| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/*/*.parquet |
| --- |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| ## Dataset Description |
|
|
|  |
|
|
| *Visualized using [visualize-lerobot.py](visualize-lerobot.py) included in this dataset repo.* |
|
|
|
|
| ## Dataset Structure |
|
|
| [meta/info.json](meta/info.json): |
| ```json |
| { |
| "codebase_version": "v3.0", |
| "robot_type": "Unitree_G1_Brainco", |
| "total_episodes": 102, |
| "total_frames": 22777, |
| "total_tasks": 1, |
| "chunks_size": 1000, |
| "data_files_size_in_mb": 100, |
| "video_files_size_in_mb": 500, |
| "fps": 30, |
| "splits": { |
| "train": "0:102" |
| }, |
| "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
| "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
| "features": { |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 26 |
| ], |
| "names": [ |
| [ |
| "kLeftShoulderPitch", |
| "kLeftShoulderRoll", |
| "kLeftShoulderYaw", |
| "kLeftElbow", |
| "kLeftWristRoll", |
| "kLeftWristPitch", |
| "kLeftWristYaw", |
| "kRightShoulderPitch", |
| "kRightShoulderRoll", |
| "kRightShoulderYaw", |
| "kRightElbow", |
| "kRightWristRoll", |
| "kRightWristPitch", |
| "kRightWristYaw", |
| "kLeftHandThumb", |
| "kLeftHandThumbAux", |
| "kLeftHandIndex", |
| "kLeftHandMiddle", |
| "kLeftHandRing", |
| "kLeftHandPinky", |
| "kRightHandThumb", |
| "kRightHandThumbAux", |
| "kRightHandIndex", |
| "kRightHandMiddle", |
| "kRightHandRing", |
| "kRightHandPinky" |
| ] |
| ] |
| }, |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 26 |
| ], |
| "names": [ |
| [ |
| "kLeftShoulderPitch", |
| "kLeftShoulderRoll", |
| "kLeftShoulderYaw", |
| "kLeftElbow", |
| "kLeftWristRoll", |
| "kLeftWristPitch", |
| "kLeftWristYaw", |
| "kRightShoulderPitch", |
| "kRightShoulderRoll", |
| "kRightShoulderYaw", |
| "kRightElbow", |
| "kRightWristRoll", |
| "kRightWristPitch", |
| "kRightWristYaw", |
| "kLeftHandThumb", |
| "kLeftHandThumbAux", |
| "kLeftHandIndex", |
| "kLeftHandMiddle", |
| "kLeftHandRing", |
| "kLeftHandPinky", |
| "kRightHandThumb", |
| "kRightHandThumbAux", |
| "kRightHandIndex", |
| "kRightHandMiddle", |
| "kRightHandRing", |
| "kRightHandPinky" |
| ] |
| ] |
| }, |
| "observation.velocity": { |
| "dtype": "float32", |
| "shape": [ |
| 26 |
| ], |
| "names": [ |
| [ |
| "kLeftShoulderPitch", |
| "kLeftShoulderRoll", |
| "kLeftShoulderYaw", |
| "kLeftElbow", |
| "kLeftWristRoll", |
| "kLeftWristPitch", |
| "kLeftWristYaw", |
| "kRightShoulderPitch", |
| "kRightShoulderRoll", |
| "kRightShoulderYaw", |
| "kRightElbow", |
| "kRightWristRoll", |
| "kRightWristPitch", |
| "kRightWristYaw", |
| "kLeftHandThumb", |
| "kLeftHandThumbAux", |
| "kLeftHandIndex", |
| "kLeftHandMiddle", |
| "kLeftHandRing", |
| "kLeftHandPinky", |
| "kRightHandThumb", |
| "kRightHandThumbAux", |
| "kRightHandIndex", |
| "kRightHandMiddle", |
| "kRightHandRing", |
| "kRightHandPinky" |
| ] |
| ] |
| }, |
| "observation.effort": { |
| "dtype": "float32", |
| "shape": [ |
| 26 |
| ], |
| "names": [ |
| [ |
| "kLeftShoulderPitch", |
| "kLeftShoulderRoll", |
| "kLeftShoulderYaw", |
| "kLeftElbow", |
| "kLeftWristRoll", |
| "kLeftWristPitch", |
| "kLeftWristYaw", |
| "kRightShoulderPitch", |
| "kRightShoulderRoll", |
| "kRightShoulderYaw", |
| "kRightElbow", |
| "kRightWristRoll", |
| "kRightWristPitch", |
| "kRightWristYaw", |
| "kLeftHandThumb", |
| "kLeftHandThumbAux", |
| "kLeftHandIndex", |
| "kLeftHandMiddle", |
| "kLeftHandRing", |
| "kLeftHandPinky", |
| "kRightHandThumb", |
| "kRightHandThumbAux", |
| "kRightHandIndex", |
| "kRightHandMiddle", |
| "kRightHandRing", |
| "kRightHandPinky" |
