G1_Brainco_PickApple_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": 200,
"total_frames": 153668,
"total_tasks": 1,
"total_videos": 800,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
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},
"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": {
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"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
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"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": {
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"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)构建。

## 数据集描述

- **主页：** [需补充更多信息]
- **论文：** [需补充更多信息]
- **许可证：** Apache-2.0

## 数据集结构

[meta/info.json](meta/info.json):
json
{
"代码库版本": "v2.1",
"机器人类型": "Unitree_G1_Brainco",
"总回合数": 200,
"总帧数": 153668,
"总任务数": 1,
"总视频数": 800,
"总数据块数": 1,
"单数据块大小": 1000,
"帧率": 30,
"数据划分": {
"训练集": "0:200"
},
"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",
"特征": {
"观测.关节状态": {
"数据类型": "float32",
"形状": [
26
],
"关节名称": [
[
"左肩俯仰",
"左肩滚转",
"左肩偏航",
"左肘",
"左手腕滚转",
"左手腕俯仰",
"左手腕偏航",
"右肩俯仰",
"右肩滚转",
"右肩偏航",
"右肘",
"右手腕滚转",
"右手腕俯仰",
"右手腕偏航",
"左手拇指",
"左手拇指辅助关节",
"左手食指",
"左手中指",
"左手无名指",
"左手小指",
"右手拇指",
"右手拇指辅助关节",
"右手食指",
"右手中指",
"右手无名指",
"右手小指"
]
]
},
"动作": {
"数据类型": "float32",
"形状": [
26
],
"关节名称": [
[
"左肩俯仰",
"左肩滚转",
"左肩偏航",
"左肘",
"左手腕滚转",
"左手腕俯仰",
"左手腕偏航",
"右肩俯仰",
"右肩滚转",
"右肩偏航",
"右肘",
"右手腕滚转",
"右手腕俯仰",
"右手腕偏航",
"左手拇指",
"左手拇指辅助关节",
"左手食指",
"左手中指",
"左手无名指",
"左手小指",
"右手拇指",
"右手拇指辅助关节",
"右手食指",
"右手中指",
"右手无名指",
"右手小指"
]
]
},
"观测图像.左侧高位摄像头": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
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"高度",
"宽度",
"通道"
],
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"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,
"是否包含音频": false
}
},
"观测图像.右侧高位摄像头": {
"数据类型": "视频",
"形状": [
480,
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3
],
"维度名称": [
"高度",
"宽度",
"通道"
],
"详细信息": {
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"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,
"是否包含音频": false
}
},
"观测图像.左手腕摄像头": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名称": [
"高度",
"宽度",
"通道"
],
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"视频宽度": 640,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
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"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测图像.右手腕摄像头": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名称": [
"高度",
"宽度",
"通道"
],
"详细信息": {
"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,
"是否包含音频": 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
},
"全局索引": {
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"形状": [
1
],
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},
"任务索引": {
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"形状": [
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],
"维度名称": null
}
}
}

## 引用

**BibTeX格式：**
bibtex
[需补充更多信息]