# Episode 0 of CoRL2026-CSI/SO101-DualArm-teleop_fold_towel_100epi

- format: LeRobot v3.0
- robot: bi_so_follower
- robot family, as the index files it: SO-100 or SO-101, two arms
- kind, as the index files it: recording; teleop (inferred from the name)
- frames per second: 30
- frames in this episode: 798
- task: Fold the towel in half.
- episodes in the dataset: 100
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/CoRL2026-CSI/SO101-DualArm-teleop_fold_towel_100epi

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('CoRL2026-CSI/SO101-DualArm-teleop_fold_towel_100epi', episodes=[0]).

Columns of the data file:

- `action`: float32, shape 12 (left_shoulder_pan.pos, left_shoulder_lift.pos, left_elbow_flex.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_wrist_flex.pos, right_wrist_roll.pos, right_gripper.pos)
- `observation.state`: float32, shape 12 (left_shoulder_pan.pos, left_shoulder_lift.pos, left_elbow_flex.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_wrist_flex.pos, right_wrist_roll.pos, right_gripper.pos)
- `timestamp`: float32, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 4.5 MB | rows where episode_index == 0 (global frames 0 to 797, 798 frames) | https://huggingface.co/datasets/CoRL2026-CSI/SO101-DualArm-teleop_fold_towel_100epi/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.left_wrist | 209.1 MB | seconds 0.0 to 27.367 | https://huggingface.co/datasets/CoRL2026-CSI/SO101-DualArm-teleop_fold_towel_100epi/resolve/main/videos/observation.images.left_wrist/chunk-000/file-000.mp4 |
| video | observation.images.left_top | 208.4 MB | seconds 0.0 to 27.367 | https://huggingface.co/datasets/CoRL2026-CSI/SO101-DualArm-teleop_fold_towel_100epi/resolve/main/videos/observation.images.left_top/chunk-000/file-000.mp4 |
| video | observation.images.right_wrist | 208.0 MB | seconds 0.0 to 27.367 | https://huggingface.co/datasets/CoRL2026-CSI/SO101-DualArm-teleop_fold_towel_100epi/resolve/main/videos/observation.images.right_wrist/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/CoRL2026-CSI/SO101-DualArm-teleop_fold_towel_100epi?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/CoRL2026-CSI/SO101-DualArm-teleop_fold_towel_100epi?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/CoRL2026-CSI/SO101-DualArm-teleop_fold_towel_100epi.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/CoRL2026-CSI/SO101-DualArm-teleop_fold_towel_100epi.md?episode=99