# Episode 0 of hahahataeyun/hrdexdb-act-two-view-all-v1

- format: LeRobot v3.0
- robot: xarm6_allegro
- robot family, as the index files it: xArm or UFactory
- kind, as the index files it: recording; teleop (inferred from the name)
- frames per second: 30
- frames in this episode: 444
- task: grasp the apple
- episodes in the dataset: 431
- licence: not stated
- dataset page: https://huggingface.co/datasets/hahahataeyun/hrdexdb-act-two-view-all-v1

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('hahahataeyun/hrdexdb-act-two-view-all-v1', episodes=[0]).

Columns of the data file:

- `observation.state`: float32, shape 22 (xarm_joint_0, xarm_joint_1, xarm_joint_2, xarm_joint_3, xarm_joint_4, xarm_joint_5, allegro_state_0, allegro_state_1, allegro_state_2, allegro_state_3, allegro_state_4, allegro_state_5, allegro_state_6, allegro_state_7, allegro_state_8, allegro_state_9, allegro_state_10, allegro_state_11, allegro_state_12, allegro_state_13, allegro_state_14, allegro_state_15)
- `action`: float32, shape 25 (tcp_x, tcp_y, tcp_z, rotation_6d_col0_x, rotation_6d_col0_y, rotation_6d_col0_z, rotation_6d_col1_x, rotation_6d_col1_y, rotation_6d_col1_z, allegro_command_0, allegro_command_1, allegro_command_2, allegro_command_3, allegro_command_4, allegro_command_5, allegro_command_6, allegro_command_7, allegro_command_8, allegro_command_9, allegro_command_10, allegro_command_11, allegro_command_12, allegro_command_13, allegro_command_14)
- `object_name`: string, shape 1
- `source_episode`: string, shape 1
- `timestamp`: float32, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 4.8 MB | rows where episode_index == 0 (global frames 0 to 443, 444 frames) | https://huggingface.co/datasets/hahahataeyun/hrdexdb-act-two-view-all-v1/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.cam_23029839 | 178.9 MB | seconds 0.0 to 14.8 | https://huggingface.co/datasets/hahahataeyun/hrdexdb-act-two-view-all-v1/resolve/main/videos/observation.images.cam_23029839/chunk-000/file-000.mp4 |
| video | observation.images.cam_25452066 | 149.6 MB | seconds 0.0 to 14.8 | https://huggingface.co/datasets/hahahataeyun/hrdexdb-act-two-view-all-v1/resolve/main/videos/observation.images.cam_25452066/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/hahahataeyun/hrdexdb-act-two-view-all-v1?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/hahahataeyun/hrdexdb-act-two-view-all-v1?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/hahahataeyun/hrdexdb-act-two-view-all-v1.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/hahahataeyun/hrdexdb-act-two-view-all-v1.md?episode=430