io-intelligence/piper_uncap_pen
This dataset was created using LeRobot. About Task Task Objective: Pick up the pen from the desk and uncap the pen. Operational Objects: Marker Pen Operation Duration: Each operation takes approximately 15 to 20 seconds. Recording Frequency: 15 Hz. Robot Type: 7-DOF dual-arm Agilex 2 Pipers Desktop Robot. End Effector: Gripper. Dual-Arm Operation: Yes. Image Resolution: 640x480. Camera Positions: High; Low; Left; Right. Data Content: • Robot's current state. •… See the full description on the dataset page: https://huggingface.co/datasets/io-intelligence/piper_uncap_pen.
This dataset was created using LeRobot.
Dataset Description
- Homepage: https://io-ai.tech
- License: apache-2.0
About Task
- Task Objective: Pick up the pen from the desk and uncap the pen.
- Operational Objects: Marker Pen
- Operation Duration: Each operation takes approximately 15 to 20 seconds.
- Recording Frequency: 15 Hz.
- Robot Type: 7-DOF dual-arm Agilex 2 Pipers Desktop Robot.
- End Effector: Gripper.
- Dual-Arm Operation: Yes.
- Image Resolution: 640x480.
- Camera Positions: High; Low; Left; Right.
- Data Content: • Robot's current state. • Robot's next action. • Current camera view images.
<video src="https://huggingface.co/datasets/io-intelligence/piperuncappen/resolve/main/uncappendemo.mp4" width="640" autoplay muted controls loop></video>
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"robot_type": "aloha",
"total_episodes": 10,
"total_frames": 3000,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 15.0,
"splits": {
"train": "0:10"
},
"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": {
"observation.state": {
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"shape": [
14
],
"names": [
[
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper",
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper"
]
],
"fps": 15.0
},
"action": {
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"names": [
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"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper",
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper"
]
],
"fps": 15.0
},
"observation.images.cam_high": {
"dtype": "image",
"shape": [
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640
],
"names": [
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],
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},
"observation.images.cam_low": {
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],
"names": [
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],
"fps": 15.0
},
"observation.images.cam_left_wrist": {
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"observation.images.cam_right_wrist": {
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"timestamp": {
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"index": {
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},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500
}Citation
BibTeX:
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