G1_Dex3_PickApple_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_Dex3",
"total_episodes": 201,
"total_frames": 152569,
"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": [
28
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb0",
"kLeftHandThumb1",
"kLeftHandThumb2",
"kLeftHandMiddle0",
"kLeftHandMiddle1",
"kLeftHandIndex0",
"kLeftHandIndex1",
"kRightHandThumb0",
"kRightHandThumb1",
"kRightHandThumb2",
"kRightHandIndex0",
"kRightHandIndex1",
"kRightHandMiddle0",
"kRightHandMiddle1"
]
]
},
"action": {
"dtype": "float32",
"shape": [
28
],
"names": [
[
"kLeftShoulderPitch",
"kLeftShoulderRoll",
"kLeftShoulderYaw",
"kLeftElbow",
"kLeftWristRoll",
"kLeftWristPitch",
"kLeftWristYaw",
"kRightShoulderPitch",
"kRightShoulderRoll",
"kRightShoulderYaw",
"kRightElbow",
"kRightWristRoll",
"kRightWristPitch",
"kRightWristYaw",
"kLeftHandThumb0",
"kLeftHandThumb1",
"kLeftHandThumb2",
"kLeftHandMiddle0",
"kLeftHandMiddle1",
"kLeftHandIndex0",
"kLeftHandIndex1",
"kRightHandThumb0",
"kRightHandThumb1",
"kRightHandThumb2",
"kRightHandIndex0",
"kRightHandIndex1",
"kRightHandMiddle0",
"kRightHandMiddle1"
]
]
},
"observation.images.cam_left_high": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"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
}
},
"observation.images.cam_right_high": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"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]
```

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

## 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许可证

## 数据集结构
元数据文件为[meta/info.json](meta/info.json)，其内容如下：
json
{
"代码库版本": "v2.1",
"机器人类型": "宇树G1 Dex3（Unitree_G1_Dex3）",
"总回合数": 201,
"总帧数": 152569,
"总任务数": 1,
"总视频数": 804,
"总分块数": 1,
"分块大小": 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",
"视频路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征项": {
"观测状态": {
"数据类型": "float32",
"形状": [
28
],
"命名项": [
[
"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",
"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",
"左手拇指关节0",
"左手拇指关节1",
"左手拇指关节2",
"左手中指关节0",
"左手中指关节1",
"左手食指关节0",
"左手食指关节1",
"右手拇指关节0",
"右手拇指关节1",
"右手拇指关节2",
"右手食指关节0",
"右手食指关节1",
"右手中指关节0",
"右手中指关节1"
]
]
},
"动作": {
"数据类型": "float32",
"形状": [
28
],
"命名项": [
[
"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",
"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",
"左手拇指关节0",
"左手拇指关节1",
"左手拇指关节2",
"左手中指关节0",
"左手中指关节1",
"左手食指关节0",
"左手食指关节1",
"右手拇指关节0",
"右手拇指关节1",
"右手拇指关节2",
"右手食指关节0",
"右手食指关节1",
"右手中指关节0",
"右手中指关节1"
]
]
},
"观测图像.左高位相机": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"命名项": [
"高度",
"宽度",
"通道数"
],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"帧率": 30,
"通道数": 3,
"是否含音频": false
}
},
"观测图像.右高位相机": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"命名项": [
"高度",
"宽度",
"通道数"
],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "av1",
"像素格式": "yuv420p",
"是否为深度图": false,
"帧率": 30,
"通道数": 3,
"是否含音频": false
}
},
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"命名项": null
},
"帧索引": {
"数据类型": "int64",
"形状": [
1
],
"命名项": null
},
"回合索引": {
"数据类型": "int64",
"形状": [
1
],
"命名项": null
},
"全局索引": {
"数据类型": "int64",
"形状": [
1
],
"命名项": null
},
"任务索引": {
"数据类型": "int64",
"形状": [
1
],
"命名项": null
}
}
}

## 引用
**BibTeX格式引用**：
bibtex
[更多信息待补充]