G1_ObjectPlacement_Dataset

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

- **Task Objective:** Pick up the toothpaste and trash bag on the desk, and place them into the blue storage container.
- **Operational Objects:** Toothpaste Box (Double Thin Forest Ocean Fresh 40g, Purchase link: [【淘宝】7天无理由退货 https://e.tb.cn/h.60ZcYShH0TRbzRs?tk=i0eMeJIwD0G CZ057 「好来黑人白酵素茶倍健白桃超白小苏打40克牙膏青瓜出差旅行装小样」点击链接直接打开 或者 淘宝搜索直接打开]) + Trash Bags (Purchase link: [【淘宝】7天无理由退货 https://e.tb.cn/h.60TJUSZxTvzacVk?tk=fFIbeJsbN7s CZ225 「清亮0385加厚不渗漏平口厨房点断塑料垃圾袋家用塑料袋办公一次性」点击链接直接打开 或者 淘宝搜索直接打开]) + Blue Storage Container (25cm L × 17cm W × 7cm H, Purchase link: [【淘宝】7天无理由退货 https://e.tb.cn/h.6ZwIdtI8miQqHwe?tk=kVnbeJsPOfz HU108 「蓝色料盒塑料工具框箱胶盆方形实验室样品汽修车螺丝零件收纳盒子」点击链接直接打开 或者 淘宝搜索直接打开]).
- **Operation Duration:** Each operation takes approximately 20 seconds.
- **Recording Frequency:** 30 Hz.
- **Robot Type:** 7-DOF dual-arm G1 robot.
- **End Effector:** Three-fingered dexterous hands.
- **Dual-Arm Operation:** Yes.
- **Image Resolution:** 640x480.
- **Camera Positions:** Wrist-mounted (monocular camera) + head-mounted (binocular cameras).
- **Data Content:**
- • Robot's current state.
- • Robot's next action.
- • Current camera view images.
- **Robot Initial Posture:** The first robot state in each dataset entry.
- **Object Placement:** Position the blue storage container at the midpoint between the robot's hands in their initial arm position; randomly scatter the other two objects around the container.
- **Camera View:** Follow the guidelines in **Part 5** of [AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate).

