eunjuri/pick_and_place_full

---
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": "v3.0",
"robot_type": "Unitree_G1_Inspire",
"total_episodes": 995,
"total_frames": 311048,
"total_tasks": 12,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:995"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.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"
]
],
"fps": 30
},
"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"
]
],
"fps": 30
},
"observation.language.tokens": {
"dtype": "int32",
"shape": [
48
],
"names": [
"seq"
],
"fps": 30
},
"observation.language.attention_mask": {
"dtype": "int8",
"shape": [
48
],
"names": [
"seq"
],
"fps": 30
},
"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"
],
"fps": 30
},
"observation.tactiles.left_tactile_little_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.left_tactile_little_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.left_tactile_ring_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.left_tactile_ring_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.left_tactile_ring_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.left_tactile_middle_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.left_tactile_middle_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.left_tactile_middle_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.left_tactile_index_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.left_tactile_index_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.left_tactile_index_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.left_tactile_thumb_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.left_tactile_thumb_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.left_tactile_thumb_middle": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.left_tactile_thumb_pad": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.left_tactile_palm": {
"dtype": "image",
"shape": [
3,
8,
14
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.right_tactile_little_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.right_tactile_little_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.right_tactile_little_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.right_tactile_ring_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.right_tactile_ring_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.right_tactile_ring_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.right_tactile_middle_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.right_tactile_middle_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.right_tactile_middle_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.right_tactile_index_finger_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.right_tactile_index_finger_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.right_tactile_index_finger_pad": {
"dtype": "image",
"shape": [
3,
10,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.right_tactile_thumb_tip": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.right_tactile_thumb_nail": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.right_tactile_thumb_middle": {
"dtype": "image",
"shape": [
3,
3,
3
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.right_tactile_thumb_pad": {
"dtype": "image",
"shape": [
3,
12,
8
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"observation.tactiles.right_tactile_palm": {
"dtype": "image",
"shape": [
3,
8,
14
],
"names": [
"channels",
"height",
"width",
"channel"
],
"fps": 30
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 30
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 30
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200
}
```

## 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：默认
数据文件路径：data/*/*.parquet
---

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

## 数据集说明
- **官方主页：** [需补充更多信息]
- **相关论文：** [需补充更多信息]
- **许可证：** Apache-2.0

## 数据集结构
元数据存储于`meta/info.json`文件中，其具体内容如下：
json
{
"代码库版本": "v3.0",
"机器人型号": "Unitree_G1_Inspire（宇树G1 Inspire）",
"总回合数": 995,
"总帧数": 311048,
"总任务数": 12,
"分块大小": 1000,
"帧率": 30,
"数据集划分": {
"训练集": "0:995"
},
"数据文件路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频文件路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"观测状态": {
"数据类型": "float32",
"形状": [26],
"维度名称": [["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"]],
"帧率": 30
},
"动作指令": {
"数据类型": "float32",
"形状": [26],
"维度名称": [["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"]],
"帧率": 30
},
"语言观测Token": {
"数据类型": "int32",
"形状": [48],
"维度名称": ["seq"],
"帧率": 30
},
"语言观测注意力掩码": {
"数据类型": "int8",
"形状": [48],
"维度名称": ["seq"],
"帧率": 30
},
"左侧高位相机图像观测": {
"数据类型": "video",
"形状": [3, 480, 848],
"维度名称": ["channels", "height", "width"],
"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
}
},
"第三人称相机图像观测": {
"数据类型": "video",
"形状": [3, 480, 640],
"维度名称": ["channels", "height", "width"],
"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,
"是否包含音频": false
}
},
"左侧小指指尖触觉图像": {
"数据类型": "image",
"形状": [3, 3, 3],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"左侧小指指甲触觉图像": {
"数据类型": "image",
"形状": [3, 12, 8],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"左侧小指指腹触觉图像": {
"数据类型": "image",
"形状": [3, 10, 8],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"左侧无名指指尖触觉图像": {
"数据类型": "image",
"形状": [3, 3, 3],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"左侧无名指指甲触觉图像": {
"数据类型": "image",
"形状": [3, 12, 8],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"左侧无名指指腹触觉图像": {
"数据类型": "image",
"形状": [3, 10, 8],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"左手中指指尖触觉图像": {
"数据类型": "image",
"形状": [3, 3, 3],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"左手中指指甲触觉图像": {
"数据类型": "image",
"形状": [3, 12, 8],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"左手中指指腹触觉图像": {
"数据类型": "image",
"形状": [3, 10, 8],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"左侧食指指尖触觉图像": {
"数据类型": "image",
"形状": [3, 3, 3],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"左侧食指指甲触觉图像": {
"数据类型": "image",
"形状": [3, 12, 8],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"左侧食指指腹触觉图像": {
"数据类型": "image",
"形状": [3, 10, 8],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"左侧拇指指尖触觉图像": {
"数据类型": "image",
"形状": [3, 3, 3],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"左侧拇指指甲触觉图像": {
"数据类型": "image",
"形状": [3, 12, 8],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"左侧拇指中间触觉图像": {
"数据类型": "image",
"形状": [3, 3, 3],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"左侧拇指指腹触觉图像": {
"数据类型": "image",
"形状": [3, 12, 8],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"左侧手掌触觉图像": {
"数据类型": "image",
"形状": [3, 8, 14],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"右侧小指指尖触觉图像": {
"数据类型": "image",
"形状": [3, 3, 3],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"右侧小指指甲触觉图像": {
"数据类型": "image",
"形状": [3, 12, 8],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"右侧小指指腹触觉图像": {
"数据类型": "image",
"形状": [3, 10, 8],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"右侧无名指指尖触觉图像": {
"数据类型": "image",
"形状": [3, 3, 3],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"右侧无名指指甲触觉图像": {
"数据类型": "image",
"形状": [3, 12, 8],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"右侧无名指指腹触觉图像": {
"数据类型": "image",
"形状": [3, 10, 8],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"右手中指指尖触觉图像": {
"数据类型": "image",
"形状": [3, 3, 3],
"维度名称": ["channels", "height", "width", "channel"],
"帧率": 30
},
"右手中指指甲触觉图像": {
"数据类型": "image",
"形状": [3, 12, 8],
"维度名称": ["channels", "height", "width", "channel"],
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},
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## 引用信息
**BibTeX引用格式：**
bibtex
[需补充更多信息]