---
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": {
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            "shape": [
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            ]
        },
        "action_25": {
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            "shape": [
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                "kRightHandIndex1"
            ]
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            "shape": [
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                "kRightHandMiddle0"
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        "action_26": {
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            "shape": [
                1
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            "names": [
                "kRightHandMiddle0"
            ]
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        "observation.state_27": {
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                1
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            ]
        },
        "action_27": {
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            ]
        },
        "observation.images.cam_left_high": {
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            "shape": [
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                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": {
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                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
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                "has_audio": false
            }
        },
        "observation.images.cam_right_wrist": {
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                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": {
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            "shape": [
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            "names": null
        },
        "frame_index": {
            "dtype": "int64",
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            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        },
        "index": {
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        "task_index": {
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            "names": null
        }
    }
}
```


## Citation

**BibTeX:**

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