---
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.