_2", | |
| "left_ee_joint_3", | |
| "left_ee_joint_4", | |
| "left_ee_joint_5", | |
| "left_ee_joint_6", | |
| "right_arm_joint_0", | |
| "right_arm_joint_1", | |
| "right_arm_joint_2", | |
| "right_arm_joint_3", | |
| "right_arm_joint_4", | |
| "right_arm_joint_5", | |
| "right_arm_joint_6", | |
| "right_ee_joint_0", | |
| "right_ee_joint_1", | |
| "right_ee_joint_2", | |
| "right_ee_joint_3", | |
| "right_ee_joint_4", | |
| "right_ee_joint_5", | |
| "right_ee_joint_6" | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 28 | |
| ], | |
| "names": [ | |
| "left_arm_action_0", | |
| "left_arm_action_1", | |
| "left_arm_action_2", | |
| "left_arm_action_3", | |
| "left_arm_action_4", | |
| "left_arm_action_5", | |
| "left_arm_action_6", | |
| "left_ee_action_0", | |
| "left_ee_action_1", | |
| "left_ee_action_2", | |
| "left_ee_action_3", | |
| "left_ee_action_4", | |
| "left_ee_action_5", | |
| "left_ee_action_6", | |
| "right_arm_action_0", | |
| "right_arm_action_1", | |
| "right_arm_action_2", | |
| "right_arm_action_3", | |
| "right_arm_action_4", | |
| "right_arm_action_5", | |
| "right_arm_action_6", | |
| "right_ee_action_0", | |
| "right_ee_action_1", | |
| "right_ee_action_2", | |
| "right_ee_action_3", | |
| "right_ee_action_4", | |
| "right_ee_action_5", | |
| "right_ee_action_6" | |
| ] | |
| }, | |
| "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] | |
| ``` |