- **Important Notes:**
1. Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in **Part 5** of [AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate).
2. Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "Unitree_G1",
"total_episodes": 210,
"total_frames": 98266,
"total_tasks": 1,
"total_videos": 840,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:210"
},
"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": {
"dtype": "float32",
"shape": [
28
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb0",
"kLeftHandThumb1",
"kLeftHandThumb2",
"kLeftHandMiddle0",
"kLeftHandMiddle1",
"kLeftHandIndex0",
"kLeftHandIndex1",
"kRightHandThumb0",
"kRightHandThumb1",
"kRightHandThumb2",
"kRightHandIndex0",
"kRightHandIndex1",
"kRightHandMiddle0",
"kRightHandMiddle1"
]
]
},
"action": {
"dtype": "float32",
"shape": [
28
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb0",
"kLeftHandThumb1",
"kLeftHandThumb2",
"kLeftHandMiddle0",
"kLeftHandMiddle1",
"kLeftHandIndex0",
"kLeftHandIndex1",
"kRightHandThumb0",
"kRightHandThumb1",
"kRightHandThumb2",
"kRightHandIndex0",
"kRightHandIndex1",
"kRightHandMiddle0",
"kRightHandMiddle1"
]
]
},
"observation.images.cam_left_high": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_high": {
"dtype": "video",
"shape": [
3,
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],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
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"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
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}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [
3,
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640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"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]
```

本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。

## 数据集描述

- **主页：** [更多信息待补充]
- **论文：** [更多信息待补充]
- **许可证：** Apache-2.0许可证

- **任务目标：** 抓取桌面上的牙膏与垃圾袋，并将其放入蓝色收纳容器中。
- **操作对象：** 牙膏盒（双薄森林海洋清新款40g，购买链接：[【淘宝】7天无理由退货 https://e.tb.cn/h.60ZcYShH0TRbzRs?tk=i0eMeJIwD0G CZ057 「好来黑人白酵素茶倍健白桃超白小苏打40克牙膏青瓜出差旅行装小样」点击链接直接打开 或者 淘宝搜索直接打开]）、垃圾袋（购买链接：[【淘宝】7天无理由退货 https://e.tb.cn/h.60TJUSZxTvzacVk?tk=fFIbeJsbN7s CZ225 「清亮0385加厚不渗漏平口厨房点断塑料垃圾袋家用塑料袋办公一次性」点击链接直接打开 或者 淘宝搜索直接打开]）与蓝色收纳容器（尺寸：25cm（长）×17cm（宽）×7cm（高），购买链接：[【淘宝】7天无理由退货 https://e.tb.cn/h.6ZwIdtI8miQqHwe?tk=kVnbeJsPOfz HU108 「蓝色料盒塑料工具框箱胶盆方形实验室样品汽修车螺丝零件收纳盒子」点击链接直接打开 或者 淘宝搜索直接打开]）。
- **操作时长：** 单次操作耗时约20秒。
- **录制帧率：** 30Hz。
- **机器人类型：** 7自由度(7-DOF)双臂G1机器人。
- **末端执行器：** 三指灵巧手。
- **双臂操作：** 支持。
- **图像分辨率：** 640×480。
- **相机部署位置：** 腕部搭载单目相机 + 头部搭载双目相机。
- **数据内容：**
• 机器人当前状态
• 机器人下一步动作
• 当前相机视角图像
- **机器人初始姿态：** 每个数据条目的首个机器人状态即为初始姿态。
- **物体摆放规则：** 将蓝色收纳容器放置在机器人初始双臂位置的中点处，其余两件物体随机散落在容器周围。
- **相机视角规范：** 遵循[AVP远程操作文档(AVP Teleoperation Documentation)](https://github.com/unitreerobotics/avp_teleoperate)第5部分的指南。

- **重要注意事项：**
1. 由于无法精准描述空间位置，请在按照[AVP远程操作文档(AVP Teleoperation Documentation)](https://github.com/unitreerobotics/avp_teleoperate)第5部分的要求完成硬件安装后，调整场景以尽可能匹配数据集的首帧画面。
2. 本次数据采集并非单次会话完成，不同数据条目之间存在差异，模型训练阶段需充分考虑这些差异。

## 数据集结构

[meta/info.json]:
json
{
"codebase_version": "v2.0",
"robot_type": "Unitree_G1",
"total_episodes": 210,
"total_frames": 98266,
"total_tasks": 1,
"total_videos": 840,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:210"
},
"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": {
"dtype": "float32",
"shape": [
28
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb0",
"kLeftHandThumb1",
"kLeftHandThumb2",
"kLeftHandMiddle0",
"kLeftHandMiddle1",
"kLeftHandIndex0",
"kLeftHandIndex1",
"kRightHandThumb0",
"kRightHandThumb1",
"kRightHandThumb2",
"kRightHandIndex0",
"kRightHandIndex1",
"kRightHandMiddle0",
"kRightHandMiddle1"
]
]
},
"action": {
"dtype": "float32",
"shape": [
28
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb0",
"kLeftHandThumb1",
"kLeftHandThumb2",
"kLeftHandMiddle0",
"kLeftHandMiddle1",
"kLeftHandIndex0",
"kLeftHandIndex1",
"kRightHandThumb0",
"kRightHandThumb1",
"kRightHandThumb2",
"kRightHandIndex0",
"kRightHandIndex1",
"kRightHandMiddle0",
"kRightHandMiddle1"
]
]
},
"observation.images.cam_left_high": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_high": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
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],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}

## 引用

**BibTeX格式引用：**
bibtex
[更多信息待补充]