NONHUMAN-RESEARCH/tblock4
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 meta/info.json: { "codebase_version": "v3.0", "robot_type": "handumi_raw", "total_episodes": 122, "total_frames": 32817, "total_tasks": 1, "chunks_size":… See the full description on the dataset page: https://huggingface.co/datasets/NONHUMAN-RESEARCH/tblock4.
1246
This dataset was created using LeRobot.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=local/tblock4"> <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: put the t block in the puzzle
- Homepage: https://github.com/murobotics-ai/handumi-sw
- Paper: [More Information Needed]
- License: other
Dataset Structure
meta/info.json:
{
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"robot_type": "handumi_raw",
"total_episodes": 122,
"total_frames": 32817,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"fps": 30,
"splits": {
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},
"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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"video.codec": "h264",
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},
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},
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"container": "wav",
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"timestamp_clock": "pc_monotonic",
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},
"camera_fps": 30,
"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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"type": "opencv",
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"feetech": {
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"applied_to_state": false,
"frame_convention": "pose7=[x,y,z,qx,qy,qz,qw], meters, xyzw quaternion",
"controller_to_gripper_tcp": {
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"spatial_calibration_sha256": "3624fcfe458e5d6ddd7f17abf8c0de3b63981da9cd5ee392fb2ca4cc94ace708",
"board": {
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},
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"mjcf_joint_prefix_map": {
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},
"arms": {
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},
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},
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"handumi_tool": {
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},
"controller_tcp_calibrations": {
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"pico": "configs/calibration/controller_tcp/pico.yaml"
},
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"home_tolerance_deg": 3,
"startup_speed_percent": 10,
"speed_percent": 80,
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}
}
}
}Citation
BibTeX:
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