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kimjw31
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g1-mujoco-sim-test

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Robotics
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observation.state
list
action
list
timestamp
float32
0
27.6
frame_index
int64
0
276
episode_index
int64
0
0
index
int64
0
276
task_index
int64
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2.2
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2.3
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2.4
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2.5
25
0
25
0
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2.6
26
0
26
0
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2.7
27
0
27
0
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2.8
28
0
28
0
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2.9
29
0
29
0
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3
30
0
30
0
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3.1
31
0
31
0
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3.2
32
0
32
0
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3.3
33
0
33
0
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3.4
34
0
34
0
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3.5
35
0
35
0
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3.6
36
0
36
0
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3.7
37
0
37
0
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3.8
38
0
38
0
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3.9
39
0
39
0
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4
40
0
40
0
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4.1
41
0
41
0
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4.2
42
0
42
0
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4.3
43
0
43
0
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4.4
44
0
44
0
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4.5
45
0
45
0
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4.6
46
0
46
0
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4.7
47
0
47
0
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[ -0.1292474865913391, 0.10352267324924469, -0.03875773772597313, 0.34261682629585266, -0.2516826093196869, -0.09689884632825851, -0.2645554840564728, -0.11227458715438843, -0.06307320296764374, 0.26512983441352844, -0.03162128105759621, 0.08607278019189835, -0.01532938051968813, -0.00234235...
4.8
48
0
48
0
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4.9
49
0
49
0
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5
50
0
50
0
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5.1
51
0
51
0
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5.2
52
0
52
0
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5.3
53
0
53
0
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5.4
54
0
54
0
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5.5
55
0
55
0
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[ -0.12924747169017792, 0.10352267324924469, -0.03875773772597313, 0.34261682629585266, -0.2516826093196869, -0.09689884632825851, -0.2645554542541504, -0.11227458715438843, -0.06307321041822433, 0.26512983441352844, -0.03162127733230591, 0.08607278019189835, -0.015329376794397831, -0.002342...
5.6
56
0
56
0
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5.7
57
0
57
0
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[ -0.1292474865913391, 0.10352267324924469, -0.038757745176553726, 0.34261682629585266, -0.2516826093196869, -0.09689884632825851, -0.2645554542541504, -0.11227458715438843, -0.06307321786880493, 0.26512983441352844, -0.031621284782886505, 0.08607278764247894, -0.015329375863075256, -0.00234...
5.8
58
0
58
0
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5.9
59
0
59
0
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6
60
0
60
0
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6.1
61
0
61
0
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6.2
62
0
62
0
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6.3
63
0
63
0
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6.4
64
0
64
0
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[ -0.1292475014925003, 0.10352267324924469, -0.038757745176553726, 0.34261682629585266, -0.2516826093196869, -0.09689884632825851, -0.2645554840564728, -0.11227458715438843, -0.06307321786880493, 0.26512986421585083, -0.0316212922334671, 0.08607278019189835, -0.015329377725720406, -0.0023423...
6.5
65
0
65
0
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6.6
66
0
66
0
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[ -0.1292474865913391, 0.10352267324924469, -0.03875774145126343, 0.34261682629585266, -0.2516826093196869, -0.09689884632825851, -0.2645554542541504, -0.11227458715438843, -0.06307321786880493, 0.26512983441352844, -0.03162128105759621, 0.08607278764247894, -0.01532936654984951, -0.00234234...
6.7
67
0
67
0
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[ -0.1292474865913391, 0.10352267324924469, -0.038757745176553726, 0.34261682629585266, -0.2516826093196869, -0.09689884632825851, -0.2645554542541504, -0.11227458715438843, -0.06307321786880493, 0.26512983441352844, -0.031621284782886505, 0.08607278019189835, -0.015329369343817234, -0.00234...
6.8
68
0
68
0
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[ -0.1292474865913391, 0.10352266579866409, -0.03875774145126343, 0.34261682629585266, -0.2516826093196869, -0.09689884632825851, -0.2645554542541504, -0.11227459460496902, -0.06307321786880493, 0.26512983441352844, -0.031621284782886505, 0.08607278764247894, -0.015329373069107533, -0.002342...
