# Episode 0 of RoboCOIN/AI2_Alphabot_2_store_toys_3

- format: LeRobot v2.1
- robot: AI2_Alphabot_2
- 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: 494
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/RoboCOIN/AI2_Alphabot_2_store_toys_3

LeRobot v2.1 keeps one episode per file, so each file listed is the whole episode. Or load it with LeRobot: LeRobotDataset('RoboCOIN/AI2_Alphabot_2_store_toys_3', episodes=[0]).

Columns of the data file:

- `observation.state`: float32, shape 34 (left_arm_joint_1_rad, left_arm_joint_2_rad, left_arm_joint_3_rad, left_arm_joint_4_rad, left_arm_joint_5_rad, left_arm_joint_6_rad, left_arm_joint_7_rad, left_eef_pos_x_m, left_eef_pos_y_m, left_eef_pos_z_m, left_eef_rot_euler_x_rad, left_eef_rot_euler_y_rad, left_eef_rot_euler_z_rad, right_arm_joint_1_rad, right_arm_joint_2_rad, right_arm_joint_3_rad, right_arm_joint_4_rad, right_arm_joint_5_rad, right_arm_joint_6_rad, right_arm_joint_7_rad, right_eef_pos_x_m, right_eef_pos_y_m, right_eef_pos_z_m, right_eef_rot_euler_x_rad)
- `action`: float32, shape 34 (left_arm_joint_1_rad, left_arm_joint_2_rad, left_arm_joint_3_rad, left_arm_joint_4_rad, left_arm_joint_5_rad, left_arm_joint_6_rad, left_arm_joint_7_rad, left_eef_pos_x_m, left_eef_pos_y_m, left_eef_pos_z_m, left_eef_rot_euler_x_rad, left_eef_rot_euler_y_rad, left_eef_rot_euler_z_rad, right_arm_joint_1_rad, right_arm_joint_2_rad, right_arm_joint_3_rad, right_arm_joint_4_rad, right_arm_joint_5_rad, right_arm_joint_6_rad, right_arm_joint_7_rad, right_eef_pos_x_m, right_eef_pos_y_m, right_eef_pos_z_m, right_eef_rot_euler_x_rad)
- `timestamp`: float32, shape 1
- `gripper_open_scale_state`: float64, shape 2 (left_gripper_open_scale, right_gripper_open_scale)
- `gripper_open_scale_action`: float64, shape 2 (left_gripper_open_scale, right_gripper_open_scale)
- `eef_sim_pose_state`: float32, shape 12 (left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_rot_x, left_eef_rot_y, left_eef_rot_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_rot_x, right_eef_rot_y, right_eef_rot_z)
- `eef_sim_pose_action`: float32, shape 12 (left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_rot_x, left_eef_rot_y, left_eef_rot_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_rot_x, right_eef_rot_y, right_eef_rot_z)
- `eef_direction_state`: int32, shape 2 (left_eef_direction, right_eef_direction)
- `eef_direction_action`: int32, shape 2 (left_eef_direction, right_eef_direction)
- `eef_velocity_state`: int32, shape 2 (left_eef_velocity, right_eef_velocity)
- `eef_velocity_action`: int32, shape 2 (left_eef_velocity, right_eef_velocity)
- `eef_acc_mag_state`: int32, shape 2 (left_eef_acc_mag, right_eef_acc_mag)
- `eef_acc_mag_action`: int32, shape 2 (left_eef_acc_mag, right_eef_acc_mag)
- `gripper_mode_state`: int32, shape 2 (left_gripper_mode, right_gripper_mode)
- `gripper_mode_action`: int32, shape 2 (left_gripper_mode, right_gripper_mode)
- `gripper_activity_state`: int32, shape 2 (left_gripper_activity, right_gripper_activity)
- `gripper_activity_action`: int32, shape 2 (left_gripper_activity, right_gripper_activity)

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 107.5 KB | the whole file | https://huggingface.co/datasets/RoboCOIN/AI2_Alphabot_2_store_toys_3/resolve/main/data/chunk-000/episode_000000.parquet |
| video | observation.images.cam_front_chest_rgb | 1.1 MB | the whole file | https://huggingface.co/datasets/RoboCOIN/AI2_Alphabot_2_store_toys_3/resolve/main/videos/chunk-000/observation.images.cam_front_chest_rgb/episode_000000.mp4 |
| video | observation.images.cam_front_head_rgb | 1.1 MB | the whole file | https://huggingface.co/datasets/RoboCOIN/AI2_Alphabot_2_store_toys_3/resolve/main/videos/chunk-000/observation.images.cam_front_head_rgb/episode_000000.mp4 |
| video | observation.images.cam_left_wrist_rgb | 972.2 KB | the whole file | https://huggingface.co/datasets/RoboCOIN/AI2_Alphabot_2_store_toys_3/resolve/main/videos/chunk-000/observation.images.cam_left_wrist_rgb/episode_000000.mp4 |
| video | observation.images.cam_right_wrist_rgb | 1.1 MB | the whole file | https://huggingface.co/datasets/RoboCOIN/AI2_Alphabot_2_store_toys_3/resolve/main/videos/chunk-000/observation.images.cam_right_wrist_rgb/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/RoboCOIN/AI2_Alphabot_2_store_toys_3?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/RoboCOIN/AI2_Alphabot_2_store_toys_3?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/RoboCOIN/AI2_Alphabot_2_store_toys_3.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/RoboCOIN/AI2_Alphabot_2_store_toys_3.md?episode=493