Datasets:
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observation.state listlengths 14 14 | action listlengths 14 14 | timestamp float32 0 24.5 | frame_index int64 0 735 | episode_index int64 0 193 | index int64 0 51.8k | task_index int64 0 0 | calibration_id int64 0 0 | source_kind int64 0 0 |
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End of preview. Expand in Data Studio
This dataset was created using LeRobot.
Dataset Description
Joint-level bimanual piper dataset derived from local/tblock-all-piper-clean. Each side stores YAML-declared arm joints in radians and, when present, one physical gripper opening in meters. 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
Six episodes the screening rejected are included
handumi convert normally refuses episodes its screening report rejected. These
six were kept deliberately, with --allow-flagged-episodes, after measuring what
the rejection is about.
| episode | frames | position error p99 | max | frames over 1 cm |
|---|---|---|---|---|
| 44 | 219 | 6.02 cm | 8.74 cm | 9 |
| 45 | 409 | 3.59 cm | 8.99 cm | 24 |
| 47 | 217 | 5.26 cm | 7.38 cm | 9 |
| 49 | 264 | 5.40 cm | 8.57 cm | 13 |
| 51 | 139 | 13.24 cm | 17.47 cm | 41 |
| 52 | 119 | 13.57 cm | 15.65 cm | 12 |
The gate rejects on the 99th percentile exceeding a 3 cm ceiling, which is the right rule: it separates an arm that cannot follow a trajectory from one that spikes for a frame. These six exceed it.
What the rejection is not is a reachability failure for most of that error.
The joint step at every one of those peaks is exactly 0.35 rad, the
replay.max_joint_delta rate cap in configs/robots/piper.yaml: the solver
clamps during a fast segment, the arm falls behind its target for five to nine
frames, and then catches up. Re-screening at twice and three times that cap
roughly halves the error -- episode 51 goes from 13.24 cm to 5.67 cm at p99 --
and then stops improving, so a residual of 3.5 to 5.7 cm is genuine: on those
trajectories the Piper does not reach.
Raising the cap was rejected as a remedy. It is a global constant chosen to match every other embodiment, and changing it to accommodate six episodes would alter the joints written for all 194.
The trade this dataset takes: about 60 frames out of 51,757 -- 0.1% -- carry joints that lag the demonstration, against 1,500 frames lost by removing the episodes. The excursions last 0.17 to 0.30 s each and are invisible at playback speed. They fall in the final approach, before the gripper releases, which is where precision matters most; that is the argument for the other choice, and it is the reason this is written down rather than left to the report.
The joints themselves are self-consistent: observation.state[t] is the command
at t and action[t] the command at t+1, so they describe what the arm would
actually do. The inconsistency is between those joints and the wrist and context
video, which show the operator's tool where the demonstration put it.
Per-episode numbers are in the source dataset's
meta/handumi_screening_piper.json. Episode indices above are this dataset's own.
Provenance
Converted from
murobotics/tblock-all-piper-clean,
itself curated from
murobotics/tblock-all,
a merge of three recording sessions. Earlier stages removed seven episodes whose
retargeted trajectory intersects the arm with itself, and eleven that undo the
task rather than perform it. Those chains are documented in each dataset.
Frame count differs from the source by exactly one frame per episode (51,951 - 194 = 51,757): conversion pairs each state with the next command, so the last frame of an episode has no action to pair with.
Scope
Joint targets are specific to the Piper and to the table placement recorded in
meta/calibrations. Retargeting the same demonstrations to another arm starts
from murobotics/tblock-all, which holds the operator poses and nothing
robot-specific.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "piper",
"total_episodes": 194,
"total_frames": 51757,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:194"
},
"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": [
14
],
"names": [
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_gripper.width_m",
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_gripper.width_m"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_joint1.pos",
"left_joint2.pos",
"left_joint3.pos",
"left_joint4.pos",
"left_joint5.pos",
"left_joint6.pos",
"left_gripper.width_m",
"right_joint1.pos",
"right_joint2.pos",
"right_joint3.pos",
"right_joint4.pos",
"right_joint5.pos",
"right_joint6.pos",
"right_gripper.width_m"
]
},
"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
}
},
"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
},
"calibration_id": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"source_kind": {
"dtype": "int64",
"shape": [
1
],
"names": [
"converted=0, teleop=1, unknown=-1"
]
}
},
"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": true,
"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"
]
},
"curation": {
"schema_version": 1,
"source_dataset": "local/tblock-all",
"source_total_episodes": 201,
"source_total_frames": 53834,
"analysis_report": "handumi_analysis.json",
"removed_source_episode_indices": [
50,
52,
53,
55,
56,
58,
64
],
"removed_automatically": [],
"removed_by_reviewer": [
50,
52,
53,
55,
56,
58,
64
],
"removed_frames": 1883
},
"conversion_source": "observation.state",
"retarget_mode": "absolute-table",
"compose_source": "commanded",
"translation_scale": 1.0,
"replay_qpos_parity": false,
"replay_arm_qpos_parity": true,
"state_layout": "yaml_arm_joints_plus_logical_gripper_width_m",
"gripper_representation": {
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"unit": "m",
"max_width_m": 0.066,
"source": "recorded Feetech normalized"
},
"deployment_calibration": {
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"path": "configs/calibration/table/sim/piper.yaml",
"profile": "sim",
"scope": "simulation",
"source": "configured_layout",
"verified": false,
"lab": null,
"sha256": "370f77da0c8bd33100675cc580a45fcb92c1dd464526ef322f632533f9771ea7"
},
"absolute_orientation": "relative-start",
"initial_solve_iterations": 12,
"initial_position_tolerance_m": 0.01,
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"max_rotation_error_deg": 19.783185958862305,
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},
{
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"gripper_source": "recorded Feetech normalized"
},
{
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"qpos_sha256": "d39ebf9bd2c0cd4cae72040953b38ed06715d61b67dff0106dc4c311260fe2e2",
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}
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