unitree_g1_plate_storage_doll

# unitree_g1_plate_storage_doll_qced_hardlink ## 📋 Overview This dataset uses an extended format based on [LeRobot](https://github.com/huggingface/lerobot) and is fully compatible with LeRobot. **Robot Type:** `unitree_g1` | **Codebase Version:** `v2.1` ## 📊 Dataset Statistics | Metric | Value | |--------|-------| | **Total Episodes** | 406 | | **Total Frames** | 139125 | | **Total Tasks** | 2 | | **Total Videos** | 1218 | | **Total Chunks** | 1 | | **Chunk Size** | 1000 | | **FPS** | 30 | ## 👥 Authors ### Contributors This dataset is contributed by: - [RoboCoin](https://RoboCoin.github.io) - RoboCoin Team ## 🔗 Links - **🏠 Homepage:** [https://RoboCoin.github.io/](https://RoboCoin.github.io/) - **📄 Paper:** [in comming](in comming) - **💻 Repository:** [https://github.com/RoboCoin/robocoin-dataset](https://github.com/RoboCoin/robocoin-dataset) - **🌐 Project Page:** [https://RoboCoin.github.io/](https://RoboCoin.github.io/) - **📜 License:** apache-2.0 ## 🏷️ Dataset Tags - `RoboCoin` - `LeRobot` ## 🎯 Task Descriptions ### Primary Tasks Pick up the doll on one side of the plate and place it into the plate. Pick up the doll on the other side of the plate and place it into the plate. ### Sub-Tasks End Grasp the pink doll with the left gripper Grasp the pink doll with the right gripper null Place the pink doll into the plate with the left gripper Place the pink doll into the plate with the right gripper Static ## 🎥 Camera Views This dataset includes 14 camera views. ## 🏷️ Available Annotations This dataset includes rich annotations to support diverse learning approaches: ### Subtask Annotations - **Subtask Segmentation**: Fine-grained subtask segmentation and labeling ### Scene Annotations - **Scene-level Descriptions**: Semantic scene classifications and descriptions ### End-Effector Annotations - **Direction**: Movement direction classifications for robot end-effectors - **Velocity**: Velocity magnitude categorizations during manipulation - **Acceleration**: Acceleration magnitude classifications for motion analysis ### Gripper Annotations - **Gripper Mode**: Open/close state annotations for gripper control - **Gripper Activity**: Activity state classifications (active/inactive) ### Additional Features - **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space - Available for both state and action - **Gripper Opening Scale**: Continuous gripper opening measurements - Available for both state and action ## 📂 Data Splits The dataset is organized into the following splits: - **Training**: Episodes 0:405 ## 📁 Dataset Structure This dataset follows the LeRobot format and contains the following components: ### Data Files - **Videos**: Compressed video files containing RGB camera observations - **State Data**: Robot joint positions, velocities, and other state information - **Action Data**: Robot action commands and trajectories - **Metadata**: Episode metadata, timestamps, and annotations ### File Organization - **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet` - **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4` - **Chunking**: Data is organized into 1 chunk(s) of size 1000 ### Features Schema The dataset includes the following features: #### Visual Observations - **observation.images.cam_high_rgb**: video - FPS: 30 - Codec: av1- **observation.images.color_left_wrist**: video - FPS: 30 - Codec: av1- **observation.images.color_right_wrist**: video - FPS: 30 - Codec: av1 #### State and Action- **observation.state**: float32- **action**: float32 #### Temporal Information - **timestamp**: float32 - **frame_index**: int64 - **episode_index**: int64 - **index**: int64 - **task_index**: int64 #### Annotations - **subtask_annotation**: int32 - **scene_annotation**: int32 #### Motion Features - **eef_sim_pose_state**: float32 - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z - **eef_sim_pose_action**: float32 - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z - **eef_direction_state**: int32 - Dimensions: left_eef_direction, right_eef_direction - **eef_direction_action**: int32 - Dimensions: left_eef_direction, right_eef_direction - **eef_velocity_state**: int32 - Dimensions: left_eef_velocity, right_eef_velocity - **eef_velocity_action**: int32 - Dimensions: left_eef_velocity, right_eef_velocity - **eef_acc_mag_state**: int32 - Dimensions: left_eef_acc_mag, right_eef_acc_mag - **eef_acc_mag_action**: int32 - Dimensions: left_eef_acc_mag, right_eef_acc_mag #### Gripper Features - **gripper_open_scale_state**: - Dimensions: left_gripper_open_scale, right_gripper_open_scale - **gripper_open_scale_action**: - Dimensions: left_gripper_open_scale, right_gripper_open_scale - **gripper_mode_state**: - Dimensions: left_gripper_mode, right_gripper_mode - **gripper_mode_action**: - Dimensions: left_gripper_mode, right_gripper_mode - **gripper_activity_state**: - Dimensions: left_gripper_activity, right_gripper_activity - **gripper_activity_action**: - Dimensions: left_gripper_activity, right_gripper_activity ### Meta Information The complete dataset metadata is available in [meta/info.json](meta/info.json): ```json {"codebase_version": "v2.1", "robot_type": "unitree_g1", "total_episodes": 406, "total_frames": 139125, "total_tasks": 2, "total_videos": 1218, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:405"}, "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.images.cam_high_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "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.color_left_wrist": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "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.color_right_wrist": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "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.state": {"dtype": "float32", "shape": [28], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad"]}, "action": {"dtype": "float32", "shape": [28], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad"]}, "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}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"]}, "gripper_activity_action": {"names": ["left_gripper_activity", "right_gripper_activity"]}}} ``` ### Directory Structure The dataset is organized as follows (showing leaf directories with first 5 files only): ``` unitree_g1_plate_storage_doll_qced_hardlink/ ├── annotations/ │ ├── eef_acc_mag_annotation.jsonl │ ├── eef_direction_annotation.jsonl │ ├── eef_velocity_annotation.jsonl │ ├── gripper_activity_annotation.jsonl │ ├── gripper_mode_annotation.jsonl │ └── (...) ├── data/ │ └── chunk-000/ │ ├── episode_000000.parquet │ ├── episode_000001.parquet │ ├── episode_000002.parquet │ ├── episode_000003.parquet │ ├── episode_000004.parquet │ └── (...) ├── meta/ │ ├── episodes.jsonl │ ├── episodes_stats.jsonl │ ├── info.json │ └── tasks.jsonl └── videos/ └── chunk-000/ ├── observation.images.cam_high_rgb/ │ ├── episode_000000.mp4 │ ├── episode_000001.mp4 │ ├── episode_000002.mp4 │ ├── episode_000003.mp4 │ ├── episode_000004.mp4 │ └── (...) ├── observation.images.color_left_wrist/ │ ├── episode_000000.mp4 │ ├── episode_000001.mp4 │ ├── episode_000002.mp4 │ ├── episode_000003.mp4 │ ├── episode_000004.mp4 │ └── (...) └── observation.images.color_right_wrist/ ├── episode_000000.mp4 ├── episode_000001.mp4 ├── episode_000002.mp4 ├── episode_000003.mp4 ├── episode_000004.mp4 └── (...) ``` ## 📞 Contact and Support For questions, issues, or feedback regarding this dataset, please contact: - **Email:** [e-mail] For questions, issues, or feedback regarding this dataset, please contact us. ### Support For technical support, please open an issue on our GitHub repository. ## 📄 License This dataset is released under the **apache-2.0** license. Please refer to the LICENSE file for full license terms and conditions. ## 📚 Citation If you use this dataset in your research, please cite: ```bibtex None ``` ### Additional References If you use this dataset, please also consider citing: - LeRobot Framework: https://github.com/huggingface/lerobot ## 📌 Version Information ## Version History - v1.0.0 (2025-11): Initial release