Add 10 Unitree WBT episode samples

Add ten complete representative episodes from ten distinct WBT leaf datasets, with four-view and MainCamOnly variants, provenance manifests, and SHA-256 checksums.

.gitattributes

@@ -1591,3 +1591,37 @@ humanoid_v21_samples/unitreerobotics/sample_04/videos/observation.images.head_st
 humanoid_v21_samples/unitreerobotics/sample_04/videos/observation.images.head_stereo_right.mp4 filter=lfs diff=lfs merge=lfs -text
 humanoid_v21_samples/unitreerobotics/sample_04/videos/observation.images.wrist_left.mp4 filter=lfs diff=lfs merge=lfs -text
 humanoid_v21_samples/unitreerobotics/sample_04/videos/observation.images.wrist_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_00/videos/observation.images.head_stereo_left.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_00/videos/observation.images.head_stereo_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_00/videos/observation.images.wrist_left.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_00/videos/observation.images.wrist_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_01/videos/observation.images.head_stereo_left.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_01/videos/observation.images.head_stereo_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_01/videos/observation.images.wrist_left.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_01/videos/observation.images.wrist_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_02/videos/observation.images.head_stereo_left.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_02/videos/observation.images.head_stereo_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_02/videos/observation.images.wrist_left.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_02/videos/observation.images.wrist_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_03/videos/observation.images.head_stereo_left.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_03/videos/observation.images.head_stereo_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_03/videos/observation.images.wrist_left.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_03/videos/observation.images.wrist_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_04/videos/observation.images.head_stereo_left.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_04/videos/observation.images.head_stereo_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_04/videos/observation.images.wrist_left.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_04/videos/observation.images.wrist_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_05/videos/observation.images.head_stereo_left.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_05/videos/observation.images.head_stereo_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_05/videos/observation.images.wrist_left.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_05/videos/observation.images.wrist_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_06/videos/observation.images.head_stereo_left.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_06/videos/observation.images.head_stereo_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_06/videos/observation.images.wrist_left.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_06/videos/observation.images.wrist_right.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_07/videos/observation.images.cam_0.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_07/videos/observation.images.cam_1.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_08/videos/observation.images.cam_0.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_08/videos/observation.images.cam_1.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_09/videos/observation.images.cam_0.mp4 filter=lfs diff=lfs merge=lfs -text
+humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_09/videos/observation.images.cam_1.mp4 filter=lfs diff=lfs merge=lfs -text

humanoid_v21_samples/README.md

@@ -4,6 +4,10 @@ This folder contains **40 complete episodes**: five representative samples from
 
 The parquet, video, depth and ancillary payloads are byte-for-byte copies of the source files. This is an inspection/interoperability bundle, not a re-indexed drop-in LeRobot dataset: original episode indices are retained in `sample.json` and `manifest.json`.
 
+## Additional Unitree WBT sample set
+
+`unitreerobotics_wbt_10samples/` adds 10 complete episodes from 10 distinct WBT leaf datasets. It covers BrainCo, Dex1, Inspire regular four-view data and all three MainCamOnly two-view variants. This add-on has its own manifest and checksums and is not included in the 40-episode core summary below.
+
 ## Summary
 
 | Source | Robot type | Samples | Frames | Duration (min) | State dim | Action dim | Video files/sample |

humanoid_v21_samples/unitreerobotics_wbt_10samples/PAYLOAD_CHECKSUMS.sha256

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humanoid_v21_samples/unitreerobotics_wbt_10samples/README.md

@@ -0,0 +1,22 @@
+# Unitree WBT 10-episode sample set
+
+Ten complete LeRobot v2.1 episodes selected from ten distinct WBT leaf datasets under `unitreerobotics_v21`.
+
+The source parquet, videos and metadata are byte-for-byte copies. Original episode indices are retained; this is an inspection/interoperability bundle rather than a re-indexed LeRobot dataset.
+
+| Sample | WBT leaf dataset | Episode | Frames | Seconds | State / action | Views | Task |
+|---|---|---:|---:|---:|---:|---:|---|
+| sample_00 | `G1_WBT_Brainco_Make_The_Bed` | 251 | 749 | 24.97 | 60 / 60 | 4 | Make the bed neatly |
+| sample_01 | `G1_WBT_Brainco_Pick_Up_Medicine` | 243 | 750 | 25.00 | 60 / 60 | 4 | Open the drawer and pick up the medicine |
+| sample_02 | `G1_WBT_Dex1_Put_Clothes_into_Washing_Machine` | 111 | 757 | 25.23 | 50 / 50 | 4 | Pick up the clothes and place them into the washing machine |
+| sample_03 | `G1_WBT_Inspire_Clean_The_Living_Room` | 133 | 754 | 25.13 | 60 / 60 | 4 | Wipe the table with a cloth and put it in the basket. |
+| sample_04 | `G1_WBT_Inspire_Pick_Up_Drinks` | 12 | 748 | 24.93 | 60 / 60 | 4 | pick up the drink and place into the basket. |
+| sample_05 | `G1_WBT_Inspire_Put_Drinks_Into_Fridge` | 200 | 752 | 25.07 | 60 / 60 | 4 | put drinks into fridge and close the fridge |
+| sample_06 | `G1_WBT_Inspire_Put_Vegetables_Into_Basket` | 4 | 750 | 25.00 | 60 / 60 | 4 | put vegetables into the basket |
+| sample_07 | `G1_WBT_Inspire_Collect_Clothes_MainCamOnly/G1_WB_Dex5_Collect_Clothes` | 0 | 368 | 12.27 | 60 / 60 | 2 | Put the clothes on the bed into the basket. |
+| sample_08 | `G1_WBT_Inspire_Pickup_Pillow_MainCamOnly/G1_WB_Dex5_Pickup_Pillow` | 351 | 389 | 12.97 | 60 / 60 | 2 | Pick up the pillow and put it on the sofa. |
+| sample_09 | `G1_WBT_Inspire_Put_Clothes_into_Washing_Machine_MainCamOnly/G1_WB_Dex5_Put_Clothes_into_Washing_Machine` | 111 | 693 | 23.10 | 60 / 60 | 2 | Put the clothes in the basket into the washing machine. |
+
+Selection covers BrainCo, Dex1, Inspire regular four-view data and all three MainCamOnly two-view variants. Episodes already present in the earlier 40-episode bundle were excluded.
+
+Each `sample_XX/` contains `data.parquet`, `videos/`, `source_meta/` and `sample.json`. Use `manifest.json` for complete provenance and `PAYLOAD_CHECKSUMS.sha256` for integrity verification.

