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n1robotics
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G1_Brainco_StackCups_Dataset

Tasks:
Robotics
Modalities:
Tabular
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Formats:
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Update README with full feature documentation and camera calibration details

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@@ -11,592 +11,97 @@ configs:
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  path: data/*/*.parquet
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  ---
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- This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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- ## Dataset Description
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18
 
 
 
 
 
 
 
 
 
 
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- - **Homepage:** [More Information Needed]
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- - **Paper:** [More Information Needed]
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- - **License:** apache-2.0
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- ## Dataset Structure
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- [meta/info.json](meta/info.json):
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- ```json
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- {
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- "codebase_version": "v3.0",
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- "robot_type": "Unitree_G1_Brainco",
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- "total_episodes": 102,
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- "total_frames": 22777,
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- "total_tasks": 1,
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- "chunks_size": 1000,
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- "data_files_size_in_mb": 100,
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- "video_files_size_in_mb": 500,
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- "fps": 30,
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- "splits": {
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- "train": "0:102"
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- },
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- "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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- "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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- "features": {
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- "observation.state": {
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- "dtype": "float32",
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- "shape": [
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- 26
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- ],
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- "names": [
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- [
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- "kLeftShoulderPitch",
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- "kLeftShoulderRoll",
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- "kLeftShoulderYaw",
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- "kLeftElbow",
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- "kLeftWristRoll",
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- "kLeftWristPitch",
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- "kLeftWristYaw",
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- "kRightShoulderPitch",
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- "kRightShoulderRoll",
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- "kRightShoulderYaw",
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- "kRightElbow",
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- "kRightWristRoll",
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- "kRightWristPitch",
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- "kRightWristYaw",
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- "kLeftHandThumb",
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- "kLeftHandThumbAux",
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- "kLeftHandIndex",
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- "kLeftHandMiddle",
69
- "kLeftHandRing",
70
- "kLeftHandPinky",
71
- "kRightHandThumb",
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- "kRightHandThumbAux",
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- "kRightHandIndex",
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- "kRightHandMiddle",
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- "kRightHandRing",
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- "kRightHandPinky"
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- ]
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- ]
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- },
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- "action": {
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- "dtype": "float32",
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- "shape": [
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- 26
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- ],
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- "names": [
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- [
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- "kLeftShoulderPitch",
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- "kLeftShoulderRoll",
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- "kLeftShoulderYaw",
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- "kLeftElbow",
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- "kLeftWristRoll",
92
- "kLeftWristPitch",
93
- "kLeftWristYaw",
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- "kRightShoulderPitch",
95
- "kRightShoulderRoll",
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- "kRightShoulderYaw",
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- "kRightElbow",
98
- "kRightWristRoll",
99
- "kRightWristPitch",
100
- "kRightWristYaw",
101
- "kLeftHandThumb",
102
- "kLeftHandThumbAux",
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- "kLeftHandIndex",
104
- "kLeftHandMiddle",
105
- "kLeftHandRing",
106
- "kLeftHandPinky",
107
- "kRightHandThumb",
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- "kRightHandThumbAux",
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- "kRightHandIndex",
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- "kRightHandMiddle",
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- "kRightHandRing",
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- "kRightHandPinky"
113
- ]
114
- ]
115
- },
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- "observation.velocity": {
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- "dtype": "float32",
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- "shape": [
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- 26
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- ],
