|
--- |
|
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] |
|
``` |
