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observation.state
list
action
list
observation.feetech.left_ticks
int64
1.62k
2.08k
observation.feetech.left_width_mm
float32
0
16.5
observation.feetech.left_normalized
float32
0
0.25
observation.feetech.right_ticks
int64
1.47k
2.07k
observation.feetech.right_width_mm
float32
0
24.3
observation.feetech.right_normalized
float32
0
0.37
observation.feetech.sample_time_ns
int64
484B
644B
observation.feetech.sequence
int64
1.1k
17k
observation.feetech.healthy
int64
1
1
observation.tracking.left_device_controller_pose
list
observation.tracking.left_tracked
int64
1
1
observation.tracking.right_device_controller_pose
list
observation.tracking.right_tracked
int64
1
1
observation.tracking.device_hmd_pose
list
observation.tracking.workspace_from_device_pose
list
observation.tracking.device_time_ns
int64
17,267B
17,427B
observation.tracking.pc_monotonic_ns
int64
484B
644B
observation.tracking.aligned_time_ns
int64
484B
644B
observation.tracking.sequence
int64
2.05k
21.2k
observation.valid
list
observation.sync.target_time_ns
int64
484B
644B
observation.sync.record_time_ns
int64
484B
644B
observation.camera.left_wrist.sample_time_ns
int64
484B
644B
observation.camera.left_wrist.sequence
int64
459
5.25k
observation.camera.left_wrist.healthy
int64
1
1
observation.camera.right_wrist.sample_time_ns
int64
484B
644B
observation.camera.right_wrist.sequence
int64
416
5.2k
observation.camera.right_wrist.healthy
int64
1
1
observation.camera.workspace.sample_time_ns
int64
484B
644B
observation.camera.workspace.sequence
int64
348
5.13k
observation.camera.workspace.healthy
int64
1
1
timestamp
float32
0
22.4
frame_index
int64
0
672
episode_index
int64
0
2
index
int64
0
1.9k
task_index
int64
0
0
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17,267,078,475,241
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484,184,554,655
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End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Description

Bimanual HandUMI demonstration data recorded in LeRobot v3 format. Task: pick up the screws and place them in the box

The dataset contains 3 episodes and 1,905 synchronized frames at 30 FPS. Episode 1 was trimmed by timestamp to include data through 20.0 seconds.

Episode Frames Last timestamp Video duration
0 631 21.0 s 21.033 s
1 601 20.0 s 20.033 s
2 673 22.4 s 22.433 s

The three concatenated video streams contain 1,905 frames and run for 63.5 seconds each.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
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    }
}

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