murobotics/tblock-all-piper-clean-v5-bi_piper_follower
This dataset was created using LeRobot. Dataset Description Joint-level bimanual piper dataset derived from local/tblock-all-piper-clean-v5. The state is the LeRobot bi_piper_follower follower vector (left_shoulder_pan.pos, left_shoulder_lift.pos, left_elbow_flex.pos, ...) in that plugin's own units, so it trains and deploys through its stack unchanged. observation.state[t] contains the command at t and action[t] contains the command at t+1. Homepage:… See the full description on the dataset page: https://huggingface.co/datasets/murobotics/tblock-all-piper-clean-v5-bi_piper_follower.
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This dataset was created using LeRobot.
<a class="flex" href="https://huggingface.co/spaces/lerobot/visualizedataset?path=murobotics/tblock-all-piper-clean-v5-bipiper_follower"> <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
Joint-level bimanual piper dataset derived from local/tblock-all-piper-clean-v5. The state is the LeRobot bipiperfollower follower vector (leftshoulderpan.pos, leftshoulderlift.pos, leftelbowflex.pos, ...) in that plugin's own units, so it trains and deploys through its stack unchanged. observation.state[t] contains the command at t and action[t] contains the command at t+1.
- 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": "bi_piper_follower",
"total_episodes": 176,
"total_frames": 47539,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"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": {
"action": {
"dtype": "float32",
"shape": [
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],
"names": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_forearm_roll.pos",
"left_wrist_flex.pos",
"left_wrist_roll.pos",
"left_gripper.pos",
"right_shoulder_pan.pos",
"right_shoulder_lift.pos",
"right_elbow_flex.pos",
"right_forearm_roll.pos",
"right_wrist_flex.pos",
"right_wrist_roll.pos",
"right_gripper.pos"
]
},
"observation.state": {
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],
"names": [
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"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_forearm_roll.pos",
"left_wrist_flex.pos",
"left_wrist_roll.pos",
"left_gripper.pos",
"right_shoulder_pan.pos",
"right_shoulder_lift.pos",
"right_elbow_flex.pos",
"right_forearm_roll.pos",
"right_wrist_flex.pos",
"right_wrist_roll.pos",
"right_gripper.pos"
]
},
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"video.codec": "h264",
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},
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"mjcf_joint_prefix_map": {
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},
"arms": {
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"pico": "configs/calibration/controller_tcp/pico_piper_beta.yaml"
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"max_rotation_error_deg": 39.42055130004883,
"initial_solve_iterations": 1,
"gripper_source": "recorded Feetech normalized"
},
{
"source_episode_index": 173,
"qpos_sha256": "ceb37740367acdc28bb9dd449853401c149c2212c8cd8406596a90751806c706",
"output_state_sha256": "dd2e84fb288bc91975c86a3664b3e63c3792365ff914af4cb320e8af12fdbf0f",
"frames": 251,
"retarget_mode": "absolute-table",
"max_position_error_m": 0.0026446525007486343,
"max_rotation_error_deg": 39.60293960571289,
"initial_solve_iterations": 1,
"gripper_source": "recorded Feetech normalized"
},
{
"source_episode_index": 174,
"qpos_sha256": "d00c009d4679d062fe57c6ca30b12cc604b27765c2968e19fe18f1bd85be0384",
"output_state_sha256": "e1c3cfbe2331122a5352208e994b04506fb67a830258803dfb462bc0f7ef064e",
"frames": 216,
"retarget_mode": "absolute-table",
"max_position_error_m": 0.002592419506981969,
"max_rotation_error_deg": 38.0150032043457,
"initial_solve_iterations": 1,
"gripper_source": "recorded Feetech normalized"
},
{
"source_episode_index": 175,
"qpos_sha256": "3a4e91d62f167f536764aca28d1e9b632fab173b85e2ea1b37ca4ed3ea618746",
"output_state_sha256": "c4f2704b11a2fd71efd498d61379ff6faa300cb73db4ea57e95ee5359512c5e6",
"frames": 339,
"retarget_mode": "absolute-table",
"max_position_error_m": 0.002461165888234973,
"max_rotation_error_deg": 37.67607498168945,
"initial_solve_iterations": 1,
"gripper_source": "recorded Feetech normalized"
}
],
"controller_device": "pico",
"raw_controller_debug": false,
"quality_filter_enabled": true,
"quality_source_accepted": 176,
"quality_source_rejected": 0,
"converted_source_episodes": 176,
"source_state_semantics": "workspace_controller_pose7_plus_gripper_widths",
"derived_dataset": true,
"joint_names": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_forearm_roll.pos",
"left_wrist_flex.pos",
