Datasets:

lt-s
/

test_upload

	---
	license: apache-2.0
	task_categories:
	- robotics
	tags:
	- LeRobot
	configs:
	- config_name: default
	data_files: data//.parquet
	---

	This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

	## Dataset Description



	- Homepage: [More Information Needed]
	- Paper: [More Information Needed]
	- License: apache-2.0

	## Dataset Structure

	[meta/info.json](meta/info.json):
	```json
	{
	"codebase_version": "v2.1",
	"robot_type": "Unitree_G1_Dex3_Sim",
	"total_episodes": 1,
	"total_frames": 522,
	"total_tasks": 1,
	"total_videos": 3,
	"total_chunks": 1,
	"chunks_size": 1000,
	"fps": 30,
	"splits": {
	"train": "0:1"
	},
	"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.state_0": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftShoulderPitch"
	]
	},
	"action_0": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftShoulderPitch"
	]
	},
	"observation.state_1": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftShoulderRoll"
	]
	},
	"action_1": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftShoulderRoll"
	]
	},
	"observation.state_2": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftShoulderYaw"
	]
	},
	"action_2": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftShoulderYaw"
	]
	},
	"observation.state_3": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftElbow"
	]
	},
	"action_3": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftElbow"
	]
	},
	"observation.state_4": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftWristRoll"
	]
	},
	"action_4": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftWristRoll"
	]
	},
	"observation.state_5": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftWristPitch"
	]
	},
	"action_5": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftWristPitch"
	]
	},
	"observation.state_6": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftWristYaw"
	]
	},
	"action_6": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftWristYaw"
	]
	},
	"observation.state_7": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightShoulderPitch"
	]
	},
	"action_7": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightShoulderPitch"
	]
	},
	"observation.state_8": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightShoulderRoll"
	]
	},
	"action_8": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightShoulderRoll"
	]
	},
	"observation.state_9": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightShoulderYaw"
	]
	},
	"action_9": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightShoulderYaw"
	]
	},
	"observation.state_10": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightElbow"
	]
	},
	"action_10": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightElbow"
	]
	},
	"observation.state_11": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightWristRoll"
	]
	},
	"action_11": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightWristRoll"
	]
	},
	"observation.state_12": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightWristPitch"
	]
	},
	"action_12": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightWristPitch"
	]
	},
	"observation.state_13": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightWristYaw"
	]
	},
	"action_13": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightWristYaw"
	]
	},
	"observation.state_14": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftHandThumb0"
	]
	},
	"action_14": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftHandThumb0"
	]
	},
	"observation.state_15": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftHandThumb1"
	]
	},
	"action_15": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftHandThumb1"
	]
	},
	"observation.state_16": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftHandThumb2"
	]
	},
	"action_16": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftHandThumb2"
	]
	},
	"observation.state_17": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftHandMiddle0"
	]
	},
	"action_17": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftHandMiddle0"
	]
	},
	"observation.state_18": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftHandMiddle1"
	]
	},
	"action_18": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftHandMiddle1"
	]
	},
	"observation.state_19": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftHandIndex0"
	]
	},
	"action_19": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftHandIndex0"
	]
	},
	"observation.state_20": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftHandIndex1"
	]
	},
	"action_20": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kLeftHandIndex1"
	]
	},
	"observation.state_21": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightHandThumb0"
	]
	},
	"action_21": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightHandThumb0"
	]
	},
	"observation.state_22": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightHandThumb1"
	]
	},
	"action_22": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightHandThumb1"
	]
	},
	"observation.state_23": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightHandThumb2"
	]
	},
	"action_23": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightHandThumb2"
	]
	},
	"observation.state_24": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightHandIndex0"
	]
	},
	"action_24": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightHandIndex0"
	]
	},
	"observation.state_25": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightHandIndex1"
	]
	},
	"action_25": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightHandIndex1"
	]
	},
	"observation.state_26": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightHandMiddle0"
	]
	},
	"action_26": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightHandMiddle0"
	]
	},
	"observation.state_27": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightHandMiddle1"
	]
	},
	"action_27": {
	"dtype": "float32",
	"shape": [
	1
	],
	"names": [
	"kRightHandMiddle1"
	]
	},
	"observation.images.cam_left_high": {
	"dtype": "video",
	"shape": [
	480,
	640,
	3
	],
	"names": [
	"height",
	"width",
	"channel"
	],
	"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
	}
	},
	"observation.images.cam_left_wrist": {
	"dtype": "video",
	"shape": [
	480,
	640,
	3
	],
	"names": [
	"height",
	"width",
	"channel"
	],
	"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
	}
	},
	"observation.images.cam_right_wrist": {
	"dtype": "video",
	"shape": [
	480,
	640,
	3
	],
	"names": [
	"height",
	"width",
	"channel"
	],
	"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:

	```bibtex
	[More Information Needed]
	```