| ] |
| ] |
| }, |
| "observation.arm_ddq": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| [ |
| "kLeftShoulderPitch", |
| "kLeftShoulderRoll", |
| "kLeftShoulderYaw", |
| "kLeftElbow", |
| "kLeftWristRoll", |
| "kLeftWristPitch", |
| "kLeftWristYaw", |
| "kRightShoulderPitch", |
| "kRightShoulderRoll", |
| "kRightShoulderYaw", |
| "kRightElbow", |
| "kRightWristRoll", |
| "kRightWristPitch", |
| "kRightWristYaw" |
| ] |
| ] |
| }, |
| "observation.arm_external_torque": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| [ |
| "kLeftShoulderPitch", |
| "kLeftShoulderRoll", |
| "kLeftShoulderYaw", |
| "kLeftElbow", |
| "kLeftWristRoll", |
| "kLeftWristPitch", |
| "kLeftWristYaw", |
| "kRightShoulderPitch", |
| "kRightShoulderRoll", |
| "kRightShoulderYaw", |
| "kRightElbow", |
| "kRightWristRoll", |
| "kRightWristPitch", |
| "kRightWristYaw" |
| ] |
| ] |
| }, |
| "observation.arm_compensation_torque": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| [ |
| "kLeftShoulderPitch", |
| "kLeftShoulderRoll", |
| "kLeftShoulderYaw", |
| "kLeftElbow", |
| "kLeftWristRoll", |
| "kLeftWristPitch", |
| "kLeftWristYaw", |
| "kRightShoulderPitch", |
| "kRightShoulderRoll", |
| "kRightShoulderYaw", |
| "kRightElbow", |
| "kRightWristRoll", |
| "kRightWristPitch", |
| "kRightWristYaw" |
| ] |
| ] |
| }, |
| "observation.cartesian_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.cartesian_axis_angle": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "observation.cartesian_vel": { |
| "dtype": "float32", |
| "shape": [ |
| 12 |
| ] |
| }, |
| "observation.cartesian_accel": { |
| "dtype": "float32", |
| "shape": [ |
| 12 |
| ] |
| }, |
| "observation.cartesian_external_wrench": { |
| "dtype": "float32", |
| "shape": [ |
| 12 |
| ] |
| }, |
| "observation.rotor_temperature": { |
| "dtype": "float32", |
| "shape": [ |
| 28 |
| ] |
| }, |
| "observation.fingertip_positions": { |
| "dtype": "float32", |
| "shape": [ |
| 30 |
| ] |
| }, |
| "observation.tactile_normal_force": { |
| "dtype": "float32", |
| "shape": [ |
| 10 |
| ] |
| }, |
| "observation.tactile_tangential_force": { |
| "dtype": "float32", |
| "shape": [ |
| 10 |
| ] |
| }, |
| "observation.tactile_tangential_direction": { |
| "dtype": "float32", |
| "shape": [ |
| 10 |
| ] |
| }, |
| "observation.tactile_proximity": { |
| "dtype": "float32", |
| "shape": [ |
| 10 |
| ] |
| }, |
| "observation.camera_pose_head": { |
| "dtype": "float32", |
| "shape": [ |
| 13 |
| ] |
| }, |
| "observation.camera_pose_surround": { |
| "dtype": "float32", |
| "shape": [ |
| 13 |
| ] |
| }, |
| "action.arm_velocity": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| [ |
| "kLeftShoulderPitch", |
| "kLeftShoulderRoll", |
| "kLeftShoulderYaw", |
| "kLeftElbow", |
| "kLeftWristRoll", |
| "kLeftWristPitch", |
| "kLeftWristYaw", |
| "kRightShoulderPitch", |
| "kRightShoulderRoll", |
| "kRightShoulderYaw", |
| "kRightElbow", |
| "kRightWristRoll", |
| "kRightWristPitch", |
| "kRightWristYaw" |
| ] |
| ] |
| }, |
| "action.arm_effort": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| [ |
| "kLeftShoulderPitch", |
| "kLeftShoulderRoll", |
| "kLeftShoulderYaw", |
| "kLeftElbow", |
| "kLeftWristRoll", |
| "kLeftWristPitch", |
| "kLeftWristYaw", |
| "kRightShoulderPitch", |
| "kRightShoulderRoll", |
| "kRightShoulderYaw", |
| "kRightElbow", |
| "kRightWristRoll", |
| "kRightWristPitch", |
| "kRightWristYaw" |
| ] |
| ] |
| }, |
| "action.arm_ddq": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| [ |
| "kLeftShoulderPitch", |
| "kLeftShoulderRoll", |
| "kLeftShoulderYaw", |
| "kLeftElbow", |
| "kLeftWristRoll", |
