| --- |
| 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. |
