Search is not available for this dataset
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 | 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 | teleop.left_wrist_joints list | teleop.right_wrist_joints list | teleop.stream_mode int32 | teleop.planner_mode int32 | teleop.planner_movement list | teleop.planner_facing list | teleop.planner_speed float32 | teleop.planner_height float32 | teleop.vr_3pt_position list | teleop.vr_3pt_orientation list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
G1-WholeBody-PickPlaceToy
Teleoperated whole-body manipulation dataset for the Unitree G1 humanoid, recorded in
LeRobot format (codebase_version: v2.1).
The single task is "pick up the toy and place it on the chair", executed with coordinated whole-body control (locomotion + upper-body manipulation).
Dataset at a glance
| Episodes | 128 |
| Frames | 107,006 |
| Tasks | 1 (pick up the toy and place it on the chair) |
| FPS | 50 |
| Robot | Unitree G1 (43-DOF whole-body state) |
| Video | observation.images.ego_view — 480×640, H.264, 50 fps |
| Format | LeRobot v2.1 (data/, videos/, meta/) |
Features
observation.images.ego_view— egocentric RGB video (480×640×3)observation.state— 43-DOF joint state (legs, waist, arms, wrists)observation.eef_state,observation.root_orientation,observation.projected_gravity,observation.init_base_quat,observation.cpp_rotation_offsetaction.wbc— whole-body control action;action.motion_tokenteleop.*— teleoperation signals (SMPL joints/pose, VR 3-point pose, hand/wrist joints, planner mode/movement/facing/speed/height, stream mode)
Usage
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("SII-ZhangYiFei/G1-WholeBody-PickPlaceToy")
print(ds)
print(ds[0])
Training / reference code
Training results and reference code: git@github.com:SII-ZhangYiFei/g1-sonic-groot.git (coming soon).
Collected with the GR00T Whole-Body Control stack (SONIC training + decoupled WBC, LeRobot exporter).
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