# Episode 0 of armnet/armnetbench_v01_lerobot_bimanual_so101

- format: LeRobot v3.0
- robot: so-101
- robot family, as the index files it: SO-101
- kind, as the index files it: recording; teleop (inferred from the name)
- frames per second: 20
- frames in this episode: 1,031
- task: Insert the candle inside the lantern and close the door
- episodes in the dataset: 1,219
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/armnet/armnetbench_v01_lerobot_bimanual_so101

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('armnet/armnetbench_v01_lerobot_bimanual_so101', 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
- `next.reward`: float32, shape 1
- `next.done`: bool, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 2.1 MB | rows where episode_index == 0 (global frames 0 to 1030, 1031 frames) | https://huggingface.co/datasets/armnet/armnetbench_v01_lerobot_bimanual_so101/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.left_wrist | 193.8 MB | seconds 0.0 to 51.55 | https://huggingface.co/datasets/armnet/armnetbench_v01_lerobot_bimanual_so101/resolve/main/videos/observation.images.left_wrist/chunk-000/file-000.mp4 |
| video | observation.images.right_wrist | 147.1 MB | seconds 0.0 to 51.55 | https://huggingface.co/datasets/armnet/armnetbench_v01_lerobot_bimanual_so101/resolve/main/videos/observation.images.right_wrist/chunk-000/file-000.mp4 |
| video | observation.images.top | 205.0 MB | seconds 0.0 to 51.55 | https://huggingface.co/datasets/armnet/armnetbench_v01_lerobot_bimanual_so101/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/armnet/armnetbench_v01_lerobot_bimanual_so101?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/armnet/armnetbench_v01_lerobot_bimanual_so101?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/armnet/armnetbench_v01_lerobot_bimanual_so101.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/armnet/armnetbench_v01_lerobot_bimanual_so101.md?episode=1218