puheliang/agi_arm_camera_pen_touch_20260427_merged

---
library_name: lerobot
tags:
- robotics
- lerobot
- dual-arm
- agibot
- teleoperation
task_categories:
- robotics
pretty_name: Right hand picks up the camera, left hand picks up the pen, then left hand uses the pen to touch
---

# Right hand picks up the camera, left hand picks up the pen, then left hand uses the pen to touch

This is a LeRobot-format robotics dataset for a dual-arm AgiBot O10 follower setup.
The task is: right hand picks up the camera, left hand picks up the pen, then left hand uses the pen to touch.

## Dataset Summary

- Format: LeRobot v3.0
- Robot type: `pico_follower_dual_arm_agibot_o10`
- Episodes: 180
- Frames: 142,437
- FPS: 30
- Approximate duration: 79.13 minutes
- Tasks: 1
- Split: `train` episodes `0:180`

## Modalities

The dataset contains low-dimensional arm states/actions and three synchronized RGB video streams.

| Feature | Type | Shape | Notes |
| --- | --- | --- | --- |
| `action` | `float32` | `[14]` | Left/right 6-DoF arm joints plus grippers |
| `observation.state` | `float32` | `[14]` | Left/right 6-DoF arm joints plus grippers |
| `observation.images.top` | video | `[480, 640, 3]` | H.264, 30 FPS, RGB camera |
| `observation.images.left_wrist` | video | `[480, 640, 3]` | H.264, 30 FPS, RGB camera |
| `observation.images.right_wrist` | video | `[480, 640, 3]` | H.264, 30 FPS, RGB camera |
| `timestamp` | `float32` | `[1]` | Frame timestamp |
| `frame_index` | `int64` | `[1]` | Frame index within episode |
| `episode_index` | `int64` | `[1]` | Episode index |
| `index` | `int64` | `[1]` | Global frame index |
| `task_index` | `int64` | `[1]` | Task identifier |

## Directory Layout

```text
data/chunk-000/file-000.parquet
meta/episodes/chunk-000/file-000.parquet
meta/info.json
meta/stats.json
meta/tasks.parquet
videos/observation.images.top/chunk-000/*.mp4
videos/observation.images.left_wrist/chunk-000/*.mp4
videos/observation.images.right_wrist/chunk-000/*.mp4
```

## Usage

This dataset follows the standard LeRobot directory layout and can be loaded with LeRobot-compatible tooling.

```python
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("puheliang/agi_arm_camera_pen_touch_20260427_merged")
sample = dataset[0]
```

## Notes

- Video streams are stored as H.264 MP4 files.
- The low-dimensional `action` and `observation.state` vectors use the same 14 joint/gripper order:
`left.joint1.pos` through `left.joint6.pos`, `left.gripper.pos`,
`right.joint1.pos` through `right.joint6.pos`, `right.gripper.pos`.