6.9
69
0
69
0
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[ -0.1292475014925003, 0.10352266579866409, -0.03875773772597313, 0.34261682629585266, -0.2516826093196869, -0.09689884632825851, -0.2645554542541504, -0.11227459460496902, -0.06307321041822433, 0.26512983441352844, -0.031621284782886505, 0.08607278764247894, -0.015329374931752682, -0.002342...
7
70
0
70
0
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[ -0.1292474865913391, 0.10352266579866409, -0.03875773027539253, 0.34261682629585266, -0.2516826093196869, -0.09689884632825851, -0.2645554542541504, -0.11227459460496902, -0.06307321041822433, 0.26512983441352844, -0.031621284782886505, 0.08607278019189835, -0.015329376794397831, -0.002342...
7.1
71
0
71
0
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[ -0.1292474865913391, 0.10352267324924469, -0.03875773027539253, 0.34261682629585266, -0.2516826093196869, -0.09689884632825851, -0.2645554542541504, -0.11227458715438843, -0.06307320296764374, 0.26512983441352844, -0.031621284782886505, 0.08607278019189835, -0.015329375863075256, -0.002342...
7.2
72
0
72
0
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[ -0.1292475014925003, 0.10352267324924469, -0.03875773772597313, 0.34261682629585266, -0.2516826093196869, -0.09689885377883911, -0.2645554542541504, -0.11227458715438843, -0.06307321041822433, 0.26512983441352844, -0.031621284782886505, 0.08607278019189835, -0.015329379588365555, -0.002342...
7.3
73
0
73
0
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[ -0.1292475014925003, 0.10352267324924469, -0.03875773400068283, 0.34261682629585266, -0.2516826093196869, -0.09689884632825851, -0.2645554542541504, -0.11227458715438843, -0.06307321041822433, 0.26512983441352844, -0.031621284782886505, 0.08607278019189835, -0.015329371206462383, -0.002342...
7.4
74
0
74
0
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[ -0.1292475014925003, 0.10352267324924469, -0.03875773400068283, 0.34261682629585266, -0.2516826093196869, -0.09689884632825851, -0.2645554542541504, -0.11227458715438843, -0.06307321041822433, 0.26512983441352844, -0.03162128105759621, 0.08607278019189835, -0.015329373069107533, -0.0023423...
7.5
75
0
75
0
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[ -0.1292475014925003, 0.10352267324924469, -0.03875773772597313, 0.34261682629585266, -0.2516826093196869, -0.09689884632825851, -0.2645554542541504, -0.11227458715438843, -0.06307321786880493, 0.26512980461120605, -0.03162127360701561, 0.08607278764247894, -0.015329379588365555, -0.0023423...
7.6
76
0
76
0
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7.7
77
0
77
0
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7.8
78
0
78
0
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7.9
79
0
79
0
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8
80
0
80
0
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8.1
81
0
81
0
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[ -0.1292475163936615, 0.10352266579866409, -0.03875773772597313, 0.34261682629585266, -0.2516826093196869, -0.09689883887767792, -0.2645554542541504, -0.11227460205554962, -0.06307321786880493, 0.26512980461120605, -0.03162127733230591, 0.08607279509305954, -0.01532938051968813, -0.00234237...
8.2
82
0
82
0
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8.3
83
0
83
0
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[ -0.1292475163936615, 0.10352266579866409, -0.03875773400068283, 0.34261685609817505, -0.2516826093196869, -0.09689883887767792, -0.2645554542541504, -0.11227459460496902, -0.06307321786880493, 0.26512980461120605, -0.03162127360701561, 0.08607278764247894, -0.015329381451010704, -0.0023423...
8.4
84
0
84
0
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8.5
85
0
85
0
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8.6
86
0
86
0
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8.7
87
0
87
0
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8.8
88
0
88
0
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[ -0.1292475014925003, 0.10352266579866409, -0.038757726550102234, 0.34261682629585266, -0.2516826093196869, -0.09689883887767792, -0.2645554542541504, -0.11227460205554962, -0.06307321041822433, 0.26512983441352844, -0.031621288508176804, 0.08607279509305954, -0.01532936654984951, -0.002342...
