# Episode 0 of ytung/g1-pipette-augmented

- format: LeRobot v3.0
- robot: unitree_g1_inspire_sim_motor_targets
- robot family, as the index files it: Unitree G1
- kind, as the index files it: simulation; synthetic or generated (inferred from the name)
- frames per second: 30
- frames in this episode: 827
- task: Attach a green pipette tip from the rack and lift it with the pipette.
- episodes in the dataset: 544
- licence: not stated
- dataset page: https://huggingface.co/datasets/ytung/g1-pipette-augmented

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('ytung/g1-pipette-augmented', episodes=[0]). The data file is 68 MB and holds many episodes; data_via_index gives only this one's rows.

Columns of the data file:

- `observation.state`: float32, shape 29 (left_hip_pitch_joint, left_hip_roll_joint, left_hip_yaw_joint, left_knee_joint, left_ankle_pitch_joint, left_ankle_roll_joint, right_hip_pitch_joint, right_hip_roll_joint, right_hip_yaw_joint, right_knee_joint, right_ankle_pitch_joint, right_ankle_roll_joint, waist_yaw_joint, waist_roll_joint, waist_pitch_joint, left_shoulder_pitch_joint, left_shoulder_roll_joint, left_shoulder_yaw_joint, left_elbow_joint, left_wrist_roll_joint, left_wrist_pitch_joint, left_wrist_yaw_joint, right_shoulder_pitch_joint, right_shoulder_roll_joint)
- `action`: float32, shape 29 (left_hip_pitch_joint, left_hip_roll_joint, left_hip_yaw_joint, left_knee_joint, left_ankle_pitch_joint, left_ankle_roll_joint, right_hip_pitch_joint, right_hip_roll_joint, right_hip_yaw_joint, right_knee_joint, right_ankle_pitch_joint, right_ankle_roll_joint, waist_yaw_joint, waist_roll_joint, waist_pitch_joint, left_shoulder_pitch_joint, left_shoulder_roll_joint, left_shoulder_yaw_joint, left_elbow_joint, left_wrist_roll_joint, left_wrist_pitch_joint, left_wrist_yaw_joint, right_shoulder_pitch_joint, right_shoulder_roll_joint)
- `action.hand_left`: float32, shape 6 (pinky, ring, middle, index, thumb_bend, thumb_rotation)
- `action.hand_right`: float32, shape 6 (pinky, ring, middle, index, thumb_bend, thumb_rotation)
- `observation.hand_joint_positions`: float32, shape 12 (L_thumb_proximal_yaw_joint, L_thumb_proximal_pitch_joint, L_index_proximal_joint, L_middle_proximal_joint, L_ring_proximal_joint, L_pinky_proximal_joint, R_thumb_proximal_yaw_joint, R_thumb_proximal_pitch_joint, R_index_proximal_joint, R_middle_proximal_joint, R_ring_proximal_joint, R_pinky_proximal_joint)
- `diagnostics.tip_position`: float32, shape 3 (x, y, z)
- `diagnostics.nozzle_position`: float32, shape 3 (x, y, z)
- `timestamp`: float32, shape 1
- `diagnostics.simulation_time`: float32, shape 1
- `next.done`: bool, shape 1
- `next.success`: bool, shape 1
- `diagnostics.tip_attached`: bool, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 68.4 MB | rows where episode_index == 0 (global frames 0 to 826, 827 frames) | https://huggingface.co/datasets/ytung/g1-pipette-augmented/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.rgb | 208.5 MB | seconds 0.0 to 27.567 | https://huggingface.co/datasets/ytung/g1-pipette-augmented/resolve/main/videos/observation.images.rgb/chunk-000/file-000.mp4 |
| video | observation.images.wrist_right | 206.9 MB | seconds 0.0 to 27.567 | https://huggingface.co/datasets/ytung/g1-pipette-augmented/resolve/main/videos/observation.images.wrist_right/chunk-000/file-000.mp4 |
| video | observation.images.wrist_left | 205.7 MB | seconds 0.0 to 27.567 | https://huggingface.co/datasets/ytung/g1-pipette-augmented/resolve/main/videos/observation.images.wrist_left/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/ytung/g1-pipette-augmented?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/ytung/g1-pipette-augmented?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/ytung/g1-pipette-augmented.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/ytung/g1-pipette-augmented.md?episode=543