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- "names": [
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- [
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- "kLeftShoulderPitch",
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- "kLeftShoulderRoll",
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- "kLeftShoulderYaw",
126
- "kLeftElbow",
127
- "kLeftWristRoll",
128
- "kLeftWristPitch",
129
- "kLeftWristYaw",
130
- "kRightShoulderPitch",
131
- "kRightShoulderRoll",
132
- "kRightShoulderYaw",
133
- "kRightElbow",
134
- "kRightWristRoll",
135
- "kRightWristPitch",
136
- "kRightWristYaw",
137
- "kLeftHandThumb",
138
- "kLeftHandThumbAux",
139
- "kLeftHandIndex",
140
- "kLeftHandMiddle",
141
- "kLeftHandRing",
142
- "kLeftHandPinky",
143
- "kRightHandThumb",
144
- "kRightHandThumbAux",
145
- "kRightHandIndex",
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- "kRightHandMiddle",
147
- "kRightHandRing",
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- "kRightHandPinky"
149
- ]
150
- ]
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- },
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- "observation.effort": {
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- "dtype": "float32",
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- "shape": [
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- 26
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- ],
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- "names": [
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- [
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- "kLeftShoulderPitch",
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- "kLeftShoulderRoll",
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- "kLeftShoulderYaw",
162
- "kLeftElbow",
163
- "kLeftWristRoll",
164
- "kLeftWristPitch",
165
- "kLeftWristYaw",
166
- "kRightShoulderPitch",
167
- "kRightShoulderRoll",
168
- "kRightShoulderYaw",
169
- "kRightElbow",
170
- "kRightWristRoll",
171
- "kRightWristPitch",
172
- "kRightWristYaw",
173
- "kLeftHandThumb",
174
- "kLeftHandThumbAux",
175
- "kLeftHandIndex",
176
- "kLeftHandMiddle",
177
- "kLeftHandRing",
178
- "kLeftHandPinky",
179
- "kRightHandThumb",
180
- "kRightHandThumbAux",
181
- "kRightHandIndex",
182
- "kRightHandMiddle",
183
- "kRightHandRing",
184
- "kRightHandPinky"
185
- ]
186
- ]
187
- },
188
- "observation.arm_ddq": {
189
- "dtype": "float32",
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- "shape": [
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- 14
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- ],
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- "names": [
194
- [
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- "kLeftShoulderPitch",
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- "kLeftShoulderRoll",
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- "kLeftShoulderYaw",
198
- "kLeftElbow",
199
- "kLeftWristRoll",
200
- "kLeftWristPitch",
201
- "kLeftWristYaw",
202
- "kRightShoulderPitch",
203
- "kRightShoulderRoll",
204
- "kRightShoulderYaw",
205
- "kRightElbow",
206
- "kRightWristRoll",
207
- "kRightWristPitch",
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- "kRightWristYaw"
209
- ]
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- ]
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- },
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- "observation.arm_external_torque": {
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- "dtype": "float32",
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- "shape": [
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- 14
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- ],
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- "names": [
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- [
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- "kLeftShoulderPitch",
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- "kLeftShoulderRoll",
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- "kLeftShoulderYaw",
222
- "kLeftElbow",
223
- "kLeftWristRoll",
224
- "kLeftWristPitch",
225
- "kLeftWristYaw",
226
- "kRightShoulderPitch",
227
- "kRightShoulderRoll",
228
- "kRightShoulderYaw",
229
- "kRightElbow",
230
- "kRightWristRoll",
231
- "kRightWristPitch",
232
- "kRightWristYaw"
233
- ]
234
- ]
235
- },
236
- "observation.arm_compensation_torque": {
237
- "dtype": "float32",
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- "shape": [
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- 14
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- ],
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- "names": [
242
- [
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- "kLeftShoulderPitch",
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- "kLeftShoulderRoll",
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- "kLeftShoulderYaw",
246
- "kLeftElbow",
247
- "kLeftWristRoll",
248
- "kLeftWristPitch",
249
- "kLeftWristYaw",
250
- "kRightShoulderPitch",
251
- "kRightShoulderRoll",
252
- "kRightShoulderYaw",
253
- "kRightElbow",
254
- "kRightWristRoll",
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- "kRightWristPitch",
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- "kRightWristYaw"
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- ]
258
- ]
259
- },
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- "observation.cartesian_pos": {
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- "dtype": "float32",
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- "shape": [
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- 6
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- ]
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- },
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- "observation.cartesian_axis_angle": {
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- "dtype": "float32",
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- "shape": [
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- 6
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- ]
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- },
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- "observation.cartesian_vel": {
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- "dtype": "float32",
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- "shape": [
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- 12
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- ]
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- },
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- "observation.cartesian_accel": {
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- "dtype": "float32",
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- "shape": [
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- 12
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- ]
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- },
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- "observation.cartesian_external_wrench": {
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- "dtype": "float32",
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- "shape": [
