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license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---
# Data Structure
## Observations
### `observation.state.robot_q_current` (36)
Current robot configuration.
- First 7 values:
- Root position: (x, y, z)
- Root orientation: quaternion (w, x, y, z)
- Remaining 29 values:
- Robot joint positions.
---
### `observation.state.hand_state` (12 or 2)
Finger states for both hands. The dimensionality depends on the hand type.
#### Inspire Hand (range: 0.0 – 1.0; 0.0 = close, 1.0 = open)
Per hand:
1. Index finger
2. Middle finger
3. Ring finger
4. Little finger
5. Thumb (open/close)
6. Thumb (lateral tilt)
---
#### BrainCo Hand (range: 0.0 – 1.0; 0.0 = open, 1.0 = close)
Per hand:
1. Thumb (open/close)
2. Thumb (lateral tilt)
3. Index finger
4. Middle finger
5. Ring finger
6. Little finger
---
#### Dex1 Hand (range: 5.5 – 0.0, open → close)
Per hand:
1. Open/close
---
## Actions
### `action.frame_axis` (24, 3)
Expected human motion for the robot to follow.
- Shape [24, 3]: axis-angle (x, y, z) of 24 nodes in the standard SMPL skeleton.
### `action.robot_wrist_ref` (6)
Expected robot wrist motor values.
- Order: left wrist (3), right wrist (3)
### `action.hand` (12 or 2)
Commanded finger actions. The dimensionality depends on the hand type.
#### Inspire Hand (range: 0.0 – 1.0; 0.0 = close, 1.0 = open)
Per hand:
1. Index finger
2. Middle finger
3. Ring finger
4. Little finger
5. Thumb (open/close)
6. Thumb (lateral tilt)
---
#### BrainCo Hand (range: 0.0 – 1.0; 0.0 = open, 1.0 = close)
Per hand:
1. Thumb (open/close)
2. Thumb (lateral tilt)
3. Index finger
4. Middle finger
5. Ring finger
6. Little finger
---
#### Dex1 Hand (range: 5.5 – 0.0, open → close)
Per hand:
1. Open/close
---
---
# Acknowledgements
This dataset was created using the [LeRobot](https://github.com/huggingface/lerobot) framework. |