unitreerobotics/G1_WBT_Inspire_Take_Plates_Into_Dishwasher

该数据集是一个用于机器人学任务的数据集，包含机器人的状态观测和动作数据。观测部分包括末端执行器状态（通过正向运动学计算，包含腰部贡献）、手指状态（支持Inspire Hand、BrainCo Hand和Dex1 Hand三种手部类型，维度不同）以及机器人当前配置（根位置、方向和关节位置）。动作部分包括目标末端执行器状态、手指命令和期望机器人配置。数据集使用LeRobot框架创建，适用于机器人控制和学习任务。This dataset is designed for robotics tasks, containing robot state observations and action data. The observation section includes end-effector state (calculated via forward kinematics, with contributions from the robot's waist), finger states (supporting three hand types: Inspire Hand, BrainCo Hand, and Dex1 Hand, with varying dimensions), and the current robot configuration (root position, orientation, and joint positions). The action section includes target end-effector state, finger commands, and desired robot configuration. The dataset was created using the LeRobot framework, and is suitable for robot control and learning tasks.