# Episode 0 of ExylosAi/table_spill_cleanup_bimanual_rgbd_segmentation_poses

- format: LeRobot v2.1
- robot: panda
- robot family, as the index files it: Franka
- kind, as the index files it: recording; teleop (inferred from the name)
- frames per second: 30
- episodes in the dataset: 5
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/ExylosAi/table_spill_cleanup_bimanual_rgbd_segmentation_poses

LeRobot v2.1 keeps one episode per file, so each file listed is the whole episode. Or load it with LeRobot: LeRobotDataset('ExylosAi/table_spill_cleanup_bimanual_rgbd_segmentation_poses', episodes=[0]).

Columns of the data file:

- `observation.state`: float32, shape 18 (left_panda_joint1, left_panda_joint2, left_panda_joint3, left_panda_joint4, left_panda_joint5, left_panda_joint6, left_panda_joint7, left_panda_finger_joint1, left_panda_finger_joint2, right_panda_joint1, right_panda_joint2, right_panda_joint3, right_panda_joint4, right_panda_joint5, right_panda_joint6, right_panda_joint7, right_panda_finger_joint1, right_panda_finger_joint2)
- `action`: float32, shape 18 (left_panda_joint1, left_panda_joint2, left_panda_joint3, left_panda_joint4, left_panda_joint5, left_panda_joint6, left_panda_joint7, left_panda_finger_joint1, left_panda_finger_joint2, right_panda_joint1, right_panda_joint2, right_panda_joint3, right_panda_joint4, right_panda_joint5, right_panda_joint6, right_panda_joint7, right_panda_finger_joint1, right_panda_finger_joint2)
- `timestamp`: float32, shape 1
- `next.done`: bool, shape 1
- `next.success`: bool, shape 1
- `observation.masks.top_cam_seg`: struct, shape 1
- `observation.masks.wrist_cam_l_seg`: struct, shape 1
- `observation.masks.wrist_cam_r_seg`: struct, shape 1
- `observation.masks.left_cam_45_seg`: struct, shape 1
- `observation.depths.top_cam_seg`: float32, shape 467x640 (height, width)
- `observation.depths.wrist_cam_l_seg`: float32, shape 480x640 (height, width)
- `observation.depths.wrist_cam_r_seg`: float32, shape 480x640 (height, width)
- `observation.depths.left_cam_45_seg`: float32, shape 467x640 (height, width)
- `observation.object_poses`: list<struct>, shape 3

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 493.0 KB | the whole file | https://huggingface.co/datasets/ExylosAi/table_spill_cleanup_bimanual_rgbd_segmentation_poses/resolve/main/data/chunk-000/episode_000000.parquet |
| video | observation.images.front_cam | 10.9 MB | the whole file | https://huggingface.co/datasets/ExylosAi/table_spill_cleanup_bimanual_rgbd_segmentation_poses/resolve/main/videos/chunk-000/observation.images.front_cam/episode_000000.mp4 |
| video | observation.images.left_cam | 10.3 MB | the whole file | https://huggingface.co/datasets/ExylosAi/table_spill_cleanup_bimanual_rgbd_segmentation_poses/resolve/main/videos/chunk-000/observation.images.left_cam/episode_000000.mp4 |
| video | observation.images.top_cam | 13.8 MB | the whole file | https://huggingface.co/datasets/ExylosAi/table_spill_cleanup_bimanual_rgbd_segmentation_poses/resolve/main/videos/chunk-000/observation.images.top_cam/episode_000000.mp4 |
| video | observation.images.right_cam | 10.7 MB | the whole file | https://huggingface.co/datasets/ExylosAi/table_spill_cleanup_bimanual_rgbd_segmentation_poses/resolve/main/videos/chunk-000/observation.images.right_cam/episode_000000.mp4 |
| video | observation.images.wrist_cam_l | 381.0 MB | the whole file | https://huggingface.co/datasets/ExylosAi/table_spill_cleanup_bimanual_rgbd_segmentation_poses/resolve/main/videos/chunk-000/observation.images.wrist_cam_l/episode_000000.mp4 |
| video | observation.images.wrist_cam_r | 375.8 MB | the whole file | https://huggingface.co/datasets/ExylosAi/table_spill_cleanup_bimanual_rgbd_segmentation_poses/resolve/main/videos/chunk-000/observation.images.wrist_cam_r/episode_000000.mp4 |
| video | observation.images.left_cam_45 | 12.8 MB | the whole file | https://huggingface.co/datasets/ExylosAi/table_spill_cleanup_bimanual_rgbd_segmentation_poses/resolve/main/videos/chunk-000/observation.images.left_cam_45/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/ExylosAi/table_spill_cleanup_bimanual_rgbd_segmentation_poses?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/ExylosAi/table_spill_cleanup_bimanual_rgbd_segmentation_poses?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/ExylosAi/table_spill_cleanup_bimanual_rgbd_segmentation_poses.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/ExylosAi/table_spill_cleanup_bimanual_rgbd_segmentation_poses.md?episode=4