# Episode 0 of BAAI-DataCube/AgiBotWorld-Beta_G1_task_543_Packaging_detergent

- format: LeRobot v3.0
- robot: a2d
- robot family, as the index files it: AgiBot
- kind, as the index files it: recording; teleop (inferred from the name)
- frames per second: 30
- frames in this episode: 1,472
- task: Packing washing detergent | The robot faces the table and the conveyor belt, with boxes placed on the table and bottled and bagged laundry detergent on the conveyor belt.
- episodes in the dataset: 1,993
- licence: not stated
- dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_543_Packaging_detergent

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('BAAI-DataCube/AgiBotWorld-Beta_G1_task_543_Packaging_detergent', episodes=[0]). The data file is 48 MB and holds many episodes; data_via_index gives only this one's rows.

Columns of the data file:

- `observation.states.effector.position`: float32, shape 2 (left_gripper, right_gripper)
- `observation.states.end.orientation`: float32, shape 2x4 (left_xyzw, right_xyzw)
- `observation.states.end.position`: float32, shape 2x3 (left_xyz, right_xyz)
- `observation.states.head.position`: float32, shape 2 (yaw, patch)
- `observation.states.joint.current_value`: float32, shape 14 (left_arm_0, left_arm_1, left_arm_2, left_arm_3, left_arm_4, left_arm_5, left_arm_6, right_arm_0, right_arm_1, right_arm_2, right_arm_3, right_arm_4, right_arm_5, right_arm_6)
- `observation.states.joint.position`: float32, shape 14 (left_arm_0, left_arm_1, left_arm_2, left_arm_3, left_arm_4, left_arm_5, left_arm_6, right_arm_0, right_arm_1, right_arm_2, right_arm_3, right_arm_4, right_arm_5, right_arm_6)
- `observation.states.robot.orientation`: float32, shape 4 (x, y, z, w)
- `observation.states.robot.position`: float32, shape 3 (x, y, z)
- `observation.states.waist.position`: float32, shape 2 (pitch, lift)
- `actions.effector.position`: float32, shape 2 (left_gripper, right_gripper)
- `actions.end.orientation`: float32, shape 2x4 (left_xyzw, right_xyzw)
- `actions.end.position`: float32, shape 2x3 (left_xyz, right_xyz)
- `actions.head.position`: float32, shape 2 (yaw, patch)
- `actions.joint.position`: float32, shape 14 (left_arm_0, left_arm_1, left_arm_2, left_arm_3, left_arm_4, left_arm_5, left_arm_6, right_arm_0, right_arm_1, right_arm_2, right_arm_3, right_arm_4, right_arm_5, right_arm_6)
- `actions.robot.velocity`: float32, shape 2 (x_vel, yaw_vel)
- `actions.waist.position`: float32, shape 2 (pitch, lift)
- `timestamp`: float32, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 48.9 MB | rows where episode_index == 0 (global frames 0 to 1471, 1472 frames) | https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_543_Packaging_detergent/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.head | 517.3 MB | seconds 0.0 to 49.067 | https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_543_Packaging_detergent/resolve/main/videos/observation.images.head/chunk-000/file-000.mp4 |
| video | observation.images.head_center_fisheye | 523.4 MB | seconds 0.0 to 49.067 | https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_543_Packaging_detergent/resolve/main/videos/observation.images.head_center_fisheye/chunk-000/file-000.mp4 |
| video | observation.images.head_left_fisheye | 523.4 MB | seconds 0.0 to 49.067 | https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_543_Packaging_detergent/resolve/main/videos/observation.images.head_left_fisheye/chunk-000/file-000.mp4 |
| video | observation.images.head_right_fisheye | 523.9 MB | seconds 0.0 to 49.067 | https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_543_Packaging_detergent/resolve/main/videos/observation.images.head_right_fisheye/chunk-000/file-000.mp4 |
| video | observation.images.hand_left | 517.3 MB | seconds 0.0 to 49.067 | https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_543_Packaging_detergent/resolve/main/videos/observation.images.hand_left/chunk-000/file-000.mp4 |
| video | observation.images.hand_right | 521.9 MB | seconds 0.0 to 49.067 | https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_543_Packaging_detergent/resolve/main/videos/observation.images.hand_right/chunk-000/file-000.mp4 |
| video | observation.images.back_left_fisheye | 522.8 MB | seconds 0.0 to 49.067 | https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_543_Packaging_detergent/resolve/main/videos/observation.images.back_left_fisheye/chunk-000/file-000.mp4 |
| video | observation.images.back_right_fisheye | 524.0 MB | seconds 0.0 to 49.067 | https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_543_Packaging_detergent/resolve/main/videos/observation.images.back_right_fisheye/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/BAAI-DataCube/AgiBotWorld-Beta_G1_task_543_Packaging_detergent?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/BAAI-DataCube/AgiBotWorld-Beta_G1_task_543_Packaging_detergent?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/BAAI-DataCube/AgiBotWorld-Beta_G1_task_543_Packaging_detergent.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/BAAI-DataCube/AgiBotWorld-Beta_G1_task_543_Packaging_detergent.md?episode=1992