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开源操作数据里action.body的含义 #17

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开源操作数据里action.body的含义#17

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@TongZhangTHU
TongZhangTHU
opened on Apr 16, 2026

我在看宇树开源数据有些疑问，比如数据 https://huggingface.co/datasets/unitreerobotics/G1_Dex1_Pack_PingPong 中 action.body 有RobotYaw RobotPitch RobotRoll，请问这个是代表哪里的旋转，是root吗？还是上半身的？还是腰的关节？

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