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hyunho7979
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sonic-capoeira-v8

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Tags:
robotics
motion-capture
unitree-g1
reinforcement-learning
capoeira
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The dataset generation failed because of a cast error
Error code:   DatasetGenerationCastError
Exception:    DatasetGenerationCastError
Message:      An error occurred while generating the dataset

All the data files must have the same columns, but at some point there are 3 new columns ({'body_0_vel_y', 'body_0_vel_x', 'body_0_vel_z'}) and 3 missing columns ({'body_0_angvel_z', 'body_0_angvel_y', 'body_0_angvel_x'}).

This happened while the csv dataset builder was generating data using

zip://sonic_original/body_lin_vel.csv::hf://datasets/hyunho7979/sonic-capoeira-v8@2e627d887bbc1363d30f6d0a714453b595468196/sonic_capoeira_v8_motion_dataset.zip, ['hf://datasets/hyunho7979/sonic-capoeira-v8@2e627d887bbc1363d30f6d0a714453b595468196/sonic_capoeira_v8_motion_dataset.zip']

Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1848, in _prepare_split_single
                  writer.write_table(table)
                  ~~~~~~~~~~~~~~~~~~^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 765, in write_table
                  self._write_table(pa_table, writer_batch_size=writer_batch_size)
                  ~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/arrow_writer.py", line 773, in _write_table
                  pa_table = table_cast(pa_table, self._schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2378, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2306, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              body_0_vel_x: double
              body_0_vel_y: double
              body_0_vel_z: double
              -- schema metadata --
              pandas: '{"index_columns": [{"kind": "range", "name": null, "start": 0, "' + 653
              to
              {'body_0_angvel_x': Value('float64'), 'body_0_angvel_y': Value('float64'), 'body_0_angvel_z': Value('float64')}
              because column names don't match
              
              During handling of the above exception, another exception occurred:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
                  parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
                                                                        ~~~~~~~~~~~~~~~~~~~~~~~~~^
                      builder, max_dataset_size_bytes=max_dataset_size_bytes
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
                  builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
                  ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1694, in _prepare_split
                  for job_id, done, content in self._prepare_split_single(
                                               ~~~~~~~~~~~~~~~~~~~~~~~~~~^
                      gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  ):
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1850, in _prepare_split_single
                  raise DatasetGenerationCastError.from_cast_error(
                  ...<4 lines>...
                  )
              datasets.exceptions.DatasetGenerationCastError: An error occurred while generating the dataset
              
              All the data files must have the same columns, but at some point there are 3 new columns ({'body_0_vel_y', 'body_0_vel_x', 'body_0_vel_z'}) and 3 missing columns ({'body_0_angvel_z', 'body_0_angvel_y', 'body_0_angvel_x'}).
              
              This happened while the csv dataset builder was generating data using
              
              zip://sonic_original/body_lin_vel.csv::hf://datasets/hyunho7979/sonic-capoeira-v8@2e627d887bbc1363d30f6d0a714453b595468196/sonic_capoeira_v8_motion_dataset.zip, ['hf://datasets/hyunho7979/sonic-capoeira-v8@2e627d887bbc1363d30f6d0a714453b595468196/sonic_capoeira_v8_motion_dataset.zip']
              
              Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

body_0_angvel_x
float64
body_0_angvel_y
float64
body_0_angvel_z
float64
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End of preview.

SONIC Capoeira V8 Motion Dataset

This archive contains the motion references used to build and train SONIC Capoeira V8 for the Unitree G1.

Lineage

  1. source/s_batido_test.csv is the initial capoeira motion converted from the Studio workflow into the LaFAN-style source representation.
  2. sonic_original/ is the original motion converted into SONIC's per-signal CSV representation.
  3. sonic_v8_landing/ is the actual 467-frame, 50 Hz V8 training reference. It preserves the kick highlight, retimes the landing segment by 3x, retimes recovery by 2x, and ends with a 75-frame standing hold.

Each SONIC directory contains joint position/velocity and body position/quaternion/linear-velocity/angular-velocity signals plus metadata.

Archive

Download sonic_capoeira_v8_motion_dataset.zip and extract it while preserving the directory structure described above.

Intended use

The dataset is intended for simulation research, reproduction, and evaluation of the SONIC Capoeira V8 policy. It does not certify that the motion or policy is safe for physical robot deployment.

Policy and code

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