G1_MountCameraRedGripper_Dataset

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_Gripper",
"total_episodes": 201,
"total_frames": 172649,
"total_tasks": 1,
"total_videos": 804,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:201"
},
"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": [
16
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftGripper",
"kRightGripper"
]
]
},
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftGripper",
"kRightGripper"
]
]
},
"observation.images.cam_left_high": {
"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.cam_right_high": {
"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.cam_left_wrist": {
"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.cam_right_wrist": {
"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
}
},
"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]
```

本数据集基于[LeRobot](https://github.com/huggingface/lerobot)构建。

## 数据集说明
- **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": "Unitree_G1_Gripper（宇树G1夹爪）",
"总回合数": 201,
"总帧数": 172649,
"总任务数": 1,
"总视频数": 804,
"总数据块数": 1,
"数据块大小": 1000,
"帧率": 30,
"数据集划分": {
"训练集": "0:201"
},
"数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet（Parquet格式文件）",
"视频路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4（MP4格式视频）",
"特征项": {
"观测.状态": {
"数据类型": "float32（32位浮点型）",
"形状": [
16
],
"字段名": [
[
"kLeftShoulderPitch（左肩俯仰关节）",
"kLeftShoulderRoll（左肩翻滚关节）",
"kLeftShoulderYaw（左肩偏航关节）",
"kLeftElbow（左肘关节）",
"kLeftWristRoll（左腕翻滚关节）",
"kLeftWristPitch（左腕俯仰关节）",
"kLeftWristYaw（左腕偏航关节）",
"kRightShoulderPitch（右肩俯仰关节）",
"kRightShoulderRoll（右肩翻滚关节）",
"kRightShoulderYaw（右肩偏航关节）",
"kRightElbow（右肘关节）",
"kRightWristRoll（右腕翻滚关节）",
"kRightWristPitch（右腕俯仰关节）",
"kRightWristYaw（右腕偏航关节）",
"kLeftGripper（左夹爪）",
"kRightGripper（右夹爪）"
]
]
},
"动作": {
"数据类型": "float32（32位浮点型）",
"形状": [
16
],
"字段名": [
[
"kLeftShoulderPitch（左肩俯仰关节）",
"kLeftShoulderRoll（左肩翻滚关节）",
"kLeftShoulderYaw（左肩偏航关节）",
"kLeftElbow（左肘关节）",
"kLeftWristRoll（左腕翻滚关节）",
"kLeftWristPitch（左腕俯仰关节）",
"kLeftWristYaw（左腕偏航关节）",
"kRightShoulderPitch（右肩俯仰关节）",
"kRightShoulderRoll（右肩翻滚关节）",
"kRightShoulderYaw（右肩偏航关节）",
"kRightElbow（右肘关节）",
"kRightWristRoll（右腕翻滚关节）",
"kRightWristPitch（右腕俯仰关节）",
"kRightWristYaw（右腕偏航关节）",
"kLeftGripper（左夹爪）",
"kRightGripper（右夹爪）"
]
]
},
"观测.图像.左上方摄像头": {
"数据类型": "video（视频格式）",
"形状": [
3,
480,
640
],
"维度说明": [
"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",
"是否为深度图": false,
"是否含音频": false
}
},
"观测.图像.右上方摄像头": {
"数据类型": "video（视频格式）",
"形状": [
3,
480,
640
],
"维度说明": [
"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",
"是否为深度图": false,
"是否含音频": false
}
},
"观测.图像.左腕摄像头": {
"数据类型": "video（视频格式）",
"形状": [
3,
480,
640
],
"维度说明": [
"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",
"是否为深度图": false,
"是否含音频": false
}
},
"观测.图像.右腕摄像头": {
"数据类型": "video（视频格式）",
"形状": [
3,
480,
640
],
"维度说明": [
"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",
"是否为深度图": false,
"是否含音频": false
}
},
"时间戳": {
"数据类型": "float32（32位浮点型）",
"形状": [
1
],
"字段名": null
},
"帧索引": {
"数据类型": "int64（64位整型）",
"形状": [
1
],
"字段名": null
},
"回合索引": {
"数据类型": "int64（64位整型）",
"形状": [
1
],
"字段名": null
},
"全局索引": {
"数据类型": "int64（64位整型）",
"形状": [
1
],
"字段名": null
},
"任务索引": {
"数据类型": "int64（64位整型）",
"形状": [
1
],
"字段名": null
}
}
}

## 引用
**BibTeX格式**：
bibtex
[更多信息待补充]