Datasets:
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observation.state
list | action
list | timestamp
float32 0
15
| frame_index
int64 0
450
| episode_index
int64 0
59
| index
int64 0
20k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Inspire",
"total_episodes": 60,
"total_frames": 19988,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:60"
},
"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",
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"kLeftWristYaw",
"kLeftHandPinky",
"kLeftHandRing",
"kLeftHandMiddle",
"kLeftHandIndex",
"kLeftHandThumbBend",
"kLeftHandThumbRotation",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kRightHandPinky",
"kRightHandRing",
"kRightHandMiddle",
"kRightHandIndex",
"kRightHandThumbBend",
"kRightHandThumbRotation"
],
"left_tactile_little_finger_tip",
"left_tactile_little_finger_nail",
"left_tactile_little_finger_pad",
"left_tactile_ring_finger_tip",
"left_tactile_ring_finger_nail",
"left_tactile_ring_finger_pad",
"left_tactile_middle_finger_tip",
"left_tactile_middle_finger_nail",
"left_tactile_middle_finger_pad",
"left_tactile_index_finger_tip",
"left_tactile_index_finger_nail",
"left_tactile_index_finger_pad",
"left_tactile_thumb_tip",
"left_tactile_thumb_nail",
"left_tactile_thumb_middle",
"left_tactile_thumb_pad",
"left_tactile_little_knuckle",
"left_tactile_ring_knuckle",
"left_tactile_middle_knuckle",
"left_tactile_index_knuckle",
"left_tactile_palm",
"right_tactile_little_finger_tip",
"right_tactile_little_finger_nail",
"right_tactile_little_finger_pad",
"right_tactile_ring_finger_tip",
"right_tactile_ring_finger_nail",
"right_tactile_ring_finger_pad",
"right_tactile_middle_finger_tip",
"right_tactile_middle_finger_nail",
"right_tactile_middle_finger_pad",
"right_tactile_index_finger_tip",
"right_tactile_index_finger_nail",
"right_tactile_index_finger_pad",
"right_tactile_thumb_tip",
"right_tactile_thumb_nail",
"right_tactile_thumb_middle",
"right_tactile_thumb_pad",
"right_tactile_little_knuckle",
"right_tactile_ring_knuckle",
"right_tactile_middle_knuckle",
"right_tactile_index_knuckle",
"right_tactile_palm"
]
},
"action": {
"dtype": "float32",
"shape": [
26
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kLeftHandPinky",
"kLeftHandRing",
"kLeftHandMiddle",
"kLeftHandIndex",
"kLeftHandThumbBend",
"kLeftHandThumbRotation",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kRightHandPinky",
"kRightHandRing",
"kRightHandMiddle",
"kRightHandIndex",
"kRightHandThumbBend",
"kRightHandThumbRotation"
]
]
},
"observation.images.cam_left_high": {
"dtype": "video",
"shape": [
3,
480,
848
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 848,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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1
],
"names": null
},
"episode_index": {
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1
],
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},
"index": {
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],
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},
"task_index": {
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"shape": [
1
],
"names": null
}
}
}
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