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Datasets:
n1robotics
/
G1_Brainco_StackCups_Dataset

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
10K - 100K
Tags:
LeRobot
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
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1
- ---
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- license: apache-2.0
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- ---
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ license: apache-2.0
3
+ task_categories:
4
+ - robotics
5
+ tags:
6
+ - LeRobot
7
+ configs:
8
+ - config_name: default
9
+ data_files: data/*/*.parquet
10
+ ---
11
+
12
+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
13
+
14
+ ## Dataset Description
15
+
16
+
17
+
18
+ - **Homepage:** [More Information Needed]
19
+ - **Paper:** [More Information Needed]
20
+ - **License:** apache-2.0
21
+
22
+ ## Dataset Structure
23
+
24
+ [meta/info.json](meta/info.json):
25
+ ```json
26
+ {
27
+ "codebase_version": "v3.0",
28
+ "robot_type": "Unitree_G1_Brainco",
29
+ "total_episodes": 102,
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+ "total_frames": 22777,
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+ "total_tasks": 1,
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+ "chunks_size": 1000,
33
+ "data_files_size_in_mb": 100,
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+ "video_files_size_in_mb": 500,
35
+ "fps": 30,
36
+ "splits": {
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+ "train": "0:102"
38
+ },
39
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+ "features": {
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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 26
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+ ],
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+ "names": [
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+ [
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+ "kLeftShoulderPitch",
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+ "kLeftShoulderRoll",
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+ "kLeftShoulderYaw",
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+ "kLeftElbow",
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+ "kLeftWristRoll",
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+ "kLeftWristPitch",
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+ "kLeftWristYaw",
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+ "kRightShoulderPitch",
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+ "kRightShoulderRoll",
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+ "kRightShoulderYaw",
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+ "kRightElbow",
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+ "kRightWristRoll",
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+ "kRightWristPitch",
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+ "kRightWristYaw",
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+ "kLeftHandThumb",
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+ "kLeftHandThumbAux",
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+ "kLeftHandIndex",
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+ "kLeftHandMiddle",
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+ "kLeftHandRing",
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+ "kLeftHandPinky",
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+ "kRightHandThumb",
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+ "kRightHandThumbAux",
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+ "kRightHandIndex",
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+ "kRightHandMiddle",
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+ "kRightHandRing",
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+ "kRightHandPinky"
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+ ]
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+ ]
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+ },
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 26
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+ ],
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+ "names": [
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+ [
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+ "kLeftShoulderPitch",
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+ "kLeftShoulderRoll",
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+ "kLeftShoulderYaw",
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+ "kLeftElbow",
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+ "kLeftWristRoll",
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+ "kLeftWristPitch",
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+ "kLeftWristYaw",
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+ "kRightShoulderPitch",
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+ "kRightShoulderRoll",
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+ "kRightShoulderYaw",
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+ "kRightElbow",
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+ "kRightWristRoll",
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+ "kRightWristPitch",
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+ "kRightWristYaw",
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+ "kLeftHandThumb",
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+ "kLeftHandThumbAux",
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+ "kLeftHandIndex",
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+ "kLeftHandMiddle",
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+ "kLeftHandRing",
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+ "kLeftHandPinky",
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+ "kRightHandThumb",
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+ "kRightHandThumbAux",
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+ "kRightHandIndex",
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+ "kRightHandMiddle",
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+ "kRightHandRing",
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+ "kRightHandPinky"
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+ ]
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+ ]
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+ },
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+ "observation.velocity": {
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+ "dtype": "float32",
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+ "shape": [
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+ 26
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+ ],
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+ "names": [
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+ [
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+ "kLeftShoulderPitch",
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+ "kLeftShoulderRoll",
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+ "kLeftShoulderYaw",
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+ "kLeftElbow",
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+ "kLeftWristRoll",
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+ "kLeftWristPitch",
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+ "kLeftWristYaw",
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+ "kRightShoulderPitch",
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+ "kRightShoulderRoll",
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+ "kRightShoulderYaw",
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+ "kRightElbow",
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+ "kRightWristRoll",
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+ "kRightWristPitch",
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+ "kRightWristYaw",
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+ "kLeftHandThumb",
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+ "kLeftHandThumbAux",
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+ "kLeftHandIndex",
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+ "kLeftHandMiddle",
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+ "kLeftHandRing",
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+ "kLeftHandPinky",
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+ "kRightHandThumb",
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+ "kRightHandThumbAux",
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+ "kRightHandIndex",
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+ "kRightHandMiddle",
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+ "kRightHandRing",
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+ "kRightHandPinky"
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+ ]
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+ ]
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+ },
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+ "observation.effort": {
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+ "dtype": "float32",
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+ "shape": [
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+ 26
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+ ],
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+ "names": [
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+ [
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+ "kLeftShoulderPitch",
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+ "kLeftShoulderRoll",
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+ "kLeftShoulderYaw",
