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unitreerobotics/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine

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 (12 or 2) Finger states for both hands. The dimensionality depends on the hand type. Inspire Hand (range: 0.0… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine.

sourceHugging Faceapache-2.0updated 5mo agoView on Hugging Face
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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 (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. 1.Index finger
  2. 2.Middle finger
  3. 3.Ring finger
  4. 4.Little finger
  5. 5.Thumb (open/close)
  6. 6.Thumb (lateral tilt)
BrainCo Hand (range: 0.0 – 1.0, open → close)

Per hand:

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

action.ee_action (12)

Target end-effector states.

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

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. 1.Index finger
  2. 2.Middle finger
  3. 3.Ring finger
  4. 4.Little finger
  5. 5.Thumb (open/close)
  6. 6.Thumb (lateral tilt)
BrainCo Hand (range: 0.0 – 1.0, open → close)

Per hand:

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