Datasets:

Simaihub
/

unitree-g1-single-hand-dex3-manipulation-sample

Error code:   DatasetGenerationError
Exception:    TypeError
Message:      int() argument must be a string, a bytes-like object or a real number, not 'NoneType'
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1539, in _prepare_split_single
                  for key, record in generator:
                                     ^^^^^^^^^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 621, in wrapped
                  for item in generator(*args, **kwargs):
                              ~~~~~~~~~^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 131, in _generate_examples
                  for example_idx, example in enumerate(self._get_pipeline_from_tar(tar_path, tar_iterator)):
                                              ~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 32, in _get_pipeline_from_tar
                  for filename, f in tar_iterator:
                                     ^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/utils/track.py", line 49, in __iter__
                  for x in self.generator(*self.args):
                           ~~~~~~~~~~~~~~^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 1419, in _iter_from_urlpath
                  with xopen(urlpath, "rb", download_config=download_config, block_size=0) as f:
                       ~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/utils/file_utils.py", line 976, in xopen
                  file_obj = fs.open(paths[0], mode)
                File "<string>", line 3, in open
                File "/usr/local/lib/python3.14/unittest/mock.py", line 1176, in __call__
                  return self._mock_call(*args, **kwargs)
                         ~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/unittest/mock.py", line 1180, in _mock_call
                  return self._execute_mock_call(*args, **kwargs)
                         ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/unittest/mock.py", line 1247, in _execute_mock_call
                  result = effect(*args, **kwargs)
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 794, in wrapped
                  tracker.files[urlpath] = {"read": 0, "size": int(f.size)}
                                                               ~~~^^^^^^^^
              TypeError: int() argument must be a string, a bytes-like object or a real number, not 'NoneType'
              
              The above exception was the direct cause of the following exception:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1379, in compute_config_parquet_and_info_response
                  parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
                                                                        ~~~~~~~~~~~~~~~~~~~~~~~~~^
                      builder, max_dataset_size_bytes=max_dataset_size_bytes
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 956, in stream_convert_to_parquet
                  builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
                  ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1401, in _prepare_split
                  for job_id, done, content in self._prepare_split_single(
                                               ~~~~~~~~~~~~~~~~~~~~~~~~~~^
                      gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  ):
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1579, in _prepare_split_single
                  raise DatasetGenerationError("An error occurred while generating the dataset") from e
              datasets.exceptions.DatasetGenerationError: An error occurred while generating the dataset

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mp4 video	__key__ string	__url__ string
	./videos/observation.images.rgb_head/chunk-000/file-002	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_head/chunk-000/file-000	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_head/chunk-000/file-001	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_head/chunk-000/file-003	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_head/chunk-000/file-004	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_head/chunk-000/file-005	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_wrist_right/chunk-000/file-000	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_wrist_right/chunk-000/file-001	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_wrist_left/chunk-000/file-000	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_wrist_left/chunk-000/file-001	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz
Not supported with pagination yet	./meta/episodes/chunk-000/file-000	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz
Not supported with pagination yet	./meta/info	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz
Not supported with pagination yet	./meta/tasks	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz
Not supported with pagination yet	./meta/stats	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz
Not supported with pagination yet	./data/chunk-000/file-000	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_pinch_side_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_head/chunk-000/file-002	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_head/chunk-000/file-006	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_head/chunk-000/file-000	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_head/chunk-000/file-001	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_head/chunk-000/file-003	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_head/chunk-000/file-004	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_head/chunk-000/file-005	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_head/chunk-000/file-007	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_wrist_right/chunk-000/file-000	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_wrist_right/chunk-000/file-001	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz
	./videos/observation.images.rgb_wrist_left/chunk-000/file-000	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz
Not supported with pagination yet	./meta/episodes/chunk-000/file-000	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz
Not supported with pagination yet	./meta/info	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz
Not supported with pagination yet	./meta/tasks	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz
Not supported with pagination yet	./meta/stats	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz
Not supported with pagination yet	./data/chunk-000/file-001	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz
Not supported with pagination yet	./data/chunk-000/file-000	hf://datasets/Simaihub/unitree-g1-single-hand-dex3-manipulation-sample@9c1980254eb47dd9ec9cd74b58680faf3c0461ee/G1_Dex3_power_envelope_lerobot_v30_sample.tar.gz

Unitree G1 Single‑Hand Dexterous Manipulation Simulation Dataset (Sample)

Free sample of SimAiHub single‑hand manipulation dataset, full commercial product available on Datarade.ai.

✨ Dataset Overview

This dataset is a pure synthetic robotic manipulation dataset simulated entirely in NVIDIA Isaac Sim, based on the Unitree G1 humanoid robot equipped with a single Dex3 dexterous hand.

The data focuses on fine-grained single-hand object manipulation tasks with fully randomized scene parameters, including object initial poses, lighting conditions, surface textures, and sensor noise injection to enhance sim-to-real generalization.

The dataset explicitly contains four standardized Dex3 grasping pose categories, covering the most commonly used industrial and research dexterous grasping modes:

Power Grasp：Full finger enclosing grasp for stable holding of rigid and semi-rigid objects.
Pinch Grasp：Thumb–index fingertip precision grasp for small, thin, and delicate objects.
Lateral Grasp：Side finger clamping pose for flat, wide, or sheet-type objects.
Support Grasp：Palm–finger collaborative supporting pose for heavy or bottom-supported objects.

All manipulation episodes feature yaw angle randomization (±6° heading variation) and smooth continuous action trajectories, providing diverse, high-quality pose distributions for policy training.

The dataset is fully compatible with LeRobot v3.0 and standard Isaac Sim sim-to-real pipelines, suitable for dexterous manipulation imitation learning, reinforcement learning, and controller validation for humanoid robots.

Data Modalities & Format

RGB / Depth camera frames, synchronized IMU, robot joint states, 6D end‑effector poses, action trajectories
HDF5 trajectory files + MP4 camera videos
Fully compatible with LeRobot v3.0
Sample only: limited episodes for preview & code validation. Full large dataset is licensed via Datarade.

Use Cases

Dexterous hand policy learning
Sim‑to‑real transfer for humanoid robots
IK / MPC controller validation
Vision‑Action (VLA) training

🔗 Links

Full commercial dataset on Datarade: https://datarade.ai/search/products?search_type=homepage&keywords=simaihub&commit=Search
Provider: SimAiHub
Contact: support@simaihub.com
Website: https://www.simaihub.com

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Total file size:

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Collection including Simaihub/unitree-g1-single-hand-dex3-manipulation-sample

G1-DexManip

Collection

Simulated manipulation datasets for the Unitree G1 humanoid robot with Dex3, Dex5, and Inspire singleand bimanual hands manipulation. • 5 items • Updated 24 days ago