unitreerobotics/G1_WBT_SMPL_Brainco_Operate_Washing_Machine

Data Structure

Observations

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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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; 0.0 = close, 1.0 = open)

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; 0.0 = open, 1.0 = 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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Actions

action.frame_axis (24, 3)

Expected human motion for the robot to follow.

• Shape [24, 3]: axis-angle (x, y, z) of 24 nodes in the standard SMPL skeleton.

action.robot_wrist_ref (6)

Expected robot wrist motor values.

• Order: left wrist (3), right wrist (3)

action.hand (12 or 2)

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

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

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; 0.0 = open, 1.0 = 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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Acknowledgements

This dataset was created using the LeRobot framework.