Datasetpublic

unitreerobotics/G1_Dex1_MountCamera_Dataset

This dataset was created using LeRobot. 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. 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: { "codebase_version":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex1_MountCamera_Dataset.

sourceHugging Faceapache-2.0updated 1y agoView on Hugging Face

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Dataset Card

This dataset was created using LeRobot.

Dataset Description

—Homepage: [More Information Needed]
—Paper: [More Information Needed]
—License: apache-2.0
—Task Objective: Place the OAK-D-LITE camera into the mounting case and secure the lid.
—Operational Objects: An OAK-D-LITE camera along with its original complete packaging (Purchase link: [【淘宝】7天无理由退货 https://e.tb.cn/h.606wnDDmrTMhcch?tk=Dr7feJHVOyp CZ009 「OpenCV AI视觉套件 OAK-D-Lite智能开发深度摄像头RGB高清相机」点击链接直接打开或者淘宝搜索直接打开])
—Operation Duration: Each operation takes approximately 40 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: PPosition the camera case at the midpoint between the robot's arms in their initial state (arms vertical), 20cm away from the inner edge of the table's wall (robot-facing side). Place the camera on the right side of the case, and position the lid on the left side of the case.
—Camera View: Follow the guidelines in Part 5 of AVP Teleoperation Documentation.

—Important Notes:
—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.
—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:

json

{
    "codebase_version": "v2.0",
    "robot_type": "Unitree_G1",
    "total_episodes": 351,
    "total_frames": 389708,
    "total_tasks": 1,
    "total_videos": 1404,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:351"
    },
    "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": [
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            "names": null
        }
    }
}

Citation

BibTeX:

bibtex

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