G1_DualArmGrasping_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
- **Task Objective:** Stack the three cubic blocks on the desktop from bottom to top in the order of red, yellow, and blue on the black tape affixed to the desktop.
- **Operational Objects:** Three cubic blocks with 5cm side lengths（Purchase link:[【淘宝】假一赔四 https://e.tb.cn/h.60bRpk3V7bDhevw?tk=RzFAeJt4Wwp CZ007 「小块正方体形积木数学教具婴儿童益智拼装玩具层层叠1一2岁3宝宝6」
点击链接直接打开 或者 淘宝搜索直接打开]）.
- **Operation Duration:** Each operation takes approximately 20 to 40 seconds.
- **Recording Frequency:** 30 Hz.
- **Robot Type:** 7-DOF dual-arm G1 robot.
- **End Effector:** Three-fingered dexterous hands.
- **Dual-Arm Operation:** Yes.
- **Image Resolution:** 640x480.
- **Camera Positions:** Wrist-mounted (monocular camera) + head-mounted (binocular cameras).
- **Data Content:**
• Robot's current state.
• Robot's next action.
• Current camera view images.
- **Robot Initial Posture:** The first robot state in each dataset entry.
- **Object Placement:** Randomly placed within the robot arm's motion range and the field of view of the robot's head-mounted camera.
- **Camera View:** Follow the guidelines in **Part 5** of [AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate).

- **Important Notes:**
1. Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in **Part 5** of [AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate).
2. Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "Unitree_G1",
"total_episodes": 301,
"total_frames": 281196,
"total_tasks": 1,
"total_videos": 1204,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:301"
},
"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": {
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"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb0",
"kLeftHandThumb1",
"kLeftHandThumb2",
"kLeftHandMiddle0",
"kLeftHandMiddle1",
"kLeftHandIndex0",
"kLeftHandIndex1",
"kRightHandThumb0",
"kRightHandThumb1",
"kRightHandThumb2",
"kRightHandIndex0",
"kRightHandIndex1",
"kRightHandMiddle0",
"kRightHandMiddle1"
]
]
},
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"names": [
[
"kLeftShoulderPitch",
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"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb0",
"kLeftHandThumb1",
"kLeftHandThumb2",
"kLeftHandMiddle0",
"kLeftHandMiddle1",
"kLeftHandIndex0",
"kLeftHandIndex1",
"kRightHandThumb0",
"kRightHandThumb1",
"kRightHandThumb2",
"kRightHandIndex0",
"kRightHandIndex1",
"kRightHandMiddle0",
"kRightHandMiddle1"
]
]
},
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"names": [
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"info": {
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"video.is_depth_map": false,
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},
"timestamp": {
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},
"frame_index": {
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},
"episode_index": {
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"index": {
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},
"task_index": {
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}
}
}
```

## 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

- **官方主页：** [更多信息待补充]
- **相关论文：** [更多信息待补充]
- **许可证：** apache-2.0
- **任务目标：** 将桌面上的三个立方体积木，按照红、黄、蓝的顺序自下而上堆叠在桌面粘贴的黑色胶带标记区域内。
- **操作对象：** 边长为5cm的三个立方体积木（购买链接：[【淘宝】假一赔四 https://e.tb.cn/h.60bRpk3V7bDhevw?tk=RzFAeJt4Wwp CZ007 「小块正方体形积木数学教具婴儿童益智拼装玩具层层叠1一2岁3宝宝6」点击链接直接打开 或者 淘宝搜索直接打开]）。
- **单次操作时长：** 单次操作耗时约20至40秒。
- **录制帧率：** 30 Hz。
- **机器人类型：** 7自由度双臂G1机器人（7-DOF dual-arm G1 robot）。
- **末端执行器：** 三指灵巧手（three-fingered dexterous hands）。
- **双臂操作：** 是。
- **图像分辨率：** 640×480。
- **相机布置：** 腕部安装单目相机（monocular camera）+ 头部安装双目相机（binocular cameras）。
- **数据内容：**
• 机器人当前状态
• 机器人下一步动作
• 当前相机视角图像
- **机器人初始姿态：** 每条数据条目中的首个机器人状态。
- **物体摆放：** 随机放置于机器人臂运动范围及头部相机视场内。
- **相机视角：** 遵循[AVP遥操作文档（AVP Teleoperation Documentation）](https://github.com/unitreerobotics/avp_teleoperate)第5部分的规范。

## 重要注意事项
1. 由于无法精准描述空间位置，在按照[AVP遥操作文档（AVP Teleoperation Documentation）](https://github.com/unitreerobotics/avp_teleoperate)第5部分完成硬件安装后，请调整场景以尽可能匹配数据集的首帧画面。
2. 本次数据采集并非单次会话完成，不同数据条目间存在差异，在模型训练阶段需充分考虑此类差异。

## 数据集结构

[meta/info.json](meta/info.json):
json
{
"代码库版本": "v2.0",
"机器人类型": "Unitree_G1",
"总回合数": 301,
"总帧数": 281196,
"总任务数": 1,
"总视频数": 1204,
"总分块数": 1,
"分块大小": 1000,
"帧率": 30,
"数据集划分": {
"训练集": "0:301"
},
"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",
"特征项": {
"观测.状态": {
"数据类型": "float32",
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"字段名": [
[
"左肩关节俯仰", "左肩关节侧滚", "左肩关节偏航", "左肘关节", "左腕关节侧滚", "左腕关节俯仰", "左腕关节偏航",
"右肩关节俯仰", "右肩关节侧滚", "右肩关节偏航", "右肘关节", "右腕关节侧滚", "右腕关节俯仰", "右腕关节偏航",
"左手拇指关节0", "左手拇指关节1", "左手拇指关节2", "左手中指关节0", "左手中指关节1", "左手食指关节0", "左手食指关节1",
"右手拇指关节0", "右手拇指关节1", "右手拇指关节2", "右手食指关节0", "右手食指关节1", "右手中指关节0", "右手中指关节1"
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"右肩关节俯仰", "右肩关节侧滚", "右肩关节偏航", "右肘关节", "右腕关节侧滚", "右腕关节俯仰", "右腕关节偏航",
"左手拇指关节0", "左手拇指关节1", "左手拇指关节2", "左手中指关节0", "左手中指关节1", "左手食指关节0", "左手食指关节1",
"右手拇指关节0", "右手拇指关节1", "右手拇指关节2", "右手食指关节0", "右手食指关节1", "右手中指关节0", "右手中指关节1"
]
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}

## 参考文献

**BibTeX格式：**
bibtex
[更多信息待补充]