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pico-dataset-tcp-01

Tags:
robotics
imitation-learning
handumi
pico
xrobotoolkit
umi
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The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
format: string
fps: int64
task: string
episodes: list<item: struct<episode_index: int64, path: string, frames: int64, metadata: string, data: string> (... 1 chars omitted)
  child 0, item: struct<episode_index: int64, path: string, frames: int64, metadata: string, data: string>
      child 0, episode_index: int64
      child 1, path: string
      child 2, frames: int64
      child 3, metadata: string
      child 4, data: string
raw_controller_columns: list<item: string>
  child 0, item: string
controls: string
episode_index: int64
offsets: struct<left_controller_to_hand_root: list<item: double>, right_controller_to_hand_root: list<item: d (... 100 chars omitted)
  child 0, left_controller_to_hand_root: list<item: double>
      child 0, item: double
  child 1, right_controller_to_hand_root: list<item: double>
      child 0, item: double
  child 2, left_hand_root_to_camera: list<item: double>
      child 0, item: double
  child 3, right_hand_root_to_camera: list<item: double>
      child 0, item: double
pose_convention: string
pose_vector: list<item: string>
  child 0, item: string
controller_to_hand_root_source: string
relative_definition: string
ee_tcp_columns: list<item: string>
  child 0, item: string
frame_count: int64
cameras: list<item: struct<name: string, index: int64>>
  child 0, item: struct<name: string, index: int64>
      child 0, name: string
      child 1, index: int64
to
{'format': Value('string'), 'episode_index': Value('int64'), 'task': Value('string'), 'fps': Value('int64'), 'frame_count': Value('int64'), 'pose_vector': List(Value('string')), 'pose_convention': Value('string'), 'relative_definition': Value('string'), 'controller_to_hand_root_source': Value('string'), 'raw_controller_columns': List(Value('string')), 'ee_tcp_columns': List(Value('string')), 'offsets': {'left_controller_to_hand_root': List(Value('float64')), 'right_controller_to_hand_root': List(Value('float64')), 'left_hand_root_to_camera': List(Value('float64')), 'right_hand_root_to_camera': List(Value('float64'))}, 'cameras': List({'name': Value('string'), 'index': Value('int64')}), 'controls': Value('string')}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 147, in get_rows_or_raise
                  return get_rows(
                      dataset=dataset,
                  ...<4 lines>...
                      column_names=column_names,
                  )
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                File "/src/services/worker/src/worker/utils.py", line 127, in get_rows
                  rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
                File "/src/services/worker/src/worker/utils.py", line 478, in safe_iter
                  yield from ds.decode(False) if ds.features else ds
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2818, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2355, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2380, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 536, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2369, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2297, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              format: string
              fps: int64
              task: string
              episodes: list<item: struct<episode_index: int64, path: string, frames: int64, metadata: string, data: string> (... 1 chars omitted)
                child 0, item: struct<episode_index: int64, path: string, frames: int64, metadata: string, data: string>
                    child 0, episode_index: int64
                    child 1, path: string
                    child 2, frames: int64
                    child 3, metadata: string
                    child 4, data: string
              raw_controller_columns: list<item: string>
                child 0, item: string
              controls: string
              episode_index: int64
              offsets: struct<left_controller_to_hand_root: list<item: double>, right_controller_to_hand_root: list<item: d (... 100 chars omitted)
                child 0, left_controller_to_hand_root: list<item: double>
                    child 0, item: double
                child 1, right_controller_to_hand_root: list<item: double>
                    child 0, item: double
                child 2, left_hand_root_to_camera: list<item: double>
                    child 0, item: double
                child 3, right_hand_root_to_camera: list<item: double>
                    child 0, item: double
              pose_convention: string
              pose_vector: list<item: string>
                child 0, item: string
              controller_to_hand_root_source: string
              relative_definition: string
              ee_tcp_columns: list<item: string>
                child 0, item: string
              frame_count: int64
              cameras: list<item: struct<name: string, index: int64>>
                child 0, item: struct<name: string, index: int64>
                    child 0, name: string
                    child 1, index: int64
              to
              {'format': Value('string'), 'episode_index': Value('int64'), 'task': Value('string'), 'fps': Value('int64'), 'frame_count': Value('int64'), 'pose_vector': List(Value('string')), 'pose_convention': Value('string'), 'relative_definition': Value('string'), 'controller_to_hand_root_source': Value('string'), 'raw_controller_columns': List(Value('string')), 'ee_tcp_columns': List(Value('string')), 'offsets': {'left_controller_to_hand_root': List(Value('float64')), 'right_controller_to_hand_root': List(Value('float64')), 'left_hand_root_to_camera': List(Value('float64')), 'right_hand_root_to_camera': List(Value('float64'))}, 'cameras': List({'name': Value('string'), 'index': Value('int64')}), 'controls': Value('string')}
              because column names don't match

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PICO Dataset TCP 01

Ultima modificacion: 2026-07-06 19:27:55 -05 -0500

Dataset portable HandUMI grabado con PICO/XRoboToolkit.

Resumen

  • 6 episodios.
  • observation.pico.left_controller_pose y observation.pico.right_controller_pose: poses raw de controllers PICO.
  • observation.pose.left_hand_root.absolute y observation.pose.right_hand_root.absolute: poses TCP/EE fisicas del UMI con controller -> TCP ya aplicado.
  • action.pose.*_hand_root.relative: acciones relativas temporales sobre el TCP/EE.
  • Videos egocentricos de camara center por episodio.

Descripcion Inicial

  • Episodios 0, 1, 2: inicio con grippers apuntando hacia adelante, estilo Piper.
  • Episodios 3, 4, 5: inicio con grippers apuntando hacia abajo, estilo OpenArm.

La descripcion detallada por episodio queda pendiente de completar despues de revisar los videos.

Visualizacion Local

Ver TCP/EE calibrado:

uv run handumi-ik-inspect-raw --dataset-dir pico_dataset_tcp_01 -e 0 \
  --pose-source tcp --hide-trackers

Ver controllers raw:

uv run handumi-ik-inspect-raw --dataset-dir pico_dataset_tcp_01 -e 0 \
  --pose-source controller --hide-trackers

Simulacion IK:

uv run handumi-ik-sim-yubi-relative --dataset-dir pico_dataset_tcp_01 \
  -e 0 --robot piper
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