File size: 8,729 Bytes
a0d856a 2161f9b a0d856a |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 |
---
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
- **Task Objective:** Take the water bottle and simulate pouring water into a transparent glass cup.
- **Operational Objects:** Transparent glass cup (7cm diameter × 8cm height) + 350ml Wahaha bottled water (Purchase link: 【淘宝】https://e.tb.cn/h.60Y4A3cvIpzq2xO?tk=iMs8eJrmMWW CZ001 「娃哈哈 纯净水饮用水350ml*24瓶整箱瓶装企业会议用水」点击链接直接打开 或者 淘宝搜索直接打开).
- **Operation Duration:** Each operation takes approximately 20 seconds.
- **Recording Frequency:** 30 Hz.
- **Robot Type:** 7-DOF dual-arm G1 robot.
- **End Effector:** Three-fingered dexterous hands.
- **Dual-Arm Operation:** Yes.
- **Image Resolution:** 640x480.
- **Camera Positions:** Wrist-mounted (monocular camera) + head-mounted (binocular cameras).
- **Data Content:**
- • Robot's current state.
- • Robot's next action.
- • Current camera view images.
- **Robot Initial Posture:** The first robot state in each dataset entry.
- **Object Placement:** Place the water cup adjacent to the three-fingered dexterous hand on the robot's left arm in its initial position (arm vertical); position the water bottle within reach of the right hand.
- **Camera View:** Follow the guidelines in **Part 5** of [AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate).
- **Important Notes:**
1. Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in **Part 5** of [AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate).
2. Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v2.0",
"robot_type": "Unitree_G1",
"total_episodes": 311,
"total_frames": 121587,
"total_tasks": 1,
"total_videos": 1244,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:311"
},
"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": [
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]
``` |