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+ "kLeftElbow",
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+ "kLeftWristRoll",
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+ "kLeftWristPitch",
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+ "kLeftWristYaw",
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+ "kRightShoulderPitch",
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+ "kRightShoulderRoll",
166
+ "kRightShoulderYaw",
167
+ "kRightElbow",
168
+ "kRightWristRoll",
169
+ "kRightWristPitch",
170
+ "kRightWristYaw",
171
+ "kLeftHandThumb",
172
+ "kLeftHandThumbAux",
173
+ "kLeftHandIndex",
174
+ "kLeftHandMiddle",
175
+ "kLeftHandRing",
176
+ "kLeftHandPinky",
177
+ "kRightHandThumb",
178
+ "kRightHandThumbAux",
179
+ "kRightHandIndex",
180
+ "kRightHandMiddle",
181
+ "kRightHandRing",
182
+ "kRightHandPinky"
183
+ ]
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+ ]
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+ },
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+ "observation.arm_ddq": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": [
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+ [
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+ "kLeftShoulderPitch",
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+ "kLeftShoulderRoll",
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+ "kLeftShoulderYaw",
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+ "kLeftElbow",
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+ "kLeftWristRoll",
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+ "kLeftWristPitch",
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+ "kLeftWristYaw",
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+ "kRightShoulderPitch",
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+ "kRightShoulderRoll",
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+ "kRightShoulderYaw",
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+ "kRightElbow",
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+ "kRightWristRoll",
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+ "kRightWristPitch",
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+ "kRightWristYaw"
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+ ]
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+ ]
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+ },
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+ "observation.arm_external_torque": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": [
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+ [
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+ "kLeftShoulderPitch",
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+ "kLeftShoulderRoll",
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+ "kLeftShoulderYaw",
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+ "kLeftElbow",
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+ "kLeftWristRoll",
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+ "kLeftWristPitch",
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+ "kLeftWristYaw",
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+ "kRightShoulderPitch",
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+ "kRightShoulderRoll",
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+ "kRightShoulderYaw",
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+ "kRightElbow",
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+ "kRightWristRoll",
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+ "kRightWristPitch",
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+ "kRightWristYaw"
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+ ]
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+ ]
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+ },
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+ "observation.arm_compensation_torque": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": [
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+ [
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+ "kLeftShoulderPitch",
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+ "kLeftShoulderRoll",
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+ "kLeftShoulderYaw",
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+ "kLeftElbow",
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+ "kLeftWristRoll",
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+ "kLeftWristPitch",
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+ "kLeftWristYaw",
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+ "kRightShoulderPitch",
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+ "kRightShoulderRoll",
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+ "kRightShoulderYaw",
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+ "kRightElbow",
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+ "kRightWristRoll",
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+ "kRightWristPitch",
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+ "kRightWristYaw"
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+ ]
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+ ]
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+ },
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+ "observation.cartesian_pos": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ]
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+ },
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+ "observation.cartesian_axis_angle": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ]
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+ },
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+ "observation.cartesian_vel": {
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+ "dtype": "float32",
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+ "shape": [
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+ ]
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+ },
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+ "observation.cartesian_accel": {
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+ "dtype": "float32",
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+ "shape": [
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+ ]
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+ },
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+ "observation.cartesian_external_wrench": {
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+ "dtype": "float32",
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+ "shape": [
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+ ]
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+ },
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+ "observation.rotor_temperature": {
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+ "dtype": "float32",
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+ "shape": [
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+ 28
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+ ]
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+ },
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+ "observation.fingertip_positions": {
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+ "dtype": "float32",
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+ "shape": [
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+ ]
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+ },
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+ "observation.tactile_normal_force": {
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+ "dtype": "float32",
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+ "shape": [
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+ },
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+ ]
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+ },
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+ "shape": [
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+ ]
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+ },
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+ "observation.tactile_proximity": {
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+ "shape": [
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+ ]
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+ },
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+ "observation.camera_pose_head": {
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+ "shape": [
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+ ]
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+ },
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+ "observation.camera_pose_surround": {
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+ "shape": [
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+ ]
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+ },
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+ "action.arm_velocity": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": [
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+ [
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+ "kLeftShoulderPitch",
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+ "kLeftShoulderRoll",
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+ "kLeftShoulderYaw",
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+ "kLeftElbow",
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+ "kLeftWristRoll",
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+ "kLeftWristPitch",
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+ "kLeftWristYaw",
