SHRDC-MSF4-0/g1_pack_items

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---

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": "v3.0",
"robot_type": "agibot_g1",
"total_episodes": 200,
"total_frames": 114384,
"total_tasks": 4,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:200"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"action": {
"dtype": "float32",
"names": [
"left_arm.Joint1_l.position",
"left_arm.Joint2_l.position",
"left_arm.Joint3_l.position",
"left_arm.Joint4_l.position",
"left_arm.Joint5_l.position",
"left_arm.Joint6_l.position",
"left_arm.Joint7_l.position",
"right_arm.Joint1_r.position",
"right_arm.Joint2_r.position",
"right_arm.Joint3_r.position",
"right_arm.Joint4_r.position",
"right_arm.Joint5_r.position",
"right_arm.Joint6_r.position",
"right_arm.Joint7_r.position",
"left_gripper.position",
"right_gripper.position"
],
"shape": [
16
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_arm.Joint1_l.position",
"left_arm.Joint2_l.position",
"left_arm.Joint3_l.position",
"left_arm.Joint4_l.position",
"left_arm.Joint5_l.position",
"left_arm.Joint6_l.position",
"left_arm.Joint7_l.position",
"right_arm.Joint1_r.position",
"right_arm.Joint2_r.position",
"right_arm.Joint3_r.position",
"right_arm.Joint4_r.position",
"right_arm.Joint5_r.position",
"right_arm.Joint6_r.position",
"right_arm.Joint7_r.position",
"left_gripper.position",
"right_gripper.position"
],
"shape": [
16
]
},
"observation.images.hand_left_camera": {
"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.hand_right_camera": {
"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.head_camera": {
"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
}
},
"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
}
},
"custom": {
"initial_pose": {
"left_arm": [
-1.3135488033294678,
0.04823179915547371,
1.05872642993927,
-1.382179617881775,
0.021184299141168594,
0.8008852005004883,
-0.06280255317687988
],
"right_arm": [
1.2262464761734009,
-0.15642179548740387,
-0.9501873850822449,
1.3323948383331299,
-0.053554050624370575,
-0.8284212946891785,
-0.004048400092869997
],
"gripper": [
0.21733333333333293,
0.21733333333333293
],
"waist": [
0.0,
0.019997329711914064
],
"head": [
0.0,
0.0
]
}
}
}
```

## Citation

**BibTeX:**

```bibtex
[More Information Needed]
```

## Initial robot pose

````json
{
"left_arm": [
-1.3024505376815796,
0.047062650322914124,
1.0501409769058228,
-1.3705928325653076,
0.021149400621652603,
0.7937306761741638,
-0.06179044768214226
],
"right_arm": [
1.2367513179779053,
-0.15691038966178894,
-0.959121823310852,
1.3447842597961426,
-0.05341445282101631,
-0.8365006446838379,
-0.004763850010931492
],
"gripper": [
0.0,
0.0
],
"waist": [
0.0,
0.01997344970703125
],
"head": [
0.0,
0.0
]
}
````