humanoid_v21_samples/unitreerobotics_wbt_10samples/manifest.json

@@ -0,0 +1,1006 @@
+{
+  "format": "humanoid_v21_unitree_wbt_episode_samples",
+  "format_version": 1,
+  "created_date": "2026-08-25",
+  "source_base": "/mnt/data/dataset/PretrainData_v21/Humanoid",
+  "selection_policy": "One complete episode closest to 750 frames from each of ten distinct WBT leaf datasets; episodes from the previous upload excluded.",
+  "previously_uploaded_episodes_excluded": true,
+  "sample_count": 10,
+  "leaf_dataset_count": 10,
+  "frames": 6710,
+  "duration_seconds": 223.667,
+  "payload_file_count": 64,
+  "payload_bytes": 356156959,
+  "samples": [
+    {
+      "bundle_sample_id": "sample_00",
+      "dataset_id": "G1_WBT_Brainco_Make_The_Bed",
+      "source_relative_root": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed",
+      "episode_index": 251,
+      "task": "Make the bed neatly",
+      "source_episode_record": {
+        "episode_index": 251,
+        "tasks": [
+          "Make the bed neatly"
+        ],
+        "length": 749
+      },
+      "frames": 749,
+      "fps": 30,
+      "duration_seconds": 24.967,
+      "robot_type": "unitree_g1",
+      "state_dim": 60,
+      "action_dim": 60,
+      "video_views": 4,
+      "payload_bytes": 28012194,
+      "files": [
+        {
+          "role": "data",
+          "key": null,
+          "path": "sample_00/data.parquet",
+          "source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/data/chunk-000/episode_000251.parquet",
+          "size_bytes": 434106,
+          "sha256": "b02f21db918f696003afb77a9303dfaff6f6d5e60fac61ea953a88a71f27dc25"
+        },
+        {
+          "role": "video",
+          "key": "observation.images.head_stereo_left",
+          "path": "sample_00/videos/observation.images.head_stereo_left.mp4",
+          "source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/videos/chunk-000/observation.images.head_stereo_left/episode_000251.mp4",
+          "size_bytes": 7479567,
+          "sha256": "7a6fcacd5029422b4d25e19bd97b5f125dcc36a8783f4c66b0ced41f527d825e",
+          "video": {
+            "codec_name": "av1",
+            "width": 640,
+            "height": 480,
+            "r_frame_rate": "30/1",
+            "nb_frames": 749
+          }
+        },
+        {
+          "role": "video",
+          "key": "observation.images.head_stereo_right",
+          "path": "sample_00/videos/observation.images.head_stereo_right.mp4",
+          "source_relative_path": "unitreerobotics_v21/G1_WBT_Brainco_Make_The_Bed/videos/chunk-000/observation.images.head_stereo_right/episode_000251.mp4",
+          "size_bytes": 6659744,
+          "sha256": "692e64a52da45a6ff622d94e8c4a2431ba788b8e4968db6c0d3487d6f74f81ec",
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+                "robot_q_desired_5",
+                "robot_q_desired_6",
+                "robot_q_desired_7",
+                "robot_q_desired_8",
+                "robot_q_desired_9",
+                "robot_q_desired_10",
+                "robot_q_desired_11",
+                "robot_q_desired_12",
+                "robot_q_desired_13",
+                "robot_q_desired_14",
+                "robot_q_desired_15",
+                "robot_q_desired_16",
+                "robot_q_desired_17",
+                "robot_q_desired_18",
+                "robot_q_desired_19",
+                "robot_q_desired_20",
+                "robot_q_desired_21",
+                "robot_q_desired_22",
+                "robot_q_desired_23",
+                "robot_q_desired_24",
+                "robot_q_desired_25",
+                "robot_q_desired_26",
+                "robot_q_desired_27",
+                "robot_q_desired_28",
+                "robot_q_desired_29",
+                "robot_q_desired_30",
+                "robot_q_desired_31",
+                "robot_q_desired_32",
+                "robot_q_desired_33",
+                "robot_q_desired_34",
+                "robot_q_desired_35"
+            ]
+        },
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+                1
+            ],
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+        },
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+        },
+        "episode_index": {
+            "dtype": "int64",
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+        },
+        "index": {
+            "dtype": "int64",
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+        },
+        "task_index": {
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+        }
+    },
+    "total_chunks": 1,
+    "total_videos": 1200
+}

humanoid_v21_samples/unitreerobotics_wbt_10samples/sample_05/source_meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "put drinks into fridge and close the fridge"}