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unitreerobotics/
G1_WBT_Inspire_Put_Clothes_Into_Basket

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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)… See the full description on the dataset page: https://huggingface.co/datasets/unitreerobotics/G1_WBT_Inspire_Put_Clothes_Into_Basket.