Duplicate from unitreerobotics/G1_BlockStacking_Dataset

Co-authored-by: hengguo <Henry-Ellis@users.noreply.huggingface.co>

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README.md

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+---
+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:** Stack the three cubic blocks on the desktop from bottom to top in the order of red, yellow, and blue on the black tape affixed to the desktop.  
+- **Operational Objects:** Three cubic blocks with 5cm side lengths（Purchase link:[【淘宝】假一赔四 https://e.tb.cn/h.60bRpk3V7bDhevw?tk=RzFAeJt4Wwp CZ007 「小块正方体形积木数学教具婴儿童益智拼装玩具层层叠1一2岁3宝宝6」
+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 to 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:** Randomly placed within the robot arm's motion range and the field of view of the robot's head-mounted camera.  
+- **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": 301,
+    "total_frames": 281196,
+    "total_tasks": 1,
+    "total_videos": 1204,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:301"
+    },
+    "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]
+```

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