metal_part_sort_v6

LeRobot v2.1 dataset for the Unitree G1 + Inspire DFX metal part sorting task.

• Episodes: 39
• Frames: 32,049
• FPS: 30
• Raw snapshot: /home/y-kosugi/datasets/metal_part_sort_v6_all_raw_20260624/metal_part_sort_v6

Camera streams are stored as:

• observation.images.cam_left_high: robot head camera, recorded for audit only
• observation.images.cam_external: external camera
• observation.images.cam_left_wrist: left wrist camera
• observation.images.cam_right_wrist: right wrist camera

For GR00T training, meta/modality.json maps the logical head video input to observation.images.cam_external. The robot head camera is not fed to the model.

State/action layout:

• left arm: 0:7
• right arm: 7:14
• left hand: 14:20
• right hand: 20:26