okura-pick-tree-20260615

Description

Teleoperation dataset collected on a Unitree G1 humanoid (29-DoF dual arm) with a Dex1 parallel gripper, recorded with xr_teleoperate.

The scene uses a mock plant that simulates an okra stalk bearing multiple fruits. In every episode the robot's right arm repeatedly approaches the okra stem in order to pick it, while the gripper is held open the whole time.

Note on the gripper

Gripper open/close is intentionally not a control target for the model, so it is not part of what the policy is meant to learn. The gripper was kept open throughout and only the approach motion toward the stem was repeated. (For completeness the recorded state/action vectors still contain the gripper joint values, but they stay essentially constant/open and are not meant to be modeled.)

Setup

• Robot: Unitree G1 (G1_29 arms) + Dex1 gripper (Unitree_G1_Dex1)
• Only the right arm is actuated; the left arm is frozen (--right-arm-only).
• Cameras: head cam_high, right wrist cam_right_wrist
• 54 episodes, 9096 frames, 30 fps
• state / action: 16-dim (left_arm 7 + right_arm 7 + left/right gripper 1 + 1)

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "Unitree_G1_Dex1",
    "total_episodes": 54,
    "total_frames": 9096,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:54"
    },
    "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": [
                16
            ],
            "names": [
                "kLeftShoulderPitch",
                "kLeftShoulderRoll",
                "kLeftShoulderYaw",
                "kLeftElbow",
                "kLeftWristRoll",
                "kLeftWristPitch",
                "kLeftWristYaw",
                "kRightShoulderPitch",
                "kRightShoulderRoll",
                "kRightShoulderYaw",
                "kRightElbow",
                "kRightWristRoll",
                "kRightWristPitch",
                "kRightWristYaw",
                "kLeftGripper",
                "kRightGripper"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                16
            ],
            "names": [
                "kLeftShoulderPitch",
                "kLeftShoulderRoll",
                "kLeftShoulderYaw",
                "kLeftElbow",
                "kLeftWristRoll",
                "kLeftWristPitch",
                "kLeftWristYaw",
                "kRightShoulderPitch",
                "kRightShoulderRoll",
                "kRightShoulderYaw",
                "kRightElbow",
                "kRightWristRoll",
                "kRightWristPitch",
                "kRightWristYaw",
                "kLeftGripper",
                "kRightGripper"
            ]
        },
        "observation.images.cam_high": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_right_wrist": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channel"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "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

BibTeX:

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