inspire
Datasets
All datasets matching “inspire”G1_WBT_Inspire_Plastic_Box_PartsG1_WBT_Inspire_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_Inspire_Put_Clothes_into_Washing_Machine.G1_WBT_Inspire_Put_Vegetables_Into_Basketg1-inspire-pipette-tip
G1 + Inspire — "eject the pipette tip into the rack" (GR00T N1.7 / G1_INSPIRE)
Teleoperated Unitree G1 (29-DoF) + Inspire RH56DFTP hands manipulation data,
converted to the GR00T-flavored LeRobot v2.1 format for fine-tuning GR00T N1.7
as a custom NEW_EMBODIMENT (here called G1_INSPIRE).
Same schema as
MLeggiero/g1-gr00t-inspire-pick_and_place,
with two additions: observation.effort (per-joint torque) and native
1280×720 ego-view video and depth instead of 424×240. Read
Known… See the full description on the dataset page: https://huggingface.co/datasets/MLeggiero/g1-inspire-pipette-tip.G1_WBT_Inspire_Pick_Up_DrinksG1_WBT_Inspire_Clean_The_Living_Room