---
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.

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### `observation.state.hand_state` (2)
Finger states for both hands.

#### Dex1 Hand (range: 5.5 – 0.0, open → close)
Per hand:
1. Open/close  

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### `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.

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## Actions
Target end-effector states.
- Defined using forward kinematics (FK) from the root link to both end-effectors.
- Includes waist motion.

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### `action.hand_cmd` (2)
Commanded finger actions.

#### Dex1 Hand (range: 5.5 – 0.0, open → close)
Per hand:
1. Open/close  

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### `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.

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# Acknowledgements

This dataset was created using the [LeRobot](https://github.com/huggingface/lerobot) framework.