eunjuri/rubber_ball_img_tactile

--- 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": "v2.1", "robot_type": "Unitree_G1_Inspire", "total_episodes": 84, "total_frames": 20722, "total_tasks": 1, "total_videos": 168, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:84" }, "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", "kLeftHandPinky", "kLeftHandRing", "kLeftHandMiddle", "kLeftHandIndex", "kLeftHandThumbBend", "kLeftHandThumbRotation", "kRightShoulderPitch", "kRightShoulderRoll", "kRightShoulderYaw", "kRightElbow", "kRightWristRoll", "kRightWristPitch", "kRightWristYaw", "kRightHandPinky", "kRightHandRing", "kRightHandMiddle", "kRightHandIndex", "kRightHandThumbBend", "kRightHandThumbRotation" ] ] }, "action": { "dtype": "float32", "shape": [ 26 ], "names": [ [ "kLeftShoulderPitch", "kLeftShoulderRoll", "kLeftShoulderYaw", "kLeftElbow", "kLeftWristRoll", "kLeftWristPitch", "kLeftWristYaw", "kLeftHandPinky", "kLeftHandRing", "kLeftHandMiddle", "kLeftHandIndex", "kLeftHandThumbBend", "kLeftHandThumbRotation", "kRightShoulderPitch", "kRightShoulderRoll", "kRightShoulderYaw", "kRightElbow", "kRightWristRoll", "kRightWristPitch", "kRightWristYaw", "kRightHandPinky", "kRightHandRing", "kRightHandMiddle", "kRightHandIndex", "kRightHandThumbBend", "kRightHandThumbRotation" ] ] }, "observation.language.tokens": { "dtype": "int32", "shape": [ 48 ], "names": [ "seq" ] }, "observation.language.attention_mask": { "dtype": "int8", "shape": [ 48 ], "names": [ "seq" ] }, "observation.images.cam_left_high": { "dtype": "video", "shape": [ 3, 480, 848 ], "names": [ "channels", "height", "width" ], "info": { "video.fps": 30.0, "video.height": 480, "video.width": 848, "video.channels": 3, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.cam_third": { "dtype": "video", "shape": [ 3, 480, 640 ], "names": [ "channels", "height", "width" ], "info": { "video.fps": 30.0, "video.height": 480, "video.width": 640, "video.channels": 3, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.tactiles.left_tactile_little_finger_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.left_tactile_little_finger_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.left_tactile_little_finger_pad": { "dtype": "image", "shape": [ 3, 10, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.left_tactile_ring_finger_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.left_tactile_ring_finger_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.left_tactile_ring_finger_pad": { "dtype": "image", "shape": [ 3, 10, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.left_tactile_middle_finger_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.left_tactile_middle_finger_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.left_tactile_middle_finger_pad": { "dtype": "image", "shape": [ 3, 10, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.left_tactile_index_finger_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.left_tactile_index_finger_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.left_tactile_index_finger_pad": { "dtype": "image", "shape": [ 3, 10, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.left_tactile_thumb_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.left_tactile_thumb_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.left_tactile_thumb_middle": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.left_tactile_thumb_pad": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.left_tactile_palm": { "dtype": "image", "shape": [ 3, 8, 14 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.right_tactile_little_finger_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.right_tactile_little_finger_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.right_tactile_little_finger_pad": { "dtype": "image", "shape": [ 3, 10, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.right_tactile_ring_finger_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.right_tactile_ring_finger_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.right_tactile_ring_finger_pad": { "dtype": "image", "shape": [ 3, 10, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.right_tactile_middle_finger_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.right_tactile_middle_finger_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.right_tactile_middle_finger_pad": { "dtype": "image", "shape": [ 3, 10, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.right_tactile_index_finger_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.right_tactile_index_finger_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.right_tactile_index_finger_pad": { "dtype": "image", "shape": [ 3, 10, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.right_tactile_thumb_tip": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.right_tactile_thumb_nail": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.right_tactile_thumb_middle": { "dtype": "image", "shape": [ 3, 3, 3 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.right_tactile_thumb_pad": { "dtype": "image", "shape": [ 3, 12, 8 ], "names": [ "channels", "height", "width", "channel" ] }, "observation.tactiles.right_tactile_palm": { "dtype": "image", "shape": [ 3, 8, 14 ], "names": [ "channels", "height", "width", "channel" ] }, "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] ```license: apache-2.0 task_categories: - robotics tags: - LeRobot configs: - config_name: default data_files: 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:** [更多信息待补充] - **论文:** [更多信息待补充] - **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": "宇树G1 Inspire（Unitree_G1_Inspire）", "总回合数": 84, "总帧数": 20722, "总任务数": 1, "总视频数": 168, "总数据块数": 1, "数据块大小": 1000, "帧率": 30, "数据集划分": { "训练集": "0:84" }, "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": { "观测.