MLeggiero/g1-gr00t-inspire-red-ball

G1 + Inspire — "place the red ball 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).

Summary

• Task: "place the red ball in the box" (single task)
• Episodes / frames: 85 / 40,878 @ 60 fps (~11 min); 76 successful / 9 failed (success flag in meta/episodes.jsonl)
• 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	representation
0–6	left_arm	shoulder_pitch … wrist_yaw (7)	rad	relative (Δ from current state)
7–13	right_arm	shoulder_pitch … wrist_yaw (7)	rad	relative
14–19	left_hand	pinky, ring, middle, index, thumb_pitch, thumb_yaw	rad	absolute
20–25	right_hand	pinky, ring, middle, index, thumb_pitch, thumb_yaw	rad	absolute
26	base_height	commanded base height	m	absolute
27	navigate_command[0] = vx	base linear velocity, local frame	m/s	absolute
28	navigate_command[1] = vy	base linear velocity, local frame	m/s	absolute
29	navigate_command[2] = yaw_rate	base yaw rate	rad/s	absolute

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…84
index	int64	global frame index, 0…40877
task_index	int64	0 (single task)
annotation.human.task_description	int64	task id → text via meta/tasks.jsonl ("place the red ball in the box")

meta/

• info.json — schema (codebase_version v2.1, fps 60, robot_type unitree_g1, per-feature shapes/names, author: MLeggiero).
• episodes.jsonl — per episode: episode_index, tasks, length, success (bool), source (original session/episode).
• tasks.jsonl — {task_index: 0, task: "place the red ball in the box"}.
• stats.json — per-feature mean/std/min/max/q01/q99 (GR00T normalization).
• modality.json (baseline) / modality.tactile.json (tactile) — GR00T modality slices.

Sidecars (raw, not referenced by the baseline modality config)

• tactile/episode_0000NN.npz → left, right: (T, 1062) uint16 raw taxels (0…~65535). The 1062 split into the 17 regions above with grid shapes: tip 3×3 (9), nail 12×8 (96), pad 10×8 (80) for little/ring/middle/index; thumb = tip 3×3 (9) + nail 12×8 (96) + middle 3×3 (9) + pad 12×8 (96); palm 8×14 (112). (Σ = 1062.)
• depth/episode_0000NN.npz → depth: (T, 240, 424) uint16, depth in millimeters.

Units & conventions

Arm/waist/hand angles in radians; hands are Inspire RH56DFTP DoFs mapped from raw 0–1000 registers to radians via the joint limits. base_height in meters, navigate_command in m/s & rad/s (robot-local frame). Tactile in observation.* is log1p of per-region max-pooled raw taxels; the tactile/ sidecar holds the un-pooled uint16 taxels.

Fine-tuning (GR00T N1.7)

python gr00t/experiment/launch_finetune.py \
  --base-model-path nvidia/GR00T-N1.7-3B \
  --dataset-path <this dataset> \
  --embodiment-tag NEW_EMBODIMENT \
  --modality-config-path g1_inspire_modality_config.py \
  --num-gpus 1 --global-batch-size 4

Provenance & license

Author: MLeggiero. Data collected by MLeggiero on a Unitree G1 + Inspire RH56DFTP teleoperation rig, using the open-source collection stack from the YanjieZe repository (tooling credit only). Set the license above appropriately before making this dataset public.