| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
|
|
| tags: |
| - LeRobot |
|
|
| configs: |
| - config_name: default |
| data_files: data/*/*.parquet |
| --- |
| | Field | Value | |
| |-------|-------| |
| | `codebase_version` | `v3.0` | |
| | `robot_type` | `Unitree_R1_A7_Dex1` | |
| | Episodes | 29 | |
| | Frames | 28850 | |
| | Tasks | 1 | |
| | fps | 30 | |
| | split | `train: 0:29` | |
|
|
| ## Video Streams (`observation.images.*`) |
| |
| 4 cameras, MP4 (`mp4v`, `yuv420p`), 480×640×3, 30 fps, no audio. The data is stored |
| as `videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4`. |
| |
| | Key | Description | |
| |-----|-------------| |
| | `observation.images.cam_left_high` | Left head/high camera | |
| | `observation.images.cam_right_high` | Right head/high camera | |
| | `observation.images.cam_left_wrist` | Left wrist camera | |
| | `observation.images.cam_right_wrist` | Right wrist camera | |
| |
| ## Observations (`observation.state`, flat 16-D) |
| |
| A single flat `float32[16]` vector, no nested keys. Order: |
| |
| | Idx | Name | Description | |
| |-----|------|-------------| |
| | 0 | `kLeftShoulderPitch` | Left arm | |
| | 1 | `kLeftShoulderRoll` | | |
| | 2 | `kLeftShoulderYaw` | | |
| | 3 | `kLeftElbow` | | |
| | 4 | `kLeftWristRoll` | | |
| | 5 | `kLeftWristPitch` | | |
| | 6 | `kLeftWristYaw` | | |
| | 7 | `kRightShoulderPitch` | Right arm | |
| | 8 | `kRightShoulderRoll` | | |
| | 9 | `kRightShoulderYaw` | | |
| | 10 | `kRightElbow` | | |
| | 11 | `kRightWristRoll` | | |
| | 12 | `kRightWristPitch` | | |
| | 13 | `kRightWristYaw` | | |
| | 14 | `kLeftDex1` | Left Dex1 gripper | |
| | 15 | `kRightDex1` | Right Dex1 gripper | |
| |
| Arm joints (idx 0–13) are joint positions in radians. Gripper channels (idx 14–15) |
| are the raw Dex1 values (see Hand Convention). |
| |
| ## Actions (`action`, flat 16-D) |
| |
| Same layout and names as `observation.state`: `float32[16]`, arm joints (idx 0–13) |
| plus the two Dex1 gripper commands (idx 14–15). In this dataset the gripper command |
| range is exactly `[0.0, 5.0]`. |
| |
| ## Bookkeeping |
| |
| `timestamp`, `frame_index`, `episode_index`, `index`, `task_index` — each `shape [1]` |
| (`timestamp` float32, the rest int64). |
| |
| --- |
| |
| # Hand Convention |
| |
| This dataset uses Dex1 grippers (`kLeftDex1` / `kRightDex1`, 1 channel each, at |
| index 14/15 of both `observation.state` and `action`). |
| |
| ### Dex1 Gripper (range 0.0 – 5.0) |
| - Raw values are kept as-is; no normalization is applied at storage time. |
| - Observed in this dataset: `observation.state` gripper ≈ `[-0.04, 5.20]`, |
| `action` gripper `[0.0, 5.0]`. |
| |
| > Note: the conversion pipeline unifies open/close as `1 = open, 0 = closed` for the |
| > 6-DOF hands (brainco/inspire); those hands are stored unnormalized too. The Dex1 |
| > single-DOF value is stored raw, so the two gripper extremes are `0` and `5`. |
| |
| --- |
| |
| # Acknowledgements |
| |
| This dataset was created using the [LeRobot](https://github.com/huggingface/lerobot) framework. |
| |
