Restock the vanity
Bimanual handheld-gripper (UMI-style) demonstrations recorded by Starpilot in a bathroom vanity data cell. A human operator holds two instrumented parallel-jaw grippers; every episode is one sub-task of the "Restock the vanity" cycle.
Each episode was checked by a reviewer and its task label confirmed against the video.
| Episode | Task | Duration |
|---|---|---|
| 0 | Clear the used items | 61.0 s |
| 1 | Arrange the counter | 45.6 s |
Total: 2 episode(s), 107 s at 30 fps.
Sensors
- 2 handheld parallel-jaw grippers, each with a wrist RGB camera + an aligned depth stream, gripper encoder and IMU
- 4 fixed scene cameras
- 6-DoF pose of each gripper (
arm*_pose_*relative,arm*_pose_abs_*absolute), gripper opening and width
Video streams: left_wrist_0_camera_rgb_image, left_wrist_0_camera_rgb_image_depth, right_wrist_0_camera_rgb_image, right_wrist_0_camera_rgb_image_depth, base_0_camera_rgb_image, base_1_camera_rgb_image, base_2_camera_rgb_image, base_3_camera_rgb_image (640x480, H.264).
observation.state (46-dim) and action (14-dim: per gripper xyz + rotation vector + grip width) names are in
meta/info.json.
Format
LeRobot dataset, codebase v3.0 (robot_type: starpilot_yam_gripper).
Explore clips from this and our other datasets at https://huggingface.co/spaces/starpilot-ai/starpilot-data-sample. More data: https://starpilot.ai
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