# Episode 0 of Woohi123/towel_fold_v1_20260916_102555

- format: LeRobot v3.0
- robot: bi_so_follower
- robot family, as the index files it: SO-100 or SO-101, two arms
- kind, as the index files it: recording; teleop (inferred from the name)
- frames per second: 30
- frames in this episode: 3,181
- task: Unfold a towel with a folded corner, fold it in half, then fold both sides in like a gate fold
- episodes in the dataset: 75
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/Woohi123/towel_fold_v1_20260916_102555

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('Woohi123/towel_fold_v1_20260916_102555', episodes=[0]).

Columns of the data file:

- `action`: float32, shape 12 (left_shoulder_pan.pos, left_shoulder_lift.pos, left_elbow_flex.pos, left_wrist_flex.pos, left_wrist_roll.pos, left_gripper.pos, right_shoulder_pan.pos, right_shoulder_lift.pos, right_elbow_flex.pos, right_wrist_flex.pos, right_wrist_roll.pos, right_gripper.pos)
- `observation.state`: float32, shape 12 (left_shoulder_pan.pos, left_shoulder_lift.pos, left_elbow_flex.pos, left_wrist_flex.pos, left_wrist_roll.pos, left_gripper.pos, right_shoulder_pan.pos, right_shoulder_lift.pos, right_elbow_flex.pos, right_wrist_flex.pos, right_wrist_roll.pos, right_gripper.pos)
- `timestamp`: float32, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 1.2 MB | rows where episode_index == 0 (global frames 0 to 3180, 3181 frames) | https://huggingface.co/datasets/Woohi123/towel_fold_v1_20260916_102555/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.left_wrist | 145.6 MB | seconds 0.0 to 106.033 | https://huggingface.co/datasets/Woohi123/towel_fold_v1_20260916_102555/resolve/main/videos/observation.images.left_wrist/chunk-000/file-000.mp4 |
| video | observation.images.right_wrist | 138.0 MB | seconds 0.0 to 106.033 | https://huggingface.co/datasets/Woohi123/towel_fold_v1_20260916_102555/resolve/main/videos/observation.images.right_wrist/chunk-000/file-000.mp4 |
| video | observation.images.astra_depth_viz | 186.6 MB | seconds 0.0 to 106.033 | https://huggingface.co/datasets/Woohi123/towel_fold_v1_20260916_102555/resolve/main/videos/observation.images.astra_depth_viz/chunk-000/file-000.mp4 |
| video | observation.images.astra_rgb | 189.3 MB | seconds 0.0 to 106.033 | https://huggingface.co/datasets/Woohi123/towel_fold_v1_20260916_102555/resolve/main/videos/observation.images.astra_rgb/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/Woohi123/towel_fold_v1_20260916_102555?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/Woohi123/towel_fold_v1_20260916_102555?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/Woohi123/towel_fold_v1_20260916_102555.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/Woohi123/towel_fold_v1_20260916_102555.md?episode=74