unitreerobotics/G1_Dex1_PickPlaceRedBlock_Dataset_Sim
This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v2.1", "robot_type": "Unitree_G1_Gripper", "total_episodes": 216, "total_frames": 163330, "total_tasks": 2, "total_videos": 648, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:216" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path":… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex1_PickPlaceRedBlock_Dataset_Sim.
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1---2license: apache-2.03task_categories:4- robotics5tags:6- LeRobot7configs:8- config_name: default9 data_files: data/*/*.parquet10---11 12This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).13 14## Dataset Description15 16 17 18- **Homepage:** [More Information Needed]19- **Paper:** [More Information Needed]20- **License:** apache-2.021 22## Dataset Structure23 24[meta/info.json](meta/info.json):25```json26{27 "codebase_version": "v2.1",28 "robot_type": "Unitree_G1_Gripper",29 "total_episodes": 216,30 "total_frames": 163330,31 "total_tasks": 2,32 "total_videos": 648,33 "total_chunks": 1,34 "chunks_size": 1000,35 "fps": 30,36 "splits": {37 "train": "0:216"38 },39 "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",40 "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",41 "features": {42 "observation.state": {43 "dtype": "float32",44 "shape": [45 1646 ],47 "names": [48 [49 "kLeftShoulderPitch",50 "kLeftShoulderRoll",51 "kLeftShoulderYaw",52 "kLeftElbow",53 "kLeftWristRoll",54 "kLeftWristPitch",55 "kLeftWristYaw",56 "kRightShoulderPitch",57 "kRightShoulderRoll",58 "kRightShoulderYaw",59 "kRightElbow",60 "kRightWristRoll",61 "kRightWristPitch",62 "kRightWristYaw",63 "kLeftGripper",64 "kRightGripper"65 ]66 ]67 },68 "action": {69 "dtype": "float32",70 "shape": [71 1672 ],73 "names": [74 [75 "kLeftShoulderPitch",76 "kLeftShoulderRoll",77 "kLeftShoulderYaw",78 "kLeftElbow",79 "kLeftWristRoll",80 "kLeftWristPitch",81 "kLeftWristYaw",82 "kRightShoulderPitch",83 "kRightShoulderRoll",84 "kRightShoulderYaw",85 "kRightElbow",86 "kRightWristRoll",87 "kRightWristPitch",88 "kRightWristYaw",89 "kLeftGripper",90 "kRightGripper"91 ]92 ]93 },94 "observation.images.cam_left_high": {95 "dtype": "video",96 "shape": [97 3,98 480,99 640100 ],101 "names": [102 "channels",103 "height",104 "width"105 ],106 "info": {107 "video.height": 480,108 "video.width": 640,109 "video.codec": "av1",110 "video.pix_fmt": "yuv420p",111 "video.is_depth_map": false,112 "video.fps": 30,113 "video.channels": 3,114 "has_audio": false115 }116 },117 "observation.images.cam_left_wrist": {118 "dtype": "video",119 "shape": [120 3,121 480,122 640123 ],124 "names": [125 "channels",126 "height",127 "width"128 ],129 "info": {130 "video.height": 480,131 "video.width": 640,132 "video.codec": "av1",133 "video.pix_fmt": "yuv420p",134 "video.is_depth_map": false,135 "video.fps": 30,136 "video.channels": 3,137 "has_audio": false138 }139 },140 "observation.images.cam_right_wrist": {141 "dtype": "video",142 "shape": [143 3,144 480,145 640146 ],147 "names": [148 "channels",149 "height",150 "width"151 ],152 "info": {153 "video.height": 480,154 "video.width": 640,155 "video.codec": "av1",156 "video.pix_fmt": "yuv420p",157 "video.is_depth_map": false,158 "video.fps": 30,159 "video.channels": 3,160 "has_audio": false161 }162 },163 "timestamp": {164 "dtype": "float32",165 "shape": [166 1167 ],168 "names": null169 },170 "frame_index": {171 "dtype": "int64",172 "shape": [173 1174 ],175 "names": null176 },177 "episode_index": {178 "dtype": "int64",179 "shape": [180 1181 ],182 "names": null183 },184 "index": {185 "dtype": "int64",186 "shape": [187 1188 ],189 "names": null190 },191 "task_index": {192 "dtype": "int64",193 "shape": [194 1195 ],196 "names": null197 }198 }199}200```201 202 203## Citation204 205**BibTeX:**206 207```bibtex208[More Information Needed]209```