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--- |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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- PicknPlace |
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configs: |
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- config_name: default |
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data_files: data/*/*.parquet |
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language: |
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- en |
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- zh |
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--- |
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The dataset was collected and open-sourced by [IO Intelligence](https://io-ai.tech), and exported in the [LeRobot](https://github.com/huggingface/lerobot) format provided by the [IO Data Platform](https://io-ai.tech/platform/guides/). |
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## Dataset Description |
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- **Homepage:** [io-ai.tech](https://io-ai.tech) |
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- **License:** apache-2.0 |
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## Dataset Structure |
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[meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v2.1", |
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"robot_type": "custom_arm", |
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"total_episodes": 1099, |
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"total_frames": 246816, |
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"total_tasks": 323, |
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"total_videos": 4396, |
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"total_chunks": 2, |
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"chunks_size": 1000, |
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"fps": 30, |
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"splits": { |
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"train": "0:1099" |
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}, |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
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"features": { |
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"observation.images.camera_01": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"info": { |
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"video.height": 480, |
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"video.width": 640, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 30, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"observation.images.camera_02": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"info": { |
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"video.height": 480, |
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"video.width": 640, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 30, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"observation.images.camera_03": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"info": { |
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"video.height": 480, |
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"video.width": 640, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 30, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"observation.images.camera_04": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"info": { |
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"video.height": 480, |
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"video.width": 640, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 30, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"observation.state": { |
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"dtype": "float64", |
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"shape": [ |
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37 |
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], |
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"names": [ |
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"r_joint1", |
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"r_joint2", |
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"r_joint3", |
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"r_joint4", |
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"r_joint5", |
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"r_joint6", |
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"l_joint1", |
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"l_joint2", |
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"l_joint3", |
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"l_joint4", |
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"l_joint5", |
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"l_joint6", |
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"R_thumb_MCP_joint1", |
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"R_thumb_MCP_joint2", |
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"R_thumb_PIP_joint", |
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"R_thumb_DIP_joint", |
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"R_index_MCP_joint", |
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"R_index_DIP_joint", |
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"R_middle_MCP_joint", |
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"R_middle_DIP_joint", |
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"R_ring_MCP_joint", |
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"R_ring_DIP_joint", |
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"R_pinky_MCP_joint", |
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"R_pinky_DIP_joint", |
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"L_thumb_MCP_joint1", |
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"L_thumb_MCP_joint2", |
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"L_thumb_PIP_joint", |
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"L_thumb_DIP_joint", |
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"L_index_MCP_joint", |
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"L_index_DIP_joint", |
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"L_middle_MCP_joint", |
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"L_middle_DIP_joint", |
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"L_ring_MCP_joint", |
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"L_ring_DIP_joint", |
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"L_pinky_MCP_joint", |
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"L_pinky_DIP_joint", |
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"platform_joint" |
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] |
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}, |
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"action": { |
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"dtype": "float64", |
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"shape": [ |
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12 |
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], |
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"names": [ |
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"l_joint1", |
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"l_joint2", |
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"l_joint3", |
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"l_joint4", |
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"l_joint5", |
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"l_joint6", |
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"r_joint1", |
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"r_joint2", |
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"r_joint3", |
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"r_joint4", |
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"r_joint5", |
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"r_joint6" |
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] |
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}, |
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"observation.gripper": { |
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"dtype": "float64", |
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"shape": [ |
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2 |
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], |
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"names": [ |
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"right_gripper", |
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"left_gripper" |
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] |
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}, |
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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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} |
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} |
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} |
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``` |
