Datasets:
metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": null,
"total_episodes": 169,
"total_frames": 84001,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:169"
},
"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.images.ego_view": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 20,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float64",
"shape": [
43
],
"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",
"left_hand_index_0_joint",
"left_hand_index_1_joint",
"left_hand_middle_0_joint",
"left_hand_middle_1_joint",
"left_hand_thumb_0_joint",
"left_hand_thumb_1_joint",
"left_hand_thumb_2_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",
"right_hand_index_0_joint",
"right_hand_index_1_joint",
"right_hand_middle_0_joint",
"right_hand_middle_1_joint",
"right_hand_thumb_0_joint",
"right_hand_thumb_1_joint",
"right_hand_thumb_2_joint"
],
"fps": 20
},
"observation.eef_state": {
"dtype": "float64",
"shape": [
14
],
"names": [
"left_wrist_pos",
"left_wrist_abs_quat",
"right_wrist_pos",
"right_wrist_abs_quat"
],
"fps": 20
},
"action": {
"dtype": "float64",
"shape": [
43
],
"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",
"left_hand_index_0_joint",
"left_hand_index_1_joint",
"left_hand_middle_0_joint",
"left_hand_middle_1_joint",
"left_hand_thumb_0_joint",
"left_hand_thumb_1_joint",
"left_hand_thumb_2_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",
"right_hand_index_0_joint",
"right_hand_index_1_joint",
"right_hand_middle_0_joint",
"right_hand_middle_1_joint",
"right_hand_thumb_0_joint",
"right_hand_thumb_1_joint",
"right_hand_thumb_2_joint"
],
"fps": 20
},
"action.eef": {
"dtype": "float64",
"shape": [
14
],
"names": [
"left_wrist_pos",
"left_wrist_abs_quat",
"right_wrist_pos",
"right_wrist_abs_quat"
],
"fps": 20
},
"observation.img_state_delta": {
"dtype": "float32",
"shape": [
1
],
"names": "img_state_delta",
"fps": 20
},
"teleop.navigate_command": {
"dtype": "float64",
"shape": [
3
],
"names": [
"lin_vel_x",
"lin_vel_y",
"ang_vel_z"
],
"fps": 20
},
"teleop.base_height_command": {
"dtype": "float64",
"shape": [
1
],
"names": "base_height_command",
"fps": 20
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 20
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 20
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 20
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 20
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 20
}
},
"script_config": {
"wbc_version": "gear_wbc",
"wbc_model_path": "policy/GR00T-WholeBodyControl-Balance.onnx,policy/GR00T-WholeBodyControl-Walk.onnx",
"wbc_policy_class": "G1DecoupledWholeBodyPolicy",
"interface": "eno1",
"simulator": "mujoco",
"sim_sync_mode": false,
"control_frequency": 50,
"sim_frequency": 200,
"enable_waist": false,
"with_hands": false,
"hand_type": "dex3",
"high_elbow_pose": false,
"verbose": true,
"enable_offscreen": false,
"enable_onscreen": true,
"upper_body_joint_speed": 1000,
"env_name": "default",
"ik_indicator": false,
"verbose_timing": false,
"keyboard_dispatcher_type": "raw",
"enable_gravity_compensation": false,
"gravity_compensation_joints": null,
"body_control_device": "dummy",
"hand_control_device": "dummy",
"body_streamer_ip": "10.112.210.229",
"body_streamer_keyword": "knee",
"enable_visualization": false,
"enable_real_device": true,
"teleop_frequency": 20,
"teleop_replay_path": null,
"robot_ip": "192.168.123.164",
"data_collection": true,
"data_collection_frequency": 20,
"root_output_dir": "outputs",
"enable_upper_body_operation": true,
"upper_body_operation_mode": "teleop"
},
"discarded_episode_indices": [],
"data_collection_info": {
"lower_body_policy": null,
"wbc_model_path": null,
"teleoperator_username": null,
"support_operator_username": null,
"robot_type": null,
"robot_id": null
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200
}
Citation
BibTeX:
[More Information Needed]