--- 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 ![Stack Cups](stackcups-example.gif) *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, 0.0, 0.0 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 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 ] }, "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, 0.0, 0.0 ] }, "camera.depth_scale": 9.999999747378752e-05, "camera.extrinsics": [ [ -0.9964454633676177, -0.0593658490591889, 0.059767336393517424, 0.07152230267522033 ], [ 0.03508235090409829, 0.35259220848825745, 0.9351192240395956, -0.5367607603505948 ], [ -0.07658764384113147, 0.9338920871700627, -0.3492562130184793, 0.7599105938829176 ], [ 0.0, 0.0, 0.0, 1.0 ] ] } }, "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": [ 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, 0.0, 0.0 ], [ 0.0, 0.0, 1.0, 0.0 ], [ 0.0, 0.0, 0.0, 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, 0.0, 0.0, 0.0, 0.0 ] }, "camera.depth_scale": 9.999999747378752e-05, "camera.extrinsics": [ [ -0.9964454633676177, -0.0593658490591889, 0.059767336393517424, 0.07152230267522033 ], [ 0.03508235090409829, 0.35259220848825745, 0.9351192240395956, -0.5367607603505948 ], [ -0.07658764384113147, 0.9338920871700627, -0.3492562130184793, 0.7599105938829176 ], [ 0.0, 0.0, 0.0, 1.0 ] ] } }, "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} } ```