# Episode 0 of MLeggiero/g1-inspire-pipette-tip

- format: LeRobot v2.1
- robot: unitree_g1
- robot family, as the index files it: Unitree G1
- kind, as the index files it: recording; teleop (inferred from the name)
- frames per second: 60
- episodes in the dataset: 68
- licence: mit
- dataset page: https://huggingface.co/datasets/MLeggiero/g1-inspire-pipette-tip

LeRobot v2.1 keeps one episode per file, so each file listed is the whole episode. Or load it with LeRobot: LeRobotDataset('MLeggiero/g1-inspire-pipette-tip', episodes=[0]).

Columns of the data file:

- `observation.state`: float32, shape 63 (left_arm_shoulder_pitch, left_arm_shoulder_roll, left_arm_shoulder_yaw, left_arm_elbow, left_arm_wrist_roll, left_arm_wrist_pitch, left_arm_wrist_yaw, right_arm_shoulder_pitch, right_arm_shoulder_roll, right_arm_shoulder_yaw, right_arm_elbow, right_arm_wrist_roll, right_arm_wrist_pitch, right_arm_wrist_yaw, left_hand_pinky, left_hand_ring, left_hand_middle, left_hand_index, left_hand_thumb_pitch, left_hand_thumb_yaw, right_hand_pinky, right_hand_ring, right_hand_middle, right_hand_index)
- `action`: float32, shape 30 (left_arm_shoulder_pitch, left_arm_shoulder_roll, left_arm_shoulder_yaw, left_arm_elbow, left_arm_wrist_roll, left_arm_wrist_pitch, left_arm_wrist_yaw, right_arm_shoulder_pitch, right_arm_shoulder_roll, right_arm_shoulder_yaw, right_arm_elbow, right_arm_wrist_roll, right_arm_wrist_pitch, right_arm_wrist_yaw, left_hand_pinky, left_hand_ring, left_hand_middle, left_hand_index, left_hand_thumb_pitch, left_hand_thumb_yaw, right_hand_pinky, right_hand_ring, right_hand_middle, right_hand_index)
- `observation.tactile`: float32, shape 34 (tactile_L_little_tip, tactile_L_little_nail, tactile_L_little_pad, tactile_L_ring_tip, tactile_L_ring_nail, tactile_L_ring_pad, tactile_L_middle_tip, tactile_L_middle_nail, tactile_L_middle_pad, tactile_L_index_tip, tactile_L_index_nail, tactile_L_index_pad, tactile_L_thumb_tip, tactile_L_thumb_nail, tactile_L_thumb_middle, tactile_L_thumb_pad, tactile_L_palm, tactile_R_little_tip, tactile_R_little_nail, tactile_R_little_pad, tactile_R_ring_tip, tactile_R_ring_nail, tactile_R_ring_pad, tactile_R_middle_tip)
- `timestamp`: float32, shape 1
- `annotation.human.task_description`: int64, shape 1
- `observation.effort`: float32, shape 29 (effort)

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 294.1 KB | the whole file | https://huggingface.co/datasets/MLeggiero/g1-inspire-pipette-tip/resolve/main/data/chunk-000/episode_000000.parquet |
| video | observation.images.ego_view | 13.1 MB | the whole file | https://huggingface.co/datasets/MLeggiero/g1-inspire-pipette-tip/resolve/main/videos/chunk-000/observation.images.ego_view/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/MLeggiero/g1-inspire-pipette-tip?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/MLeggiero/g1-inspire-pipette-tip?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/MLeggiero/g1-inspire-pipette-tip.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/MLeggiero/g1-inspire-pipette-tip.md?episode=67