Update README.md

README.md

@@ -9,4 +9,110 @@ configs:
   data_files: G1_WB_Dex5_Pickup_Pillow/data/*/*.parquet
 ---
 
-This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+# 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.