Dataset · Hugging Face

salik/dirgha-form-7-sim

Name: dirgha-form-7-sim
Creator: salik
License: mit
Keywords: task_categories:robotics, license:mit, size_categories:1K<n<10K, format:parquet, modality:tabular, modality:timeseries, library:datasets, library:dask, library:polars, library:mlcroissant, library:lerobot, region:us, lerobot, mujoco, dexterous-manipulation

Dirgha Form-7 — simulated grasp demonstrations Simulated data. No physical hand was involved in producing any frame. 37 demonstrations of a 27-DoF dexterous hand (7 arm + 20 finger joints) closing on a cylinder resting in an open palm. Recorded by driving a MuJoCo model headlessly at 500 Hz and sampling state/action at 30 Hz. Robot: Dirgha Form-7, dirgha_form_7 Format: LeRobot v3.0 (codebase_version: v3.0) Episodes: 37 · Frames: 1722 · Tasks: 3 · FPS: 30 Features:… See the full description on the dataset page: https://huggingface.co/datasets/salik/dirgha-form-7-sim.

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Author / organization	salik
License (as declared)	mit
Downloads	0 (as reported by Hugging Face)
Likes	0
Created	24 October 2026
Last updated at source	24 October 2026

lerobotmujocodexterous-manipulationsimulateddirgha-form-7

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