G1_PickApple_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

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Brainco",
"total_episodes": 200,
"total_frames": 153668,
"total_tasks": 1,
"total_videos": 800,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:200"
},
"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": [
26
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb",
"kLeftHandThumbAux",
"kLeftHandIndex",
"kLeftHandMiddle",
"kLeftHandRing",
"kLeftHandPinky",
"kRightHandThumb",
"kRightHandThumbAux",
"kRightHandIndex",
"kRightHandMiddle",
"kRightHandRing",
"kRightHandPinky"
]
]
},
"action": {
"dtype": "float32",
"shape": [
26
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb",
"kLeftHandThumbAux",
"kLeftHandIndex",
"kLeftHandMiddle",
"kLeftHandRing",
"kLeftHandPinky",
"kRightHandThumb",
"kRightHandThumbAux",
"kRightHandIndex",
"kRightHandMiddle",
"kRightHandRing",
"kRightHandPinky"
]
]
},
"observation.images.cam_left_high": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
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"video.fps": 30,
"video.channels": 3,
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}
},
"observation.images.cam_right_high": {
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"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
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"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
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}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
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"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_right_wrist": {
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"shape": [
480,
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": [
1
],
"names": null
},
"frame_index": {
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"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

## 数据集结构
[meta/info.json](meta/info.json):
json
{
"代码库版本": "v2.1",
"机器人类型": "Unitree_G1_Brainco",
"总回合数": 200,
"总帧数": 153668,
"总任务数": 1,
"总视频数": 800,
"总分块数": 1,
"分块大小": 1000,
"帧率": 30,
"数据划分": {
"训练集": "0:200"
},
"数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征": {
"观测.状态": {
"数据类型": "float32",
"形状": [
26
],
"命名": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb",
"kLeftHandThumbAux",
"kLeftHandIndex",
"kLeftHandMiddle",
"kLeftHandRing",
"kLeftHandPinky",
"kRightHandThumb",
"kRightHandThumbAux",
"kRightHandIndex",
"kRightHandMiddle",
"kRightHandRing",
"kRightHandPinky"
]
]
},
"动作": {
"数据类型": "float32",
"形状": [
26
],
"命名": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb",
"kLeftHandThumbAux",
"kLeftHandIndex",
"kLeftHandMiddle",
"kLeftHandRing",
"kLeftHandPinky",
"kRightHandThumb",
"kRightHandThumbAux",
"kRightHandIndex",
"kRightHandMiddle",
"kRightHandRing",
"kRightHandPinky"
]
]
},
"观测.图像.左高位相机": {
"数据类型": "video",
"形状": [
480,
640,
3
],
"命名": [
"高度",
"宽度",
"通道"
],
"信息": {
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"视频.宽度": 640,
"视频.编码格式": "av1",
"视频.像素格式": "yuv420p",
"视频.是否为深度图": false,
"视频.帧率": 30,
"视频.通道数": 3,
"是否包含音频": false
}
},
"观测.图像.右高位相机": {
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480,
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3
],
"命名": [
"高度",
"宽度",
"通道"
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"视频.宽度": 640,
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"视频.是否为深度图": false,
"视频.帧率": 30,
"视频.通道数": 3,
"是否包含音频": false
}
},
"观测.图像.左腕部相机": {
"数据类型": "video",
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480,
640,
3
],
"命名": [
"高度",
"宽度",
"通道"
],
"信息": {
"视频.高度": 480,
"视频.宽度": 640,
"视频.编码格式": "av1",
"视频.像素格式": "yuv420p",
"视频.是否为深度图": false,
"视频.帧率": 30,
"视频.通道数": 3,
"是否包含音频": false
}
},
"观测.图像.右腕部相机": {
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480,
640,
3
],
"命名": [
"高度",
"宽度",
"通道"
],
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"视频.高度": 480,
"视频.宽度": 640,
"视频.编码格式": "av1",
"视频.像素格式": "yuv420p",
"视频.是否为深度图": false,
"视频.帧率": 30,
"视频.通道数": 3,
"是否包含音频": false
}
},
"时间戳": {
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"形状": [
1
],
"命名": null
},
"帧索引": {
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"形状": [
1
],
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},
"回合索引": {
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},
"索引": {
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},
"任务索引": {
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],
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}
}
}

## 引用
**BibTeX格式**：
bibtex
[更多信息待补充]