G1_Dex3_BlockStacking_Dataset

	---
	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]
	```