# Episode 0 of TrossenRoboticsCommunity/trossen_ai_mobile_lego

- format: LeRobot v2.1
- robot: trossen_ai_mobile
- robot family, as the index files it: Trossen AI Mobile
- kind, as the index files it: recording; teleop (inferred from the name)
- frames per second: 30
- episodes in the dataset: 52
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/TrossenRoboticsCommunity/trossen_ai_mobile_lego

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

Columns of the data file:

- `action`: float32, shape 16 (linear_vel, angular_vel, left_joint_0, left_joint_1, left_joint_2, left_joint_3, left_joint_4, left_joint_5, left_joint_6, right_joint_0, right_joint_1, right_joint_2, right_joint_3, right_joint_4, right_joint_5, right_joint_6)
- `observation.state`: float32, shape 19 (odom_x, odom_y, odom_theta, linear_vel, angular_vel, left_joint_0, left_joint_1, left_joint_2, left_joint_3, left_joint_4, left_joint_5, left_joint_6, right_joint_0, right_joint_1, right_joint_2, right_joint_3, right_joint_4, right_joint_5, right_joint_6)
- `timestamp`: float32, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 55.8 KB | the whole file | https://huggingface.co/datasets/TrossenRoboticsCommunity/trossen_ai_mobile_lego/resolve/main/data/chunk-000/episode_000000.parquet |
| video | observation.images.cam_high | 6.9 MB | the whole file | https://huggingface.co/datasets/TrossenRoboticsCommunity/trossen_ai_mobile_lego/resolve/main/videos/chunk-000/observation.images.cam_high/episode_000000.mp4 |
| video | observation.images.cam_left_wrist | 3.6 MB | the whole file | https://huggingface.co/datasets/TrossenRoboticsCommunity/trossen_ai_mobile_lego/resolve/main/videos/chunk-000/observation.images.cam_left_wrist/episode_000000.mp4 |
| video | observation.images.cam_right_wrist | 4.2 MB | the whole file | https://huggingface.co/datasets/TrossenRoboticsCommunity/trossen_ai_mobile_lego/resolve/main/videos/chunk-000/observation.images.cam_right_wrist/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/TrossenRoboticsCommunity/trossen_ai_mobile_lego?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/TrossenRoboticsCommunity/trossen_ai_mobile_lego?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/TrossenRoboticsCommunity/trossen_ai_mobile_lego.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/TrossenRoboticsCommunity/trossen_ai_mobile_lego.md?episode=51