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so100_bimanual_test

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Robotics
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1K - 10K
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LeRobot
so100_bimanual
test
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action
sequence
observation.state
sequence
timestamp
float32
0
29.7
frame_index
int64
0
891
episode_index
int64
0
2
index
int64
0
2.67k
task_index
int64
0
0
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[ 87.099609375, 163.388671875, 171.298828125, 42.802734375, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
2.666667
80
0
80
0
[ 87.71484375, 164.70703125, 166.552734375, 41.66015625, -3.33984375, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.802734375, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
2.7
81
0
81
0
[ 87.71484375, 164.70703125, 166.552734375, 41.66015625, -3.33984375, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.802734375, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
2.733333
82
0
82
0
[ 87.71484375, 164.70703125, 166.552734375, 41.66015625, -3.33984375, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.802734375, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
2.766667
83
0
83
0
[ 87.71484375, 164.70703125, 166.552734375, 41.66015625, -3.33984375, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.802734375, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
2.8
84
0
84
0
[ 87.71484375, 164.70703125, 166.552734375, 41.66015625, -3.33984375, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.802734375, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
2.833333
85
0
85
0
[ 87.71484375, 164.70703125, 166.552734375, 41.66015625, -3.33984375, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.802734375, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
2.866667
86
0
86
0
[ 87.71484375, 164.70703125, 166.552734375, 41.748046875, -3.33984375, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.802734375, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
2.9
87
0
87
0
[ 87.71484375, 164.70703125, 166.552734375, 41.748046875, -3.427734375, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.802734375, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
2.933333
88
0
88
0
[ 87.71484375, 164.70703125, 166.552734375, 41.748046875, -3.427734375, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.802734375, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
2.966667
89
0
89
0
[ 87.71484375, 164.70703125, 166.46484375, 41.748046875, -3.515625, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.802734375, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
3
90
0
90
0
[ 87.71484375, 164.619140625, 166.46484375, 41.748046875, -3.515625, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.802734375, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
3.033333
91
0
91
0
[ 87.71484375, 164.53125, 166.376953125, 41.748046875, -3.603515625, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.802734375, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
3.066667
92
0
92
0
[ 87.71484375, 164.443359375, 166.2890625, 41.923828125, -3.603515625, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.802734375, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
3.1
93
0
93
0
[ 87.71484375, 164.53125, 166.11328125, 42.099609375, -3.603515625, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.802734375, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
3.133333
94
0
94
0
[ 87.71484375, 164.53125, 165.76171875, 42.36328125, -3.603515625, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.802734375, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
3.166667
95
0
95
0
[ 87.71484375, 164.70703125, 165.41015625, 42.71484375, -3.69140625, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.802734375, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
3.2
96
0
96
0
[ 87.71484375, 164.70703125, 164.970703125, 43.41796875, -3.8671875, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.802734375, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
3.233333
97
0
97
0
[ 87.71484375, 164.794921875, 164.619140625, 43.9453125, -4.04296875, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.890625, -2.548828125, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
3.266667
98
0
98
0
[ 87.71484375, 164.970703125, 164.443359375, 44.296875, -4.306640625, -0.5509641766548157, 94.39453125, 177.36328125, 159.521484375, 72.59765625, -2.900390625, -0.6896551847457886 ]
[ 87.099609375, 163.388671875, 171.298828125, 42.978515625, -2.63671875, 0.6284367442131042, 93.69140625, 177.099609375, 163.388671875, 71.806640625, -2.197265625, 0.4301075339317322 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so100_bimanual",
    "total_episodes": 3,
    "total_frames": 2672,
    "total_tasks": 1,
    "total_videos": 12,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
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    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
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                "left_shoulder_lift",
                "left_elbow_flex",
                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
                "right_wrist_flex",
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        "observation.state": {
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        "observation.images.left_wrist": {
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    }
}

Citation

BibTeX:

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License:
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Size of downloaded dataset files:
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