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README.md

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+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- multi-robot
+- manipulation
+- bone-picking
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# Bone to Pick - Combined Dataset (10_08 + 10_09)
+
+This dataset is a merged combination of two Bone to Pick datasets from Hugging Face:
+- [oordonez/Bone_to_Pick_10_08](https://huggingface.co/datasets/oordonez/Bone_to_Pick_10_08)
+- [oordonez/Bone_to_Pick_10_09](https://huggingface.co/datasets/oordonez/Bone_to_Pick_10_09)
+
+## Dataset Description
+
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot) and contains bi-manual robot manipulation data for a bone picking task. The dataset combines 20 episodes (10 from each original dataset) with updated episode numbering to avoid conflicts.
+
+### Key Features:
+- **Total Episodes**: 20 (episodes 0-19)
+- **Total Frames**: 7,788 (after dead time removal)
+- **Total Videos**: 60 (3 camera views × 20 episodes)
+- **Robot Type**: Dual-arm manipulation (white + blue follower arms)
+- **Task**: Grasp the blue bone and place it inside the box
+
+### Camera Views:
+1. `observation.images.my_blue_follower_arm_front` (640×480, H.264)
+2. `observation.images.my_white_follower_arm_front` (640×480, H.264)  
+3. `observation.images.my_white_follower_arm_global_top` (1280×720, H.264)
+
+## Dataset Structure
+
+### Data Format:
+- **Action Space**: 12-dimensional float32 arrays
+  - 6 joints for white follower arm
+  - 6 joints for blue follower arm
+- **Observation Space**: 12-dimensional float32 arrays (same as action)
+- **Timestamps**: float32 timestamps
+- **Frame Indices**: int64 frame numbers within each episode
+- **Episode Indices**: int64 episode numbers (0-19)
+
+### Joint Names:
+**White Follower Arm:**
+- `my_white_follower_arm_shoulder_pan.pos`
+- `my_white_follower_arm_shoulder_lift.pos`
+- `my_white_follower_arm_elbow_flex.pos`
+- `my_white_follower_arm_wrist_flex.pos`
+- `my_white_follower_arm_wrist_roll.pos`
+- `my_white_follower_arm_gripper.pos`
+
+**Blue Follower Arm:**
+- `my_blue_follower_arm_shoulder_pan.pos`
+- `my_blue_follower_arm_shoulder_lift.pos`
+- `my_blue_follower_arm_elbow_flex.pos`
+- `my_blue_follower_arm_wrist_flex.pos`
+- `my_blue_follower_arm_wrist_roll.pos`
+- `my_blue_follower_arm_gripper.pos`
+
+## Processing Details
+
+### Dead Time Removal:
+- Applied velocity threshold of 0.0001 for joint movement detection
+- Removed 2+ seconds of stationary data at episode ends
+- Total frames removed: 1,496 frames across all episodes
+
+### Video Processing:
+- Converted all videos from AV1 to H.264 codec for browser compatibility
+- Maintained original frame rates (30 FPS)
+- Preserved video quality and aspect ratios
+
+### Episode Renumbering:
+- Original dataset 10_08: episodes 0-9 → merged episodes 0-9
+- Original dataset 10_09: episodes 0-9 → merged episodes 10-19
+- All metadata updated to reflect new episode numbering
+
+## Dataset Viewer Information
+
+### What You'll See in the Hugging Face Dataset Viewer:
+
+#### **📊 Data Columns:**
+- **`action`**: 12-element array containing joint positions for both robot arms
+- **`observation.state`**: 12-element array containing current joint states  
+- **`timestamp`**: float32 timestamp for each frame
+- **`frame_index`**: int64 frame number within each episode
+- **`episode_index`**: int64 episode number (0-19)
+- **`index`**: int64 global sample index
+- **`task_index`**: int64 task identifier
+
+#### **🤖 Joint Mapping (12 elements in action/observation arrays):**
+**Indices 0-5: White Follower Arm**
+- Index 0: `my_white_follower_arm_shoulder_pan.pos`
+- Index 1: `my_white_follower_arm_shoulder_lift.pos`
+- Index 2: `my_white_follower_arm_elbow_flex.pos`
+- Index 3: `my_white_follower_arm_wrist_flex.pos`
+- Index 4: `my_white_follower_arm_wrist_roll.pos`
