metadata
configs:
- config_name: default
data_files: data/*/*.parquet
license: cc-by-4.0
Data Structure
Observations
observation.state.ee_state (12)
End-effector states of the robot.
- Computed via forward kinematics (FK) from the root link to the left and right end-effectors.
- Includes the contribution of the waist.
- Represented as concatenated poses of both end-effectors.
observation.state.hand_state (2)
Finger states for both hands.
Dex1 Hand (range: 5.5 – 0.0, open → close)
Per hand:
- Open/close
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.
Actions
Target end-effector states.
- Defined using forward kinematics (FK) from the root link to both end-effectors.
- Includes waist motion.
action.hand_cmd (2)
Commanded finger actions.
Dex1 Hand (range: 5.5 – 0.0, open → close)
Per hand:
- Open/close
action.robot_q_desired (36)
Desired robot configuration.
- First 7 values:
- Target root position: (x, y, z)
- Target root orientation: quaternion (w, x, y, z)
- Remaining 29 values:
- Target joint positions.
Acknowledgements
This dataset was created using the LeRobot framework.