---
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`).