| "kLeftWristPitch", |
| "kLeftWristYaw", |
| "kRightShoulderPitch", |
| "kRightShoulderRoll", |
| "kRightShoulderYaw", |
| "kRightElbow", |
| "kRightWristRoll", |
| "kRightWristPitch", |
| "kRightWristYaw" |
| ] |
| ] |
| }, |
| "action.arm_compensation_torque": { |
| "dtype": "float32", |
| "shape": [ |
| 14 |
| ], |
| "names": [ |
| [ |
| "kLeftShoulderPitch", |
| "kLeftShoulderRoll", |
| "kLeftShoulderYaw", |
| "kLeftElbow", |
| "kLeftWristRoll", |
| "kLeftWristPitch", |
| "kLeftWristYaw", |
| "kRightShoulderPitch", |
| "kRightShoulderRoll", |
| "kRightShoulderYaw", |
| "kRightElbow", |
| "kRightWristRoll", |
| "kRightWristPitch", |
| "kRightWristYaw" |
| ] |
| ] |
| }, |
| "action.cartesian_pos": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "action.cartesian_axis_angle": { |
| "dtype": "float32", |
| "shape": [ |
| 6 |
| ] |
| }, |
| "action.cartesian_vel": { |
| "dtype": "float32", |
| "shape": [ |
| 12 |
| ] |
| }, |
| "action.cartesian_accel": { |
| "dtype": "float32", |
| "shape": [ |
| 12 |
| ] |
| }, |
| "action.fingertip_positions": { |
| "dtype": "float32", |
| "shape": [ |
| 30 |
| ] |
| }, |
| "observation.images.head_camera": { |
| "dtype": "video", |
| "shape": [ |
| 720, |
| 1280, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 720, |
| "video.width": 1280, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false, |
| "camera.serial_number": 243722075296, |
| "camera.frame": "head_camera", |
| "camera.color_intrinsics": { |
| "width": 1280, |
| "height": 720, |
| "fx": 907.4019775390625, |
| "fy": 906.6517333984375, |
| "ppx": 649.86669921875, |
| "ppy": 371.685546875, |
| "distortion_model": "distortion.inverse_brown_conrady", |
| "distortion_coeffs": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| }, |
| "camera.depth_intrinsics": { |
| "width": 1280, |
| "height": 720, |
| "fx": 644.34619140625, |
| "fy": 644.34619140625, |
| "ppx": 643.0235595703125, |
| "ppy": 368.7783508300781, |
| "distortion_model": "distortion.brown_conrady", |
| "distortion_coeffs": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ] |
| }, |
| "camera.depth_scale": 0.0010000000474974513, |
| "camera.extrinsics": [ |
| [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 1.0, |
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| [ |
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| [ |
| 0.0, |
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| 1.0 |
| ] |
| ] |
| } |
| }, |
| "observation.images.surround_camera": { |
| "dtype": "video", |
| "shape": [ |
| 270, |
| 480, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 270, |
| "video.width": 480, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false, |
| "camera.serial_number": "412622271947", |
| "camera.frame": "head_camera", |
| "camera.color_intrinsics": { |
| "width": 480, |
| "height": 270, |
| "fx": 245.12429809570312, |
| "fy": 244.83944702148438, |
| "ppx": 236.88888549804688, |
| "ppy": 133.22251892089844, |
| "distortion_model": "distortion.inverse_brown_conrady", |
| "distortion_coeffs": [ |
| -0.04931531473994255, |
| 0.05275367572903633, |
| 0.0006613964796997607, |
| 0.0009297583601437509, |
| -0.016682423651218414 |
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| }, |
| "camera.depth_intrinsics": { |
| "width": 480, |
| "height": 270, |
| "fx": 243.4656524658203, |
| "fy": 243.4656524658203, |
| "ppx": 238.748779296875, |
| "ppy": 132.400146484375, |
| "distortion_model": "distortion.brown_conrady", |
| "distortion_coeffs": [ |
| 0.0, |
| 0.0, |
| 0.0, |
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| ] |
| }, |
| "camera.depth_scale": 9.999999747378752e-05, |
