---
license: other
task_categories:
- robotics
tags:
- LeRobot
- Unitree G1
- Inspire DFX
- metal_part_sort
---

# metal_part_sort_v3

LeRobot v2.1 dataset for Unitree G1 + Inspire DFX metal part sorting.

- Episodes: 95
- Frames: 46748
- Cameras: head, left wrist, right wrist
- State/action: 26D, with hand dimensions 14:26
- Hand-state convention: `observation.state[t, 14:26] = action[t-1, 14:26]` for `t > 0`; frame 0 uses same-frame hand action.
- Failed recordings moved to trash were excluded before conversion.