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observation.state
list | action
list | timestamp
float32 0
111
| frame_index
int64 0
3.32k
| episode_index
int64 0
196
| index
int64 0
221k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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0.07576353847980499,
0,
0.7422683238983154,
0,
0,
0,
0
] | 3.3 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Brainco",
"total_episodes": 197,
"total_frames": 220788,
"total_tasks": 1,
"total_videos": 788,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:197"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
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26
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb",
"kLeftHandThumbAux",
"kLeftHandIndex",
"kLeftHandMiddle",
"kLeftHandRing",
"kLeftHandPinky",
"kRightHandThumb",
"kRightHandThumbAux",
"kRightHandIndex",
"kRightHandMiddle",
"kRightHandRing",
"kRightHandPinky"
]
]
},
"action": {
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"names": [
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"kLeftShoulderRoll",
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"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb",
"kLeftHandThumbAux",
"kLeftHandIndex",
"kLeftHandMiddle",
"kLeftHandRing",
"kLeftHandPinky",
"kRightHandThumb",
"kRightHandThumbAux",
"kRightHandIndex",
"kRightHandMiddle",
"kRightHandRing",
"kRightHandPinky"
]
]
},
"observation.images.cam_left_high": {
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480,
640
],
"names": [
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],
"info": {
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},
"observation.images.cam_right_high": {
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},
"observation.images.cam_left_wrist": {
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},
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}
},
"timestamp": {
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"names": null
},
"frame_index": {
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},
"episode_index": {
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],
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},
"index": {
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},
"task_index": {
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"shape": [
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"names": null
}
}
}
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