G1_PickToothpaste_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": 193,
"total_frames": 143863,
"total_tasks": 1,
"total_videos": 772,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:193"
},
"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",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.cam_right_high": {
"dtype": "video",
"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
}
},
"observation.images.cam_left_wrist": {
"dtype": "video",
"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
}
},
"observation.images.cam_right_wrist": {
"dtype": "video",
"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": {
"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)开发构建。

## 数据集说明

- **主页：** [更多信息待补充]
- **论文：** [更多信息待补充]
- **许可协议：** Apache-2.0

## 数据集结构

文件[meta/info.json](meta/info.json)的内容如下：
json
{
"代码库版本": "v2.1",
"机器人型号": "Unitree_G1_Brainco",
"总交互回合数": 193,
"总帧数量": 143863,
"总任务数": 1,
"总视频数量": 772,
"总数据块数": 1,
"单数据块大小": 1000,
"帧率": 30,
"数据集划分": {
"训练集": "0:193"
},
"数据文件路径格式": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频文件路径格式": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"数据特征定义": {
"观测状态（observation.state）": {
"数据类型": "float32",
"形状": [26],
"维度名称": [
[
"左肩俯仰（kLeftShoulderPitch）",
"左肩滚转（kLeftShoulderRoll）",
"左肩偏航（kLeftShoulderYaw）",
"左肘关节（kLeftElbow）",
"左手腕滚转（kLeftWristRoll）",
"左手腕俯仰（kLeftWristPitch）",
"左手腕偏航（kLeftWristYaw）",
"右肩俯仰（kRightShoulderPitch）",
"右肩滚转（kRightShoulderRoll）",
"右肩偏航（kRightShoulderYaw）",
"右肘关节（kRightElbow）",
"右手腕滚转（kRightWristRoll）",
"右手腕俯仰（kRightWristPitch）",
"右手腕偏航（kRightWristYaw）",
"左手拇指（kLeftHandThumb）",
"左手拇指辅助关节（kLeftHandThumbAux）",
"左手食指（kLeftHandIndex）",
"左手中指（kLeftHandMiddle）",
"左手无名指（kLeftHandRing）",
"左手小指（kLeftHandPinky）",
"右手拇指（kRightHandThumb）",
"右手拇指辅助关节（kRightHandThumbAux）",
"右手食指（kRightHandIndex）",
"右手中指（kRightHandMiddle）",
"右手无名指（kRightHandRing）",
"右手小指（kRightHandPinky）"
]
]
},
"动作指令（action）": {
"数据类型": "float32",
"形状": [26],
"维度名称": [
[
"左肩俯仰（kLeftShoulderPitch）",
"左肩滚转（kLeftShoulderRoll）",
"左肩偏航（kLeftShoulderYaw）",
"左肘关节（kLeftElbow）",
"左手腕滚转（kLeftWristRoll）",
"左手腕俯仰（kLeftWristPitch）",
"左手腕偏航（kLeftWristYaw）",
"右肩俯仰（kRightShoulderPitch）",
"右肩滚转（kRightShoulderRoll）",
"右肩偏航（kRightShoulderYaw）",
"右肘关节（kRightElbow）",
"右手腕滚转（kRightWristRoll）",
"右手腕俯仰（kRightWristPitch）",
"右手腕偏航（kRightWristYaw）",
"左手拇指（kLeftHandThumb）",
"左手拇指辅助关节（kLeftHandThumbAux）",
"左手食指（kLeftHandIndex）",
"左手中指（kLeftHandMiddle）",
"左手无名指（kLeftHandRing）",
"左手小指（kLeftHandPinky）",
"右手拇指（kRightHandThumb）",
"右手拇指辅助关节（kRightHandThumbAux）",
"右手食指（kRightHandIndex）",
"右手中指（kRightHandMiddle）",
"右手无名指（kRightHandRing）",
"右手小指（kRightHandPinky）"
]
]
},
"左侧高位摄像头图像观测（observation.images.cam_left_high）": {
"数据类型": "视频（video）",
"形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道"],
"补充信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"无音频轨道": false
}
},
"右侧高位摄像头图像观测（observation.images.cam_right_high）": {
"数据类型": "视频（video）",
"形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道"],
"补充信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"无音频轨道": false
}
},
"左手腕摄像头图像观测（observation.images.cam_left_wrist）": {
"数据类型": "视频（video）",
"形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道"],
"补充信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"无音频轨道": false
}
},
"右手腕摄像头图像观测（observation.images.cam_right_wrist）": {
"数据类型": "视频（video）",
"形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道"],
"补充信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"无音频轨道": false
}
},
"时间戳（timestamp）": {
"数据类型": "float32",
"形状": [1],
"维度名称": null
},
"帧索引（frame_index）": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"回合索引（episode_index）": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"样本索引（index）": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"任务索引（task_index）": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
}
}
}

## 引用

**BibTeX格式引用：**

bibtex
[More Information Needed]