kimjw31/g1-mujoco-sim-test

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "g1_zenoh",
    "total_episodes": 1,
    "total_frames": 277,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 10,
    "splits": {
        "train": "0:1"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": null,
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                29
            ],
            "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",
                "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"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                29
            ],
            "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",
                "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"
            ]
        },
        "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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