Piper Apple Picking (Isaac Sim) — 1M frames, with apple bounding boxes
LeRobot v3 dataset: an AgileX Piper 6-DOF arm harvesting apples into a bucket, collected in Isaac Lab / Isaac Sim with a cuRobo motion planner.
- Episodes: 1,056
- Frames: 1,024,754
- FPS: 30
- Robot:
piper_full - Cameras:
observation.images.ego(wrist),observation.images.front— 640×360, AV1 - Apple count per episode: 1–5 (rebalanced toward 4–5). Every episode places all apples in the bucket.
Cleaned release: 99 corrupted episodes (a 5th apple placed in the scene but never tracked/picked — a collection bug) were removed and replaced with fresh 4–5 apple scenes, rebalancing the apple-count distribution. observation.state is [joint1..6, gripper.pos, gripper.tau, ee.x, ee.y, ee.z, ee.roll, ee.pitch, ee.yaw]; gripper.pos is % open (0=closed, 100=open) and gripper.tau is the gripper closure fraction (1 closed, 0 open).
Extra feature: apple_bbox — shape (5, 5)
Per red apple: [visible, x_min, y_min, x_max, y_max] (normalised, front camera).
Occlusion-aware: a box is absent (visible=0) when the apple is covered by the
gripper/leaves or has been picked. Use it to train a detector (YOLO) or to render a
highlighted/augmented copy of the dataset.
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