Datasets:
40 episodes · 30 fps · 3 cameras · 672×376 h264
This dataset was created using LeRobot.
Dataset Description
Bimanual HandUMI demonstration data recorded in LeRobot v3 format. Task: put the t block in the puzzle
- Homepage: https://github.com/murobotics-ai/handumi-sw
- Paper: [More Information Needed]
- License: other
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "handumi_raw",
"total_episodes": 40,
"total_frames": 10469,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:40"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
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},
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},
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},
"handumi": {
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"container": "wav",
"encoding": "pcm_s16le",
"sample_width_bytes": 2,
"episode_aligned": true,
"frame_aligned": true,
"timestamp_clock": "pc_monotonic",
"sample_index_origin": "episode_start_time_ns"
},
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"camera_resolution": [
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"tracking_loss_timeout_s": 1.0,
"tracking_schema": "controller_raw_compact",
"tracking_workspace": "table",
"state_semantics": "workspace_controller_pose7_plus_gripper_widths",
"capture_schema": "synchronized_sources",
"sync_lag_s": 0.04,
"max_sync_skew_s": 0.06,
"camera_stale_timeout_s": 0.25,
"gripper_stale_timeout_s": 0.1,
"sensor_loss_timeout_s": 1.0,
"feetech_sample_hz": 100.0,
"cameras": [
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},
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},
"arms": {
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"pico": "configs/calibration/controller_tcp/pico.yaml"
},
"ik_weights": {
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"home_tolerance_deg": 3,
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"speed_percent": 80,
"gripper_effort": 1000
}
}
}
}
}
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