关节状态": { "数据类型": "float32", "形状": [26], "命名": [["左肩关节俯仰", "左肩关节滚转", "左肩关节偏航", "左肘关节", "左腕关节滚转", "左腕关节俯仰", "左腕关节偏航", "左手小指", "左手无名指", "左手中指", "左手食指", "左手拇指弯曲", "左手拇指旋转", "右肩关节俯仰", "右肩关节滚转", "右肩关节偏航", "右肘关节", "右腕关节滚转", "右腕关节俯仰", "右腕关节偏航", "右手小指", "右手无名指", "右手中指", "右手食指", "右手拇指弯曲", "右手拇指旋转"]] }, "动作": { "数据类型": "float32", "形状": [26], "命名": [["左肩关节俯仰", "左肩关节滚转", "左肩关节偏航", "左肘关节", "左腕关节滚转", "左腕关节俯仰", "左腕关节偏航", "左手小指", "左手无名指", "左手中指", "左手食指", "左手拇指弯曲", "左手拇指旋转", "右肩关节俯仰", "右肩关节滚转", "右肩关节偏航", "右肘关节", "右腕关节滚转", "右腕关节俯仰", "右腕关节偏航", "右手小指", "右手无名指", "右手中指", "右手食指", "右手拇指弯曲", "右手拇指旋转"]] }, "观测.语言.Token": { "数据类型": "int32", "形状": [48], "命名": ["seq"] }, "观测.语言.注意力掩码": { "数据类型": "int8", "形状": [48], "命名": ["seq"] }, "观测.图像.左上高视角相机": { "数据类型": "视频", "形状": [3, 480, 848], "命名": ["通道数", "高度", "宽度"], "详细信息": { "视频.帧率": 30.0, "视频.高度": 480, "视频.宽度": 848, "视频.通道数": 3, "视频.编码格式": "av1", "视频.像素格式": "yuv420p", "视频.非深度图": false, "无音频": false } }, "观测.图像.第三方视角相机": { "数据类型": "视频", "形状": [3, 480, 640], "命名": ["通道数", "高度", "宽度"], "详细信息": { "视频.帧率": 30.0, "视频.高度": 480, "视频.宽度": 640, "视频.通道数": 3, "视频.编码格式": "av1", "视频.像素格式": "yuv420p", "视频.非深度图": false, "无音频": false } }, "观测.触觉.左手小指指尖": { "数据类型": "图像", "形状": [3, 3, 3], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.左手小指指甲": { "数据类型": "图像", "形状": [3, 12, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.左手小指指腹": { "数据类型": "图像", "形状": [3, 10, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.左手无名指指尖": { "数据类型": "图像", "形状": [3, 3, 3], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.左手无名指指甲": { "数据类型": "图像", "形状": [3, 12, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.左手无名指指腹": { "数据类型": "图像", "形状": [3, 10, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.左手中指指尖": { "数据类型": "图像", "形状": [3, 3, 3], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.左手中指指甲": { "数据类型": "图像", "形状": [3, 12, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.左手中指指腹": { "数据类型": "图像", "形状": [3, 10, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.左手食指指尖": { "数据类型": "图像", "形状": [3, 3, 3], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.左手食指指甲": { "数据类型": "图像", "形状": [3, 12, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.左手食指指腹": { "数据类型": "图像", "形状": [3, 10, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.左手拇指指尖": { "数据类型": "图像", "形状": [3, 3, 3], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.左手拇指指甲": { "数据类型": "图像", "形状": [3, 12, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.左手拇指中部": { "数据类型": "图像", "形状": [3, 3, 3], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.左手拇指指腹": { "数据类型": "图像", "形状": [3, 12, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.左手掌": { "数据类型": "图像", "形状": [3, 8, 14], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.右手小指指尖": { "数据类型": "图像", "形状": [3, 3, 3], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.右手小指指甲": { "数据类型": "图像", "形状": [3, 12, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.右手小指指腹": { "数据类型": "图像", "形状": [3, 10, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.右手无名指指尖": { "数据类型": "图像", "形状": [3, 3, 3], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.右手无名指指甲": { "数据类型": "图像", "形状": [3, 12, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.右手无名指指腹": { "数据类型": "图像", "形状": [3, 10, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.右手中指指尖": { "数据类型": "图像", "形状": [3, 3, 3], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.右手中指指甲": { "数据类型": "图像", "形状": [3, 12, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.右手中指指腹": { "数据类型": "图像", "形状": [3, 10, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.右手食指指尖": { "数据类型": "图像", "形状": [3, 3, 3], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.右手食指指甲": { "数据类型": "图像", "形状": [3, 12, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.右手食指指腹": { "数据类型": "图像", "形状": [3, 10, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.右手拇指指尖": { "数据类型": "图像", "形状": [3, 3, 3], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.右手拇指指甲": { "数据类型": "图像", "形状": [3, 12, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.右手拇指中部": { "数据类型": "图像", "形状": [3, 3, 3], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.右手拇指指腹": { "数据类型": "图像", "形状": [3, 12, 8], "命名": ["通道数", "高度", "宽度", "通道"] }, "观测.触觉.右手掌": { "数据类型": "图像", "形状": [3, 8, 14], "命名": ["通道数", "高度", "宽度", "通道"] }, "时间戳": { "数据类型": "float32", "形状": [1], "命名": null }, "帧索引": { "数据类型": "int64", "形状": [1], "命名": null }, "回合索引": { "数据类型": "int64", "形状": [1], "命名": null }, "全局索引": { "数据类型": "int64", "形状": [1], "命名": null }, "任务索引": { "数据类型": "int64", "形状": [1], "命名": null } } } ## 引用 **BibTeX格式：** bibtex [更多信息待补充]