--- license: other task_categories: - robotics tags: - LeRobot - GR00T - GR00T-N1.7 - humanoid - unitree-g1 - inspire-hand - tactile - manipulation - multi-task pretty_name: G1 + Inspire multi-task pick-and-place ("place the in the box") (GR00T N1.7, G1_INSPIRE) --- # G1 + Inspire — multi-task "place the <object> in the box" (GR00T N1.7 / `G1_INSPIRE`) Teleoperated **Unitree G1 (29-DoF) + Inspire RH56DFTP hands** manipulation data, converted to the **GR00T-flavored LeRobot v2.1** format for fine-tuning GR00T N1.7 as a custom `NEW_EMBODIMENT` (here called `G1_INSPIRE`). This is the **multi-task** extension of [`MLeggiero/g1-gr00t-inspire-red-ball`](https://huggingface.co/datasets/MLeggiero/g1-gr00t-inspire-red-ball): identical schema, four pick-and-place tasks. The per-episode task label is derived from the capture-folder name. The red-ball portion is a superset of the original dataset (it adds a third red-ball session plus the pill / bottle / cup sessions), so the two can be used interchangeably or this one used on its own. ## Summary - **Tasks (4):** `place the red ball in the box`, `place the pill in the box`, `place the bottle in the box`, `place the cup in the box` - **Episodes / frames:** 632 / 331,315 @ 60 fps; `success` flag per episode in `meta/episodes.jsonl` | task_index | task | episodes | success / fail | |---|---|---|---| | 0 | place the red ball in the box | 156 | 142 / 14 | | 1 | place the pill in the box | 134 | 114 / 20 | | 2 | place the bottle in the box | 170 | 145 / 25 | | 3 | place the cup in the box | 172 | 141 / 31 | - **Camera:** onboard Intel RealSense **D435** ego-view (`observation.images.ego_view`, 424×240, h264) - **observation.state:** 63-dim · **action:** 30-dim · **observation.tactile:** 34-dim (see index below) ## Data fields & vector index ### `observation.state` (float32[63]) — proprioception (+ pooled tactile) | idx | group | per-element (in order) | unit | |----|-------|------------------------|------| | 0–6 | `left_arm` | shoulder_pitch, shoulder_roll, shoulder_yaw, elbow, wrist_roll, wrist_pitch, wrist_yaw | rad (absolute joint angle) | | 7–13 | `right_arm` | shoulder_pitch, shoulder_roll, shoulder_yaw, elbow, wrist_roll, wrist_pitch, wrist_yaw | rad | | 14–19 | `left_hand` | pinky, ring, middle, index, thumb_pitch, thumb_yaw | rad (Inspire RH56DFTP) | | 20–25 | `right_hand`| pinky, ring, middle, index, thumb_pitch, thumb_yaw | rad | | 26–28 | `waist` | yaw, roll, pitch | rad | | 29–45 | `tactile_left` | 17 hand regions (see region list) | log1p(pooled) | | 46–62 | `tactile_right` | 17 hand regions | log1p(pooled) | The **baseline** `meta/modality.json` uses only `0:29` (tactile-free); the **tactile** `meta/modality.tactile.json` uses `0:63`. ### `action` (float32[30]) — GR00T prediction target | idx | group | per-element (in order) | unit | |----|-------|------------------------|------| | 0–6 | `left_arm` | shoulder_pitch … wrist_yaw (7) | rad | | 7–13 | `right_arm` | shoulder_pitch … wrist_yaw (7) | rad | | 14–19 | `left_hand` | pinky, ring, middle, index, thumb_pitch, thumb_yaw | rad | | 20–25 | `right_hand`| pinky, ring, middle, index, thumb_pitch, thumb_yaw | rad | | 26 | `base_height` | commanded base height | m | | 27 | `navigate_command[0]` = vx | base linear velocity, local frame | m/s | | 28 | `navigate_command[1]` = vy | base linear velocity, local frame | m/s | | 29 | `navigate_command[2]` = yaw_rate | base yaw rate | rad/s | Arm/hand action targets are stored as **absolute** joint angles (radians), matching the upstream `g1-gr00t-inspire-red-ball` dataset byte-for-byte. Lower body: GR00T does **not** output leg joints — it emits a base velocity (`navigate_command`) + `base_height`, which the WBC turns into leg motion. ### `observation.tactile` (float32[34]) — pooled tactile, also embedded in `state[29:63]` Per hand, 17 regions in this order (per-region **max-pool** of the raw taxels, then `log1p`): `little_tip, little_nail, little_pad, ring_tip, ring_nail, ring_pad, middle_tip, middle_nail, middle_pad, index_tip, index_nail, index_pad, thumb_tip, thumb_nail, thumb_middle, thumb_pad, palm` → dims `0–16` = left hand, `17–33` = right hand. ### Other parquet columns | column | dtype | meaning | |--------|-------|---------| | `timestamp` | float32 | seconds from episode start (`frame_index / 60`) | | `frame_index` | int64 | 0…T−1 within the episode | | `episode_index` | int64 | 0…631 | | `index` | int64 | global frame index, 0…331314 | | `task_index` | int64 | 0…3 (see task table) | | `annotation.human.task_description` | int64 | task id → text via `meta/tasks.jsonl` | ### `meta/` - `info.json` — schema (codebase_version v2.1, fps 60, robot_type unitree_g1, per-feature shapes/names). - `episodes.jsonl` — per episode: `episode_index, tasks, length, success (bool), source` (original `_