Datasets:
R1 r1_ep00006_v2 merged LeRobot v3 dataset (2026-09-10)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"chunks_size": 1000,
|
| 3 |
+
"codebase_version": "v3.0",
|
| 4 |
+
"data_files_size_in_mb": 100,
|
| 5 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 6 |
+
"features": {
|
| 7 |
+
"action": {
|
| 8 |
+
"dtype": "float32",
|
| 9 |
+
"fps": 25.00000987202319,
|
| 10 |
+
"names": [
|
| 11 |
+
"left_ee_dpos_x",
|
| 12 |
+
"left_ee_dpos_y",
|
| 13 |
+
"left_ee_dpos_z",
|
| 14 |
+
"left_ee_drot_x",
|
| 15 |
+
"left_ee_drot_y",
|
| 16 |
+
"left_ee_drot_z",
|
| 17 |
+
"right_ee_dpos_x",
|
| 18 |
+
"right_ee_dpos_y",
|
| 19 |
+
"right_ee_dpos_z",
|
| 20 |
+
"right_ee_drot_x",
|
| 21 |
+
"right_ee_drot_y",
|
| 22 |
+
"right_ee_drot_z",
|
| 23 |
+
"right_index_proximal_joint",
|
| 24 |
+
"right_index_distal_joint",
|
| 25 |
+
"right_middle_proximal_joint",
|
| 26 |
+
"right_middle_distal_joint",
|
| 27 |
+
"right_pinky_proximal_joint",
|
| 28 |
+
"right_pinky_distal_joint",
|
| 29 |
+
"right_ring_proximal_joint",
|
| 30 |
+
"right_ring_distal_joint",
|
| 31 |
+
"right_thumb_metacarpal_joint",
|
| 32 |
+
"right_thumb_proximal_joint",
|
| 33 |
+
"right_thumb_distal_joint",
|
| 34 |
+
"left_index_proximal_joint",
|
| 35 |
+
"left_index_distal_joint",
|
| 36 |
+
"left_middle_proximal_joint",
|
| 37 |
+
"left_middle_distal_joint",
|
| 38 |
+
"left_pinky_proximal_joint",
|
| 39 |
+
"left_pinky_distal_joint",
|
| 40 |
+
"left_ring_proximal_joint",
|
| 41 |
+
"left_ring_distal_joint",
|
| 42 |
+
"left_thumb_metacarpal_joint",
|
| 43 |
+
"left_thumb_proximal_joint",
|
| 44 |
+
"left_thumb_distal_joint",
|
| 45 |
+
"head_quat_x",
|
| 46 |
+
"head_quat_y",
|
| 47 |
+
"head_quat_z",
|
| 48 |
+
"head_quat_w",
|
| 49 |
+
"root_lin_vel_x",
|
| 50 |
+
"root_lin_vel_y",
|
| 51 |
+
"root_lin_vel_z",
|
| 52 |
+
"root_ang_vel_x",
|
| 53 |
+
"root_ang_vel_y",
|
| 54 |
+
"root_ang_vel_z"
|
| 55 |
+
],
|
| 56 |
+
"shape": [
|
| 57 |
+
44
|
| 58 |
+
]
|
| 59 |
+
},
|
| 60 |
+
"action.ee_delta": {
|
| 61 |
+
"dtype": "float32",
|
| 62 |
+
"fps": 25.00000987202319,
|
| 63 |
+
"names": [
|
| 64 |
+
"left_ee_dpos_x",
|
| 65 |
+
"left_ee_dpos_y",
|
| 66 |
+
"left_ee_dpos_z",
|
| 67 |
+
"left_ee_drot_x",
|
| 68 |
+
"left_ee_drot_y",
|
| 69 |
+
"left_ee_drot_z",
|
| 70 |
+
"right_ee_dpos_x",
|
| 71 |
+
"right_ee_dpos_y",
|
| 72 |
+
"right_ee_dpos_z",
|
| 73 |
+
"right_ee_drot_x",
|
| 74 |
+
"right_ee_drot_y",
|
| 75 |
+
"right_ee_drot_z"
|
| 76 |
+
],
|
| 77 |
+
"shape": [
|
| 78 |
+
12
|
| 79 |
+
]
|
| 80 |
+
},
|
| 81 |
+
"action.head_rotation": {
|
| 82 |
+
"dtype": "float32",
|
| 83 |
+
"fps": 25.00000987202319,
|
| 84 |
+
"names": [
|
| 85 |
+
"head_quat_x",
|
| 86 |
+
"head_quat_y",
|
| 87 |
+
"head_quat_z",
|
| 88 |
+
"head_quat_w"
|
| 89 |
+
],
|
| 90 |
+
"shape": [
|
| 91 |
+
4
|
| 92 |
+
]
|
| 93 |
+
},
|
| 94 |
+
"action.left_finger_position": {
|
| 95 |
+
"dtype": "float32",
|
| 96 |
