# Episode 0 of BAAI-DataCube/AgiBotWorld-Beta_G1_task_599_Fold_up_the_shorts

- 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: 1,812
- task: Fold the shorts | Five pairs of shorts are placed on the bed with the data side facing up and the waistband to the right, randomly spread out at least 20cm below the head's line of sight. Next to them, there are 1-3 neatly folded and stacked pieces of clothing.
- episodes in the dataset: 3,057
- licence: not stated
- dataset page: https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_599_Fold_up_the_shorts

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_599_Fold_up_the_shorts', episodes=[0]). The data file is 49 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 |  | 49.2 MB | rows where episode_index == 0 (global frames 0 to 1811, 1812 frames) | https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_599_Fold_up_the_shorts/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.head | 499.1 MB | seconds 0.0 to 60.4 | https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_599_Fold_up_the_shorts/resolve/main/videos/observation.images.head/chunk-000/file-000.mp4 |
| video | observation.images.head_center_fisheye | 522.9 MB | seconds 0.0 to 60.4 | https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_599_Fold_up_the_shorts/resolve/main/videos/observation.images.head_center_fisheye/chunk-000/file-000.mp4 |
| video | observation.images.head_left_fisheye | 523.6 MB | seconds 0.0 to 60.4 | https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_599_Fold_up_the_shorts/resolve/main/videos/observation.images.head_left_fisheye/chunk-000/file-000.mp4 |
| video | observation.images.head_right_fisheye | 522.1 MB | seconds 0.0 to 60.4 | https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_599_Fold_up_the_shorts/resolve/main/videos/observation.images.head_right_fisheye/chunk-000/file-000.mp4 |
| video | observation.images.hand_left | 506.3 MB | seconds 0.0 to 60.4 | https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_599_Fold_up_the_shorts/resolve/main/videos/observation.images.hand_left/chunk-000/file-000.mp4 |
| video | observation.images.hand_right | 511.3 MB | seconds 0.0 to 60.4 | https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_599_Fold_up_the_shorts/resolve/main/videos/observation.images.hand_right/chunk-000/file-000.mp4 |
| video | observation.images.back_left_fisheye | 524.2 MB | seconds 0.0 to 60.4 | https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_599_Fold_up_the_shorts/resolve/main/videos/observation.images.back_left_fisheye/chunk-000/file-000.mp4 |
| video | observation.images.back_right_fisheye | 524.2 MB | seconds 0.0 to 60.4 | https://huggingface.co/datasets/BAAI-DataCube/AgiBotWorld-Beta_G1_task_599_Fold_up_the_shorts/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_599_Fold_up_the_shorts?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/BAAI-DataCube/AgiBotWorld-Beta_G1_task_599_Fold_up_the_shorts?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/BAAI-DataCube/AgiBotWorld-Beta_G1_task_599_Fold_up_the_shorts.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/BAAI-DataCube/AgiBotWorld-Beta_G1_task_599_Fold_up_the_shorts.md?episode=3056