Datasets:
dataset card + viewer config
Browse files
README.md
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---
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task_categories:
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- robotics
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tags:
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- LeRobot
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- gr00t
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- unitree-g1
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configs:
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- config_name: default
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data_files:
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- split: train
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path: data/*/*.parquet
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---
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# first-thread-gr00t
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Unitree G1-D teleop episodes for the task **"thread lamp part"**, recorded by the 120ft
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episode recorder and converted for GR00T N1.7 fine-tuning.
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- **Format**: LeRobot **v2.1** + `meta/modality.json` (GR00T flavor). Converted from the
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v3.0 source dataset with Isaac-GR00T's `convert_v3_to_v2.py`; the v3.0 original lives in
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the `data-collection` repo (`data/120ft/first-thread`).
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- **Episodes**: 18 (growing — reconverted/re-uploaded via `data-collection
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scripts/convert_gr00t.sh first-thread 120ft/first-thread-gr00t`).
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- **Observations/actions**: `observation.state` and `action`, both `float32[16]` —
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indices 0–6 left arm (shoulder p/r/y, elbow, wrist r/p/y), 7–13 right arm,
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14/15 left/right Dex1 gripper. 30 fps.
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- **Cameras** (h264, 480×640): `observation.images.head`, `observation.images.left_wrist`,
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`observation.images.right_wrist` under `videos/` (not shown in the viewer).
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- **Modality split** (`meta/modality.json`): `left_arm` / `right_arm` / `left_hand` /
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`right_hand`; language from the task description; matches
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`g1-d-train/configs/train/g1d_modality_config.py` (embodiment tag `NEW_EMBODIMENT`).
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