# Episode 0 of youliangtan/so101-table-cleanup

- format: LeRobot v2.1
- robot: so101_follower
- robot family, as the index files it: SO-101
- kind, as the index files it: test or scratch; teleop (inferred from the name)
- frames per second: 30
- episodes in the dataset: 80
- licence: apache-2.0
- dataset page: https://huggingface.co/datasets/youliangtan/so101-table-cleanup

LeRobot v2.1 keeps one episode per file, so each file listed is the whole episode. Or load it with LeRobot: LeRobotDataset('youliangtan/so101-table-cleanup', 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 |  | 51.5 KB | the whole file | https://huggingface.co/datasets/youliangtan/so101-table-cleanup/resolve/main/data/chunk-000/episode_000000.parquet |
| video | observation.images.front | 5.3 MB | the whole file | https://huggingface.co/datasets/youliangtan/so101-table-cleanup/resolve/main/videos/chunk-000/observation.images.front/episode_000000.mp4 |
| video | observation.images.wrist | 3.9 MB | the whole file | https://huggingface.co/datasets/youliangtan/so101-table-cleanup/resolve/main/videos/chunk-000/observation.images.wrist/episode_000000.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/youliangtan/so101-table-cleanup?episode=0 (parquet) or https://datasets.gurasees.com/episode-data/youliangtan/so101-table-cleanup?episode=0&format=json (JSON). Videos are not relayed.

- next episode: https://datasets.gurasees.com/episodes/youliangtan/so101-table-cleanup.md?episode=1
- last episode: https://datasets.gurasees.com/episodes/youliangtan/so101-table-cleanup.md?episode=79