1 episodes · 30 fps · 2 cameras · 640×480 h264
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "unitree_g1_dex3",
"total_episodes": 1,
"total_frames": 411,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1"
},
"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",
"features": {
"action": {
"dtype": "float32",
"names": [
"kLeftHipPitch.q",
"kLeftHipRoll.q",
"kLeftHipYaw.q",
"kLeftKnee.q",
"kLeftAnklePitch.q",
"kLeftAnkleRoll.q",
"kRightHipPitch.q",
"kRightHipRoll.q",
"kRightHipYaw.q",
"kRightKnee.q",
"kRightAnklePitch.q",
"kRightAnkleRoll.q",
"kWaistYaw.q",
"kWaistRoll.q",
"kWaistPitch.q",
"kLeftShoulderPitch.q",
"kLeftShoulderRoll.q",
"kLeftShoulderYaw.q",
"kLeftElbow.q",
"kLeftWristRoll.q",
"kLeftWristPitch.q",
"kLeftWristyaw.q",
"kRightShoulderPitch.q",
"kRightShoulderRoll.q",
"kRightShoulderYaw.q",
"kRightElbow.q",
"kRightWristRoll.q",
"kRightWristPitch.q",
"kRightWristYaw.q",
"left_hand_thumb_0_joint.q",
"left_hand_thumb_1_joint.q",
"left_hand_thumb_2_joint.q",
"left_hand_middle_0_joint.q",
"left_hand_middle_1_joint.q",
"left_hand_index_0_joint.q",
"left_hand_index_1_joint.q",
"right_hand_thumb_0_joint.q",
"right_hand_thumb_1_joint.q",
"right_hand_thumb_2_joint.q",
"right_hand_index_0_joint.q",
"right_hand_index_1_joint.q",
"right_hand_middle_0_joint.q",
"right_hand_middle_1_joint.q"
],
"shape": [
43
]
},
"observation.state": {
"dtype": "float32",
"names": [
"kLeftHipPitch.q",
"kLeftHipRoll.q",
"kLeftHipYaw.q",
"kLeftKnee.q",
"kLeftAnklePitch.q",
"kLeftAnkleRoll.q",
"kRightHipPitch.q",
"kRightHipRoll.q",
"kRightHipYaw.q",
"kRightKnee.q",
"kRightAnklePitch.q",
"kRightAnkleRoll.q",
"kWaistYaw.q",
"kWaistRoll.q",
"kWaistPitch.q",
"kLeftShoulderPitch.q",
"kLeftShoulderRoll.q",
"kLeftShoulderYaw.q",
"kLeftElbow.q",
"kLeftWristRoll.q",
"kLeftWristPitch.q",
"kLeftWristyaw.q",
"kRightShoulderPitch.q",
"kRightShoulderRoll.q",
"kRightShoulderYaw.q",
"kRightElbow.q",
"kRightWristRoll.q",
"kRightWristPitch.q",
"kRightWristYaw.q",
"left_hand_thumb_0_joint.q",
"left_hand_thumb_1_joint.q",
"left_hand_thumb_2_joint.q",
"left_hand_middle_0_joint.q",
"left_hand_middle_1_joint.q",
"left_hand_index_0_joint.q",
"left_hand_index_1_joint.q",
"right_hand_thumb_0_joint.q",
"right_hand_thumb_1_joint.q",
"right_hand_thumb_2_joint.q",
"right_hand_index_0_joint.q",
"right_hand_index_1_joint.q",
"right_hand_middle_0_joint.q",
"right_hand_middle_1_joint.q"
],
"shape": [
43
]
},
"observation.images.head_camera": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.head_camera_depth": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.channels": 3,
"has_audio": false,
"video.is_depth_map": true
}
},
"observation.left_hand_pressure": {
"dtype": "float32",
"names": [
"left_hand_pressure_0",
"left_hand_pressure_1",
"left_hand_pressure_2",
"left_hand_pressure_3",
"left_hand_pressure_4",
"left_hand_pressure_5",
"left_hand_pressure_6",
"left_hand_pressure_7",
"left_hand_pressure_8",
"left_hand_pressure_9",
"left_hand_pressure_10",
"left_hand_pressure_11",
"left_hand_pressure_12",
"left_hand_pressure_13",
"left_hand_pressure_14",
"left_hand_pressure_15",
"left_hand_pressure_16",
"left_hand_pressure_17",
"left_hand_pressure_18",
"left_hand_pressure_19",
"left_hand_pressure_20",
"left_hand_pressure_21",
"left_hand_pressure_22",
"left_hand_pressure_23",
"left_hand_pressure_24",
"left_hand_pressure_25",
"left_hand_pressure_26",
"left_hand_pressure_27",
"left_hand_pressure_28",
"left_hand_pressure_29",
"left_hand_pressure_30",
"left_hand_pressure_31",
"left_hand_pressure_32"
],
"shape": [
33
]
},
"observation.right_hand_pressure": {
"dtype": "float32",
"names": [
"right_hand_pressure_0",
"right_hand_pressure_1",
"right_hand_pressure_2",
"right_hand_pressure_3",
"right_hand_pressure_4",
"right_hand_pressure_5",
"right_hand_pressure_6",
"right_hand_pressure_7",
"right_hand_pressure_8",
"right_hand_pressure_9",
"right_hand_pressure_10",
"right_hand_pressure_11",
"right_hand_pressure_12",
"right_hand_pressure_13",
"right_hand_pressure_14",
"right_hand_pressure_15",
"right_hand_pressure_16",
"right_hand_pressure_17",
"right_hand_pressure_18",
"right_hand_pressure_19",
"right_hand_pressure_20",
"right_hand_pressure_21",
"right_hand_pressure_22",
"right_hand_pressure_23",
"right_hand_pressure_24",
"right_hand_pressure_25",
"right_hand_pressure_26",
"right_hand_pressure_27",
"right_hand_pressure_28",
"right_hand_pressure_29",
"right_hand_pressure_30",
"right_hand_pressure_31",
"right_hand_pressure_32"
],
"shape": [
33
]
},
"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:
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