# Episode 0 of IPEC-COMMUNITY/furniture_bench_dataset_lerobot

- format: LeRobot v2.0
- robot: franka
- robot family, as the index files it: Franka
- kind, as the index files it: recording; teleop (inferred from the name)
- frames per second: 10
- episodes in the dataset: 5,100
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/IPEC-COMMUNITY/furniture_bench_dataset_lerobot

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

Columns of the data file:

- `observation.state`: float32, shape 8 (x, y, z, rx, ry, rz, rw, gripper)
- `action`: float32, shape 7 (x, y, z, roll, pitch, yaw, gripper)
- `timestamp`: float32, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 38.7 KB | the whole file | https://huggingface.co/datasets/IPEC-COMMUNITY/furniture_bench_dataset_lerobot/resolve/main/data/chunk-000/episode_000000.parquet |
| video | observation.images.image | 1.5 MB | the whole file | https://huggingface.co/datasets/IPEC-COMMUNITY/furniture_bench_dataset_lerobot/resolve/main/videos/chunk-000/observation.images.image/episode_000000.mp4 |
| video | observation.images.wrist_image | 636.4 KB | the whole file | https://huggingface.co/datasets/IPEC-COMMUNITY/furniture_bench_dataset_lerobot/resolve/main/videos/chunk-000/observation.images.wrist_image/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/IPEC-COMMUNITY/furniture_bench_dataset_lerobot?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/IPEC-COMMUNITY/furniture_bench_dataset_lerobot?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/IPEC-COMMUNITY/furniture_bench_dataset_lerobot.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/IPEC-COMMUNITY/furniture_bench_dataset_lerobot.md?episode=5099