Datasets:

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BitRobot

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HIW-500-LeRobot

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BitRobot 58

Hi, thank you for releasing HIW-500 dataset, I have a few questions about the coordinate system conventions used in the observation.state.wbc fields.

1. Coordinate origin of EEF pose: Which link is used as the base frame for left_ee_x/y/z and right_ee_x/y/z? For example, is it pelvis_link, torso_link, or some other link defined in the G1 URDF?
2. Handedness of the coordinate system: Is the coordinate system right-handed? And what are the directions of the x, y, z axes relative to the robot body (e.g., x-forward, y-left, z-up)?
3. Euler angle convention for roll/pitch/yaw: What rotation order and intrinsic/extrinsic convention is used when computing left_ee_roll/pitch/yaw and right_ee_roll/pitch/yaw from the FK result? For example, if scipy is used, what string is passed to Rotation.as_euler() — is it 'zyx' (intrinsic ZYX) or something else?
   Thank you!