Search is not available for this dataset
action
list | observation.state
list | timestamp
float32 0
4.97
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int64 0
149
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int64 0
0
| index
int64 0
149
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0
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0.00002427251820336096,
0.004547467455267906,
0.0000011682353715514182,
0.000004774875833390979,
0.13123850524425507,
-0.00004062074367539026,
-0.05281822010874748,
-0.000004095702479389729,
-0.033061087131500244,
0,
0,
0
] | 2.1
| 63
| 0
| 63
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "unitree_g1",
"total_episodes": 1,
"total_frames": 150,
"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.pos",
"kLeftHipRoll.pos",
"kLeftHipYaw.pos",
"kLeftKnee.pos",
"kLeftAnklePitch.pos",
"kLeftAnkleRoll.pos",
"kRightHipPitch.pos",
"kRightHipRoll.pos",
"kRightHipYaw.pos",
"kRightKnee.pos",
"kRightAnklePitch.pos",
"kRightAnkleRoll.pos",
"kWaistYaw.pos",
"kWaistRoll.pos",
"kWaistPitch.pos",
"kLeftShoulderPitch.pos",
"kLeftShoulderRoll.pos",
"kLeftShoulderYaw.pos",
"kLeftElbow.pos",
"kLeftWristRoll.pos",
"kLeftWristPitch.pos",
"kLeftWristyaw.pos",
"kRightShoulderPitch.pos",
"kRightShoulderRoll.pos",
"kRightShoulderYaw.pos",
"kRightElbow.pos",
"kRightWristRoll.pos",
"kRightWristPitch.pos",
"kRightWristYaw.pos",
"kNotUsedJoint0.pos",
"kNotUsedJoint1.pos",
"kNotUsedJoint2.pos",
"kNotUsedJoint3.pos",
"kNotUsedJoint4.pos",
"kNotUsedJoint5.pos"
],
"shape": [
35
]
},
"observation.state": {
"dtype": "float32",
"names": [
"kLeftHipPitch.pos",
"kLeftHipPitch.vel",
"kLeftHipPitch.torque",
"kLeftHipPitch.temp",
"kLeftHipRoll.pos",
"kLeftHipRoll.vel",
"kLeftHipRoll.torque",
"kLeftHipRoll.temp",
"kLeftHipYaw.pos",
"kLeftHipYaw.vel",
"kLeftHipYaw.torque",
"kLeftHipYaw.temp",
"kLeftKnee.pos",
"kLeftKnee.vel",
"kLeftKnee.torque",
"kLeftKnee.temp",
"kLeftAnklePitch.pos",
"kLeftAnklePitch.vel",
"kLeftAnklePitch.torque",
"kLeftAnklePitch.temp",
"kLeftAnkleRoll.pos",
"kLeftAnkleRoll.vel",
"kLeftAnkleRoll.torque",
"kLeftAnkleRoll.temp",
"kRightHipPitch.pos",
"kRightHipPitch.vel",
"kRightHipPitch.torque",
"kRightHipPitch.temp",
"kRightHipRoll.pos",
"kRightHipRoll.vel",
"kRightHipRoll.torque",
"kRightHipRoll.temp",
"kRightHipYaw.pos",
"kRightHipYaw.vel",
"kRightHipYaw.torque",
"kRightHipYaw.temp",
"kRightKnee.pos",
"kRightKnee.vel",
"kRightKnee.torque",
"kRightKnee.temp",
"kRightAnklePitch.pos",
"kRightAnklePitch.vel",
"kRightAnklePitch.torque",
"kRightAnklePitch.temp",
"kRightAnkleRoll.pos",
"kRightAnkleRoll.vel",
"kRightAnkleRoll.torque",
"kRightAnkleRoll.temp",
"kWaistYaw.pos",
"kWaistYaw.vel",
"kWaistYaw.torque",
"kWaistYaw.temp",
"kWaistRoll.pos",
"kWaistRoll.vel",
"kWaistRoll.torque",
"kWaistRoll.temp",
"kWaistPitch.pos",
"kWaistPitch.vel",
"kWaistPitch.torque",
"kWaistPitch.temp",
"kLeftShoulderPitch.pos",
"kLeftShoulderPitch.vel",
"kLeftShoulderPitch.torque",
"kLeftShoulderPitch.temp",
"kLeftShoulderRoll.pos",
"kLeftShoulderRoll.vel",
"kLeftShoulderRoll.torque",
"kLeftShoulderRoll.temp",
"kLeftShoulderYaw.pos",
"kLeftShoulderYaw.vel",
"kLeftShoulderYaw.torque",
"kLeftShoulderYaw.temp",
"kLeftElbow.pos",
"kLeftElbow.vel",
"kLeftElbow.torque",
"kLeftElbow.temp",
"kLeftWristRoll.pos",
"kLeftWristRoll.vel",
"kLeftWristRoll.torque",
"kLeftWristRoll.temp",
"kLeftWristPitch.pos",
"kLeftWristPitch.vel",
"kLeftWristPitch.torque",
"kLeftWristPitch.temp",
"kLeftWristyaw.pos",
"kLeftWristyaw.vel",
"kLeftWristyaw.torque",
"kLeftWristyaw.temp",
"kRightShoulderPitch.pos",
"kRightShoulderPitch.vel",
"kRightShoulderPitch.torque",
"kRightShoulderPitch.temp",
"kRightShoulderRoll.pos",
"kRightShoulderRoll.vel",
"kRightShoulderRoll.torque",
"kRightShoulderRoll.temp",
"kRightShoulderYaw.pos",
"kRightShoulderYaw.vel",
"kRightShoulderYaw.torque",
"kRightShoulderYaw.temp",
"kRightElbow.pos",
"kRightElbow.vel",
"kRightElbow.torque",
"kRightElbow.temp",
"kRightWristRoll.pos",
"kRightWristRoll.vel",
"kRightWristRoll.torque",
"kRightWristRoll.temp",
"kRightWristPitch.pos",
"kRightWristPitch.vel",
"kRightWristPitch.torque",
"kRightWristPitch.temp",
"kRightWristYaw.pos",
"kRightWristYaw.vel",
"kRightWristYaw.torque",
"kRightWristYaw.temp",
"kNotUsedJoint0.pos",
"kNotUsedJoint0.vel",
"kNotUsedJoint0.torque",
"kNotUsedJoint0.temp",
"kNotUsedJoint1.pos",
"kNotUsedJoint1.vel",
"kNotUsedJoint1.torque",
"kNotUsedJoint1.temp",
"kNotUsedJoint2.pos",
"kNotUsedJoint2.vel",
"kNotUsedJoint2.torque",
"kNotUsedJoint2.temp",
"kNotUsedJoint3.pos",
"kNotUsedJoint3.vel",
"kNotUsedJoint3.torque",
"kNotUsedJoint3.temp",
"kNotUsedJoint4.pos",
"kNotUsedJoint4.vel",
"kNotUsedJoint4.torque",
"kNotUsedJoint4.temp",
"kNotUsedJoint5.pos",
"kNotUsedJoint5.vel",
"kNotUsedJoint5.torque",
"kNotUsedJoint5.temp",
"imu.quat_w",
"imu.quat_x",
"imu.quat_y",
"imu.quat_z",
"imu.gyro_x",
"imu.gyro_y",
"imu.gyro_z",
"imu.accel_x",
"imu.accel_y",
"imu.accel_z",
"imu.roll",
"imu.pitch",
"imu.yaw"
],
"shape": [
153
]
},
"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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