1 episodes · 50 fps · 1 camera · 640×480 h264
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 50,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
31
],
"names": [
"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"
]
},
"action": {
"dtype": "float32",
"shape": [
31
],
"names": [
"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"
]
},
"teleop.base_height_command": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"teleop.navigate_command": {
"dtype": "float32",
"shape": [
3
],
"names": null
},
"teleop.torso_orientation_rpy_command": {
"dtype": "float32",
"shape": [
3
],
"names": null
},
"annotation.human.task_description": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"next.reward": {
"dtype": "float64",
"shape": [
1
],
"names": null
},
"next.done": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"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.fps": 50,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": null,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {},
"is_depth_map": 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
}
},
"total_episodes": 1,
"total_frames": 573,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"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",
"robot_type": "unitree_g1",
"splits": {
"train": "0:1"
}
}
Citation
BibTeX:
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