| "camera.extrinsics": [ |
| [ |
| -0.9964454633676177, |
| -0.0593658490591889, |
| 0.059767336393517424, |
| 0.07152230267522033 |
| ], |
| [ |
| 0.03508235090409829, |
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| 0.9351192240395956, |
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| [ |
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| } |
| }, |
| "observation.images.head_camera_depth_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 720, |
| 1280, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 720, |
| "video.width": 1280, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false, |
| "camera.serial_number": 243722075296, |
| "camera.frame": "head_camera", |
| "camera.depth_intrinsics": { |
| "width": 1280, |
| "height": 720, |
| "fx": 644.34619140625, |
| "fy": 644.34619140625, |
| "ppx": 643.0235595703125, |
| "ppy": 368.7783508300781, |
| "distortion_model": "distortion.brown_conrady", |
| "distortion_coeffs": [ |
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| 0.0, |
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| }, |
| "camera.depth_scale": 0.0010000000474974513, |
| "camera.extrinsics": [ |
| [ |
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| [ |
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| [ |
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| 1.0 |
| ] |
| ] |
| } |
| }, |
| "observation.images.surround_camera_depth_rgb": { |
| "dtype": "video", |
| "shape": [ |
| 270, |
| 480, |
| 3 |
| ], |
| "names": [ |
| "height", |
| "width", |
| "channel" |
| ], |
| "info": { |
| "video.height": 270, |
| "video.width": 480, |
| "video.codec": "av1", |
| "video.pix_fmt": "yuv420p", |
| "video.is_depth_map": false, |
| "video.fps": 30, |
| "video.channels": 3, |
| "has_audio": false, |
| "camera.serial_number": "412622271947", |
| "camera.frame": "head_camera", |
| "camera.depth_intrinsics": { |
| "width": 480, |
| "height": 270, |
| "fx": 243.4656524658203, |
| "fy": 243.4656524658203, |
| "ppx": 238.748779296875, |
| "ppy": 132.400146484375, |
| "distortion_model": "distortion.brown_conrady", |
| "distortion_coeffs": [ |
| 0.0, |
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| 0.0, |
| 0.0 |
| ] |
| }, |
| "camera.depth_scale": 9.999999747378752e-05, |
| "camera.extrinsics": [ |
| [ |
| -0.9964454633676177, |
| -0.0593658490591889, |
| 0.059767336393517424, |
| 0.07152230267522033 |
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| [ |
| 0.03508235090409829, |
| 0.35259220848825745, |
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| [ |
| -0.07658764384113147, |
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| ], |
| [ |
| 0.0, |
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| 1.0 |
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| ] |
| } |
| }, |
| "timestamp": { |
| "dtype": "float32", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "frame_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "episode_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| }, |
| "task_index": { |
| "dtype": "int64", |
| "shape": [ |
| 1 |
| ], |
| "names": null |
| } |
| } |
| } |
| ``` |
|
|
|
|
| ## Citation |
|
|
| If you use this dataset, you **must** cite N1 Robotics. |
|
|
| **BibTeX:** |
|
|
| ```bibtex |
| @misc{n1robotics-g1-brainco-stackcups, |
| author = {{N1 Robotics}}, |
| title = {{G1 BrainCo StackCups Dataset}: A Bimanual Dexterous Manipulation Dataset for Embodied Intelligence}, |
| howpublished = {\url{https://huggingface.co/datasets/n1robotics/G1_Brainco_StackCups_Dataset}}, |
| year = {2025}, |
| note = {Accessed: 2026-03} |
| } |
| ``` |
