liwei
commited on
Commit
•
adb6ec8
1
Parent(s):
ff036d8
Update README file
Browse files
README.md
CHANGED
|
@@ -1,3 +1,130 @@
|
|
| 1 |
-
|
| 2 |
-
|
| 3 |
-
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
This dataset was collected using the Unitree G1 humanoid robot equipped with a three-finger dexterous hand and contains data on placing cameras into their corresponding packaging boxes. Three cameras were used: a stereoscopic camera on the head and RealSense D405 cameras on the left and right wrists. The cameras are securely mounted on the head and wrists with a special structure; for the 3D print models and mounting instructions, please refer to the [official documentation](https://github.com/unitreerobotics/avp_teleoperate/tree/g1). Each image has a resolution of 640x480.
|
| 2 |
+
|
| 3 |
+
The data is saved in JSON format, with specific meanings as follows: in "colors," color_0, color_1, color_2, and color_3 represent images from the left and right cameras of the stereoscopic camera on the head, and the left and right wrist cameras, respectively. "States" stores the current state of the robot, with 7-dimensional vectors for the left arm (left_arm), right arm (right_arm), left hand (left_hand), and right hand (right_hand). "Actions" contains the next action corresponding to the current robot state, with 7-dimensional vectors for the left arm (left_arm), right arm (right_arm), left hand (left_hand), and right hand (right_hand).
|
| 4 |
+
|
| 5 |
+
{
|
| 6 |
+
"idx": 0,
|
| 7 |
+
"colors": {
|
| 8 |
+
"color_0": "colors/000000_color_0.jpg",
|
| 9 |
+
"color_1": "colors/000000_color_1.jpg",
|
| 10 |
+
"color_2": "colors/000000_color_2.jpg",
|
| 11 |
+
"color_3": "colors/000000_color_3.jpg"
|
| 12 |
+
},
|
| 13 |
+
"depths": {
|
| 14 |
+
"depth_0": null
|
| 15 |
+
},
|
| 16 |
+
"states": {
|
| 17 |
+
"left_arm": {
|
| 18 |
+
"qpos": [
|
| 19 |
+
-0.1375260353088379,
|
| 20 |
+
0.2206883430480957,
|
| 21 |
+
0.10265254974365234,
|
| 22 |
+
-0.06499433517456055,
|
| 23 |
+
0.09274798631668091,
|
| 24 |
+
-0.09046751260757446,
|
| 25 |
+
-0.029282808303833008
|
| 26 |
+
],
|
| 27 |
+
"qvel": [],
|
| 28 |
+
"torque": []
|
| 29 |
+
},
|
| 30 |
+
"right_arm": {
|
| 31 |
+
"qpos": [
|
| 32 |
+
-0.3259902000427246,
|
| 33 |
+
-0.2391195297241211,
|
| 34 |
+
0.01526021957397461,
|
| 35 |
+
-0.06318473815917969,
|
| 36 |
+
-0.11658477783203125,
|
| 37 |
+
0.23191407322883606,
|
| 38 |
+
0.18720626831054688
|
| 39 |
+
],
|
| 40 |
+
"qvel": [],
|
| 41 |
+
"torque": []
|
| 42 |
+
},
|
| 43 |
+
"left_hand": {
|
| 44 |
+
"qpos": [
|
| 45 |
+
-0.7578848600387573,
|
| 46 |
+
1.0410269498825073,
|
| 47 |
+
0.3606928586959839,
|
| 48 |
+
0.08179116249084473,
|
| 49 |
+
-0.05276632681488991,
|
| 50 |
+
0.1016264483332634,
|
| 51 |
+
-0.05552492290735245
|
| 52 |
+
],
|
| 53 |
+
"qvel": [],
|
| 54 |
+
"torque": []
|
| 55 |
+
},
|
| 56 |
+
"right_hand": {
|
| 57 |
+
"qpos": [
|
| 58 |
+
-0.7547555565834045,
|
| 59 |
+
-1.0320425033569336,
|
| 60 |
+
-0.37585189938545227,
|
| 61 |
+
0.0769619271159172,
|
| 62 |
+
0.06601113080978394,
|
| 63 |
+
0.07180488109588623,
|
| 64 |
+
0.06099598482251167
|
| 65 |
+
],
|
| 66 |
+
"qvel": [],
|
| 67 |
+
"torque": []
|
| 68 |
+
},
|
| 69 |
+
"body": null
|
| 70 |
+
},
|
| 71 |
+
"actions": {
|
| 72 |
+
"left_arm": {
|
| 73 |
+
"qpos": [
|
| 74 |
+
-0.13025461847171324,
|
| 75 |
+
0.21661541373812673,
|
| 76 |
+
0.1046056316185501,
|
| 77 |
+
-0.08271734741555029,
|
| 78 |
+
0.08518622141452012,
|
| 79 |
+
-0.1030341442196604,
|
| 80 |
+
-0.030171213982147997
|
| 81 |
+
],
|
| 82 |
+
"qvel": [],
|
| 83 |
+
"torque": []
|
| 84 |
+
},
|
| 85 |
+
"right_arm": {
|
| 86 |
+
"qpos": [
|
| 87 |
+
-0.31987801987771125,
|
| 88 |
+
-0.2404535639411038,
|
| 89 |
+
0.013828376365623864,
|
| 90 |
+
-0.09572603288956108,
|
| 91 |
+
-0.10884103404511275,
|
| 92 |
+
0.24179075066234468,
|
| 93 |
+
0.18863734436150825
|
| 94 |
+
],
|
| 95 |
+
"qvel": [],
|
| 96 |
+
"torque": []
|
| 97 |
+
},
|
| 98 |
+
"left_hand": {
|
| 99 |
+
"qpos": [
|
| 100 |
+
-0.7321911605264433,
|
| 101 |
+
1.047197580337524,
|
| 102 |
+
0.3647858555055452,
|
| 103 |
+
0.09084276998877193,
|
| 104 |
+
-0.054689204714162366,
|
| 105 |
+
0.11392166280949342,
|
| 106 |
+
-0.05528988650338419
|
| 107 |
+
],
|
| 108 |
+
"qvel": [],
|
| 109 |
+
"torque": []
|
| 110 |
+
},
|
| 111 |
+
"right_hand": {
|
| 112 |
+
"qpos": [
|
| 113 |
+
-0.8060676717013592,
|
| 114 |
+
-1.047197580337524,
|
| 115 |
+
-0.38412477230537806,
|
| 116 |
+
0.05396886718490038,
|
| 117 |
+
0.05328394295995885,
|
| 118 |
+
0.06713932822291543,
|
| 119 |
+
0.05280982663611267
|
| 120 |
+
],
|
| 121 |
+
"qvel": [],
|
| 122 |
+
"torque": []
|
| 123 |
+
},
|
| 124 |
+
"body": null
|
| 125 |
+
},
|
| 126 |
+
"tactiles": null,
|
| 127 |
+
"audios": {
|
| 128 |
+
"mic0": null
|
| 129 |
+
}
|
| 130 |
+
}
|