--- license: apache-2.0 task_categories: - robotics tags: - LeRobot 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": "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:** ```bibtex [More Information Needed] ```