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- 12
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- ]
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- },
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- "observation.rotor_temperature": {
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- "dtype": "float32",
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- "shape": [
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- 28
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- ]
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- },
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- "observation.fingertip_positions": {
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- "dtype": "float32",
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- "shape": [
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- 30
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- ]
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- },
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- "observation.tactile_normal_force": {
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- "dtype": "float32",
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- "shape": [
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- 10
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- ]
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- },
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- "observation.tactile_tangential_force": {
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- "dtype": "float32",
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- "shape": [
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- 10
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- ]
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- },
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- "observation.tactile_tangential_direction": {
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- "dtype": "float32",
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- "shape": [
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- 10
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- ]
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- },
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- "observation.tactile_proximity": {
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- "dtype": "float32",
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- "shape": [
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- 10
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- ]
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- },
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- "observation.camera_pose_head": {
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- "dtype": "float32",
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- "shape": [
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- 13
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- ]
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- },
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- "observation.camera_pose_surround": {
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- "dtype": "float32",
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- "shape": [
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- 13
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- ]
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- },
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- "action.arm_velocity": {
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- "dtype": "float32",
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- "shape": [
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- 14
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- ],
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- "names": [
344
- [
345
- "kLeftShoulderPitch",
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- "kLeftShoulderRoll",
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- "kLeftShoulderYaw",
348
- "kLeftElbow",
349
- "kLeftWristRoll",
350
- "kLeftWristPitch",
351
- "kLeftWristYaw",
352
- "kRightShoulderPitch",
353
- "kRightShoulderRoll",
354
- "kRightShoulderYaw",
355
- "kRightElbow",
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- "kRightWristRoll",
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- "kRightWristPitch",
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- "kRightWristYaw"
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- ]
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- ]
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- },
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- "action.arm_effort": {
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- "dtype": "float32",
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- "shape": [
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- 14
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- ],
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- "names": [
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- [
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- "kLeftShoulderPitch",
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- "kLeftShoulderRoll",
371
- "kLeftShoulderYaw",
372
- "kLeftElbow",
373
- "kLeftWristRoll",
374
- "kLeftWristPitch",
375
- "kLeftWristYaw",
376
- "kRightShoulderPitch",
377
- "kRightShoulderRoll",
378
- "kRightShoulderYaw",
379
- "kRightElbow",
380
- "kRightWristRoll",
381
- "kRightWristPitch",
382
- "kRightWristYaw"
383
- ]
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- ]
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- },
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- "action.arm_ddq": {
387
- "dtype": "float32",
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- "shape": [
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- 14
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- ],
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- "names": [
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- [
393
- "kLeftShoulderPitch",
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- "kLeftShoulderRoll",
395
- "kLeftShoulderYaw",
396
- "kLeftElbow",
397
- "kLeftWristRoll",
398
- "kLeftWristPitch",
399
- "kLeftWristYaw",
400
- "kRightShoulderPitch",
401
- "kRightShoulderRoll",
402
- "kRightShoulderYaw",
403
- "kRightElbow",
404
- "kRightWristRoll",
405
- "kRightWristPitch",
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- "kRightWristYaw"
407
- ]
408
- ]
409
- },
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- "action.arm_compensation_torque": {
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- "dtype": "float32",
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- "shape": [
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- 14
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- ],
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- "names": [
416
- [
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- "kLeftShoulderPitch",
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- "kLeftShoulderRoll",
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- "kLeftShoulderYaw",
420
- "kLeftElbow",
