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G1_WBT_Inspire_Put_Clothes_into_Washing_Machine/.gitattributes

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+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.avro filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
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+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
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+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
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+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
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+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
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G1_WBT_Inspire_Put_Clothes_into_Washing_Machine/README.md

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+---
+license: apache-2.0
+task_categories:
+  - robotics
+
+tags:
+  - LeRobot
+
+configs:
+  - config_name: default
+    data_files: data/*/*.parquet
+---
+
+# 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)
+Per hand:
+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)
+Per hand:
+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)
+Per hand:
+1. Open/close  
+
+---
+
+### `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.
+
+---
+
+## Actions
+
+### `action.ee_action` (12)
+Target end-effector states.
+- Defined using forward kinematics (FK) from the root link to both end-effectors.
+- Includes waist motion.
+
+---
+
+### `action.hand_cmd` (12 or 2)
+Commanded finger actions. The dimensionality depends on the hand type.
+
+#### Inspire Hand (range: 0.0 – 1.0, open → close)
+Per hand:
+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)
+Per hand:
+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)
+Per hand:
+1. Open/close  
+
+---
+
+### `action.robot_q_desired` (36)
+Desired robot configuration.
+- First 7 values:
+  - Target root position: (x, y, z)
+  - Target root orientation: quaternion (w, x, y, z)
+- Remaining 29 values:
+  - Target joint positions.
+
+---
+
+
+# Acknowledgements
+
+This dataset was created using the [LeRobot](https://github.com/huggingface/lerobot) framework.

G1_WBT_Inspire_Put_Clothes_into_Washing_Machine/meta/info.json

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+{
+    "codebase_version": "v3.0",
+    "robot_type": "unitree_g1",
+    "total_episodes": 300,
+    "total_frames": 486315,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:300"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
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+                640,
+                3
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+            "names": [
+                "height",
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+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_stereo_right": {
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+            "names": [
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G1_WBT_Inspire_Put_Clothes_into_Washing_Machine/meta/stats.json

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