G1_Dex1_PickPlaceRedBlock_Dataset_Sim

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_Gripper",
"total_episodes": 216,
"total_frames": 163330,
"total_tasks": 2,
"total_videos": 648,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:216"
},
"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": [
16
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftGripper",
"kRightGripper"
]
]
},
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftGripper",
"kRightGripper"
]
]
},
"observation.images.cam_left_high": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"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.cam_left_wrist": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"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.cam_right_wrist": {
"dtype": "video",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"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
}
}
}
```

## Citation

**BibTeX:**

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

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

## 数据集说明
- **主页**：[需补充更多信息]
- **论文**：[需补充更多信息]
- **授权协议**：Apache-2.0

## 数据集结构
元数据文件为[meta/info.json](meta/info.json)，其内容如下：
json
{
"代码库版本": "v2.1",
"机器人类型": "Unitree_G1_Gripper",
"总回合数": 216,
"总帧数": 163330,
"总任务数": 2,
"总视频数": 648,
"总数据块数": 1,
"单数据块大小": 1000,
"帧率": 30,
"数据集划分": {
"训练集": "0:216"
},
"数据路径格式": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径格式": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"数据特征": {
"观测状态": {
"数据类型": "float32",
"形状": [
16
],
"维度名称": [
[
"左肩关节俯仰角（kLeftShoulderPitch）",
"左肩关节滚转角（kLeftShoulderRoll）",
"左肩关节偏航角（kLeftShoulderYaw）",
"左肘关节（kLeftElbow）",
"左腕关节滚转角（kLeftWristRoll）",
"左腕关节俯仰角（kLeftWristPitch）",
"左腕关节偏航角（kLeftWristYaw）",
"右肩关节俯仰角（kRightShoulderPitch）",
"右肩关节滚转角（kRightShoulderRoll）",
"右肩关节偏航角（kRightShoulderYaw）",
"右肘关节（kRightElbow）",
"右腕关节滚转角（kRightWristRoll）",
"右腕关节俯仰角（kRightWristPitch）",
"右腕关节偏航角（kRightWristYaw）",
"左夹爪（kLeftGripper）",
"右夹爪（kRightGripper）"
]
]
},
"动作指令": {
"数据类型": "float32",
"形状": [
16
],
"维度名称": [
[
"左肩关节俯仰角（kLeftShoulderPitch）",
"左肩关节滚转角（kLeftShoulderRoll）",
"左肩关节偏航角（kLeftShoulderYaw）",
"左肘关节（kLeftElbow）",
"左腕关节滚转角（kLeftWristRoll）",
"左腕关节俯仰角（kLeftWristPitch）",
"左腕关节偏航角（kLeftWristYaw）",
"右肩关节俯仰角（kRightShoulderPitch）",
"右肩关节滚转角（kRightShoulderRoll）",
"右肩关节偏航角（kRightShoulderYaw）",
"右肘关节（kRightElbow）",
"右腕关节滚转角（kRightWristRoll）",
"右腕关节俯仰角（kRightWristPitch）",
"右腕关节偏航角（kRightWristYaw）",
"左夹爪（kLeftGripper）",
"右夹爪（kRightGripper）"
]
]
},
"左高视角摄像头观测图像": {
"数据类型": "video",
"形状": [
3,
480,
640
],
"维度名称": [
"通道数",
"图像高度",
"图像宽度"
],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"帧率": 30,
"通道数": 3,
"是否含音频": false
}
},
"左腕摄像头观测图像": {
"数据类型": "video",
"形状": [
3,
480,
640
],
"维度名称": [
"通道数",
"图像高度",
"图像宽度"
],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"帧率": 30,
"通道数": 3,
"是否含音频": false
}
},
"右腕摄像头观测图像": {
"数据类型": "video",
"形状": [
3,
480,
640
],
"维度名称": [
"通道数",
"图像高度",
"图像宽度"
],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"帧率": 30,
"通道数": 3,
"是否含音频": false
}
},
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"回合索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"样本索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"任务索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
}
}
}

## 引用
**BibTeX格式**：
bibtex
[需补充更多信息]