# Episode 0 of lerobot/piper-collect

- format: LeRobot v3.0
- robot: piper
- frames per second: 30
- frames in this episode: 767
- task: pick and place task
- episodes in the dataset: 212
- dataset page: https://huggingface.co/datasets/lerobot/piper-collect

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/piper-collect', episodes=[0]).

Columns of the data file:

- `action`: float32, shape 6 (shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos)
- `observation.state`: float32, shape 7 (joint_1.pos, joint_2.pos, joint_3.pos, joint_4.pos, joint_5.pos, joint_6.pos, gripper.pos)
- `timestamp`: float32, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 5.9 MB | rows where episode_index == 0 (global frames 0 to 766, 767 frames) | https://huggingface.co/datasets/lerobot/piper-collect/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.wrist | 209.6 MB | seconds 0.0 to 25.567 | https://huggingface.co/datasets/lerobot/piper-collect/resolve/main/videos/observation.images.wrist/chunk-000/file-000.mp4 |
| video | observation.images.top | 184.1 MB | seconds 0.0 to 25.567 | https://huggingface.co/datasets/lerobot/piper-collect/resolve/main/videos/observation.images.top/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/piper-collect?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/lerobot/piper-collect?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/lerobot/piper-collect.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/lerobot/piper-collect.md?episode=211