NONHUMAN-RESEARCH/pick_screws_handumi
This dataset was created using LeRobot. Dataset Description Bimanual HandUMI demonstration data recorded in LeRobot v3 format. Task: pick the screws and place them in the controller Homepage: https://github.com/leoperezz/handumi-sw Paper: [More Information Needed] License: other Dataset Structure meta/info.json: { "codebase_version": "v3.0", "robot_type": "handumi_raw", "total_episodes": 1, "total_frames": 952, "total_tasks": 1… See the full description on the dataset page: https://huggingface.co/datasets/NONHUMAN-RESEARCH/pick_screws_handumi.
030
This dataset was created using LeRobot.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualizedataset?path=NONHUMAN-RESEARCH/pickscrews_handumi"> <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/> <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/> </a>
Dataset Description
Bimanual HandUMI demonstration data recorded in LeRobot v3 format. Task: pick the screws and place them in the controller
- Homepage: https://github.com/leoperezz/handumi-sw
- Paper: [More Information Needed]
- License: other
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "handumi_raw",
"total_episodes": 1,
"total_frames": 952,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
"train": "0:1"
},
"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": [
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.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": {
"recording_device": "meta",
"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,
"cameras": [
{
"name": "left_wrist",
"index_or_path": 2
},
{
"name": "right_wrist",
"index_or_path": 4
},
{
"name": "workspace",
"index_or_path": 6
}
],
"sources": {
"tracking": {
"enabled": true
},
"feetech": {
"enabled": true
},
"cameras": {
"left_wrist": {
"enabled": true
},
"right_wrist": {
"enabled": true
},
"workspace": {
"enabled": true
}
}
},
"controller_tcp_calibration": {
"schema_version": 2,
"source_path": "configs/calibration/meta_controller_tcp.yaml",
"sha256": "d4563193a5ef67142446fe411310d8cc855a58c6ec747c0c438947ceb13a992b",
"applied_to_state": false,
"frame_convention": "pose7=[x,y,z,qx,qy,qz,qw], meters, xyzw quaternion",
"controller_to_gripper_tcp": {
"left": {
"position": [
0.1206846684217453,
0.02142488956451416,
-0.21669615805149078
],
"quaternion": [
-0.14639034867286682,
0.3535766899585724,
-0.3535766899585724,
0.853543758392334
]
},
"right": {
"position": [
0.1206846684217453,
-0.02142488956451416,
-0.21669615805149078
],
"quaternion": [
0.14639034867286682,
0.3535766899585724,
0.3535766899585724,
0.853543758392334
]
}
},
"source_robot": "piper",
"source_gripper": "piper_parallel_v1",
"tracking_device": "meta",
"controller_mount": "handumi_v1"
},
"spatial_session_calibration": {
"path": "outputs/calibration/session.yaml",
"sha256": "09e920be647bf92da2c0a158f2b019579e8c015d763ad812b61a3a75c795c068",
"configuration": {
"schema_version": 1,
"kind": "handumi_session_calibration",
"created_at": "2026-07-14T04:45:39.581780+00:00",
"spatial_calibration_path": "outputs/calibration/spatial.yaml",
"spatial_calibration_sha256": "89f8cabb7f7ec31dbea8620d196a803fd56ca88cea13686a4c958228e3167621",
"board": {
"id": "opencv_charuco_5x7_30mm_v1",
"squares_x": 5,
"squares_y": 7,
"dictionary": "DICT_5X5_100",
"square_length_m": 0.03,
"marker_length_m": 0.015,
"legacy_pattern": false
},
"source_side": "left",
"table_from_quest": {
"translation_m": [
-0.02420470491051674,
-0.7521589994430542,
-0.8449586629867554
],
"quaternion_xyzw": [
0.007222320418804884,
0.0020445450209081173,
0.6720944046974182,
0.7404274344444275
]
},
"table_from_camera": {
"workspace": {
"pose": {
"translation_m": [
-8.916854858398438e-05,
-0.3145565688610077,
0.41890662908554077
],
"quaternion_xyzw": [
0.9245845675468445,
0.00928518921136856,
0.05316459387540817,
-0.377134770154953
]
},
"metrics": {
"views": 3.0,
"translation_rms_mm": 2.53015281376644,
"translation_max_mm": 4.184964954279148,
"rotation_rms_deg": 0.3627909248299121,
"rotation_max_deg": 0.44653758126062176
}
}
},
"metrics": {
"views": 5.0,
"translation_rms_mm": 5.479072202187561,
"translation_max_mm": 9.280914452080918,
"rotation_rms_deg": 1.8981481501882675,
"rotation_max_deg": 3.1554810876450623
}
},
"spatial_calibration_path": "outputs/calibration/spatial.yaml",
"spatial_calibration_sha256": "89f8cabb7f7ec31dbea8620d196a803fd56ca88cea13686a4c958228e3167621",
