Add dataset card

README.md

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+---
+license: odc-by
+task_categories:
+- robotics
+tags:
+- robotics
+- embodied ai
+- manipulation
+- mobile manipulation
+- humanoid
+- unitree-g1
+- proprioception
+- multi-view video
+- LeRobot
+language:
+- en
+size_categories:
+- 10M<n<100M
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# FetchMan-data
+
+Simulated training episodes (actions, egocentric video and proprioception) for object pick-up with a
+**Unitree G1** humanoid, generated in [MolmoSpaces](https://github.com/allenai/molmospaces).
+
+| | |
+|---|---|
+| Episodes | 352,696 |
+| Frames | 52,008,151 |
+| Tasks (language instructions) | 902 (`pick up the <object>.`) |
+| Control rate | 10 fps |
+| Cameras | `observation.head_image`, `observation.wrist_image` (384×224, MP4) |
+| Format | [LeRobot](https://github.com/huggingface/lerobot) dataset v3.0 |
+| Size | ~510 GB |
+
+## Data layout
+
+```
+meta/info.json                # features, fps, path templates
+meta/stats.json               # dataset-wide feature statistics
+meta/tasks.parquet            # task string -> task_index
+meta/episodes/chunk-XXX/*.parquet   # per-episode index (lengths, file offsets, per-episode stats)
+data/chunk-XXX/file-XXX.parquet     # per-frame actions and low-dimensional observations
+videos/<camera>/chunk-XXX/file-XXX.mp4
+```
+
+### Features
+
+| Key | Shape | Description |
+|---|---|---|
+| `action` | 15 | robot action |
+| `observation.joint_pos` | 30 | full-body joint positions |
+| `observation.upper_joint_pos` | 11 | upper-body joint positions |
+| `observation.right_gripper_pos` | 1 | right gripper position |
+| `observation.right_hand_pose` | 7 | right hand pose (position + quaternion) |
+| `observation.base_position` / `base_yaw` / `base_height` | 2 / 1 / 1 | base pose |
+| `observation.base_rpy` / `base_rp` | 3 / 2 | base orientation |
+| `observation.base_velocity` / `base_angular_velocity` | 3 / 3 | base velocities |
+| `observation.last_base_vel_cmd` | 3 | last commanded base velocity |
+| `observation.target_object_pose` | 7 | pose of the object to pick |
+| `observation.target_point` | 2 | target point |
+| `observation.head_image`, `observation.wrist_image` | 224×384×3 | camera videos |
+| `object_name`, `object_id`, `scene`, `skill_profile` | string | episode metadata |
+| `timestamp`, `frame_index`, `episode_index`, `index`, `task_index` | 1 | LeRobot indexing |
+
+See `meta/info.json` for the authoritative feature specification.
+
+## Data access
+
+With LeRobot:
+
+```python
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+ds = LeRobotDataset("allenai/fetchman-data")
+frame = ds[0]
+```
+
+To download everything (or a subset) locally:
+
+```bash
+hf download allenai/fetchman-data --repo-type dataset --local-dir /path/to/fetchman-data
+# low-dimensional data only (no videos):
+hf download allenai/fetchman-data --repo-type dataset --include "meta/*" "data/*" --local-dir /path/to/fetchman-data
+```
+
+## License
+
+This dataset is licensed under [ODC-BY 1.0](https://opendatacommons.org/licenses/by/1-0/).
+It is intended for research and educational use in accordance with Ai2's [Responsible Use Guidelines](https://allenai.org/responsible-use).