8.9
89
0
89
0
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[ -0.1292475014925003, 0.10352266579866409, -0.038757722824811935, 0.34261682629585266, -0.2516826093196869, -0.09689883887767792, -0.2645554542541504, -0.11227460205554962, -0.06307321041822433, 0.26512983441352844, -0.031621288508176804, 0.08607280254364014, -0.015329362824559212, -0.00234...
9
90
0
90
0
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9.1
91
0
91
0
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9.2
92
0
92
0
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9.3
93
0
93
0
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9.4
94
0
94
0
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[ -0.1292475014925003, 0.10352267324924469, -0.03875771909952164, 0.34261682629585266, -0.2516826093196869, -0.09689883887767792, -0.2645554542541504, -0.11227459460496902, -0.06307321041822433, 0.26512980461120605, -0.03162128105759621, 0.08607278764247894, -0.015329379588365555, -0.0023423...
9.5
95
0
95
0
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9.6
96
0
96
0
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[ -0.1292475163936615, 0.10352267324924469, -0.03875771537423134, 0.34261682629585266, -0.2516826093196869, -0.09689884632825851, -0.2645554542541504, -0.11227459460496902, -0.06307321041822433, 0.26512983441352844, -0.0316212922334671, 0.08607279509305954, -0.015329374000430107, -0.00234234...
9.7
97
0
97
0
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[ -0.1292475014925003, 0.10352266579866409, -0.03875771164894104, 0.34261682629585266, -0.2516826093196869, -0.09689883887767792, -0.2645554542541504, -0.11227459460496902, -0.06307320296764374, 0.26512983441352844, -0.0316212959587574, 0.08607279509305954, -0.015329372137784958, -0.00234235...
9.8
98
0
98
0
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[ -0.1292475014925003, 0.10352266579866409, -0.03875771537423134, 0.34261682629585266, -0.2516826093196869, -0.09689883887767792, -0.2645554542541504, -0.11227459460496902, -0.06307321041822433, 0.26512983441352844, -0.0316212996840477, 0.08607279509305954, -0.015329383313655853, -0.00234235...
9.9
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "g1_zenoh",
    "total_episodes": 1,
    "total_frames": 277,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:1"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": null,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                29
            ],
            "names": [
                "left_hip_pitch_joint",
                "left_hip_roll_joint",
                "left_hip_yaw_joint",
                "left_knee_joint",
                "left_ankle_pitch_joint",
                "left_ankle_roll_joint",
                "right_hip_pitch_joint",
                "right_hip_roll_joint",
                "right_hip_yaw_joint",
                "right_knee_joint",
                "right_ankle_pitch_joint",
                "right_ankle_roll_joint",
                "waist_yaw_joint",
                "waist_roll_joint",
                "waist_pitch_joint",
                "left_shoulder_pitch_joint",
                "left_shoulder_roll_joint",
                "left_shoulder_yaw_joint",
                "left_elbow_joint",
                "left_wrist_roll_joint",
                "left_wrist_pitch_joint",
                "left_wrist_yaw_joint",
                "right_shoulder_pitch_joint",
                "right_shoulder_roll_joint",
                "right_shoulder_yaw_joint",
                "right_elbow_joint",
                "right_wrist_roll_joint",
                "right_wrist_pitch_joint",
                "right_wrist_yaw_joint"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                29
            ],
            "names": [
                "left_hip_pitch_joint",
                "left_hip_roll_joint",
                "left_hip_yaw_joint",
                "left_knee_joint",
                "left_ankle_pitch_joint",
                "left_ankle_roll_joint",
                "right_hip_pitch_joint",
                "right_hip_roll_joint",
                "right_hip_yaw_joint",
                "right_knee_joint",
                "right_ankle_pitch_joint",
                "right_ankle_roll_joint",
                "waist_yaw_joint",
                "waist_roll_joint",
                "waist_pitch_joint",
                "left_shoulder_pitch_joint",
                "left_shoulder_roll_joint",
                "left_shoulder_yaw_joint",
                "left_elbow_joint",
                "left_wrist_roll_joint",
                "left_wrist_pitch_joint",
                "left_wrist_yaw_joint",
                "right_shoulder_pitch_joint",
                "right_shoulder_roll_joint",
                "right_shoulder_yaw_joint",
                "right_elbow_joint",
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    }
}

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