eunjuri/T_shirt_no_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": 20,
"total_frames": 6200,
"total_tasks": 1,
"total_videos": 20,
"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.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
}
},
"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。

## 数据集说明
- **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": "宇树G1 Inspire(Unitree_G1_Inspire)",
"总回合数": 20,
"总帧数": 6200,
"总任务数": 1,
"总视频数": 20,
"总数据块数": 1,
"数据块大小": 1000,
"帧率": 30,
"数据集划分": {
"训练集": "0:20"
},
"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",
"数据特征": {
"观测.状态": {
"数据类型": "float32",
"形状": [26],
"名称": [
[
"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],
"名称": [
[
"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(Token)": {
"数据类型": "int32",
"形状": [48],
"名称": ["序列"]
},
"观测.语言.注意力掩码": {
"数据类型": "int8",
"形状": [48],
"名称": ["序列"]
},
"观测.图像.左高视角摄像头": {
"数据类型": "视频",
"形状": [3, 480, 848],
"名称": ["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",
"是否为深度图": false,
"是否包含音频": false
}
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"名称": null
},
"回合索引": {
"数据类型": "int64",
"形状": [1],
"名称": null
},
"索引": {
"数据类型": "int64",
"形状": [1],
"名称": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"名称": null
}
}
}

## 引用
**BibTeX格式引用：**
bibtex
[需补充更多信息]