# Episode 0 of hahahataeyun/hrdexdb_test

- format: LeRobot v3.0
- robot: inspire_f1
- robot family, as the index files it: Dexterous hands
- kind, as the index files it: test or scratch; teleop (inferred from the name)
- frames per second: 30
- frames in this episode: 536
- task: grasp and release
- episodes in the dataset: 5
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/hahahataeyun/hrdexdb_test

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_test', episodes=[0]).

Columns of the data file:

- `observation.state`: float32, shape 21 (arm_pose_x, arm_pose_y, arm_pose_z, arm_pose_rot6d_0, arm_pose_rot6d_1, arm_pose_rot6d_2, arm_pose_rot6d_3, arm_pose_rot6d_4, arm_pose_rot6d_5, arm_joint_0, arm_joint_1, arm_joint_2, arm_joint_3, arm_joint_4, arm_joint_5, hand_joint_0, hand_joint_1, hand_joint_2, hand_joint_3, hand_joint_4, hand_joint_5)
- `action`: float32, shape 15 (arm_action_x, arm_action_y, arm_action_z, arm_action_rot6d_0, arm_action_rot6d_1, arm_action_rot6d_2, arm_action_rot6d_3, arm_action_rot6d_4, arm_action_rot6d_5, hand_joint_0, hand_joint_1, hand_joint_2, hand_joint_3, hand_joint_4, hand_joint_5)
- `timestamp`: float32, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 326.2 KB | rows where episode_index == 0 (global frames 0 to 535, 536 frames) | https://huggingface.co/datasets/hahahataeyun/hrdexdb_test/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.cam_25452066 | 10.3 MB | seconds 0.0 to 17.867 | https://huggingface.co/datasets/hahahataeyun/hrdexdb_test/resolve/main/videos/observation.images.cam_25452066/chunk-000/file-000.mp4 |
| video | observation.images.cam_23012641 | 6.2 MB | seconds 0.0 to 17.867 | https://huggingface.co/datasets/hahahataeyun/hrdexdb_test/resolve/main/videos/observation.images.cam_23012641/chunk-000/file-000.mp4 |
| video | observation.images.cam_23022639 | 6.7 MB | seconds 0.0 to 17.867 | https://huggingface.co/datasets/hahahataeyun/hrdexdb_test/resolve/main/videos/observation.images.cam_23022639/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_test?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/hahahataeyun/hrdexdb_test?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/hahahataeyun/hrdexdb_test.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/hahahataeyun/hrdexdb_test.md?episode=4