ambitiousmangosteen/g1_dex3_pizza_box_picking_v17_1

---
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).

## 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": 13,
"total_frames": 1935,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:13"
},
"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)开发构建。

## 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": "v3.0",
"机器人类型": "unitree_g1",
"总回合数": 13,
"总帧数": 1935,
"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（fps）": 30,
"数据集划分": {
"训练集": "0:13"
},
"数据文件路径": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"特征项": {
"动作（action）": {
"数据类型": "32位浮点型（float32）",
"命名项": [
"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"
],
"张量形状": [
20
]
},
"状态观测（observation.state）": {
"数据类型": "32位浮点型（float32）",
"命名项": [
"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"
],
"张量形状": [
29
]
},
"全局视角图像观测（observation.images.global_view）": {
"数据类型": "视频（video）",
"张量形状": [
480,
640,
3
],
"命名项": [
"height",
"width",
"channels"
],
"附加信息": {
"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（timestamp）": {
"数据类型": "32位浮点型（float32）",
"张量形状": [
1
],
"命名项": null
},
"帧索引（frame_index）": {
"数据类型": "64位整型（int64）",
"张量形状": [
1
],
"命名项": null
},
"回合索引（episode_index）": {
"数据类型": "64位整型（int64）",
"张量形状": [
1
],
"命名项": null
},
"全局索引（index）": {
"数据类型": "64位整型（int64）",
"张量形状": [
1
],
"命名项": null
},
"任务索引（task_index）": {
"数据类型": "64位整型（int64）",
"张量形状": [
1
],
"命名项": null
}
}
}

## 引用
**BibTeX:**
bibtex
[需补充更多信息]