# Episode 0 of RoboCOIN/Galbot_G1_load_floor_trash_7

- format: LeRobot v2.1
- robot family, as the index files it: not stated
- kind, as the index files it: recording; other (inferred from the name)
- frames per second: 30
- episodes in the dataset: 254
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/RoboCOIN/Galbot_G1_load_floor_trash_7

LeRobot v2.1 keeps one episode per file, so each file listed is the whole episode. Or load it with LeRobot: LeRobotDataset('RoboCOIN/Galbot_G1_load_floor_trash_7', episodes=[0]).

Columns of the data file:

- `action`: float32, shape 38 (right_arm_joint_1_rad, right_arm_joint_2_rad, right_arm_joint_3_rad, right_arm_joint_4_rad, right_arm_joint_5_rad, right_arm_joint_6_rad, right_arm_joint_7_rad, right_gripper_open, left_arm_joint_1_rad, left_arm_joint_2_rad, left_arm_joint_3_rad, left_arm_joint_4_rad, left_arm_joint_5_rad, left_arm_joint_6_rad, left_arm_joint_7_rad, left_gripper_open, torso_joint_1_rad, torso_joint_2_rad, torso_joint_3_rad, torso_joint_4_rad, torso_joint_5_rad, head_joint_1_rad, head_joint_2_rad, chassis_pos_1)
- `observation.state`: float32, shape 38 (right_arm_joint_1_rad, right_arm_joint_2_rad, right_arm_joint_3_rad, right_arm_joint_4_rad, right_arm_joint_5_rad, right_arm_joint_6_rad, right_arm_joint_7_rad, right_gripper_open, left_arm_joint_1_rad, left_arm_joint_2_rad, left_arm_joint_3_rad, left_arm_joint_4_rad, left_arm_joint_5_rad, left_arm_joint_6_rad, left_arm_joint_7_rad, left_gripper_open, torso_joint_1_rad, torso_joint_2_rad, torso_joint_3_rad, torso_joint_4_rad, torso_joint_5_rad, head_joint_1_rad, head_joint_2_rad, chassis_pos_1)
- `timestamp`: float32, shape 1
- `gripper_open_scale_state`: float64, shape 2 (left_gripper_open_scale, right_gripper_open_scale)
- `gripper_open_scale_action`: float64, shape 2 (left_gripper_open_scale, right_gripper_open_scale)
- `eef_sim_pose_state`: float32, shape 12 (left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_rot_x, left_eef_rot_y, left_eef_rot_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_rot_x, right_eef_rot_y, right_eef_rot_z)
- `eef_sim_pose_action`: float32, shape 12 (left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_rot_x, left_eef_rot_y, left_eef_rot_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_rot_x, right_eef_rot_y, right_eef_rot_z)
- `eef_direction_state`: int32, shape 2 (left_eef_direction, right_eef_direction)
- `eef_direction_action`: int32, shape 2 (left_eef_direction, right_eef_direction)
- `eef_velocity_state`: int32, shape 2 (left_eef_velocity, right_eef_velocity)
- `eef_velocity_action`: int32, shape 2 (left_eef_velocity, right_eef_velocity)
- `eef_acc_mag_state`: int32, shape 2 (left_eef_acc_mag, right_eef_acc_mag)
- `eef_acc_mag_action`: int32, shape 2 (left_eef_acc_mag, right_eef_acc_mag)
- `gripper_mode_state`: int32, shape 2 (left_gripper_mode, right_gripper_mode)
- `gripper_mode_action`: int32, shape 2 (left_gripper_mode, right_gripper_mode)
- `gripper_activity_state`: int32, shape 2 (left_gripper_activity, right_gripper_activity)
- `gripper_activity_action`: int32, shape 2 (left_gripper_activity, right_gripper_activity)

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 1.5 MB | the whole file | https://huggingface.co/datasets/RoboCOIN/Galbot_G1_load_floor_trash_7/resolve/main/data/chunk-000/episode_000000.parquet |
| video | observation.images.cam_right_head_rgb | 37.6 MB | the whole file | https://huggingface.co/datasets/RoboCOIN/Galbot_G1_load_floor_trash_7/resolve/main/videos/chunk-000/observation.images.cam_right_head_rgb/episode_000000.mp4 |
| video | observation.images.cam_left_head_rgb | 37.5 MB | the whole file | https://huggingface.co/datasets/RoboCOIN/Galbot_G1_load_floor_trash_7/resolve/main/videos/chunk-000/observation.images.cam_left_head_rgb/episode_000000.mp4 |
| video | observation.images.cam_right_wrist_rgb | 36.9 MB | the whole file | https://huggingface.co/datasets/RoboCOIN/Galbot_G1_load_floor_trash_7/resolve/main/videos/chunk-000/observation.images.cam_right_wrist_rgb/episode_000000.mp4 |
| video | observation.images.cam_left_wrist_rgb | 37.1 MB | the whole file | https://huggingface.co/datasets/RoboCOIN/Galbot_G1_load_floor_trash_7/resolve/main/videos/chunk-000/observation.images.cam_left_wrist_rgb/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/RoboCOIN/Galbot_G1_load_floor_trash_7?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/RoboCOIN/Galbot_G1_load_floor_trash_7?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/RoboCOIN/Galbot_G1_load_floor_trash_7.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/RoboCOIN/Galbot_G1_load_floor_trash_7.md?episode=253