unitreerobotics/G1_WBT_Dex1_Put_Clothes_into_Washing_Machine

Data Structure

Codebase v3.0. All cameras are AV1-encoded, 480×640×3, 30 fps.

Video Streams (observation.images.*)

Key	Description
head_stereo_left / head_stereo_right	Head stereo cameras
wrist_left / wrist_right	Wrist cameras

Observations (observation.state.*)

Key	Dim	Description
lower_body	15	Both legs (hip×3, knee, ankle×2) + waist (yaw, roll, pitch)
left_arm / right_arm	7	shoulder×3, elbow, wrist×3
left_leg / right_leg	6	hip×3, knee, ankle×2
waist_state_joint	3	yaw, roll, pitch
hand_state	12	Finger states, 6 per hand (see Hand Convention)
left_fig6d / right_fig6d	6	Per-finger 6D state
left_ee_pose_gripper_base / right_ee_pose_gripper_base	6	EE pose (x,y,z,roll,pitch,yaw) in base frame
left_ee_pose_gripper_torso / right_ee_pose_gripper_torso	6	EE pose in torso frame
recomputed_ee_valid	1	1 if recomputed EE poses are valid
state_torso	6	Torso pose (x,y,z,roll,pitch,yaw)
state_d435	6	D435 camera pose
state_base_pose	7	Base pose (x,y,z,qx,qy,qz,qw)
state_base_rot	6	Gravity vector + angular velocity (gx,gy,gz,wx,wy,wz)
state_base_rot_quat	4	Base orientation (qx,qy,qz,qw)

Actions (action.*)

Key	Dim	Description
lower_body	15	Both legs + waist
left_arm / right_arm	7	shoulder×3, elbow, wrist×3
left_leg / right_leg	6	hip×3, knee, ankle×2
waist_action_joint	3	yaw, roll, pitch
hand_cmd	12	Finger commands, 6 per hand (see Hand Convention)
left_fig6d / right_fig6d	6	Per-finger 6D command
left_ee_pose_gripper_base / right_ee_pose_gripper_base	6	Target EE pose in base frame
left_ee_pose_gripper_torso / right_ee_pose_gripper_torso	6	Target EE pose in torso frame
action_torso	6	Target torso pose
action_d435	6	Target D435 pose
action_base_pose	7	Target base pose (x,y,z,qx,qy,qz,qw)
action_base_rot	4	Target base orientation (qx,qy,qz,qw)
base_command	4	vx, vy, angle_z, height

Bookkeeping

timestamp, frame_index, episode_index, index, task_index.

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Hand Convention

Finger channels (hand_state / hand_cmd, 6 per hand) depend on the hand type.

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

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

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

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

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

1. Open/close

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Acknowledgements

This dataset was created using the LeRobot framework.