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这是一个由LeRobot创建的机器人数据集，使用Unitree_G1_Inspire机器人收集。包含20个任务片段共6200帧数据，帧率为30fps。数据集记录了机器人的26维关节状态(左右肩、肘、腕各关节角度及手指弯曲状态)，左右高清摄像头视频流(分辨率分别为480x848和480x640)，以及左右手各部位(包括五指指尖、指甲、指垫和手掌)的触觉传感器图像数据。数据以parquet格式存储，视频采用AV1编码。

This is a robotic dataset created by LeRobot, collected using the Unitree_G1_Inspire robot. It contains 6200 frames of data across 20 task segments, with a frame rate of 30fps. The dataset records the robot's 26-dimensional joint states (including joint angles and finger flexion status of the left and right shoulder, elbow, and wrist joints), left and right high-definition camera video streams (with resolutions of 480x848 and 480x640 respectively), as well as tactile sensor image data from various parts of the left and right hands (covering five fingertips, nails, finger pads, and palms). All data is stored in Parquet format, and the video streams are encoded with AV1.