Datasets:
101 episodes · 50 fps · 1 camera · 640×480 h264
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 101,
"total_frames": 44358,
"total_tasks": 1,
"total_videos": 101,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:101"
},
"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.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": 50,
"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"
]
},
"observation.eef_state": {
"dtype": "float64",
"shape": [
14
],
"names": [
"left_wrist_pos",
"left_wrist_abs_quat",
"right_wrist_pos",
"right_wrist_abs_quat"
]
},
"action.wbc": {
"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"
]
},
"observation.root_orientation": {
"dtype": "float64",
"shape": [
4
],
"names": [
"base_qw",
"base_qx",
"base_qy",
"base_qz"
]
},
"observation.projected_gravity": {
"dtype": "float64",
"shape": [
3
],
"names": [
"gravity_x",
"gravity_y",
"gravity_z"
]
},
"observation.cpp_rotation_offset": {
"dtype": "float64",
"shape": [
4
],
"names": [
"rot_offset_qw",
"rot_offset_qx",
"rot_offset_qy",
"rot_offset_qz"
]
},
"observation.init_base_quat": {
"dtype": "float64",
"shape": [
4
],
"names": [
"init_base_qw",
"init_base_qx",
"init_base_qy",
"init_base_qz"
]
},
"teleop.delta_heading": {
"dtype": "float64",
"shape": [
1
],
"names": [
"delta_heading"
]
},
"action.motion_token": {
"dtype": "float64",
"shape": [
64
],
"names": "motion_token"
},
"teleop.smpl_joints": {
"dtype": "float32",
"shape": [
72
],
"names": "smpl_joints"
},
"teleop.smpl_pose": {
"dtype": "float32",
"shape": [
63
],
"names": "smpl_pose"
},
"teleop.body_quat_w": {
"dtype": "float32",
"shape": [
4
],
"names": "body_quat_w"
},
"teleop.target_body_orientation": {
"dtype": "float32",
"shape": [
6
],
"names": [
"target_body_r00",
"target_body_r10",
"target_body_r01",
"target_body_r11",
"target_body_r02",
"target_body_r12"
]
},
"teleop.left_hand_joints": {
"dtype": "float32",
"shape": [
7
],
"names": "left_hand_joints"
},
"teleop.right_hand_joints": {
"dtype": "float32",
"shape": [
7
],
"names": "right_hand_joints"
},
"teleop.smpl_frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": [
"smpl_frame_index"
]
},
"teleop.left_wrist_joints": {
"dtype": "float32",
"shape": [
3
],
"names": [
"left_wrist_roll",
"left_wrist_pitch",
"left_wrist_yaw"
]
},
"teleop.right_wrist_joints": {
"dtype": "float32",
"shape": [
3
],
"names": [
"right_wrist_roll",
"right_wrist_pitch",
"right_wrist_yaw"
]
},
"teleop.stream_mode": {
"dtype": "int32",
"shape": [
1
],
"names": [
"stream_mode"
]
},
"teleop.planner_mode": {
"dtype": "int32",
"shape": [
1
],
"names": [
"locomotion_mode"
]
},
"teleop.planner_movement": {
"dtype": "float32",
"shape": [
3
],
"names": [
"movement_x",
"movement_y",
"movement_z"
]
},
"teleop.planner_facing": {
"dtype": "float32",
"shape": [
3
],
"names": [
"facing_x",
"facing_y",
"facing_z"
]
},
"teleop.planner_speed": {
"dtype": "float32",
"shape": [
1
],
"names": [
"speed"
]
},
"teleop.planner_height": {
"dtype": "float32",
"shape": [
1
],
"names": [
"height"
]
},
"teleop.vr_3pt_position": {
"dtype": "float32",
"shape": [
9
],
"names": [
"lwrist_x",
"lwrist_y",
"lwrist_z",
"rwrist_x",
"rwrist_y",
"rwrist_z",
"neck_x",
"neck_y",
"neck_z"
]
},
"teleop.vr_3pt_orientation": {
"dtype": "float32",
"shape": [
18
],
"names": [
"lwrist_r00",
"lwrist_r10",
"lwrist_r01",
"lwrist_r11",
"lwrist_r02",
"lwrist_r12",
"rwrist_r00",
"rwrist_r10",
"rwrist_r01",
"rwrist_r11",
"rwrist_r02",
"rwrist_r12",
"neck_r00",
"neck_r10",
"neck_r01",
"neck_r11",
"neck_r02",
"neck_r12"
]
},
"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
}
},
"script_config": {
"control_frequency": 50.0,
"encoder_file": "policy/release/model_encoder.onnx",
"is_using_encoder": true,
"model_path": "policy/release/model_decoder.onnx",
"obs_config_path": "policy/release/observation_config.yaml",
"planner_fp16": false,
"planner_frequency": 10.0,
"planner_path": "planner/target_vel/V2/planner_sonic.onnx",
"policy_fp16": false,
"reference_motion_path": "reference/example/",
"record_wrist_cameras": false
},
"discarded_episode_indices": []
}
Citation
BibTeX:
[More Information Needed]
- Downloads last month
- 53