Datasets:

qlOoOlp
/

H12_Inspire_can_cns

observation.state list	action list	timestamp float32 0 18	frame_index int64 0 539	index int64 0 80.2k
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[ -0.034156590700149536, -0.04191184043884277, -0.027414560317993164, 0.07311105728149414, 0.06353616714477539, -0.367307186126709, 0.04021313041448593, -0.2874937057495117, -0.03402900695800781, 0.1768813133239746, 0.1637101173400879, -0.1522679328918457, -0.2478961944580078, 0.087994098663...	[ -0.030898544937372208, -0.043706014752388, -0.02884753607213497, 0.06582584977149963, 0.07249357551336288, -0.3668009638786316, 0.04466252028942108, -0.3243415951728821, -0.02535637468099594, 0.18680758774280548, 0.1566738486289978, -0.15446774661540985, -0.26860955357551575, 0.09802923351...	3.266667	98	98
[ -0.034156590700149536, -0.04190349578857422, -0.027414560317993164, 0.07313680648803711, 0.0650942325592041, -0.3673429489135742, 0.0406685397028923, -0.2938423156738281, -0.0339350700378418, 0.1807246208190918, 0.16481781005859375, -0.15303468704223633, -0.24785995483398438, 0.09083414077...	[ -0.031332552433013916, -0.04432905837893486, -0.029370589181780815, 0.06669210642576218, 0.07414733618497849, -0.36845317482948303, 0.04530173912644386, -0.327788770198822, -0.02393525280058384, 0.19061489403247833, 0.1594306230545044, -0.15289834141731262, -0.26259514689445496, 0.10299693...	3.3	99	99

End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "Unitree_H12_Inspire",
    "total_episodes": 0,
    "total_frames": 0,
    "total_tasks": 0,
    "total_videos": 0,
    "total_chunks": 0,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {},
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
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            "names": [
                [
                    "kLeftShoulderPitch",
                    "kLeftShoulderRoll",
                    "kLeftShoulderYaw",
                    "kLeftElbow",
                    "kLeftWristRoll",
                    "kLeftWristPitch",
                    "kLeftWristYaw",
                    "kRightShoulderPitch",
                    "kRightShoulderRoll",
                    "kRightShoulderYaw",
                    "kRightElbow",
                    "kRightWristRoll",
                    "kRightWristPitch",
                    "kRightWristYaw",
                    "kLeftHandPinky",
                    "kLeftHandRing",
                    "kLeftHandMiddle",
                    "kLeftHandIndex",
                    "kLeftHandThumbBend",
                    "kLeftHandThumbRotation",
                    "kRightHandPinky",
                    "kRightHandRing",
                    "kRightHandMiddle",
                    "kRightHandIndex",
                    "kRightHandThumbBend",
                    "kRightHandThumbRotation"
                ]
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        },
        "action": {
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            "shape": [
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            "names": [
                [
                    "kLeftShoulderPitch",
                    "kLeftShoulderRoll",
                    "kLeftShoulderYaw",
                    "kLeftElbow",
                    "kLeftWristRoll",
                    "kLeftWristPitch",
                    "kLeftWristYaw",
                    "kRightShoulderPitch",
                    "kRightShoulderRoll",
                    "kRightShoulderYaw",
                    "kRightElbow",
                    "kRightWristRoll",
                    "kRightWristPitch",
                    "kRightWristYaw",
                    "kLeftHandPinky",
                    "kLeftHandRing",
                    "kLeftHandMiddle",
                    "kLeftHandIndex",
                    "kLeftHandThumbBend",
                    "kLeftHandThumbRotation",
                    "kRightHandPinky",
                    "kRightHandRing",
                    "kRightHandMiddle",
                    "kRightHandIndex",
                    "kRightHandThumbBend",
                    "kRightHandThumbRotation"
                ]
            ]
        },
        "observation.images.cam_high": {
            "dtype": "video",
            "shape": [
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                640,
                3
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            "names": [
                "height",
                "width",
                "channel"
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        },
        "observation.images.cam_wrist": {
            "dtype": "video",
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                640,
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            "names": [
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "index": {
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            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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