# Episode 0 of CaryxAI/everyday-manipulation-3d

- format: LeRobot v3.0
- robot: human_ego
- robot family, as the index files it: Other robots
- kind, as the index files it: recording; other (inferred from the name)
- frames per second: 15
- frames in this episode: 455
- task: fold_cloth
- episodes in the dataset: 116
- licence: other
- dataset page: https://huggingface.co/datasets/CaryxAI/everyday-manipulation-3d

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('CaryxAI/everyday-manipulation-3d', episodes=[0]). The data file is 94 MB and holds many episodes; data_via_index gives only this one's rows.

Columns of the data file:

- `observation.images.ego`: image, shape 512x384x3 (height, width, channel)
- `observation.state`: float32, shape 7 (x, y, z, rx, ry, rz, grasp)
- `observation.state_valid`: float32, shape 1 (valid)
- `observation.state_hand`: float32, shape 1 (hand)
- `action`: float32, shape 7 (dx, dy, dz, drx, dry, drz, grasp)
- `observation.camera_pose`: float32, shape 4x4
- `observation.contact`: float32, shape 2x2
- `observation.contact_valid`: float32, shape 2x2
- `observation.mano_joints`: float32, shape 2x21x3
- `observation.mano_params`: float32, shape 2x58 (hand, global_orient(3)+pose(45)+betas(10))
- `observation.mano_valid`: float32, shape 2 (left, right)
- `timestamp`: float32, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 94.4 MB | rows where episode_index == 0 (global frames 0 to 454, 455 frames) | https://huggingface.co/datasets/CaryxAI/everyday-manipulation-3d/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.depth | 206.7 MB | seconds 0.0 to 30.333 | https://huggingface.co/datasets/CaryxAI/everyday-manipulation-3d/resolve/main/videos/observation.images.depth/chunk-000/file-000.mp4 |
| video | observation.images.object_mask | 16.2 MB | seconds 0.0 to 30.333 | https://huggingface.co/datasets/CaryxAI/everyday-manipulation-3d/resolve/main/videos/observation.images.object_mask/chunk-000/file-000.mp4 |
| video | observation.images.hand_mask | 9.3 MB | seconds 0.0 to 30.333 | https://huggingface.co/datasets/CaryxAI/everyday-manipulation-3d/resolve/main/videos/observation.images.hand_mask/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/CaryxAI/everyday-manipulation-3d?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/CaryxAI/everyday-manipulation-3d?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/CaryxAI/everyday-manipulation-3d.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/CaryxAI/everyday-manipulation-3d.md?episode=115