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Datasets:
lirislab
/
bimanual_scene1_take2

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1K - 10K
Tags:
LeRobot
bimanual
Libraries:
Datasets
Dask
License:
Dataset card Data Studio Files Community
1
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action
sequence
observation.state
sequence
timestamp
float32
0
9.27
frame_index
int64
0
139
episode_index
int64
0
9
index
int64
0
1.26k
task_index
int64
0
0
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[ 2.724609375, 52.998046875, 139.658203125, -82.44140625, -92.4609375, -3.831775665283203, 12.48046875, 34.716796875, 25.400390625, -26.89453125, -68.994140625, -0.3005259335041046 ]
[ 0.791015625, 51.240234375, 140.009765625, -80.859375, -90.087890625, 15.229485511779785, 9.052734375, 24.521484375, 36.826171875, -32.255859375, -70.83984375, 16.434995651245117 ]
5.4
81
0
81
0
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[ 1.845703125, 50.09765625, 140.009765625, -80.859375, -91.0546875, 15.229485511779785, 11.162109375, 24.78515625, 30.498046875, -26.54296875, -68.73046875, 16.434995651245117 ]
5.466667
82
0
82
0
[ 3.8671875, 52.734375, 140.361328125, -82.6171875, -92.900390625, -3.831775665283203, 15.205078125, 38.935546875, 18.6328125, -17.490234375, -65.654296875, -0.3005259335041046 ]
[ 1.7578125, 49.658203125, 140.009765625, -80.859375, -91.0546875, 15.229485511779785, 12.744140625, 25.048828125, 27.685546875, -22.32421875, -67.8515625, 16.434995651245117 ]
5.533333
83
0
83
0
[ 4.130859375, 54.31640625, 141.50390625, -82.6171875, -91.58203125, -3.831775665283203, 16.875, 41.30859375, 15.908203125, -13.095703125, -64.3359375, -0.3005259335041046 ]
[ 2.109375, 49.658203125, 140.2734375, -80.859375, -91.0546875, 15.229485511779785, 14.677734375, 25.048828125, 25.13671875, -17.2265625, -65.830078125, 16.434995651245117 ]
5.6
84
0
84
0
[ 3.8671875, 58.798828125, 144.31640625, -82.6171875, -89.208984375, -3.831775665283203, 18.45703125, 43.330078125, 14.4140625, -9.755859375, -63.896484375, -0.3005259335041046 ]
[ 2.98828125, 49.658203125, 141.064453125, -80.859375, -91.0546875, 15.229485511779785, 15.908203125, 25.224609375, 22.763671875, -13.0078125, -64.951171875, 16.434995651245117 ]
5.666667
85
0
85
0
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5.733333
86
0
86
0
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5.8
87
0
87
0
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5.866667
88
0
88
0
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5.933333
89
0
89
0
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6
90
0
90
0
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[ 0.52734375, 85.78125, 158.115234375, -73.828125, -82.880859375, 15.229485511779785, 28.916015625, 44.736328125, 21.181640625, 5.9765625, -61.69921875, 16.434995651245117 ]
6.066667
91
0
91
0
[ -6.6796875, 98.0859375, 152.490234375, -64.423828125, -81.123046875, -3.9252336025238037, 32.87109375, 72.158203125, 35.947265625, 11.42578125, -60.8203125, 0 ]
[ -2.28515625, 90.703125, 157.763671875, -68.115234375, -81.650390625, 15.229485511779785, 31.11328125, 53.4375, 26.806640625, 9.755859375, -60.8203125, 16.434995651245117 ]
6.133333
92
0
92
0
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[ -5.625, 92.8125, 156.26953125, -63.896484375, -81.5625, 15.229485511779785, 31.9921875, 62.40234375, 36.474609375, 11.07421875, -60.8203125, 16.434995651245117 ]
6.2
93
0
93
0
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6.266667
94
0
94
0
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[ -13.0078125, 92.98828125, 146.25, -54.931640625, -80.771484375, 15.229485511779785, 32.34375, 74.35546875, 55.458984375, 11.42578125, -58.798828125, 16.762060165405273 ]
6.333333
95
0
95
0
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[ -15.99609375, 92.8125, 141.240234375, -53.61328125, -80.771484375, 15.299026489257812, 32.255859375, 76.728515625, 63.017578125, 12.216796875, -58.798828125, 16.762060165405273 ]
6.4
96
0
96
0
[ -19.599609375, 94.04296875, 133.857421875, -56.337890625, -80.68359375, 24.766355514526367, 30.849609375, 88.41796875, 69.2578125, 13.447265625, -57.919921875, -0.22539444267749786 ]
[ -17.314453125, 92.8125, 138.1640625, -53.61328125, -80.68359375, 19.54102897644043, 31.9921875, 77.255859375, 68.291015625, 13.18359375, -57.83203125, 16.762060165405273 ]
6.466667
97
0
97
0
[ -19.775390625, 93.076171875, 133.76953125, -58.623046875, -78.75, 32.71028137207031, 30.146484375, 88.857421875, 70.83984375, 13.447265625, -57.919921875, 2.4793388843536377 ]
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6.533333
98
0
98
0
[ -19.423828125, 92.548828125, 134.033203125, -59.4140625, -77.080078125, 38.037384033203125, 29.619140625, 88.857421875, 71.54296875, 13.447265625, -57.83203125, 10.969196319580078 ]
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6.6
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "so100_bimanual",
    "total_episodes": 10,
    "total_frames": 1264,
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    "features": {
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                "left_wrist_flex",
                "left_wrist_roll",
                "left_gripper",
                "right_shoulder_pan",
                "right_shoulder_lift",
                "right_elbow_flex",
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                "right_elbow_flex",
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    }
}

Citation

BibTeX:

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