# Episode 0 of lerobot/abc_130k_v3_train

- format: LeRobot v3.0
- robot: yam_bimanual
- robot family, as the index files it: YAM, two arms
- kind, as the index files it: recording; teleop (inferred from the name)
- frames per second: 30
- frames in this episode: 3,329
- task: arrange the flowers into the vase
- episodes in the dataset: 129,225
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/lerobot/abc_130k_v3_train

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('lerobot/abc_130k_v3_train', episodes=[0]). The data file is 49 MB and holds many episodes; data_via_index gives only this one's rows.

Columns of the data file:

- `observation.state`: float32, shape 14 (left_arm_joint_1, left_arm_joint_2, left_arm_joint_3, left_arm_joint_4, left_arm_joint_5, left_arm_joint_6, left_gripper, right_arm_joint_1, right_arm_joint_2, right_arm_joint_3, right_arm_joint_4, right_arm_joint_5, right_arm_joint_6, right_gripper)
- `action`: float32, shape 14 (left_arm_action_1, left_arm_action_2, left_arm_action_3, left_arm_action_4, left_arm_action_5, left_arm_action_6, left_gripper_action, right_arm_action_1, right_arm_action_2, right_arm_action_3, right_arm_action_4, right_arm_action_5, right_arm_action_6, right_gripper_action)
- `timestamp`: float32, shape 1
- `language_persistent`: language, shape 1
- `language_events`: language, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 49.9 MB | rows where episode_index == 0 (global frames 0 to 3328, 3329 frames) | https://huggingface.co/datasets/lerobot/abc_130k_v3_train/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.top | 204.5 MB | seconds 0.0 to 110.967 | https://huggingface.co/datasets/lerobot/abc_130k_v3_train/resolve/main/videos/observation.images.top/chunk-000/file-000.mp4 |
| video | observation.images.left_wrist | 205.1 MB | seconds 0.0 to 110.967 | https://huggingface.co/datasets/lerobot/abc_130k_v3_train/resolve/main/videos/observation.images.left_wrist/chunk-000/file-000.mp4 |
| video | observation.images.right_wrist | 198.2 MB | seconds 0.0 to 110.967 | https://huggingface.co/datasets/lerobot/abc_130k_v3_train/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/lerobot/abc_130k_v3_train?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/lerobot/abc_130k_v3_train?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/lerobot/abc_130k_v3_train.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/lerobot/abc_130k_v3_train.md?episode=129224