421
- "kLeftWristRoll",
422
- "kLeftWristPitch",
423
- "kLeftWristYaw",
424
- "kRightShoulderPitch",
425
- "kRightShoulderRoll",
426
- "kRightShoulderYaw",
427
- "kRightElbow",
428
- "kRightWristRoll",
429
- "kRightWristPitch",
430
- "kRightWristYaw"
431
- ]
432
- ]
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- },
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- "action.cartesian_pos": {
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- "dtype": "float32",
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- "shape": [
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- 6
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- ]
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- },
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- "action.cartesian_axis_angle": {
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- "dtype": "float32",
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- "shape": [
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- 6
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- ]
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- },
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- "action.cartesian_vel": {
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- "dtype": "float32",
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- "shape": [
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- 12
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- ]
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- },
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- "action.cartesian_accel": {
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- "dtype": "float32",
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- "shape": [
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- 12
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- ]
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- },
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- "action.fingertip_positions": {
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- "dtype": "float32",
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- "shape": [
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- 30
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- ]
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- },
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- "observation.images.head_camera": {
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- "dtype": "video",
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- "shape": [
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- 720,
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- 1280,
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- 3
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- ],
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- "names": [
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- "height",
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- "width",
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- "channel"
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- ],
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- "info": {
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- "video.height": 720,
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- "video.width": 1280,
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- "video.codec": "av1",
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- "video.pix_fmt": "yuv420p",
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- "video.is_depth_map": false,
482
- "video.fps": 30,
483
- "video.channels": 3,
484
- "has_audio": false
485
- }
486
- },
487
- "observation.images.surround_camera": {
488
- "dtype": "video",
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- "shape": [
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- 270,
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- 480,
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- 3
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- ],
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- "names": [
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- "height",
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- "width",
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- "channel"
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- ],
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- "info": {
500
- "video.height": 270,
501
- "video.width": 480,
502
- "video.codec": "av1",
503
- "video.pix_fmt": "yuv420p",
504
- "video.is_depth_map": false,
505
- "video.fps": 30,
506
- "video.channels": 3,
507
- "has_audio": false
508
- }
509
- },
510
- "observation.images.head_camera_depth_rgb": {
511
- "dtype": "video",
512
- "shape": [
513
- 720,
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- 1280,
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- 3
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- ],
517
- "names": [
518
- "height",
519
- "width",
520
- "channel"
521
- ],
522
- "info": {
523
- "video.height": 720,
524
- "video.width": 1280,
525
- "video.codec": "av1",
526
- "video.pix_fmt": "yuv420p",
527
- "video.is_depth_map": false,
528
- "video.fps": 30,
529
- "video.channels": 3,
530
- "has_audio": false
531
- }
532
- },
533
- "observation.images.surround_camera_depth_rgb": {
534
- "dtype": "video",
535
- "shape": [
536
- 270,
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- 480,
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- 3
539
- ],
540
- "names": [
541
- "height",
542
- "width",
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- "channel"
544
- ],
545
- "info": {
546
- "video.height": 270,
547
- "video.width": 480,
548
- "video.codec": "av1",
549
- "video.pix_fmt": "yuv420p",
550
- "video.is_depth_map": false,
551
- "video.fps": 30,
552
- "video.channels": 3,
553
- "has_audio": false
554
- }
555
- },
556
- "timestamp": {
557
- "dtype": "float32",
558
- "shape": [
559
- 1
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- ],
561
- "names": null
562
- },
563
- "frame_index": {
564
- "dtype": "int64",
565
- "shape": [
566
- 1
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- ],
568
- "names": null
569
- },
570
- "episode_index": {
571
- "dtype": "int64",
572
- "shape": [
573
- 1
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- ],
575
- "names": null
576
- },
577
- "index": {
578
- "dtype": "int64",
579
- "shape": [
580
- 1
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- ],
582
- "names": null
583
- },
584
- "task_index": {
585
- "dtype": "int64",
586
- "shape": [
587
- 1
588
- ],
589
- "names": null
590
- }
591
- }
592
- }
593
- ```
594
 
 
595
 
596
- ## Citation
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
597
 
598
- **BibTeX:**
599
 
600
- ```bibtex
601
- [More Information Needed]
602
- ```
 
11
  path: data/*/*.parquet
12
  ---
13
 
14
+ # G1 Brainco Stack Cups Dataset
15
 
16
+ Teleoperation dataset for the Unitree G1 humanoid robot with Brainco dexterous hands, performing a cup stacking task. Collected using [xr_teleoperate](https://github.com/unitreerobotics/xr_teleoperate) and converted to [LeRobot](https://github.com/huggingface/lerobot) v3.0 format.
