---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- PicknPlace
configs:
- config_name: default
  data_files: data/*/*.parquet
language:
- en
- zh
---

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/).

## Dataset Description

- **Homepage:** [io-ai.tech](https://io-ai.tech)
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "codebase_version": "v2.1",
    "robot_type": "custom_arm",
    "total_episodes": 1099,
    "total_frames": 246816,
    "total_tasks": 323,
    "total_videos": 4396,
    "total_chunks": 2,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:1099"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.images.camera_01": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_02": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_03": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.camera_04": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.state": {
            "dtype": "float64",
            "shape": [
                37
            ],
            "names": [
                "r_joint1",
                "r_joint2",
                "r_joint3",
                "r_joint4",
                "r_joint5",
                "r_joint6",
                "l_joint1",
                "l_joint2",
                "l_joint3",
                "l_joint4",
                "l_joint5",
                "l_joint6",
                "R_thumb_MCP_joint1",
                "R_thumb_MCP_joint2",
                "R_thumb_PIP_joint",
                "R_thumb_DIP_joint",
                "R_index_MCP_joint",
                "R_index_DIP_joint",
                "R_middle_MCP_joint",
                "R_middle_DIP_joint",
                "R_ring_MCP_joint",
                "R_ring_DIP_joint",
                "R_pinky_MCP_joint",
                "R_pinky_DIP_joint",
                "L_thumb_MCP_joint1",
                "L_thumb_MCP_joint2",
                "L_thumb_PIP_joint",
                "L_thumb_DIP_joint",
                "L_index_MCP_joint",
                "L_index_DIP_joint",
                "L_middle_MCP_joint",
                "L_middle_DIP_joint",
                "L_ring_MCP_joint",
                "L_ring_DIP_joint",
                "L_pinky_MCP_joint",
                "L_pinky_DIP_joint",
                "platform_joint"
            ]
        },
        "action": {
            "dtype": "float64",
            "shape": [
                12
            ],
            "names": [
                "l_joint1",
                "l_joint2",
                "l_joint3",
                "l_joint4",
                "l_joint5",
                "l_joint6",
                "r_joint1",
                "r_joint2",
                "r_joint3",
                "r_joint4",
                "r_joint5",
                "r_joint6"
            ]
        },
        "observation.gripper": {
            "dtype": "float64",
            "shape": [
                2
            ],
            "names": [
                "right_gripper",
                "left_gripper"
            ]
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}
```