# Episode 0 of fza1796262052/merged_output_ego_vio_lerobot_v2_0921

- format: LeRobot v3.0
- robot: das_umi
- robot family, as the index files it: Other robots
- kind, as the index files it: test or scratch; other (inferred from the name)
- frames per second: 30
- frames in this episode: 289
- task: DAS UMI sensor capture
- episodes in the dataset: 1
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/fza1796262052/merged_output_ego_vio_lerobot_v2_0921

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('fza1796262052/merged_output_ego_vio_lerobot_v2_0921', episodes=[0]).

Columns of the data file:

- `observation.state`: float32, shape 11 (left_gripper.pos, right_gripper.pos, head_camera.x, head_camera.y, head_camera.z, head_camera.r1, head_camera.r2, head_camera.r3, head_camera.r4, head_camera.r5, head_camera.r6)
- `action`: float32, shape 11 (left_gripper.pos, right_gripper.pos, head_camera.x, head_camera.y, head_camera.z, head_camera.r1, head_camera.r2, head_camera.r3, head_camera.r4, head_camera.r5, head_camera.r6)
- `observation.imu`: float32, shape 6 (imu.angular_velocity.x, imu.angular_velocity.y, imu.angular_velocity.z, imu.linear_acceleration.x, imu.linear_acceleration.y, imu.linear_acceleration.z)
- `observation.imu.left_wrist`: float32, shape 6 (imu.left_wrist.angular_velocity.x, imu.left_wrist.angular_velocity.y, imu.left_wrist.angular_velocity.z, imu.left_wrist.linear_acceleration.x, imu.left_wrist.linear_acceleration.y, imu.left_wrist.linear_acceleration.z)
- `observation.imu.right_wrist`: float32, shape 6 (imu.right_wrist.angular_velocity.x, imu.right_wrist.angular_velocity.y, imu.right_wrist.angular_velocity.z, imu.right_wrist.linear_acceleration.x, imu.right_wrist.linear_acceleration.y, imu.right_wrist.linear_acceleration.z)
- `observation.pose.head_relative`: float32, shape 9 (pose.head_relative.x, pose.head_relative.y, pose.head_relative.z, pose.head_relative.r1, pose.head_relative.r2, pose.head_relative.r3, pose.head_relative.r4, pose.head_relative.r5, pose.head_relative.r6)
- `timestamp`: float32, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 86.2 KB | rows where episode_index == 0 (global frames 0 to 288, 289 frames) | https://huggingface.co/datasets/fza1796262052/merged_output_ego_vio_lerobot_v2_0921/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.camera0 | 10.4 MB | seconds 0.0 to 9.633 | https://huggingface.co/datasets/fza1796262052/merged_output_ego_vio_lerobot_v2_0921/resolve/main/videos/observation.images.camera0/chunk-000/file-000.mp4 |
| video | observation.images.camera1 | 9.8 MB | seconds 0.0 to 9.633 | https://huggingface.co/datasets/fza1796262052/merged_output_ego_vio_lerobot_v2_0921/resolve/main/videos/observation.images.camera1/chunk-000/file-000.mp4 |
| video | observation.images.camera2 | 9.0 MB | seconds 0.0 to 9.633 | https://huggingface.co/datasets/fza1796262052/merged_output_ego_vio_lerobot_v2_0921/resolve/main/videos/observation.images.camera2/chunk-000/file-000.mp4 |
| video | observation.images.camera3 | 8.4 MB | seconds 0.0 to 9.633 | https://huggingface.co/datasets/fza1796262052/merged_output_ego_vio_lerobot_v2_0921/resolve/main/videos/observation.images.camera3/chunk-000/file-000.mp4 |
| video | observation.images.camera4 | 8.4 MB | seconds 0.0 to 9.633 | https://huggingface.co/datasets/fza1796262052/merged_output_ego_vio_lerobot_v2_0921/resolve/main/videos/observation.images.camera4/chunk-000/file-000.mp4 |
| video | observation.images.camera5 | 7.5 MB | seconds 0.0 to 9.633 | https://huggingface.co/datasets/fza1796262052/merged_output_ego_vio_lerobot_v2_0921/resolve/main/videos/observation.images.camera5/chunk-000/file-000.mp4 |
| video | observation.images.left_wrist | 5.9 MB | seconds 0.0 to 9.633 | https://huggingface.co/datasets/fza1796262052/merged_output_ego_vio_lerobot_v2_0921/resolve/main/videos/observation.images.left_wrist/chunk-000/file-000.mp4 |
| video | observation.images.right_wrist | 7.1 MB | seconds 0.0 to 9.633 | https://huggingface.co/datasets/fza1796262052/merged_output_ego_vio_lerobot_v2_0921/resolve/main/videos/observation.images.right_wrist/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/fza1796262052/merged_output_ego_vio_lerobot_v2_0921?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/fza1796262052/merged_output_ego_vio_lerobot_v2_0921?episode=0&format=json (JSON). Videos are not relayed.