+- Index 5: `my_white_follower_arm_gripper.pos`
+
+**Indices 6-11: Blue Follower Arm**
+- Index 6: `my_blue_follower_arm_shoulder_pan.pos`
+- Index 7: `my_blue_follower_arm_shoulder_lift.pos`
+- Index 8: `my_blue_follower_arm_elbow_flex.pos`
+- Index 9: `my_blue_follower_arm_wrist_flex.pos`
+- Index 10: `my_blue_follower_arm_wrist_roll.pos`
+- Index 11: `my_blue_follower_arm_gripper.pos`
+
+#### **🎥 Video Files:**
+- **60 total videos** (3 camera views × 20 episodes)
+- All videos are in H.264 codec for browser compatibility
+- Videos are stored in the `videos/` directory
+
+## Usage
+
+### Loading the Dataset:
+```python
+from datasets import load_from_disk
+
+# Load the dataset
+dataset = load_from_disk('merged_bone_to_pick_combined_hf_fixed')
+
+# Access a sample
+sample = dataset[0]
+print(f"Action: {sample['action']}")
+print(f"Observation: {sample['observation.state']}")
+print(f"Episode: {sample['episode_index']}")
+
+# Access joint values by index
+action = sample['action']
+white_arm_joints = action[:6]  # First 6 elements
+blue_arm_joints = action[6:]   # Last 6 elements
+```
+
+### Accessing Videos:
+```python
+# Videos are stored in the videos/ directory
+# Each episode has 3 camera views:
+# - observation.images.my_blue_follower_arm_front/episode_XXXXXX.mp4
+# - observation.images.my_white_follower_arm_front/episode_XXXXXX.mp4  
+# - observation.images.my_white_follower_arm_global_top/episode_XXXXXX.mp4
+```
+
+## Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| Total Episodes | 20 |
+| Total Frames | 7,788 |
+| Total Videos | 60 |
+| Average Frames per Episode | 389.4 |
+| Video Codec | H.264 |
+| Frame Rate | 30 FPS |
+| Data Format | LeRobot v2.1 |
+
+## Citation
+
+**BibTeX:**
+```bibtex
+@dataset{merged_bone_to_pick_combined,
+  title={Bone to Pick - Combined Dataset (10_08 + 10_09)},
+  author={oordonez},
+  year={2024},
+  publisher={Hugging Face},
+  url={https://huggingface.co/datasets/oordonez/Bone_to_Pick_10_08},
+  url={https://huggingface.co/datasets/oordonez/Bone_to_Pick_10_09}
+}
+```
+
+## License
+
+This dataset is released under the Apache 2.0 License.
+
+## Acknowledgments
+
+- Original datasets: [oordonez/Bone_to_Pick_10_08](https://huggingface.co/datasets/oordonez/Bone_to_Pick_10_08) and [oordonez/Bone_to_Pick_10_09](https://huggingface.co/datasets/oordonez/Bone_to_Pick_10_09)
+- Built with [LeRobot](https://github.com/huggingface/lerobot)
+- Merged and processed for improved usability and browser compatibility

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dataset_info.json

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+{
+  "citation": "",
+  "description": "",
+  "features": {
+    "action": {
+      "feature": {
+        "dtype": "float32",
+        "_type": "Value"
+      },
+      "length": 12,
+      "_type": "List"
+    },
+    "observation.state": {
+      "feature": {
+        "dtype": "float32",
+        "_type": "Value"
+      },
+      "length": 12,
+      "_type": "List"
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+    "timestamp": {
+      "dtype": "float32",
+      "_type": "Value"
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+      "dtype": "int64",
+      "_type": "Value"
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+    "episode_index": {
+      "dtype": "int64",
+      "_type": "Value"
+    },
+    "index": {
+      "dtype": "int64",
+      "_type": "Value"
+    },
+    "task_index": {
+      "dtype": "int64",
+      "_type": "Value"
+    }
+  },
+  "homepage": "",
+  "license": ""
+}

state.json

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+{
+  "_data_files": [
+    {
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+    }
+  ],
+  "_fingerprint": "1556691ee348eb7e",
+  "_format_columns": null,
+  "_format_kwargs": {},
+  "_format_type": null,
+  "_output_all_columns": false,
+  "_split": null
+}