BitRobot/G1_WBT_Dex1_Building-Children-Table

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.

observation.state.hand_state (2)

Finger states for both hands.

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

Per hand:

1. 1.Open/close

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.

Actions

Target end-effector states.

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

action.hand_cmd (2)

Commanded finger actions.

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

Per hand:

1. 1.Open/close

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.

Acknowledgements

This dataset was created using the LeRobot framework.