---
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.