# Episode 0 of brandonyang/dual-lidar-umi-relative

- format: LeRobot v3.0
- robot family, as the index files it: UMI or handheld
- kind, as the index files it: recording; handheld gripper (inferred from the name)
- frames per second: 30
- frames in this episode: 801
- task: bimanual umi demo
- episodes in the dataset: 183
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/brandonyang/dual-lidar-umi-relative

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('brandonyang/dual-lidar-umi-relative', episodes=[0]).

Columns of the data file:

- `observation.state`: float32, shape 12 (umi1_x, umi1_y, umi1_z, umi1_rx, umi1_ry, umi1_rz, umi2_x, umi2_y, umi2_z, umi2_rx, umi2_ry, umi2_rz)
- `action`: float32, shape 12 (d_umi1_x, d_umi1_y, d_umi1_z, d_umi1_rx, d_umi1_ry, d_umi1_rz, d_umi2_x, d_umi2_y, d_umi2_z, d_umi2_rx, d_umi2_ry, d_umi2_rz)
- `observation.gripper_width.umi1`: float32, shape 1 (umi1_width_mm)
- `observation.gripper_width.umi2`: float32, shape 1 (umi2_width_mm)
- `timestamp`: float32, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 131.1 KB | rows where episode_index == 0 (global frames 0 to 800, 801 frames) | https://huggingface.co/datasets/brandonyang/dual-lidar-umi-relative/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.umi1 | 6.9 MB | seconds 0.0 to 26.7 | https://huggingface.co/datasets/brandonyang/dual-lidar-umi-relative/resolve/main/videos/observation.images.umi1/chunk-000/file-000.mp4 |
| video | observation.images.umi2 | 7.5 MB | seconds 0.0 to 26.7 | https://huggingface.co/datasets/brandonyang/dual-lidar-umi-relative/resolve/main/videos/observation.images.umi2/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/brandonyang/dual-lidar-umi-relative?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/brandonyang/dual-lidar-umi-relative?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/brandonyang/dual-lidar-umi-relative.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/brandonyang/dual-lidar-umi-relative.md?episode=182