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observation.images.left_tactile_little_finger_tip
image
observation.images.left_tactile_little_finger_nail
image
observation.images.left_tactile_little_finger_pad
image
observation.images.left_tactile_ring_finger_tip
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observation.images.left_tactile_ring_finger_nail
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observation.images.left_tactile_ring_finger_pad
image
observation.images.left_tactile_middle_finger_tip
image
observation.images.left_tactile_middle_finger_nail
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observation.images.left_tactile_middle_finger_pad
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observation.images.left_tactile_index_finger_tip
image
observation.images.left_tactile_index_finger_nail
image
observation.images.left_tactile_index_finger_pad
image
observation.images.left_tactile_thumb_tip
image
observation.images.left_tactile_thumb_nail
image
observation.images.left_tactile_thumb_middle
image
observation.images.left_tactile_thumb_pad
image
observation.images.left_tactile_palm
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observation.images.right_tactile_little_finger_tip
image
observation.images.right_tactile_little_finger_nail
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observation.images.right_tactile_little_finger_pad
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observation.images.right_tactile_ring_finger_tip
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observation.images.right_tactile_ring_finger_nail
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observation.images.right_tactile_ring_finger_pad
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observation.images.right_tactile_middle_finger_tip
image
observation.images.right_tactile_middle_finger_nail
image
observation.images.right_tactile_middle_finger_pad
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observation.images.right_tactile_index_finger_tip
image
observation.images.right_tactile_index_finger_nail
image
observation.images.right_tactile_index_finger_pad
image
observation.images.right_tactile_thumb_tip
image
observation.images.right_tactile_thumb_nail
image
observation.images.right_tactile_thumb_middle
image
observation.images.right_tactile_thumb_pad
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observation.images.right_tactile_palm
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timestamp
float32
frame_index
int64
episode_index
int64
index
int64
task_index
int64
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "Unitree_G1_Inspire",
    "total_episodes": 83,
    "total_frames": 28890,
    "total_tasks": 1,
    "total_videos": 166,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:83"
    },
    "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": {
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                    "kLeftWristYaw",
                    "kLeftHandPinky",
                    "kLeftHandRing",
                    "kLeftHandMiddle",
                    "kLeftHandIndex",
                    "kLeftHandThumbBend",
                    "kLeftHandThumbRotation",
                    "kRightShoulderPitch",
                    "kRightShoulderRoll",
                    "kRightShoulderYaw",
                    "kRightElbow",
                    "kRightWristRoll",
                    "kRightWristPitch",
                    "kRightWristYaw",
                    "kRightHandPinky",
                    "kRightHandRing",
                    "kRightHandMiddle",
                    "kRightHandIndex",
                    "kRightHandThumbBend",
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        "action": {
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                    "kLeftElbow",
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                    "kLeftWristPitch",
                    "kLeftWristYaw",
                    "kLeftHandPinky",
                    "kLeftHandRing",
                    "kLeftHandMiddle",
                    "kLeftHandIndex",
                    "kLeftHandThumbBend",
                    "kLeftHandThumbRotation",
                    "kRightShoulderPitch",
                    "kRightShoulderRoll",
                    "kRightShoulderYaw",
                    "kRightElbow",
                    "kRightWristRoll",
                    "kRightWristPitch",
                    "kRightWristYaw",
                    "kRightHandPinky",
                    "kRightHandRing",
                    "kRightHandMiddle",
                    "kRightHandIndex",
                    "kRightHandThumbBend",
                    "kRightHandThumbRotation"
                ]
            ]
        },
        "observation.images.cam_left_high": {
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            "names": [
                "channels",
                "height",
                "width"
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            "info": {
                "video.fps": 30.0,
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}

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