17
 
18
+ ## Dataset Overview
19
 
20
+ | Property | Value |
21
+ |---|---|
22
+ | Robot | Unitree G1 (29-DOF arms) + Brainco hands |
23
+ | Task | Stack cups |
24
+ | Episodes | 102 |
25
+ | Total frames | 22,777 |
26
+ | FPS | 30 |
27
+ | Cameras | Head (1280x720) + Surround (480x270) |
28
+ | Video codec | AV1 |
29
 
30
+ ## Features
 
 
31
 
32
+ ### Observations (per frame)
33
 
34
+ | Feature | Shape | Description |
35
+ |---|---|---|
36
+ | `observation.state` | [26] | Joint positions: left arm (7) + right arm (7) + left hand (6) + right hand (6) |
37
+ | `observation.velocity` | [26] | Joint velocities (same layout) |
38
+ | `observation.effort` | [26] | Joint torques (same layout) |
39
+ | `observation.arm_ddq` | [14] | Arm joint accelerations: left (7) + right (7) |
40
+ | `observation.arm_external_torque` | [14] | Arm external torques |
41
+ | `observation.arm_compensation_torque` | [14] | Arm gravity compensation torques |
42
+ | `observation.cartesian_pos` | [6] | End-effector positions: left (3) + right (3) |
43
+ | `observation.cartesian_axis_angle` | [6] | End-effector orientations (axis-angle) |
44
+ | `observation.cartesian_vel` | [12] | End-effector velocities: left (6) + right (6) |
45
+ | `observation.cartesian_accel` | [12] | End-effector accelerations |
46
+ | `observation.cartesian_external_wrench` | [12] | External wrenches at end-effectors |
47
+ | `observation.rotor_temperature` | [28] | Motor temperatures: 7 joints x 2 sensors x 2 arms |
48
+ | `observation.fingertip_positions` | [30] | Fingertip 3D positions: left 5 fingers (15) + right 5 fingers (15) |
49
+ | `observation.tactile_normal_force` | [10] | Fingertip normal forces: left (5) + right (5) |
50
+ | `observation.tactile_tangential_force` | [10] | Fingertip tangential forces |
51
+ | `observation.tactile_tangential_direction` | [10] | Fingertip tangential directions |
52
+ | `observation.tactile_proximity` | [10] | Fingertip proximity sensors |
53
+ | `observation.camera_pose_head` | [13] | Per-frame head camera pose: position (3) + rotation (9) + detected (1) |
54
+ | `observation.camera_pose_surround` | [13] | Per-frame surround camera pose (same layout) |
55
+
56
+ ### Actions (per frame)
57
+
58
+ | Feature | Shape | Description |
59
+ |---|---|---|
60
+ | `action` | [26] | Target joint positions (same layout as observation.state) |
61
+ | `action.arm_velocity` | [14] | Target arm velocities |
62
+ | `action.arm_effort` | [14] | Target arm torques |
63
+ | `action.arm_ddq` | [14] | Target arm accelerations |
64
+ | `action.arm_compensation_torque` | [14] | Target compensation torques |
65
+ | `action.cartesian_pos` | [6] | Target end-effector positions |
66
+ | `action.cartesian_axis_angle` | [6] | Target end-effector orientations |
67
+ | `action.cartesian_vel` | [12] | Target end-effector velocities |
68
+ | `action.cartesian_accel` | [12] | Target end-effector accelerations |
69
+ | `action.fingertip_positions` | [30] | Target fingertip positions |
70
+
71
+ ### Video Streams
72
+
73
+ | Stream | Resolution | Description |
74
+ |---|---|---|
75
+ | `observation.images.head_camera` | 1280x720 | Head-mounted RGB camera |
76
+ | `observation.images.surround_camera` | 480x270 | Surround/third-person RGB camera |
77
+ | `observation.images.head_camera_depth_rgb` | 1280x720 | Head camera colorized depth |
78
+ | `observation.images.surround_camera_depth_rgb` | 480x270 | Surround camera colorized depth |
79
+
80
+ ### Camera Calibration
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
81
 
82
+ Static camera intrinsics, depth calibration, and extrinsics are stored in [meta/info.json](meta/info.json) under each camera feature's `info` block. Per-frame camera poses are in the parquet data as `observation.camera_pose_head` and `observation.camera_pose_surround`.
83
 
84
+ **Head camera** (RealSense, serial: 243722075296):
85
+ - Color intrinsics: fx=907.40, fy=906.65, ppx=649.87, ppy=371.69 (inverse Brown-Conrady, zero distortion)
86
+ - Depth intrinsics: fx=644.35, fy=644.35, ppx=643.02, ppy=368.78 (Brown-Conrady, zero distortion)
87
+ - Depth scale: 0.001 m/unit
88
+ - Extrinsics: identity (reference frame)
89
+
90
+ **Surround camera** (RealSense, serial: 412622271947):
91
+ - Color intrinsics: fx=245.12, fy=244.84, ppx=236.89, ppy=133.22 (inverse Brown-Conrady, non-zero distortion)
92
+ - Depth intrinsics: fx=243.47, fy=243.47, ppx=238.75, ppy=132.40 (Brown-Conrady, zero distortion)
93
+ - Depth scale: 0.0001 m/unit
94
+ - Extrinsics: 4x4 transform relative to head camera
95
+
96
+ ## Usage
97
+
98
+ ```python
99
+ from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
100
+
101
+ dataset = LeRobotDataset("n1robotics/G1_Brainco_StackCups_Dataset")
102
+ print(dataset[0].keys())
103
+ ```
104
 
105
+ ## License
106
 
107
+ Apache 2.0