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---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using [LeRobot](https://github.com/huggingface/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/piper_uncap_pen/resolve/main/uncap_pen_demo.mp4" width="640" autoplay muted controls loop></video>
## Dataset Structure
[meta/info.json](meta/info.json):
```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": {
"dtype": "float32",
"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": {
"dtype": "float32",
"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
},
"observation.images.cam_high": {
"dtype": "image",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"fps": 15.0
},
"observation.images.cam_low": {
"dtype": "image",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"fps": 15.0
},
"observation.images.cam_left_wrist": {
"dtype": "image",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"fps": 15.0
},
"observation.images.cam_right_wrist": {
"dtype": "image",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"fps": 15.0
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 15.0
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 15.0
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 15.0
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 15.0
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 15.0
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
```
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