G1-squat-pick-test
收藏资源简介：
该数据集使用LeRobot创建，是一个针对Unitree G1 Dex3 Trigger WithBody机器人的数据集。它包含1个任务、1个episode和1195帧数据，以parquet格式存储，并附带视频文件，总数据大小约100MB，视频大小约200MB。数据结构包括动作（action）和观测状态（observation.state），均为21维浮点数组，表示机器人的左右肩、肘、腕关节角度以及身体位置和姿态（如身体X/Y坐标、转向、前倾和高度）；时间戳（timestamp）和帧索引（frame_index）用于时序记录；episode索引（episode_index）、索引（index）和任务索引（task_index）用于标识数据片段。此外，数据集包含来自三个摄像头的图像观测：头部摄像头（cam_head）、左手腕摄像头（cam_left_wrist）和右手腕摄像头（cam_right_wrist），每个视频分辨率为480x640像素，3通道，帧率为30fps，使用AV1编解码器。该数据集适用于机器人学习任务，如动作控制和视觉感知。
This dataset is created using LeRobot and is specifically designed for the Unitree G1 Dex3 Trigger WithBody robot. It contains 1 task, 1 episode, and 1195 frames of data, stored in parquet format along with video files, with a total data size of approximately 100MB and video size of about 200MB. The data structure includes features such as action and observation.state, both as 21-dimensional floating-point arrays representing the robots left and right shoulder, elbow, and wrist joint angles, as well as body position and posture (e.g., body X/Y coordinates, turning, leaning forward, and height); timestamp and frame_index are used for temporal recording; episode_index, index, and task_index are used to identify data segments. Additionally, the dataset includes image observations from three cameras: head camera (cam_head), left wrist camera (cam_left_wrist), and right wrist camera (cam_right_wrist), each with video resolution of 480x640 pixels, 3 channels, frame rate of 30fps, and using the AV1 codec. This dataset is suitable for robot learning tasks, such as motion control and visual perception.
数据集概述
- 数据集名称: G1-squat-pick-test
- 许可证: Apache-2.0
- 任务类别: 机器人学 (robotics)
- 标签: LeRobot
数据集结构
- 代码库版本: v3.0
- 机器人类型: Unitree_G1_Dex3_Trigger_WithBody
- 总片段数: 1
- 总帧数: 1195
- 总任务数: 1
- 分块大小: 1000
- 数据文件大小: 100 MB
- 视频文件大小: 200 MB
- 帧率 (fps): 30
- 数据集划分:
- 训练集: 0:1 (全部数据用于训练)
数据特征
动作与状态特征
- action 和 observation.state 共同包含 21 个维度，类型为 float32，具体包括：
- 左臂控制 (6 个): kLeftShoulderPitch, kLeftShoulderRoll, kLeftShoulderYaw, kLeftElbow, kLeftWristRoll, kLeftWristPitch, kLeftWristYaw
- 右臂控制 (6 个): kRightShoulderPitch, kRightShoulderRoll, kRightShoulderYaw, kRightElbow, kRightWristRoll, kRightWristPitch, kRightWristYaw
- 夹爪 (2 个): kLeftGripper, kRightGripper
- 身体控制 (5 个): kBodyX, kBodyY, kBodyTurn, kBodyLeanForward, kBodyHeight
时间与索引特征
- timestamp: float32，形状 [1]
- frame_index: int64，形状 [1]
- episode_index: int64，形状 [1]
- index: int64，形状 [1]
- task_index: int64，形状 [1]
图像观测特征
- cam_head (头部相机): 视频数据，分辨率 640x480，帧率 30 fps，编码 av1，3 通道
- cam_left_wrist (左手腕相机): 视频数据，分辨率 640x480，帧率 30 fps，编码 av1，3 通道
- cam_right_wrist (右手腕相机): 视频数据，分辨率 640x480，帧率 30 fps，编码 av1，3 通道
数据文件与视频文件路径
- 数据文件路径:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet - 视频文件路径:
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
引用信息
- 引用: 暂无提供
