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nepyope
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unitree-g1-cameratest2

Tasks:
Robotics
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LeRobot
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float32
0
4.97
frame_index
int64
0
149
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[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.02780340239405632, 0.0016777915880084038, 0.000874848454259336, -0.02039715088903904, -0.005416869651526213, 0, 0, -0.025106951594352722, 0.000011984225238848012, 0.0024447820615023375, -0.01752093806862831, 0.007861651480197906, 0, 0 ]
3.2
96
0
96
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.02780340239405632, 0.001689775730483234, 0.000898816913831979, -0.020385166630148888, -0.005344964563846588, 0, 0, -0.025106951594352722, 0.000011984225238848012, 0.0024687503464519978, -0.017544906586408615, 0.007873635739088058, 0, 0 ]
3.233333
97
0
97
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.027827370911836624, 0.0016538230702280998, 0.0009108011145144701, -0.02040913514792919, -0.005368933081626892, 0, 0, -0.025118935853242874, 0.000011984225238848012, 0.0024327978026121855, -0.01752093806862831, 0.007861651480197906, 0, 0 ]
3.266667
98
0
98
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.027839355170726776, 0.0016777915880084038, 0.0009227853151969612, -0.02040913514792919, -0.005368933081626892, 0, 0, -0.02515488862991333, 0, 0.0024447820615023375, -0.01752093806862831, 0.00788561999797821, 0, 0 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "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": 500,
    "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": [
                "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"
            ],
            "shape": [
                14
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "names": [
                "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"
            ],
            "shape": [
                14
            ]
        },
        "observation.images.remote_head": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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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License:
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