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README.md

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+---
+license: mit
+task_categories:
+- robotics
+- computer-vision
+- multimodal
+language:
+- en
+tags:
+- robotics
+- manipulation
+- embodied-ai
+- lerobot
+- dual-arm-robot
+- supermarket-packing
+size_categories:
+- 1K<n<10K
+---
+
+# Demos25 - Dual-Arm Robot Manipulation Dataset
+
+## Dataset Description
+
+Demos25 is a comprehensive dual-arm robot manipulation dataset containing 25 episodes of supermarket packing tasks. The dataset follows the LeRobot format and includes multi-modal data with video observations, robot states, and actions.
+
+### Dataset Summary
+
+- **Total Episodes**: 25
+- **Total Frames**: 44,492
+- **FPS**: 30
+- **Robot Type**: A2D (dual-arm robot)
+- **Task**: Supermarket packing with item manipulation and bag organization
+
+### Task Description
+
+The robot is positioned in front of a cash register with four different types of items and a soft woven bag. The task involves altering the positions and orientations of the items and the soft woven bag on the cash register.
+
+## Dataset Structure
+
+The dataset is organized in LeRobot v2.1 format with the following structure:
+
+```
+demos25/
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       └── ...
+├── videos/
+│   └── chunk-000/
+│       ├── observation.images.head/
+│       ├── observation.images.hand_left/
+│       └── observation.images.hand_right/
+├── meta/
+│   ├── info.json
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   └── tasks.jsonl
+└── interleaved_demo.jsonl
+```
+
+## Features
+
+### Video Observations
+- **observation.images.head**: Head camera view (480x640x3, 30fps)
+- **observation.images.hand_left**: Left hand camera view (480x640x3, 30fps)  
+- **observation.images.hand_right**: Right hand camera view (480x640x3, 30fps)
+
+### Robot States
+- **observation.states.joint.position**: 14 joint positions (7 per arm)
+- **observation.states.joint.current_value**: 14 joint current values
+- **observation.states.effector.position**: 2 gripper positions
+- **observation.states.end.position**: 2 end-effector positions (3D)
+- **observation.states.end.orientation**: 2 end-effector orientations (quaternion)
+- **observation.states.head.position**: 2 head positions (yaw, pitch)
+- **observation.states.robot.position**: 3 robot base positions
+- **observation.states.robot.orientation**: 4 robot base orientations
+- **observation.states.waist.position**: 2 waist positions (pitch, lift)
+
+### Actions
+- **actions.joint.position**: 14 joint position targets
+- **actions.effector.position**: 2 gripper position targets
+- **actions.end.position**: 2 end-effector position targets (3D)
+- **actions.end.orientation**: 2 end-effector orientation targets (quaternion)
+- **actions.head.position**: 2 head position targets
+- **actions.robot.velocity**: 2 robot base velocities
+- **actions.waist.position**: 2 waist position targets
+
+## Usage
+
+### Loading with LeRobot
+
+```python
+from lerobot.datasets.lerobot_dataset import LeRobotDatasetMetadata
+from eo.data.lerobot_dataset import LeRobotDataset
+
+# Load metadata
+meta = LeRobotDatasetMetadata(
+    repo_id="IPEC-COMMUNITY/demos25",
+    root="./demos25",
+)
+
+# Load dataset
+dataset = LeRobotDataset(
+    repo_id="IPEC-COMMUNITY/demos25",
+    root="./demos25",
+    delta_timestamps={
+        k: [i / meta.fps for i in range(0, 50)]
+        for k in ["actions.joint.position", "actions.effector.position"]
+    }
+)
+```
+
+### Loading with EO-1 Framework
+
+```python
+from eo.data.lerobot_dataset import LeRobotDataset
+from eo.data.schema import LerobotConfig
+
+dataset = LeRobotDataset(
+    repo_id="IPEC-COMMUNITY/demos25",
+    root="./demos25",
+    select_video_keys=[
+        "observation.images.head", 
+        "observation.images.hand_left", 
+        "observation.images.hand_right"
+    ],
+    select_state_keys=[
+        "observation.states.joint.position", 
+        "observation.states.effector.position"
+    ],
+    select_action_keys=[
+        "actions.joint.position", 
+        "actions.effector.position"
+    ],
+    delta_timestamps={
+        k: [i / 30 for i in range(0, 1500)] 
+        for k in ["actions.joint.position", "actions.effector.position"]
+    }
+)
+```
+
+## Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@dataset{demos25_2024,
+  title={Demos25: Dual-Arm Robot Manipulation Dataset for Supermarket Packing},
+  author={IPEC-COMMUNITY},
+  year={2024},
+  url={https://huggingface.co/datasets/IPEC-COMMUNITY/demos25}
+}
+```
+
+## License
+
+This dataset is released under the MIT License.
+
+## Contact
+
+For questions or issues, please contact the IPEC-COMMUNITY team.

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meta/info.json

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+{
+    "codebase_version": "v2.1",
+    "robot_type": "a2d",
+    "total_episodes": 25,
+    "total_frames": 44492,
+    "total_tasks": 1,
+    "total_videos": 75,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:25"
+    },
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+    }
+}

meta/tasks.jsonl

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