# Episode 0 of Faless/piper-apple-picking-1m-joints

- format: LeRobot v3.0
- robot: piper_full
- robot family, as the index files it: AgileX Piper
- kind, as the index files it: recording; teleop (inferred from the name)
- frames per second: 30
- frames in this episode: 990
- task: apple_picking_curobo
- episodes in the dataset: 1,056
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/Faless/piper-apple-picking-1m-joints

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('Faless/piper-apple-picking-1m-joints', episodes=[0]).

Columns of the data file:

- `observation.state`: float32, shape 8 (joint_1.pos, joint_2.pos, joint_3.pos, joint_4.pos, joint_5.pos, joint_6.pos, gripper.pos, gripper.tau)
- `action`: float32, shape 7 (joint_1.pos, joint_2.pos, joint_3.pos, joint_4.pos, joint_5.pos, joint_6.pos, gripper.pos)
- `apple_bbox`: float32, shape 5x5 (apple, vis_xyxy)
- `timestamp`: float32, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 1.4 MB | rows where episode_index == 0 (global frames 0 to 989, 990 frames) | https://huggingface.co/datasets/Faless/piper-apple-picking-1m-joints/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.ego | 212.3 MB | seconds 0.0 to 33.0 | https://huggingface.co/datasets/Faless/piper-apple-picking-1m-joints/resolve/main/videos/observation.images.ego/chunk-000/file-000.mp4 |
| video | observation.images.front | 270.9 MB | seconds 0.0 to 33.0 | https://huggingface.co/datasets/Faless/piper-apple-picking-1m-joints/resolve/main/videos/observation.images.front/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/Faless/piper-apple-picking-1m-joints?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/Faless/piper-apple-picking-1m-joints?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/Faless/piper-apple-picking-1m-joints.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/Faless/piper-apple-picking-1m-joints.md?episode=1055