"left_wrist_roll.pos",
"left_gripper.pos",
"right_shoulder_pan.pos",
"right_shoulder_lift.pos",
"right_elbow_flex.pos",
"right_forearm_roll.pos",
"right_wrist_flex.pos",
"right_wrist_roll.pos",
"right_gripper.pos"
],
"export": {
"schema_version": 2,
"layout": "lerobot_bi_piper_follower",
"robot_type": "bi_piper_follower",
"robot": "piper",
"source": "XHUMAN xhuman/robots/piper/piper_sdk_interface.py (DEFAULT_JOINT_LIMITS, JOINT_SIGNS, get_status/set_joint_positions) and xhuman/robots/bi_piper_follower/bi_piper_follower.py (JOINT_NAMES)",
"names": [
"left_shoulder_pan.pos",
"left_shoulder_lift.pos",
"left_elbow_flex.pos",
"left_forearm_roll.pos",
"left_wrist_flex.pos",
"left_wrist_roll.pos",
"left_gripper.pos",
"right_shoulder_pan.pos",
"right_shoulder_lift.pos",
"right_elbow_flex.pos",
"right_forearm_roll.pos",
"right_wrist_flex.pos",
"right_wrist_roll.pos",
"right_gripper.pos"
],
"columns": {
"left_shoulder_pan.pos": {
"mode": "range_m100_100",
"sign": -1,
"lower_rad": -2.6179938779914944,
"upper_rad": 2.6179938779914944,
"closed_rad": null,
"open_rad": null
},
"left_shoulder_lift.pos": {
"mode": "range_m100_100",
"sign": 1,
"lower_rad": 0.0,
"upper_rad": 3.141592653589793,
"closed_rad": null,
"open_rad": null
},
"left_elbow_flex.pos": {
"mode": "range_m100_100",
"sign": 1,
"lower_rad": -2.9670597283903604,
"upper_rad": 0.0,
"closed_rad": null,
"open_rad": null
},
"left_forearm_roll.pos": {
"mode": "range_m100_100",
"sign": -1,
"lower_rad": -1.7453292519943295,
"upper_rad": 1.7453292519943295,
"closed_rad": null,
"open_rad": null
},
"left_wrist_flex.pos": {
"mode": "range_m100_100",
"sign": 1,
"lower_rad": -1.2217304763960306,
"upper_rad": 1.2217304763960306,
"closed_rad": null,
"open_rad": null
},
"left_wrist_roll.pos": {
"mode": "range_m100_100",
"sign": -1,
"lower_rad": -2.0943951023931953,
"upper_rad": 2.0943951023931953,
"closed_rad": null,
"open_rad": null
},
"left_gripper.pos": {
"mode": "range_0_100",
"sign": 1,
"lower_rad": null,
"upper_rad": null,
"closed_rad": null,
"open_rad": null
},
"right_shoulder_pan.pos": {
"mode": "range_m100_100",
"sign": -1,
"lower_rad": -2.6179938779914944,
"upper_rad": 2.6179938779914944,
"closed_rad": null,
"open_rad": null
},
"right_shoulder_lift.pos": {
"mode": "range_m100_100",
"sign": 1,
"lower_rad": 0.0,
"upper_rad": 3.141592653589793,
"closed_rad": null,
"open_rad": null
},
"right_elbow_flex.pos": {
"mode": "range_m100_100",
"sign": 1,
"lower_rad": -2.9670597283903604,
"upper_rad": 0.0,
"closed_rad": null,
"open_rad": null
},
"right_forearm_roll.pos": {
"mode": "range_m100_100",
"sign": -1,
"lower_rad": -1.7453292519943295,
"upper_rad": 1.7453292519943295,
"closed_rad": null,
"open_rad": null
},
"right_wrist_flex.pos": {
"mode": "range_m100_100",
"sign": 1,
"lower_rad": -1.2217304763960306,
"upper_rad": 1.2217304763960306,
"closed_rad": null,
"open_rad": null
},
"right_wrist_roll.pos": {
"mode": "range_m100_100",
"sign": -1,
"lower_rad": -2.0943951023931953,
"upper_rad": 2.0943951023931953,
"closed_rad": null,
"open_rad": null
},
"right_gripper.pos": {
"mode": "range_0_100",
"sign": 1,
"lower_rad": null,
"upper_rad": null,
"closed_rad": null,
"open_rad": null
}
},
"assumptions": [
"Firmware joint limits equal DEFAULT_JOINT_LIMITS; the plugin queries them from the arm at connect time and does not store them in the dataset.",
"Gripper 0..100 spans the embodiment's full opening; the plugin's per-machine gripper calibration (closed/open micrometers) is not part of the dataset."
],
"use_degrees": false,
"degrees_option": "never",
"source_repo_id": "local/tblock-all-piper-clean-v5",
"source_state_layout": "yaml_arm_joints_plus_logical_gripper_width_m",
"source_robot_type": "piper",
"gripper_fraction": "width_m / gripper_max_width_m",
"gripper_max_width_m": 0.066,
"camera_map": {
"left_wrist": "left",
"workspace": "top",
"right_wrist": "right"
},
"dropped_columns": [
"calibration_id",
"source_kind"
],
"clipping": {
"tolerance_rad": 0.002,
"clipped_values": {
"action/left_elbow_flex.pos": 486,
"action/right_elbow_flex.pos": 79,
"action/right_shoulder_lift.pos": 2,
"observation.state/left_elbow_flex.pos": 484,
"observation.state/right_elbow_flex.pos": 79,
"observation.state/right_shoulder_lift.pos": 2
},
"max_overshoot_rad": 0.00013084110435559296,
"remaining_out_of_range": {},
"why": "The IK solver's soft joint-limit constraint settles microradians past a limit; a driver with a hard accepted range rejects any value outside it instead of clipping, which would freeze the robot."
},
"state_semantics": "IK command replayed from the robot-agnostic capture; not measured follower feedback."
}
}
}Citation
BibTeX:
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