---
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]
```