Datasets:
201 episodes · 30 fps · 3 cameras · 672×376 h264
This dataset was created using LeRobot.
Dataset Description
HandUMI dataset merged locally from 3 recording sessions: local/tblock, local/tblock3_clean, local/tblock4_clean. Tasks: 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": 201,
"total_frames": 53834,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:201"
},
"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": {
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.workspace": {
"dtype": "video",
"shape": [
376,
672,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 376,
"video.width": 672,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_x",
"left_y",
"left_z",
"left_qx",
"left_qy",
"left_qz",
"left_qw",
"right_x",
"right_y",
"right_z",
"right_qx",
"right_qy",
"right_qz",
"right_qw",
"left_gripper_width",
"right_gripper_width"
]
},
"action": {
"dtype": "float32",
"shape": [
16
],
"names": [
"left_x",
"left_y",
"left_z",
"left_qx",
"left_qy",
"left_qz",
"left_qw",
"right_x",
"right_y",
"right_z",
"right_qx",
"right_qy",
"right_qz",
"right_qw",
"left_gripper_width",
"right_gripper_width"
]
},
"observation.feetech.left_ticks": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.feetech.left_width_mm": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.feetech.left_normalized": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.feetech.right_ticks": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.feetech.right_width_mm": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.feetech.right_normalized": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"observation.feetech.sample_time_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.feetech.sequence": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.feetech.healthy": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.tracking.left_device_controller_pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"observation.tracking.left_tracked": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.tracking.right_device_controller_pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"observation.tracking.right_tracked": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.tracking.device_hmd_pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"observation.tracking.workspace_from_device_pose": {
"dtype": "float32",
"shape": [
7
],
"names": [
"x",
"y",
"z",
"qx",
"qy",
"qz",
"qw"
]
},
"observation.tracking.device_time_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.tracking.pc_monotonic_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.tracking.aligned_time_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.tracking.sequence": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.valid": {
"dtype": "int64",
"shape": [
8
],
"names": [
"left_device_tracked",
"left_pose_valid",
"right_device_tracked",
"right_pose_valid",
"hmd_tracked",
"clock_synced",
"connected",
"streaming"
]
},
"observation.sync.target_time_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.sync.record_time_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.camera.left_wrist.sample_time_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.camera.left_wrist.sequence": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.camera.left_wrist.healthy": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.camera.right_wrist.sample_time_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.camera.right_wrist.sequence": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.camera.right_wrist.healthy": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.camera.workspace.sample_time_ns": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.camera.workspace.sequence": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"observation.camera.workspace.healthy": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
},
"handumi": {
"audio": {
"enabled": false,
"key": "observation.audio",
"path": "audio/{audio_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.wav",
"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"
},
"camera_fps": 30,
"camera_resolution": [
376,
1344
],
"camera_stale_timeout_s": 0.25,
"capture_schema": "synchronized_sources",
"controller_tcp_calibration": {
"schema_version": 2,
"source_path": "configs/calibration/controller_tcp/pico.yaml",
"sha256": "bc7f91fe00e19a657696b8f4a20eb65a281cd22a41332d65f28b41db71152eb0",
"applied_to_state": false,
"frame_convention": "pose7=[x,y,z,qx,qy,qz,qw], meters, xyzw quaternion",
"controller_to_gripper_tcp": {
"left": {
"position": [
0.11120329797267914,
-0.18318161368370056,
-0.05264820158481598
],
"quaternion": [
0.5149461627006531,
-0.039195578545331955,
0.00036387675208970904,
-0.8563258647918701
]
},
"right": {
"position": [
-0.11341612040996552,
-0.18593284487724304,
-0.03647836670279503
],
"quaternion": [
0.40989723801612854,
-0.476044625043869,
0.3014245927333832,
-0.7172929048538208
]
}
},
"source_robot": "piper",
"source_gripper": "ARX5_beta",
"tracking_device": "pico",
"controller_mount": "handumi_v1"
},
"feetech_sample_hz": 100.0,
"gripper_stale_timeout_s": 0.1,
"max_sync_skew_s": 0.06,
"recording_device": "pico",
"sensor_loss_timeout_s": 1.0,
"sources": {
"tracking": {
"enabled": true
},
"feetech": {
"enabled": true
},
"audio": {
"enabled": false
},
"cameras": {
"left_wrist": {
"enabled": true
},
"right_wrist": {
"enabled": true
},
"workspace": {
"enabled": true
}
}
},
"state_semantics": "workspace_controller_pose7_plus_gripper_widths",
"sync_lag_s": 0.04,
"target_robot": {
"name": "piper",
"config_path": "configs/robots/piper.yaml",
"sha256": "39275da04fc730a868edc1e17a9d8520eab392c39e7f032ee6f05b23d46e68d4",
"configuration": {
"kind": "piper",
"urdf": "assets/piper/piper.urdf",
"mjcf": "assets/piper/piper.xml",
"pkg_root": "assets/piper",
"mjcf_joint_prefix_map": {
"left_": "izq_",
"right_": "der_"
},
"arms": {
"left": {
"ee_link": "left_tcp",
"joint_names": [
"left_joint1",
"left_joint2",
"left_joint3",
"left_joint4",
"left_joint5",
"left_joint6",
"left_joint7"
],
"gripper_joints": [
{
"name": "left_joint7",
"open": 0.035
}
]
},
"right": {
"ee_link": "right_tcp",
"joint_names": [
"right_joint1",
"right_joint2",
"right_joint3",
"right_joint4",
"right_joint5",
"right_joint6",
"right_joint7"
],
"gripper_joints": [
{
"name": "right_joint7",
"open": 0.035
}
]
}
},
"home_q": [
0.0,
0.0,
0.0,
0.0,
0.2617994,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.4363323,
0.0,
0.0
],
"gripper_max_width_m": 0.066,
"handumi_tool": {
"gripper": "ARX5_beta",
"controller_mount": "handumi_v1"
},
"controller_tcp_calibrations": {
"meta": "configs/calibration/controller_tcp/meta_ARX5_beta.yaml",
"pico": "configs/calibration/controller_tcp/pico.yaml"
},
"ik_weights": {
"pos": 125.0,
"ori": 20.0,
"rest": 20.0,
"max_joint_delta": 0.03490659,
"max_reach": 0.7
},
"real": {
"backend": "piper_can",
"command_rate_hz": 100,
"max_joint_speed_deg_s": 180,
"max_joint_acceleration_deg_s2": 720,
"home_max_joint_speed_deg_s": 20,
"home_timeout_s": 30,
"home_tolerance_deg": 3,
"startup_speed_percent": 10,
"speed_percent": 80,
"gripper_effort": 1000
}
}
},
"tracking_loss_timeout_s": 1.0,
"tracking_schema": "controller_raw_compact",
"tracking_workspace": "table",
"merge": {
"schema_version": 1,
"sources": [
{
"repo_id": "local/tblock",
"total_episodes": 40,
"total_frames": 10469,
"output_episode_range": [
0,
40
]
},
{
"repo_id": "local/tblock3_clean",
"total_episodes": 44,
"total_frames": 11038,
"output_episode_range": [
40,
84
]
},
{
"repo_id": "local/tblock4_clean",
"total_episodes": 117,
"total_frames": 32327,
"output_episode_range": [
84,
201
]
}
],
"unified_task": "put the t block in the puzzle",
"source_tasks": [
"put the t block in the puzzle",
"put the t in the puzzle"
]
}
}
}
Citation
BibTeX:
[More Information Needed]
- Downloads last month
- 142