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+ "kRightShoulderPitch",
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+ "kRightShoulderRoll",
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+ "kRightShoulderYaw",
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+ "kRightElbow",
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+ "kRightWristRoll",
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+ "kRightWristPitch",
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+ "kRightWristYaw"
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+ ]
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+ ]
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+ },
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+ "action.arm_effort": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": [
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+ [
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+ "kLeftShoulderPitch",
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+ "kLeftShoulderRoll",
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+ "kLeftShoulderYaw",
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+ "kLeftElbow",
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+ "kLeftWristRoll",
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+ "kLeftWristPitch",
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+ "kLeftWristYaw",
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+ "kRightShoulderPitch",
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+ "kRightShoulderRoll",
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+ "kRightShoulderYaw",
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+ "kRightElbow",
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+ "kRightWristRoll",
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+ "kRightWristPitch",
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+ "kRightWristYaw"
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+ ]
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+ ]
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+ },
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+ "action.arm_ddq": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": [
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+ [
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+ "kLeftShoulderPitch",
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+ "kLeftShoulderRoll",
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+ "kLeftShoulderYaw",
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+ "kLeftElbow",
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+ "kLeftWristRoll",
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+ "kLeftWristPitch",
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+ "kLeftWristYaw",
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+ "kRightShoulderPitch",
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+ "kRightShoulderRoll",
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+ "kRightShoulderYaw",
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+ "kRightElbow",
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+ "kRightWristRoll",
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+ "kRightWristPitch",
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+ "kRightWristYaw"
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+ ]
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+ ]
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+ },
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+ "action.arm_compensation_torque": {
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+ "dtype": "float32",
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+ "shape": [
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+ 14
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+ ],
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+ "names": [
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+ [
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+ "kLeftShoulderPitch",
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+ "kLeftShoulderRoll",
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+ "kLeftShoulderYaw",
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+ "kLeftElbow",
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+ "kLeftWristRoll",
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+ "kLeftWristPitch",
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+ "kLeftWristYaw",
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+ "kRightShoulderPitch",
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+ "kRightShoulderRoll",
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+ "kRightShoulderYaw",
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+ "kRightElbow",
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+ "kRightWristRoll",
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+ "kRightWristPitch",
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+ "kRightWristYaw"
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+ ]
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+ ]
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+ },
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+ "action.cartesian_pos": {
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+ ]
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+ },
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+ "action.cartesian_axis_angle": {
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+ ]
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+ },
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+ "action.cartesian_vel": {
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+ ]
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+ },
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+ ]
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+ },
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+ "action.fingertip_positions": {
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+ "dtype": "float32",
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+ "shape": [
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+ 30
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+ ]
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+ },
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+ "observation.images.head_camera": {
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+ "dtype": "video",
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+ "shape": [
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+ 720,
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+ 1280,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channel"
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+ ],
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+ "info": {
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+ "video.height": 720,
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+ "video.width": 1280,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.surround_camera": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channel"
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+ ],
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+ "info": {
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.head_camera_depth_rgb": {
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+ "dtype": "video",
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+ "shape": [
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+ 720,
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+ 1280,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channel"
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+ ],
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+ "info": {
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+ "video.height": 720,
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+ "video.width": 1280,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
526
+ "video.fps": 30,
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+ "video.channels": 3,
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+ "has_audio": false
529
+ }
530
+ },
531
+ "observation.images.surround_camera_depth_rgb": {
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+ "dtype": "video",
533
+ "shape": [
534
+ 270,
535
+ 480,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
541
+ "channel"
542
+ ],
543
+ "info": {
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+ "video.height": 270,
545
+ "video.width": 480,
546
+ "video.codec": "av1",
547
+ "video.pix_fmt": "yuv420p",
548
+ "video.is_depth_map": false,
549
+ "video.fps": 30,
550
+ "video.channels": 3,
551
+ "has_audio": false
552
+ }
553
+ },
554
+ "timestamp": {
555
+ "dtype": "float32",
556
+ "shape": [
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+ 1
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+ ],
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+ "names": null
560
+ },
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+ "frame_index": {
562
+ "dtype": "int64",
563
+ "shape": [
564
+ 1
565
+ ],
566
+ "names": null
567
+ },
568
+ "episode_index": {
569
+ "dtype": "int64",
570
+ "shape": [
571
+ 1
572
+ ],
573
+ "names": null
574
+ },
575
+ "index": {
576
+ "dtype": "int64",
577
+ "shape": [
578
+ 1
579
+ ],
580
+ "names": null
581
+ },
582
+ "task_index": {
583
+ "dtype": "int64",
584
+ "shape": [
585
+ 1
586
+ ],
587
+ "names": null
588
+ }
589
+ }
590
+ }
591
+ ```
592
+
593
+
594
+ ## Citation
595
+
596
+ **BibTeX:**
597
+
598
+ ```bibtex
599
+ [More Information Needed]
600
+ ```