unitreerobotics/G1_WBT_Inspire_Put_Drinks_Into_Fridge_v0

Data Structure

Observations

observation.state.ee_state (12)

End-effector states of the robot.

• Computed via forward kinematics (FK) from the root link to the left and right end-effectors.
• Includes the contribution of the waist.
• Represented as concatenated poses of both end-effectors.

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observation.state.hand_state (12 or 2)

Finger states for both hands. The dimensionality depends on the hand type.

Inspire Hand (range: 0.0 – 1.0, open → close)

Per hand:

1. Index finger
2. Middle finger
3. Ring finger
4. Little finger
5. Thumb (open/close)
6. Thumb (lateral tilt)

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BrainCo Hand (range: 0.0 – 1.0, open → close)

Per hand:

1. Thumb (open/close)
2. Thumb (lateral tilt)
3. Index finger
4. Middle finger
5. Ring finger
6. Little finger

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Dex1 Hand (range: 5.5 – 0.0, open → close)

Per hand:

1. Open/close

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observation.state.robot_q_current (36)

Current robot configuration.

• First 7 values:
  • Root position: (x, y, z)
  • Root orientation: quaternion (w, x, y, z)
• Remaining 29 values:
  • Robot joint positions.

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Actions

action.ee_action (12)

Target end-effector states.

• Defined using forward kinematics (FK) from the root link to both end-effectors.
• Includes waist motion.

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action.hand_cmd (12 or 2)

Commanded finger actions. The dimensionality depends on the hand type.

Inspire Hand (range: 0.0 – 1.0, open → close)

Per hand:

1. Index finger
2. Middle finger
3. Ring finger
4. Little finger
5. Thumb (open/close)
6. Thumb (lateral tilt)

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BrainCo Hand (range: 0.0 – 1.0, open → close)

Per hand:

1. Thumb (open/close)
2. Thumb (lateral tilt)
3. Index finger
4. Middle finger
5. Ring finger
6. Little finger

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Dex1 Hand (range: 5.5 – 0.0, open → close)

Per hand:

1. Open/close

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action.robot_q_desired (36)

Desired robot configuration.

• First 7 values:
  • Target root position: (x, y, z)
  • Target root orientation: quaternion (w, x, y, z)
• Remaining 29 values:
  • Target joint positions.

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Acknowledgements

This dataset was created using the LeRobot framework.