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nepyope
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unitree-g1-cameratest3

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Robotics
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LeRobot
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observation.state
list
timestamp
float32
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4.97
frame_index
int64
0
149
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[ -0.02642521634697914, 0.0016418388113379478, 0.0008868326549418271, -0.020552946254611015, -0.005404885392636061, 0, 0, -0.023764718323946, 0.000035952674807049334, 0.0024567660875618458, -0.017005614936351776, 0.007873635739088058, 0, 0 ]
3.166667
95
0
95
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.02642521634697914, 0.0016418388113379478, 0.0009108011145144701, -0.020552946254611015, -0.005392901133745909, 0, 0, -0.023764718323946, 0.00005992112710373476, 0.0024687503464519978, -0.017005614936351776, 0.007861651480197906, 0, 0 ]
3.2
96
0
96
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.02641323208808899, 0.0016418388113379478, 0.000898816913831979, -0.020552946254611015, -0.005380917340517044, 0, 0, -0.023764718323946, 0.000035952674807049334, 0.0024567660875618458, -0.017005614936351776, 0.007873635739088058, 0, 0 ]
3.233333
97
0
97
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.026449184864759445, 0.0016418388113379478, 0.0009108011145144701, -0.020564930513501167, -0.005368933081626892, 0, 0, -0.023800671100616455, 0.000035952674807049334, 0.0024687503464519978, -0.017005614936351776, 0.007897604256868362, 0, 0 ]
3.266667
98
0
98
0
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
[ -0.026461169123649597, 0.0016418388113379478, 0.0008868326549418271, -0.020552946254611015, -0.005368933081626892, 0, 0, -0.023860592395067215, 0.000035952674807049334, 0.0024687503464519978, -0.017005614936351776, 0.007861651480197906, 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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