# Episode 0 of unitreerobotics/G1_Dex1_DualRobot_Clean_Table

- format: LeRobot v2.1
- robot: G1_ALL
- robot family, as the index files it: Unitree G1
- kind, as the index files it: recording; teleop (inferred from the name)
- frames per second: 30
- episodes in the dataset: 200
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/unitreerobotics/G1_Dex1_DualRobot_Clean_Table

LeRobot v2.1 keeps one episode per file, so each file listed is the whole episode. Or load it with LeRobot: LeRobotDataset('unitreerobotics/G1_Dex1_DualRobot_Clean_Table', episodes=[0]).

Columns of the data file:

- `observation.left_arm`: float32, shape 7 (kLeftShoulderPitch, kLeftShoulderRoll, kLeftShoulderYaw, kLeftElbow, kLeftWristRoll, kLeftWristPitch, kLeftWristYaw)
- `observation.right_arm`: float32, shape 7 (kRightShoulderPitch, kRightShoulderRoll, kRightShoulderYaw, kRightElbow, kRightWristRoll, kRightWristPitch, kRightWristYaw)
- `observation.left_gripper`: float32, shape 1 (kLeftGripper)
- `observation.right_gripper`: float32, shape 1 (kRightGripper)
- `observation.left_ee`: float32, shape 6 (kLeftEEX, kLeftEEY, kLeftEEZ, kLeftEER, kLeftEEP, kLeftEEY)
- `observation.right_ee`: float32, shape 6 (kRightEEX, kRightEEY, kRightEEZ, kRightEER, kRightEEP, kRightEEY)
- `observation.body`: float32, shape 29 (kLeftHipPitch, kLeftHipRoll, kLeftHipYaw, kLeftKnee, kLeftAnklePitch, kLeftAnkleRoll, kRightHipPitch, kRightHipRoll, kRightHipYaw, kRightKnee, kRightAnklePitch, kRightAnkleRoll, kWaistYaw, kWaistRoll, kWaistPitch, kLeftShoulderPitch, kLeftShoulderRoll, kLeftShoulderYaw, kLeftElbow, kLeftWristRoll, kLeftWristPitch, kLeftWristYaw, kRightShoulderPitch, kRightShoulderRoll)
- `action.left_arm`: float32, shape 7 (kLeftShoulderPitch, kLeftShoulderRoll, kLeftShoulderYaw, kLeftElbow, kLeftWristRoll, kLeftWristPitch, kLeftWristYaw)
- `action.right_arm`: float32, shape 7 (kRightShoulderPitch, kRightShoulderRoll, kRightShoulderYaw, kRightElbow, kRightWristRoll, kRightWristPitch, kRightWristYaw)
- `action.left_gripper`: float32, shape 1 (kLeftGripper)
- `action.right_gripper`: float32, shape 1 (kRightGripper)
- `action.left_ee`: float32, shape 6 (kLeftEEX, kLeftEEY, kLeftEEZ, kLeftEER, kLeftEEP, kLeftEEY)
- `action.right_ee`: float32, shape 6 (kRightEEX, kRightEEY, kRightEEZ, kRightEER, kRightEEP, kRightEEY)
- `action.body`: float32, shape 7 (RobotVX, RobotVY, RobotAngZ, RobotYaw, RobotPitch, RobotRoll, RobotHeight)
- `timestamp`: float32, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 442.3 KB | the whole file | https://huggingface.co/datasets/unitreerobotics/G1_Dex1_DualRobot_Clean_Table/resolve/main/data/chunk-000/episode_000000.parquet |
| video | observation.images.cam_left_high | 11.9 MB | the whole file | https://huggingface.co/datasets/unitreerobotics/G1_Dex1_DualRobot_Clean_Table/resolve/main/videos/chunk-000/observation.images.cam_left_high/episode_000000.mp4 |
| video | observation.images.cam_right_high | 12.2 MB | the whole file | https://huggingface.co/datasets/unitreerobotics/G1_Dex1_DualRobot_Clean_Table/resolve/main/videos/chunk-000/observation.images.cam_right_high/episode_000000.mp4 |
| video | observation.images.cam_left_wrist | 3.8 MB | the whole file | https://huggingface.co/datasets/unitreerobotics/G1_Dex1_DualRobot_Clean_Table/resolve/main/videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4 |
| video | observation.images.cam_right_wrist | 6.4 MB | the whole file | https://huggingface.co/datasets/unitreerobotics/G1_Dex1_DualRobot_Clean_Table/resolve/main/videos/chunk-000/observation.images.cam_right_wrist/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/unitreerobotics/G1_Dex1_DualRobot_Clean_Table?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/unitreerobotics/G1_Dex1_DualRobot_Clean_Table?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/unitreerobotics/G1_Dex1_DualRobot_Clean_Table.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/unitreerobotics/G1_Dex1_DualRobot_Clean_Table.md?episode=199