| --- |
| 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: |
| 1. 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: |
| 1. 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](https://github.com/huggingface/lerobot) framework. |
