Cap Pen

Real robot demo

Instruction	Pick up the pen and the pen cap, then put the cap on the pen.
Description	There is a pen and a pen cap on the table. The robot needs to pick up both the pen and the cap, align them properly, and put the cap onto the pen.
Platform	Real Robot
Embodiment	Piper X
Data Source	Teleop
Usage	Train & Eval

Scoring

Score	Condition
0	The pen and pen cap are not both picked up.
0.2	The pen and pen cap are both picked up.
1.0	The pen cap is successfully placed onto the pen.