# Episode 0 of unitreerobotics/G1_WBT_Inspire_Clean_The_Living_Room

- format: LeRobot v3.0
- robot: unitree_g1_inspire
- 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
- frames in this episode: 1,072
- task: Wipe the table with a cloth and put it in the basket.
- episodes in the dataset: 300
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/unitreerobotics/G1_WBT_Inspire_Clean_The_Living_Room

LeRobot v3 keeps many episodes in one file. Download the data file and keep the rows whose episode_index is 0. Each video file holds several episodes back to back: cut it to episode_seconds. Or load it with LeRobot: LeRobotDataset('unitreerobotics/G1_WBT_Inspire_Clean_The_Living_Room', episodes=[0]). The data file is 156 MB and holds many episodes; data_via_index gives only this one's rows.

Columns of the data file:

- `observation.state.lower_body`: float32, shape 15 (left_hip_pitch, left_hip_roll, left_hip_yaw, left_knee, left_ankle_pitch, left_ankle_roll, right_hip_pitch, right_hip_roll, right_hip_yaw, right_knee, right_ankle_pitch, right_ankle_roll, waist_yaw, waist_roll, waist_pitch)
- `observation.state.left_arm`: float32, shape 7 (shoulder_pitch, shoulder_roll, shoulder_yaw, elbow, wrist_yaw, wrist_roll, wrist_pitch)
- `observation.state.right_arm`: float32, shape 7 (shoulder_pitch, shoulder_roll, shoulder_yaw, elbow, wrist_yaw, wrist_roll, wrist_pitch)
- `observation.state.left_leg`: float32, shape 6 (hip_pitch, hip_roll, hip_yaw, knee, ankle_pitch, ankle_roll)
- `observation.state.right_leg`: float32, shape 6 (hip_pitch, hip_roll, hip_yaw, knee, ankle_pitch, ankle_roll)
- `observation.state.hand_state`: float32, shape 12 (finger_0, finger_1, finger_2, finger_3, finger_4, finger_5, finger_6, finger_7, finger_8, finger_9, finger_10, finger_11)
- `observation.state.left_ee_pose_gripper_base`: float32, shape 6 (x, y, z, roll, pitch, yaw)
- `observation.state.right_ee_pose_gripper_base`: float32, shape 6 (x, y, z, roll, pitch, yaw)
- `observation.state.state_torso`: float32, shape 6 (x, y, z, roll, pitch, yaw)
- `observation.state.state_d435`: float32, shape 6 (x, y, z, roll, pitch, yaw)
- `observation.state.left_ee_pose_gripper_torso`: float32, shape 6 (x, y, z, roll, pitch, yaw)
- `observation.state.right_ee_pose_gripper_torso`: float32, shape 6 (x, y, z, roll, pitch, yaw)
- `observation.state.state_base_pose`: float32, shape 7 (x, y, z, qx, qy, qz, qw)
- `observation.state.waist_state_joint`: float32, shape 3 (yaw, roll, pitch)
- `observation.state.left_fig6d`: float32, shape 6 (thumb_oc, thumb_lat, index, middle, ring, little)
- `observation.state.right_fig6d`: float32, shape 6 (thumb_oc, thumb_lat, index, middle, ring, little)
- `observation.state.recomputed_ee_valid`: int8, shape 1 (valid)
- `action.lower_body`: float32, shape 15 (left_hip_pitch, left_hip_roll, left_hip_yaw, left_knee, left_ankle_pitch, left_ankle_roll, right_hip_pitch, right_hip_roll, right_hip_yaw, right_knee, right_ankle_pitch, right_ankle_roll, waist_yaw, waist_roll, waist_pitch)
- `action.left_arm`: float32, shape 7 (shoulder_pitch, shoulder_roll, shoulder_yaw, elbow, wrist_yaw, wrist_roll, wrist_pitch)
- `action.right_arm`: float32, shape 7 (shoulder_pitch, shoulder_roll, shoulder_yaw, elbow, wrist_yaw, wrist_roll, wrist_pitch)
- `action.left_leg`: float32, shape 6 (hip_pitch, hip_roll, hip_yaw, knee, ankle_pitch, ankle_roll)
- `action.right_leg`: float32, shape 6 (hip_pitch, hip_roll, hip_yaw, knee, ankle_pitch, ankle_roll)
- `action.hand_cmd`: float32, shape 12 (finger_0, finger_1, finger_2, finger_3, finger_4, finger_5, finger_6, finger_7, finger_8, finger_9, finger_10, finger_11)
- `action.left_ee_pose_gripper_base`: float32, shape 6 (x, y, z, roll, pitch, yaw)
- `action.right_ee_pose_gripper_base`: float32, shape 6 (x, y, z, roll, pitch, yaw)
- `action.action_torso`: float32, shape 6 (x, y, z, roll, pitch, yaw)
- `action.action_d435`: float32, shape 6 (x, y, z, roll, pitch, yaw)
- `action.left_ee_pose_gripper_torso`: float32, shape 6 (x, y, z, roll, pitch, yaw)
- `action.right_ee_pose_gripper_torso`: float32, shape 6 (x, y, z, roll, pitch, yaw)
- `action.action_base_pose`: float32, shape 7 (x, y, z, qx, qy, qz, qw)
- `action.base_command`: float32, shape 4 (vx, vy, angle_z, height)
- `action.waist_action_joint`: float32, shape 3 (yaw, roll, pitch)
- `action.left_fig6d`: float32, shape 6 (thumb_oc, thumb_lat, index, middle, ring, little)
- `action.right_fig6d`: float32, shape 6 (thumb_oc, thumb_lat, index, middle, ring, little)
- `timestamp`: float32, shape 1
- `observation.state.state_base_rot`: float32, shape 6 (gx, gy, gz, wx, wy, wz)
- `observation.state.state_base_rot_quat`: float32, shape 4 (qx, qy, qz, qw)
- `action.action_base_rot`: float32, shape 4 (qx, qy, qz, qw)

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 156.0 MB | rows where episode_index == 0 (global frames 0 to 1071, 1072 frames) | https://huggingface.co/datasets/unitreerobotics/G1_WBT_Inspire_Clean_The_Living_Room/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.head_stereo_left | 197.0 MB | seconds 0.0 to 35.733 | https://huggingface.co/datasets/unitreerobotics/G1_WBT_Inspire_Clean_The_Living_Room/resolve/main/videos/observation.images.head_stereo_left/chunk-000/file-000.mp4 |
| video | observation.images.head_stereo_right | 209.6 MB | seconds 0.0 to 35.733 | https://huggingface.co/datasets/unitreerobotics/G1_WBT_Inspire_Clean_The_Living_Room/resolve/main/videos/observation.images.head_stereo_right/chunk-000/file-000.mp4 |
| video | observation.images.wrist_left | 196.9 MB | seconds 0.0 to 35.733 | https://huggingface.co/datasets/unitreerobotics/G1_WBT_Inspire_Clean_The_Living_Room/resolve/main/videos/observation.images.wrist_left/chunk-000/file-000.mp4 |
| video | observation.images.wrist_right | 196.1 MB | seconds 0.0 to 35.733 | https://huggingface.co/datasets/unitreerobotics/G1_WBT_Inspire_Clean_The_Living_Room/resolve/main/videos/observation.images.wrist_right/chunk-000/file-000.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_WBT_Inspire_Clean_The_Living_Room?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/unitreerobotics/G1_WBT_Inspire_Clean_The_Living_Room?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/unitreerobotics/G1_WBT_Inspire_Clean_The_Living_Room.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/unitreerobotics/G1_WBT_Inspire_Clean_The_Living_Room.md?episode=299