# Episode 0 of adityx23/icl-demo-dataset

- format: LeRobot v2.1
- robot: yor
- 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: 285
- licence: not stated
- dataset page: https://huggingface.co/datasets/adityx23/icl-demo-dataset

LeRobot v2.1 keeps one episode per file, so each file listed is the whole episode. Or load it with LeRobot: LeRobotDataset('adityx23/icl-demo-dataset', episodes=[0]).

Columns of the data file:

- `observation.state`: float32, shape 15 (lj0, lj1, lj2, lj3, lj4, lj5, lj6, rj0, rj1, rj2, rj3, rj4, rj5, rj6, lift)
- `action.left_ee`: float32, shape 7 (qw, qx, qy, qz, x, y, z)
- `action.right_ee`: float32, shape 7 (qw, qx, qy, qz, x, y, z)
- `action.gripper`: float32, shape 2 (left_gripper, right_gripper)
- `action.base_vel`: float32, shape 3 (vx, vy, omega)
- `action.lift_cmd`: float32, shape 1 (lift_cmd)
- `timestamp`: float32, shape 1
- `episode_uid`: string, shape 1
- `success`: bool, shape 1
- `valid`: bool, shape 1
- `keep`: bool, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 177.5 KB | the whole file | https://huggingface.co/datasets/adityx23/icl-demo-dataset/resolve/main/data/chunk-000/episode_000000.parquet |
| video | observation.images.zed | 940.5 KB | the whole file | https://huggingface.co/datasets/adityx23/icl-demo-dataset/resolve/main/videos/chunk-000/observation.images.zed/episode_000000.mp4 |
| video | observation.images.fish0 | 4.3 MB | the whole file | https://huggingface.co/datasets/adityx23/icl-demo-dataset/resolve/main/videos/chunk-000/observation.images.fish0/episode_000000.mp4 |
| video | observation.images.fish1 | 6.1 MB | the whole file | https://huggingface.co/datasets/adityx23/icl-demo-dataset/resolve/main/videos/chunk-000/observation.images.fish1/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/adityx23/icl-demo-dataset?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/adityx23/icl-demo-dataset?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/adityx23/icl-demo-dataset.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/adityx23/icl-demo-dataset.md?episode=284