Kinesthetic teaching data for the okra grasp on a Unitree G1 (right arm + Dex1-1),
for retraining an ACT policy that takes over from an IK pre-grasp reach.
Collection method: kinesthetic — an operator physically hand-guides the right arm
from the IK pre-grasp pose to the grasp. (rt/arm_sdk right arm set compliant: kp→0 +
feedforward gravity tau; left arm + waist held stiff.)
state / action: (7,) = right-arm joint angles… See the full description on the dataset page:
https://huggingface.co/datasets/sotata/okura-kinesthetic-wrist-7d.