"spatial_calibration": {
"schema_version": 1,
"kind": "handumi_spatial_calibration",
"created_at": "2026-07-12T22:46:09.381859+00:00",
"board": {
"id": "opencv_charuco_5x7_30mm_v1",
"squares_x": 5,
"squares_y": 7,
"dictionary": "DICT_5X5_100",
"square_length_m": 0.03,
"marker_length_m": 0.015,
"legacy_pattern": false
},
"cameras": {
"left_wrist": {
"camera": "left_wrist",
"resolution": [
640,
480
],
"model": "fisheye",
"matrix": [
[
388.80289771412805,
0.0,
337.76737941524334
],
[
0.0,
388.0645012674966,
264.94413133061363
],
[
0.0,
0.0,
1.0
]
],
"distortion": [
-0.029041808221208807,
-0.013275781217736898,
0.0,
0.0
],
"rms_px": 0.23757182225439777,
"mean_error_px": 0.19450781640357798,
"views": 10,
"index_or_path": 2,
"captured_at": "2026-07-14T04:17:47.789773+00:00"
},
"right_wrist": {
"camera": "right_wrist",
"resolution": [
640,
480
],
"model": "fisheye",
"matrix": [
[
391.98561543471266,
0.0,
294.81355389361386
],
[
0.0,
391.0235308213774,
237.7924979583497
],
[
0.0,
0.0,
1.0
]
],
"distortion": [
-0.025455442426898785,
-0.014304861022329845,
0.0,
0.0
],
"rms_px": 0.24553536025183328,
"mean_error_px": 0.20733128546818347,
"views": 10,
"index_or_path": 4,
"captured_at": "2026-07-14T04:18:42.784602+00:00"
},
"workspace": {
"camera": "workspace",
"resolution": [
640,
480
],
"model": "pinhole",
"matrix": [
[
975.7294346999736,
0.0,
377.516313466701
],
[
0.0,
952.8539263103206,
194.1058347773533
],
[
0.0,
0.0,
1.0
]
],
"distortion": [
0.13754040445007923,
-0.5106736694639015,
-0.007630496145774162,
0.012770866762302754,
1.956096660645113
],
"rms_px": 0.3377961545808599,
"mean_error_px": 0.2733900492068482,
"views": 10,
"index_or_path": 6,
"captured_at": "2026-07-14T04:42:21.469545+00:00"
}
},
"controller_camera": {
"left": {
"camera": "left_wrist",
"controller_from_camera": {
"translation_m": [
0.13155609369277954,
0.014943020418286324,
-0.09479737281799316
],
"quaternion_xyzw": [
0.7100110054016113,
-0.7030481100082397,
-0.03265707939863205,
0.023265307769179344
]
},
"metrics": {
"views": 8.0,
"translation_rms_mm": 4.4565964359385735,
"translation_max_mm": 6.855930134625388,
"rotation_rms_deg": 1.295146270986115,
"rotation_max_deg": 2.294990382162143
},
"captured_at": "2026-07-14T04:43:37.838965+00:00"
},
"right": {
"camera": "right_wrist",
"controller_from_camera": {
"translation_m": [
0.11901846528053284,
-0.012170817703008652,
-0.09002821892499924
],
"quaternion_xyzw": [
0.7078767418861389,
-0.7045761346817017,
0.03508257865905762,
0.035385362803936005
]
},
"metrics": {
"views": 8.0,
"translation_rms_mm": 3.603625722352914,
"translation_max_mm": 5.50154219384899,
"rotation_rms_deg": 0.9408779083054675,
"rotation_max_deg": 1.6022016899237623
},
"captured_at": "2026-07-14T04:44:42.000458+00:00"
}
}
},
"created_at": "2026-07-14T04:45:39.581780+00:00",
"board_id": "opencv_charuco_5x7_30mm_v1",
"workspace_frame": "table",
"table_from_quest": {
"translation_m": [
-0.02420470491051674,
-0.7521589994430542,
-0.8449586629867554
],
"quaternion_xyzw": [
0.007222320418804884,
0.0020445450209081173,
0.6720944046974182,
0.7404274344444275
]
},
"metrics": {
"views": 5.0,
"translation_rms_mm": 5.479072202187561,
"translation_max_mm": 9.280914452080918,
"rotation_rms_deg": 1.8981481501882675,
"rotation_max_deg": 3.1554810876450623
}
},
"target_robot": {
"name": "piper",
"config_path": "configs/robots/piper.yaml",
"sha256": "32bd435f65d00ec06eac211c67a4b2a18749ab46e3f131770947d0940314c142",
"configuration": {
"kind": "piper",
"urdf": "assets/piper/piper.urdf",
"mjcf": "assets/piper/piper.xml",
"pkg_root": "assets/piper",
"ee_links": {
"left": "left_tcp",
"right": "right_tcp"
},
"home_q": [
0.0,
0.0,
0.0,
0.0,
0.4363323,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.4363323,
0.0,
0.0,
0.0
],
"gripper_max_width_m": 0.066,
"handumi_tool": {
"gripper": "piper_parallel_v1",
"controller_mount": "handumi_v1"
},
"controller_tcp_calibrations": {
"meta": "configs/calibration/meta_controller_tcp.yaml"
},
"ik_weights": {
"pos": 100.0,
"ori": 4.5,
"rest": 12.0,
"max_joint_delta": 0.06981317,
"max_reach": 0.45
},
"real": {
"command_rate_hz": 100,
"max_joint_speed_deg_s": 180,
"home_max_joint_speed_deg_s": 20,
"home_timeout_s": 30,
"home_tolerance_deg": 3,
"speed_percent": 80,
"gripper_effort": 1000
}
}
}
}
}Citation
BibTeX:
[More Information Needed]