# Episode 0 of Joocjun/GR1-Tabletop-Merged-1000x24

- format: LeRobot v2.0
- robot: GR1ArmsAndWaistFourierHands
- robot family, as the index files it: Fourier GR-1 or GR-2
- kind, as the index files it: recording; teleop (inferred from the name)
- frames per second: 20
- episodes in the dataset: 24,000
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/Joocjun/GR1-Tabletop-Merged-1000x24

LeRobot v2.0 keeps one episode per file, so each file listed is the whole episode. Or load it with LeRobot: LeRobotDataset('Joocjun/GR1-Tabletop-Merged-1000x24', episodes=[0]).

Columns of the data file:

- `observation.state`: float32, shape 44 (l_shoulder_pitch, l_shoulder_roll, l_shoulder_yaw, l_elbow_pitch, l_wrist_yaw, l_wrist_roll, l_wrist_pitch, L_pinky_proximal_joint, L_ring_proximal_joint, L_middle_proximal_joint, L_index_proximal_joint, L_thumb_proximal_pitch_joint, L_thumb_proximal_yaw_joint, l_leg_hip_roll, l_leg_hip_yaw, l_leg_hip_pitch, l_leg_knee_pitch, l_leg_ankle_pitch, l_leg_ankle_roll, head_yaw, head_roll, head_pitch, r_shoulder_pitch, r_shoulder_roll)
- `action`: float32, shape 44 (l_shoulder_pitch, l_shoulder_roll, l_shoulder_yaw, l_elbow_pitch, l_wrist_yaw, l_wrist_roll, l_wrist_pitch, L_pinky_proximal_joint, L_ring_proximal_joint, L_middle_proximal_joint, L_index_proximal_joint, L_thumb_proximal_pitch_joint, L_thumb_proximal_yaw_joint, l_leg_hip_roll, l_leg_hip_yaw, l_leg_hip_pitch, l_leg_knee_pitch, l_leg_ankle_pitch, l_leg_ankle_roll, head_yaw, head_roll, head_pitch, r_shoulder_pitch, r_shoulder_roll)
- `timestamp`: float64, shape 1
- `next.reward`: float64, shape 1
- `next.done`: bool, shape 1
- `annotation.human.coarse_action`: int64, shape 1
- `observation.state_eef_left`: float64, shape 9 (x, y, z, r00, r01, r02, r10, r11, r12)
- `observation.state_eef_right`: float64, shape 9 (x, y, z, r00, r01, r02, r10, r11, r12)
- `observation.state_cam_frame`: float64, shape 9 (x, y, z, r00, r01, r02, r10, r11, r12)
- `action_eef_left`: float64, shape 9 (x, y, z, r00, r01, r02, r10, r11, r12)
- `action_eef_right`: float64, shape 9 (x, y, z, r00, r01, r02, r10, r11, r12)

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 312.2 KB | the whole file | https://huggingface.co/datasets/Joocjun/GR1-Tabletop-Merged-1000x24/resolve/main/data/chunk-000/episode_000000.parquet |
| video | observation.images.ego_view | 2.5 MB | the whole file | https://huggingface.co/datasets/Joocjun/GR1-Tabletop-Merged-1000x24/resolve/main/videos/chunk-000/observation.images.ego_view/episode_000000.mp4 |

If your network cannot reach Hugging Face, this site fetches the episode's rows for you, and only that episode's: https://datasets.gurasees.com/episode-data/Joocjun/GR1-Tabletop-Merged-1000x24?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/Joocjun/GR1-Tabletop-Merged-1000x24?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/Joocjun/GR1-Tabletop-Merged-1000x24.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/Joocjun/GR1-Tabletop-Merged-1000x24.md?episode=23999