# Episode 0 of HumanoidTeam/R2_VLA_6_items_sample

- format: LeRobot v2.1
- robot: rainbow-prealpha
- robot family, as the index files it: Other robots
- kind, as the index files it: recording; other (inferred from the name)
- frames per second: 30
- episodes in the dataset: 12
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/HumanoidTeam/R2_VLA_6_items_sample

LeRobot v2.1 keeps one episode per file, so each file listed is the whole episode. Or load it with LeRobot: LeRobotDataset('HumanoidTeam/R2_VLA_6_items_sample', episodes=[0]).

Columns of the data file:

- `observation.state`: float64, shape 16 (right_arm_0, right_arm_1, right_arm_2, right_arm_3, right_arm_4, right_arm_5, right_arm_6, left_arm_0, left_arm_1, left_arm_2, left_arm_3, left_arm_4, left_arm_5, left_arm_6, right_robotiq_85_left_knuckle_joint, left_robotiq_85_left_knuckle_joint)
- `action`: float64, shape 16 (right_arm_0, right_arm_1, right_arm_2, right_arm_3, right_arm_4, right_arm_5, right_arm_6, left_arm_0, left_arm_1, left_arm_2, left_arm_3, left_arm_4, left_arm_5, left_arm_6, right_robotiq_85_left_knuckle_joint, left_robotiq_85_left_knuckle_joint)
- `observation.image.head`: image, shape 224x224x3 (height, width, channels)
- `observation.image.wrist_right`: image, shape 224x224x3 (height, width, channels)
- `timestamp`: float32, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 99.6 MB | the whole file | https://huggingface.co/datasets/HumanoidTeam/R2_VLA_6_items_sample/resolve/main/data/chunk-000/episode_000000.parquet |

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/HumanoidTeam/R2_VLA_6_items_sample?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/HumanoidTeam/R2_VLA_6_items_sample?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/HumanoidTeam/R2_VLA_6_items_sample.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/HumanoidTeam/R2_VLA_6_items_sample.md?episode=11