metadata
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
This dataset was created using LeRobot.
Dataset Description
- Homepage: https://io-ai.tech
- License: apache-2.0
About Task
- Task Objective: Pick up the pen from the desk and uncap the pen.
- Operational Objects: Marker Pen
- Operation Duration: Each operation takes approximately 15 to 20 seconds.
- Recording Frequency: 15 Hz.
- Robot Type: 7-DOF dual-arm Agilex 2 Pipers Desktop Robot.
- End Effector: Gripper.
- Dual-Arm Operation: Yes.
- Image Resolution: 640x480.
- Camera Positions: High; Low; Left; Right.
- Data Content:
• Robot's current state.
• Robot's next action. • Current camera view images.
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "aloha",
"total_episodes": 10,
"total_frames": 3000,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 15.0,
"splits": {
"train": "0:10"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
[
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper",
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper"
]
],
"fps": 15.0
},
"action": {
"dtype": "float32",
"shape": [
14
],
"names": [
[
"right_waist",
"right_shoulder",
"right_elbow",
"right_forearm_roll",
"right_wrist_angle",
"right_wrist_rotate",
"right_gripper",
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper"
]
],
"fps": 15.0
},
"observation.images.cam_high": {
"dtype": "image",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"fps": 15.0
},
"observation.images.cam_low": {
"dtype": "image",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"fps": 15.0
},
"observation.images.cam_left_wrist": {
"dtype": "image",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"fps": 15.0
},
"observation.images.cam_right_wrist": {
"dtype": "image",
"shape": [
3,
480,
640
],
"names": [
"channels",
"height",
"width"
],
"fps": 15.0
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null,
"fps": 15.0
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 15.0
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 15.0
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 15.0
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null,
"fps": 15.0
}
},
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500
}
Citation
BibTeX:
[More Information Needed]