# Episode 0 of lerobot/stanford_kuka_multimodal_dataset

- format: LeRobot v3.0
- robot: unknown
- robot family, as the index files it: Kuka
- kind, as the index files it: recording; teleop (inferred from the name)
- frames per second: 20
- frames in this episode: 50
- task: insert the peg into the hole
- episodes in the dataset: 3,000
- licence: mit
- dataset page: https://huggingface.co/datasets/lerobot/stanford_kuka_multimodal_dataset

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/stanford_kuka_multimodal_dataset', episodes=[0]).

Columns of the data file:

- `observation.state`: float32, shape 7 (motor_0, motor_1, motor_2, motor_3, motor_4, motor_5, motor_6)
- `action`: float32, shape 7 (motor_0, motor_1, motor_2, motor_3, motor_4, motor_5, motor_6)
- `timestamp`: float32, shape 1
- `next.reward`: float32, shape 1
- `next.done`: bool, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 8.8 MB | rows where episode_index == 0 (global frames 0 to 49, 50 frames) | https://huggingface.co/datasets/lerobot/stanford_kuka_multimodal_dataset/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.image | 269.8 MB | seconds 0.0 to 2.5 | https://huggingface.co/datasets/lerobot/stanford_kuka_multimodal_dataset/resolve/main/videos/observation.images.image/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/stanford_kuka_multimodal_dataset?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/lerobot/stanford_kuka_multimodal_dataset?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/lerobot/stanford_kuka_multimodal_dataset.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/lerobot/stanford_kuka_multimodal_dataset.md?episode=2999