# Episode 0 of lienert-physicalsystems/4_collars_to_tray_medium_20260923_182133

- format: LeRobot v3.0
- robot: so_follower
- robot family, as the index files it: SO-100 or SO-101
- kind, as the index files it: recording; teleop (inferred from the name)
- frames per second: 30
- frames in this episode: 1,685
- task: Pick up the four star-shaped collars from the white container and place one onto each matching position in the grey tray. Release each collar so it rests stably, without pressing it into place.
- episodes in the dataset: 52
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/lienert-physicalsystems/4_collars_to_tray_medium_20260923_182133

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('lienert-physicalsystems/4_collars_to_tray_medium_20260923_182133', 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 6 (shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos)
- `timestamp`: float32, shape 1

| file | camera | size | this episode | link |
|---|---|---|---|---|
| data |  | 1.3 MB | rows where episode_index == 0 (global frames 0 to 1684, 1685 frames) | https://huggingface.co/datasets/lienert-physicalsystems/4_collars_to_tray_medium_20260923_182133/resolve/main/data/chunk-000/file-000.parquet |
| video | observation.images.overview | 201.9 MB | seconds 0.0 to 56.167 | https://huggingface.co/datasets/lienert-physicalsystems/4_collars_to_tray_medium_20260923_182133/resolve/main/videos/observation.images.overview/chunk-000/file-000.mp4 |
| video | observation.images.wrist | 158.8 MB | seconds 0.0 to 56.167 | https://huggingface.co/datasets/lienert-physicalsystems/4_collars_to_tray_medium_20260923_182133/resolve/main/videos/observation.images.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/lienert-physicalsystems/4_collars_to_tray_medium_20260923_182133?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/lienert-physicalsystems/4_collars_to_tray_medium_20260923_182133?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/lienert-physicalsystems/4_collars_to_tray_medium_20260923_182133.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/lienert-physicalsystems/4_collars_to_tray_medium_20260923_182133.md?episode=51