| 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": "v2.1", | |
| "robot_type": "Unitree_G1_Dex3_With_Waist", | |
| "total_episodes": 5, | |
| "total_frames": 25, | |
| "total_tasks": 1, | |
| "total_videos": 5, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:5" | |
| }, | |
| "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": [ | |
| 31 | |
| ], | |
| "names": [ | |
| [ | |
| "kWaistYaw", | |
| "kWaistPitch", | |
| "kWaistRoll", | |
| "kLeftShoulderPitch", | |
| "kLeftShoulderRoll", | |
| "kLeftShoulderYaw", | |
| "kLeftElbow", | |
| "kLeftWristRoll", | |
| "kLeftWristPitch", | |
| "kLeftWristYaw", | |
| "kRightShoulderPitch", | |
| "kRightShoulderRoll", | |
| "kRightShoulderYaw", | |
| "kRightElbow", | |
| "kRightWristRoll", | |
| "kRightWristPitch", | |
| "kRightWristYaw", | |
| "kLeftHandThumb0", | |
| "kLeftHandThumb1", | |
| "kLeftHandThumb2", | |
| "kLeftHandMiddle0", | |
| "kLeftHandMiddle1", | |
| "kLeftHandIndex0", | |
| "kLeftHandIndex1", | |
| "kRightHandThumb0", | |
| "kRightHandThumb1", | |
| "kRightHandThumb2", | |
| "kRightHandIndex0", | |
| "kRightHandIndex1", | |
| "kRightHandMiddle0", | |
| "kRightHandMiddle1" | |
| ] | |
| ] | |
| }, | |
| "action": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 31 | |
| ], | |
| "names": [ | |
| [ | |
| "kWaistYaw", | |
| "kWaistPitch", | |
| "kWaistRoll", | |
| "kLeftShoulderPitch", | |
| "kLeftShoulderRoll", | |
| "kLeftShoulderYaw", | |
| "kLeftElbow", | |
| "kLeftWristRoll", | |
| "kLeftWristPitch", | |
| "kLeftWristYaw", | |
| "kRightShoulderPitch", | |
| "kRightShoulderRoll", | |
| "kRightShoulderYaw", | |
| "kRightElbow", | |
| "kRightWristRoll", | |
| "kRightWristPitch", | |
| "kRightWristYaw", | |
| "kLeftHandThumb0", | |
| "kLeftHandThumb1", | |
| "kLeftHandThumb2", | |
| "kLeftHandMiddle0", | |
| "kLeftHandMiddle1", | |
| "kLeftHandIndex0", | |
| "kLeftHandIndex1", | |
| "kRightHandThumb0", | |
| "kRightHandThumb1", | |
| "kRightHandThumb2", | |
| "kRightHandIndex0", | |
| "kRightHandIndex1", | |
| "kRightHandMiddle0", | |
| "kRightHandMiddle1" | |
| ] | |
| ] | |
| }, | |
| "observation.images.cam_front": { | |
| "dtype": "video", | |
| "shape": [ | |
| 3, | |
| 480, | |
| 640 | |
| ], | |
| "names": [ | |
| "channels", | |
| "height", | |
| "width" | |
| ], | |
| "info": { | |
| "video.fps": 30.0, | |
| "video.height": 480, | |
| "video.width": 640, | |
| "video.channels": 3, | |
| "video.codec": "av1", | |
| "video.pix_fmt": "yuv420p", | |
| "video.is_depth_map": false, | |
| "has_audio": false | |
| } | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| } | |
| } | |
| } | |
| ``` | |
| ## Citation | |
| **BibTeX:** | |
| ```bibtex | |
| [More Information Needed] | |
| ``` |