| --- |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - gr00t |
| - unitree-g1 |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/*/*.parquet |
| --- |
| |
| # first-thread-gr00t |
|
|
| Unitree G1-D teleop episodes for the task **"thread lamp part"**, recorded by the 120ft |
| episode recorder and converted for GR00T N1.7 fine-tuning. |
|
|
| - **Format**: LeRobot **v2.1** + `meta/modality.json` (GR00T flavor). Converted from the |
| v3.0 source dataset with Isaac-GR00T's `convert_v3_to_v2.py`; the v3.0 original lives in |
| the `data-collection` repo (`data/120ft/first-thread`). |
| - **Episodes**: 72 (growing — reconverted/re-uploaded via `data-collection |
| scripts/convert_gr00t.sh first-thread 120ft/first-thread-gr00t`). |
| - **Observations/actions**: `observation.state` and `action`, both `float32[16]` — |
| indices 0–6 left arm (shoulder p/r/y, elbow, wrist r/p/y), 7–13 right arm, |
| 14/15 left/right Dex1 gripper. 30 fps. |
| - **Cameras** (h264, 480×640): `observation.images.head`, `observation.images.left_wrist`, |
| `observation.images.right_wrist` under `videos/` (not shown in the viewer). |
| - **Modality split** (`meta/modality.json`): `left_arm` / `right_arm` / `left_hand` / |
| `right_hand`; language from the task description; matches |
| `g1-d-train/configs/train/g1d_modality_config.py` (embodiment tag `NEW_EMBODIMENT`). |
|
|
