# Episode 0 of Autobrik/bi_piper_pick_and_place_fruits_mantra

- format: LeRobot v3.0
- robot: bi_piper_follower
- robot family, as the index files it: AgileX Piper, two arms
- kind, as the index files it: recording; teleop (inferred from the name)
- frames per second: 30
- frames in this episode: 443
- task: Identify the long yellow banana lying on the circular wooden board at the center of the scene. Approach and grasp the curved yellow fruit near its middle section. Lift the banana and deposit it carefully into the yellow rectangular basket.
- episodes in the dataset: 2,301
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/Autobrik/bi_piper_pick_and_place_fruits_mantra

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('Autobrik/bi_piper_pick_and_place_fruits_mantra', episodes=[0]).

Columns of the data file:

- `action`: float32, shape 14 (left_shoulder_pan.pos, left_shoulder_lift.pos, left_elbow_flex.pos, left_forearm_roll.pos, left_wrist_flex.pos, left_wrist_roll.pos, left_gripper.pos, right_shoulder_pan.pos, right_shoulder_lift.pos, right_elbow_flex.pos, right_forearm_roll.pos, right_wrist_flex.pos, right_wrist_roll.pos, right_gripper.pos)
- `observation.state`: float32, shape 14 (left_shoulder_pan.pos, left_shoulder_lift.pos, left_elbow_flex.pos, left_forearm_roll.pos, left_wrist_flex.pos, left_wrist_roll.pos, left_gripper.pos, right_shoulder_pan.pos, right_shoulder_lift.pos, right_elbow_flex.pos, right_forearm_roll.pos, right_wrist_flex.pos, right_wrist_roll.pos, right_gripper.pos)
- `timestamp`: float32, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 396.8 KB | rows where episode_index == 0 (global frames 0 to 442, 443 frames) | https://huggingface.co/datasets/Autobrik/bi_piper_pick_and_place_fruits_mantra/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.left | 18.5 MB | seconds 0.0 to 14.767 | https://huggingface.co/datasets/Autobrik/bi_piper_pick_and_place_fruits_mantra/resolve/main/videos/observation.images.left/chunk-000/file-000.mp4 |
| video | observation.images.top | 23.5 MB | seconds 0.0 to 14.767 | https://huggingface.co/datasets/Autobrik/bi_piper_pick_and_place_fruits_mantra/resolve/main/videos/observation.images.top/chunk-000/file-000.mp4 |
| video | observation.images.right | 15.3 MB | seconds 0.0 to 14.767 | https://huggingface.co/datasets/Autobrik/bi_piper_pick_and_place_fruits_mantra/resolve/main/videos/observation.images.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/Autobrik/bi_piper_pick_and_place_fruits_mantra?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/Autobrik/bi_piper_pick_and_place_fruits_mantra?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/Autobrik/bi_piper_pick_and_place_fruits_mantra.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/Autobrik/bi_piper_pick_and_place_fruits_mantra.md?episode=2300