eunjuri/sponge_label_test

---
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": 20,
"total_frames": 6268,
"total_tasks": 2,
"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"
},
"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.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
}
},
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"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.left_tactile_little_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.left_tactile_little_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.left_tactile_ring_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.left_tactile_ring_finger_nail": {
"dtype": "image",
"shape": [
3,
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8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.left_tactile_ring_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.left_tactile_middle_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.left_tactile_middle_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.left_tactile_middle_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.left_tactile_index_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.left_tactile_index_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.left_tactile_index_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.left_tactile_thumb_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.left_tactile_thumb_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.left_tactile_thumb_middle": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.left_tactile_thumb_pad": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.left_tactile_palm": {
"dtype": "image",
"shape": [
3,
8,
14
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.right_tactile_little_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.right_tactile_little_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.right_tactile_little_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.right_tactile_ring_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.right_tactile_ring_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.right_tactile_ring_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.right_tactile_middle_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.right_tactile_middle_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.right_tactile_middle_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.right_tactile_index_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.right_tactile_index_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.right_tactile_index_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.right_tactile_thumb_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.right_tactile_thumb_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.right_tactile_thumb_middle": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.right_tactile_thumb_pad": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.right_tactile_palm": {
"dtype": "image",
"shape": [
3,
8,
14
],
"names": [
"channels",
"height",
"width",
"channel"
]
},
"observation.images.carpet_0": {
"dtype": "image",
"shape": [
3,
32,
32
],
"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]
```

---
许可证: apache-2.0
任务类别:
- 机器人学
标签:
- LeRobot（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。

## 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
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Inspire（宇树G1 Inspire）",
"total_episodes": 20,
"total_frames": 6268,
"total_tasks": 2,
"total_videos": 40,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:20"
},
"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.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.images.left_tactile_little_finger_tip": {
"dtype": "image",
"shape": [3, 3, 3],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.left_tactile_little_finger_nail": {
"dtype": "image",
"shape": [3, 12, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.left_tactile_little_finger_pad": {
"dtype": "image",
"shape": [3, 10, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.left_tactile_ring_finger_tip": {
"dtype": "image",
"shape": [3, 3, 3],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.left_tactile_ring_finger_nail": {
"dtype": "image",
"shape": [3, 12, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.left_tactile_ring_finger_pad": {
"dtype": "image",
"shape": [3, 10, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.left_tactile_middle_finger_tip": {
"dtype": "image",
"shape": [3, 3, 3],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.left_tactile_middle_finger_nail": {
"dtype": "image",
"shape": [3, 12, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.left_tactile_middle_finger_pad": {
"dtype": "image",
"shape": [3, 10, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.left_tactile_index_finger_tip": {
"dtype": "image",
"shape": [3, 3, 3],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.left_tactile_index_finger_nail": {
"dtype": "image",
"shape": [3, 12, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.left_tactile_index_finger_pad": {
"dtype": "image",
"shape": [3, 10, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.left_tactile_thumb_tip": {
"dtype": "image",
"shape": [3, 3, 3],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.left_tactile_thumb_nail": {
"dtype": "image",
"shape": [3, 12, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.left_tactile_thumb_middle": {
"dtype": "image",
"shape": [3, 3, 3],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.left_tactile_thumb_pad": {
"dtype": "image",
"shape": [3, 12, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.left_tactile_palm": {
"dtype": "image",
"shape": [3, 8, 14],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.right_tactile_little_finger_tip": {
"dtype": "image",
"shape": [3, 3, 3],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.right_tactile_little_finger_nail": {
"dtype": "image",
"shape": [3, 12, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.right_tactile_little_finger_pad": {
"dtype": "image",
"shape": [3, 10, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.right_tactile_ring_finger_tip": {
"dtype": "image",
"shape": [3, 3, 3],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.right_tactile_ring_finger_nail": {
"dtype": "image",
"shape": [3, 12, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.right_tactile_ring_finger_pad": {
"dtype": "image",
"shape": [3, 10, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.right_tactile_middle_finger_tip": {
"dtype": "image",
"shape": [3, 3, 3],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.right_tactile_middle_finger_nail": {
"dtype": "image",
"shape": [3, 12, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.right_tactile_middle_finger_pad": {
"dtype": "image",
"shape": [3, 10, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.right_tactile_index_finger_tip": {
"dtype": "image",
"shape": [3, 3, 3],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.right_tactile_index_finger_nail": {
"dtype": "image",
"shape": [3, 12, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.right_tactile_index_finger_pad": {
"dtype": "image",
"shape": [3, 10, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.right_tactile_thumb_tip": {
"dtype": "image",
"shape": [3, 3, 3],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.right_tactile_thumb_nail": {
"dtype": "image",
"shape": [3, 12, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.right_tactile_thumb_middle": {
"dtype": "image",
"shape": [3, 3, 3],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.right_tactile_thumb_pad": {
"dtype": "image",
"shape": [3, 12, 8],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.right_tactile_palm": {
"dtype": "image",
"shape": [3, 8, 14],
"names": ["channels", "height", "width", "channel"]
},
"observation.images.carpet_0": {
"dtype": "image",
"shape": [3, 32, 32],
"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
}
}
}

## 引用
**BibTeX格式**:
bibtex
[更多信息待补充]