ambitiousmangosteen/g1_dex3_pizza_box_picking_v24

--- license: apache-2.0 task_categories: - robotics tags: - LeRobot configs: - config_name: default data_files: data/*/*.parquet --- This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=ambitiousmangosteen/g1_dex3_pizza_box_picking_v24"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a> ## 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": "v3.0", "robot_type": "unitree_g1", "total_episodes": 52, "total_frames": 8663, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:52" }, "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "features": { "action": { "dtype": "float32", "names": [ "kLeftShoulderPitch.q", "kLeftShoulderRoll.q", "kLeftShoulderYaw.q", "kLeftElbow.q", "kLeftWristRoll.q", "kLeftWristPitch.q", "kLeftWristYaw.q", "kRightShoulderPitch.q", "kRightShoulderRoll.q", "kRightShoulderYaw.q", "kRightElbow.q", "kRightWristRoll.q", "kRightWristPitch.q", "kRightWristYaw.q", "remote.lx", "remote.ly", "remote.rx", "remote.ry", "left_hand_open", "right_hand_open" ], "shape": [ 20 ] }, "observation.state": { "dtype": "float32", "names": [ "kLeftHipPitch.q", "kLeftHipRoll.q", "kLeftHipYaw.q", "kLeftKnee.q", "kLeftAnklePitch.q", "kLeftAnkleRoll.q", "kRightHipPitch.q", "kRightHipRoll.q", "kRightHipYaw.q", "kRightKnee.q", "kRightAnklePitch.q", "kRightAnkleRoll.q", "kWaistYaw.q", "kWaistRoll.q", "kWaistPitch.q", "kLeftShoulderPitch.q", "kLeftShoulderRoll.q", "kLeftShoulderYaw.q", "kLeftElbow.q", "kLeftWristRoll.q", "kLeftWristPitch.q", "kLeftWristYaw.q", "kRightShoulderPitch.q", "kRightShoulderRoll.q", "kRightShoulderYaw.q", "kRightElbow.q", "kRightWristRoll.q", "kRightWristPitch.q", "kRightWristYaw.q" ], "shape": [ 29 ] }, "observation.images.global_view": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "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] ```许可证：Apache-2.0 任务类别： - 机器人学 标签： - LeRobot 配置项： - 配置名称：default 数据文件：data/*/*.parquet 本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=ambitiousmangosteen/g1_dex3_pizza_box_picking_v24"><img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/><img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/></a> ## 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 元数据文件为[meta/info.json](meta/info.json)，其内容如下： json { "代码库版本": "v3.0", "机器人型号": "unitree_g1", "总轨迹数": 52, "总帧数": 8663, "总任务数": 1, "分块大小": 1000, "数据文件总大小（MB）": 100, "视频文件总大小（MB）": 200, "帧率": 30, "数据集划分": { "训练集": "0:52" }, "数据文件路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "视频文件路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "数据特征": { "动作": { "数据类型": "float32", "维度名称": [ "左肩关节俯仰.q", "左肩关节滚转.q", "左肩关节偏航.q", "左肘关节.q", "左腕关节滚转.q", "左腕关节俯仰.q", "左腕关节偏航.q", "右肩关节俯仰.q", "右肩关节滚转.q", "右肩关节偏航.q", "右肘关节.q", "右腕关节滚转.q", "右腕关节俯仰.q", "右腕关节偏航.q", "遥控器左摇杆X轴", "遥控器左摇杆Y轴", "遥控器右摇杆X轴", "遥控器右摇杆Y轴", "左手爪开度", "右手爪开度" ], "形状": [20] }, "观测.状态": { "数据类型": "float32", "维度名称": [ "左髋关节俯仰.q", "左髋关节滚转.q", "左髋关节偏航.q", "左膝关节.q", "左踝关节俯仰.q", "左踝关节滚转.q", "右髋关节俯仰.q", "右髋关节滚转.q", "右髋关节偏航.q", "右膝关节.q", "右踝关节俯仰.q", "右踝关节滚转.q", "腰部偏航.q", "腰部滚转.q", "腰部俯仰.q", "左肩关节俯仰.q", "左肩关节滚转.q", "左肩关节偏航.q", "左肘关节.q", "左腕关节滚转.q", "左腕关节俯仰.q", "左腕关节偏航.q", "右肩关节俯仰.q", "右肩关节滚转.q", "右肩关节偏航.q", "右肘关节.q", "右腕关节滚转.q", "右腕关节俯仰.q", "右腕关节偏航.q" ], "形状": [29] }, "观测.图像.全局视角": { "数据类型": "视频", "形状": [480, 640, 3], "维度名称": ["高度", "宽度", "通道数"], "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", "非深度图像": false, "视频帧率": 30, "视频通道数": 3, "无音频轨道": 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 }, "轨迹索引": { "数据类型": "int64", "形状": [1], "维度名称": null }, "全局索引": { "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]