+
"fps": 25.00000987202319,
|
| 97 |
+
"names": [
|
| 98 |
+
"left_index_proximal_joint",
|
| 99 |
+
"left_index_distal_joint",
|
| 100 |
+
"left_middle_proximal_joint",
|
| 101 |
+
"left_middle_distal_joint",
|
| 102 |
+
"left_pinky_proximal_joint",
|
| 103 |
+
"left_pinky_distal_joint",
|
| 104 |
+
"left_ring_proximal_joint",
|
| 105 |
+
"left_ring_distal_joint",
|
| 106 |
+
"left_thumb_metacarpal_joint",
|
| 107 |
+
"left_thumb_proximal_joint",
|
| 108 |
+
"left_thumb_distal_joint"
|
| 109 |
+
],
|
| 110 |
+
"shape": [
|
| 111 |
+
11
|
| 112 |
+
]
|
| 113 |
+
},
|
| 114 |
+
"action.right_finger_position": {
|
| 115 |
+
"dtype": "float32",
|
| 116 |
+
"fps": 25.00000987202319,
|
| 117 |
+
"names": [
|
| 118 |
+
"right_index_proximal_joint",
|
| 119 |
+
"right_index_distal_joint",
|
| 120 |
+
"right_middle_proximal_joint",
|
| 121 |
+
"right_middle_distal_joint",
|
| 122 |
+
"right_pinky_proximal_joint",
|
| 123 |
+
"right_pinky_distal_joint",
|
| 124 |
+
"right_ring_proximal_joint",
|
| 125 |
+
"right_ring_distal_joint",
|
| 126 |
+
"right_thumb_metacarpal_joint",
|
| 127 |
+
"right_thumb_proximal_joint",
|
| 128 |
+
"right_thumb_distal_joint"
|
| 129 |
+
],
|
| 130 |
+
"shape": [
|
| 131 |
+
11
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"action.root_angular_velocity": {
|
| 135 |
+
"dtype": "float32",
|
| 136 |
+
"fps": 25.00000987202319,
|
| 137 |
+
"names": [
|
| 138 |
+
"root_ang_vel_x",
|
| 139 |
+
"root_ang_vel_y",
|
| 140 |
+
"root_ang_vel_z"
|
| 141 |
+
],
|
| 142 |
+
"shape": [
|
| 143 |
+
3
|
| 144 |
+
]
|
| 145 |
+
},
|
| 146 |
+
"action.root_linear_velocity": {
|
| 147 |
+
"dtype": "float32",
|
| 148 |
+
"fps": 25.00000987202319,
|
| 149 |
+
"names": [
|
| 150 |
+
"root_lin_vel_x",
|
| 151 |
+
"root_lin_vel_y",
|
| 152 |
+
"root_lin_vel_z"
|
| 153 |
+
],
|
| 154 |
+
"shape": [
|
| 155 |
+
3
|
| 156 |
+
]
|
| 157 |
+
},
|
| 158 |
+
"episode_index": {
|
| 159 |
+
"dtype": "int64",
|
| 160 |
+
"fps": 25.00000987202319,
|
| 161 |
+
"names": null,
|
| 162 |
+
"shape": [
|
| 163 |
+
1
|
| 164 |
+
]
|
| 165 |
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"fps": 25.00000987202319,
|
| 553 |
+
"merged_from": {
|
| 554 |
+
"/home/shadeform/lerobot_datasets/r1_ep00006_v2/workers/w0_c0": 6,
|
| 555 |
+
"/home/shadeform/lerobot_datasets/r1_ep00006_v2/workers/w1_c0": 7,
|
| 556 |
+
"/home/shadeform/lerobot_datasets/r1_ep00006_v2/workers/w2_c1": 6
|
| 557 |
+
},
|
| 558 |
+
"robot_type": "unitree_r1_revo2",
|
| 559 |
+
"splits": {
|
| 560 |
+
"train": "0:19"
|
| 561 |
+
},
|
| 562 |
+
"total_chunks": 1,
|
| 563 |
+
"total_episodes": 19,
|
| 564 |
+
"total_frames": 21356,
|
| 565 |
+
"total_tasks": 2,
|
| 566 |
+
"total_videos": 19,
|
| 567 |
+
"video_files_size_in_mb": 500,
|
| 568 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4"
|
| 569 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,1384 @@
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