# Episode 0 of allenai/eval_cosmos_candy_sorting_in-distribution

- format: LeRobot v3.0
- robot: bi_yam_follower
- robot family, as the index files it: YAM, two arms
- kind, as the index files it: evaluation rollout; real manipulation scripted or autonomous (inferred from the name)
- frames per second: 30
- frames in this episode: 1,706
- task: Place The Candies Into The Boxes From Left To Right In The Order Of Orange, Blue, And Gold
- episodes in the dataset: 53
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/allenai/eval_cosmos_candy_sorting_in-distribution

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('allenai/eval_cosmos_candy_sorting_in-distribution', episodes=[0]).

Columns of the data file:

- `action`: float32, shape 14 (left_joint_0.pos, left_joint_1.pos, left_joint_2.pos, left_joint_3.pos, left_joint_4.pos, left_joint_5.pos, left_gripper.pos, right_joint_0.pos, right_joint_1.pos, right_joint_2.pos, right_joint_3.pos, right_joint_4.pos, right_joint_5.pos, right_gripper.pos)
- `observation.state`: float32, shape 14 (left_joint_0.pos, left_joint_1.pos, left_joint_2.pos, left_joint_3.pos, left_joint_4.pos, left_joint_5.pos, left_gripper.pos, right_joint_0.pos, right_joint_1.pos, right_joint_2.pos, right_joint_3.pos, right_joint_4.pos, right_joint_5.pos, right_gripper.pos)
- `timestamp`: float32, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 8.7 MB | rows where episode_index == 0 (global frames 0 to 1705, 1706 frames) | https://huggingface.co/datasets/allenai/eval_cosmos_candy_sorting_in-distribution/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.right | 184.3 MB | seconds 0.0 to 56.867 | https://huggingface.co/datasets/allenai/eval_cosmos_candy_sorting_in-distribution/resolve/main/videos/observation.images.right/chunk-000/file-000.mp4 |
| video | observation.images.left | 12.4 MB | seconds 0.0 to 56.867 | https://huggingface.co/datasets/allenai/eval_cosmos_candy_sorting_in-distribution/resolve/main/videos/observation.images.left/chunk-000/file-000.mp4 |
| video | observation.images.top | 15.3 MB | seconds 0.0 to 56.867 | https://huggingface.co/datasets/allenai/eval_cosmos_candy_sorting_in-distribution/resolve/main/videos/observation.images.top/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/allenai/eval_cosmos_candy_sorting_in-distribution?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/allenai/eval_cosmos_candy_sorting_in-distribution?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/allenai/eval_cosmos_candy_sorting_in-distribution.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/allenai/eval_cosmos_candy_sorting_in-distribution.md?episode=52