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observation.state
list
observation.eef_state
list
action.wbc
list
observation.root_orientation
list
observation.projected_gravity
list
observation.cpp_rotation_offset
list
observation.init_base_quat
list
teleop.delta_heading
float64
0
0
action.motion_token
list
teleop.smpl_joints
list
teleop.smpl_pose
list
teleop.body_quat_w
list
teleop.target_body_orientation
list
teleop.left_hand_joints
list
teleop.right_hand_joints
list
teleop.smpl_frame_index
int64
0
66.9k
teleop.left_wrist_joints
list
teleop.right_wrist_joints
list
teleop.stream_mode
int32
1
1
teleop.planner_mode
int32
0
0
teleop.planner_movement
list
teleop.planner_facing
list
teleop.planner_speed
float32
-1
-1
teleop.planner_height
float32
-1
-1
teleop.vr_3pt_position
list
teleop.vr_3pt_orientation
list
timestamp
float32
0
25.6
frame_index
int64
0
1.28k
episode_index
int64
0
100
index
int64
0
44.4k
task_index
int64
0
0
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[ 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
[ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
0.56
28
0
28
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": null,
    "total_episodes": 101,
    "total_frames": 44358,
    "total_tasks": 1,
    "total_videos": 101,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 50,
    "splits": {
        "train": "0:101"
    },
    "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": {
        "observation.images.ego_view": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 50,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float64",
            "shape": [
                43
            ],
            "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",
                "left_hand_index_0_joint",
                "left_hand_index_1_joint",
                "left_hand_middle_0_joint",
                "left_hand_middle_1_joint",
                "left_hand_thumb_0_joint",
                "left_hand_thumb_1_joint",
                "left_hand_thumb_2_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",
                "right_hand_index_0_joint",
                "right_hand_index_1_joint",
                "right_hand_middle_0_joint",
                "right_hand_middle_1_joint",
                "right_hand_thumb_0_joint",
                "right_hand_thumb_1_joint",
                "right_hand_thumb_2_joint"
            ]
        },
        "observation.eef_state": {
            "dtype": "float64",
            "shape": [
                14
            ],
            "names": [
                "left_wrist_pos",
                "left_wrist_abs_quat",
                "right_wrist_pos",
                "right_wrist_abs_quat"
            ]
        },
        "action.wbc": {
            "dtype": "float64",
            "shape": [
                43
            ],
            "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",
                "left_hand_index_0_joint",
                "left_hand_index_1_joint",
                "left_hand_middle_0_joint",
                "left_hand_middle_1_joint",
                "left_hand_thumb_0_joint",
                "left_hand_thumb_1_joint",
                "left_hand_thumb_2_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",
                "right_hand_index_0_joint",
                "right_hand_index_1_joint",
                "right_hand_middle_0_joint",
                "right_hand_middle_1_joint",
                "right_hand_thumb_0_joint",
                "right_hand_thumb_1_joint",
                "right_hand_thumb_2_joint"
            ]
        },
        "observation.root_orientation": {
            "dtype": "float64",
            "shape": [
                4
            ],
            "names": [
                "base_qw",
                "base_qx",
                "base_qy",
                "base_qz"
            ]
        },
        "observation.projected_gravity": {
            "dtype": "float64",
            "shape": [
                3
            ],
            "names": [
                "gravity_x",
                "gravity_y",
                "gravity_z"
            ]
        },
        "observation.cpp_rotation_offset": {
            "dtype": "float64",
            "shape": [
                4
            ],
            "names": [
                "rot_offset_qw",
                "rot_offset_qx",
                "rot_offset_qy",
                "rot_offset_qz"
            ]
        },
        "observation.init_base_quat": {
            "dtype": "float64",
            "shape": [
                4
            ],
            "names": [
                "init_base_qw",
                "init_base_qx",
                "init_base_qy",
                "init_base_qz"
            ]
        },
        "teleop.delta_heading": {
            "dtype": "float64",
            "shape": [
                1
            ],
            "names": [
                "delta_heading"
            ]
        },
        "action.motion_token": {
            "dtype": "float64",
            "shape": [
                64
            ],
            "names": "motion_token"
        },
        "teleop.smpl_joints": {
            "dtype": "float32",
            "shape": [
                72
            ],
            "names": "smpl_joints"
        },
        "teleop.smpl_pose": {
            "dtype": "float32",
            "shape": [
                63
            ],
            "names": "smpl_pose"
        },
        "teleop.body_quat_w": {
            "dtype": "float32",
            "shape": [
                4
            ],
            "names": "body_quat_w"
        },
        "teleop.target_body_orientation": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "target_body_r00",
                "target_body_r10",
                "target_body_r01",
                "target_body_r11",
                "target_body_r02",
                "target_body_r12"
            ]
        },
        "teleop.left_hand_joints": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": "left_hand_joints"
        },
        "teleop.right_hand_joints": {
            "dtype": "float32",
            "shape": [
                7
            ],
            "names": "right_hand_joints"
        },
        "teleop.smpl_frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": [
                "smpl_frame_index"
            ]
        },
        "teleop.left_wrist_joints": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "left_wrist_roll",
                "left_wrist_pitch",
                "left_wrist_yaw"
            ]
        },
        "teleop.right_wrist_joints": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "right_wrist_roll",
                "right_wrist_pitch",
                "right_wrist_yaw"
            ]
        },
        "teleop.stream_mode": {
            "dtype": "int32",
            "shape": [
                1
            ],
            "names": [
                "stream_mode"
            ]
        },
        "teleop.planner_mode": {
            "dtype": "int32",
            "shape": [
                1
            ],
            "names": [
                "locomotion_mode"
            ]
        },
        "teleop.planner_movement": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "movement_x",
                "movement_y",
                "movement_z"
            ]
        },
        "teleop.planner_facing": {
            "dtype": "float32",
            "shape": [
                3
            ],
            "names": [
                "facing_x",
                "facing_y",
                "facing_z"
            ]
        },
        "teleop.planner_speed": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "speed"
            ]
        },
        "teleop.planner_height": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": [
                "height"
            ]
        },
        "teleop.vr_3pt_position": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "lwrist_x",
                "lwrist_y",
                "lwrist_z",
                "rwrist_x",
                "rwrist_y",
                "rwrist_z",
                "neck_x",
                "neck_y",
                "neck_z"
            ]
        },
        "teleop.vr_3pt_orientation": {
            "dtype": "float32",
            "shape": [
                18
            ],
            "names": [
                "lwrist_r00",
                "lwrist_r10",
                "lwrist_r01",
                "lwrist_r11",
                "lwrist_r02",
                "lwrist_r12",
                "rwrist_r00",
                "rwrist_r10",
                "rwrist_r01",
                "rwrist_r11",
                "rwrist_r02",
                "rwrist_r12",
                "neck_r00",
                "neck_r10",
                "neck_r01",
                "neck_r11",
                "neck_r02",
                "neck_r12"
            ]
        },
        "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
        }
    },
    "script_config": {
        "control_frequency": 50.0,
        "encoder_file": "policy/release/model_encoder.onnx",
        "is_using_encoder": true,
        "model_path": "policy/release/model_decoder.onnx",
        "obs_config_path": "policy/release/observation_config.yaml",
        "planner_fp16": false,
        "planner_frequency": 10.0,
        "planner_path": "planner/target_vel/V2/planner_sonic.onnx",
        "policy_fp16": false,
        "reference_motion_path": "reference/example/",
        "record_wrist_cameras": false
    },
    "discarded_episode_indices": []
}

Citation

BibTeX:

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