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--- |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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configs: |
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- config_name: default |
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data_files: data/*/*.parquet |
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--- |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
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## Dataset Description |
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- **Homepage:** https://io-ai.tech |
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- **License:** apache-2.0 |
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### About Task |
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- **Task Objective:** Pick up the pen from the desk and uncap the pen. |
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- **Operational Objects:** Marker Pen |
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- **Operation Duration:** Each operation takes approximately 15 to 20 seconds. |
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- **Recording Frequency:** 15 Hz. |
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- **Robot Type:** 7-DOF dual-arm Agilex 2 Pipers Desktop Robot. |
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- **End Effector:** Gripper. |
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- **Dual-Arm Operation:** Yes. |
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- **Image Resolution:** 640x480. |
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- **Camera Positions:** High; Low; Left; Right. |
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- **Data Content:** |
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• Robot's current state. |
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• Robot's next action. |
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• Current camera view images. |
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<video src="https://huggingface.co/datasets/io-intelligence/piper_uncap_pen/resolve/main/uncap_pen_demo.mp4" width="640" autoplay muted controls loop></video> |
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## Dataset Structure |
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[meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v3.0", |
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"robot_type": "aloha", |
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"total_episodes": 10, |
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"total_frames": 3000, |
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"total_tasks": 1, |
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"chunks_size": 1000, |
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"fps": 15.0, |
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"splits": { |
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"train": "0:10" |
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}, |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", |
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"features": { |
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"observation.state": { |
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"dtype": "float32", |
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"shape": [ |
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14 |
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], |
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"names": [ |
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[ |
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"right_waist", |
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"right_shoulder", |
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"right_elbow", |
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"right_forearm_roll", |
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"right_wrist_angle", |
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"right_wrist_rotate", |
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"right_gripper", |
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"left_waist", |
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"left_shoulder", |
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"left_elbow", |
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"left_forearm_roll", |
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"left_wrist_angle", |
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"left_wrist_rotate", |
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"left_gripper" |
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] |
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], |
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"fps": 15.0 |
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}, |
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"action": { |
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"dtype": "float32", |
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"shape": [ |
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14 |
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], |
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"names": [ |
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[ |
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"right_waist", |
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"right_shoulder", |
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"right_elbow", |
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"right_forearm_roll", |
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"right_wrist_angle", |
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"right_wrist_rotate", |
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"right_gripper", |
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"left_waist", |
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"left_shoulder", |
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"left_elbow", |
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"left_forearm_roll", |
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"left_wrist_angle", |
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"left_wrist_rotate", |
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"left_gripper" |
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] |
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], |
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"fps": 15.0 |
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}, |
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"observation.images.cam_high": { |
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"dtype": "image", |
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"shape": [ |
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3, |
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480, |
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640 |
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], |
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"names": [ |
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"channels", |
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"height", |
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"width" |
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], |
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"fps": 15.0 |
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}, |
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"observation.images.cam_low": { |
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"dtype": "image", |
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"shape": [ |
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3, |
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480, |
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640 |
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], |
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"names": [ |
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"channels", |
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"height", |
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"width" |
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], |
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"fps": 15.0 |
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}, |
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"observation.images.cam_left_wrist": { |
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"dtype": "image", |
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"shape": [ |
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3, |
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480, |
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640 |
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], |
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"names": [ |
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"channels", |
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"height", |
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"width" |
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], |
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"fps": 15.0 |
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}, |
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"observation.images.cam_right_wrist": { |
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"dtype": "image", |
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"shape": [ |
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3, |
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480, |
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640 |
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], |
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"names": [ |
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"channels", |
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"height", |
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"width" |
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], |
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"fps": 15.0 |
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}, |
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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null, |
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"fps": 15.0 |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null, |
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"fps": 15.0 |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null, |
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"fps": 15.0 |
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}, |
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"index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null, |
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"fps": 15.0 |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null, |
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"fps": 15.0 |
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} |
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}, |
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"data_files_size_in_mb": 100, |
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"video_files_size_in_mb": 500 |
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} |
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``` |
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## Citation |
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**BibTeX:** |
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```bibtex |
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[More Information Needed] |
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``` |
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