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README.md

@@ -1,3 +1,184 @@
----
-license: apache-2.0
----
+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- PicknPlace
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+
+## Dataset Description
+
+- **Homepage:** 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": 20,
+    "total_frames": 5134,
+    "total_tasks": 20,
+    "total_videos": 0,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:20"
+    },
+    "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": "image",
+            "shape": [
+                480,
+                640,
+                3
+            ]
+        },
+        "observation.images.camera_02": {
+            "dtype": "image",
+            "shape": [
+                480,
+                640,
+                3
+            ]
+        },
+        "observation.images.camera_03": {
+            "dtype": "image",
+            "shape": [
+                480,
+                640,
+                3
+            ]
+        },
+        "observation.images.camera_04": {
+            "dtype": "image",
+            "shape": [
+                480,
+                640,
+                3
+            ]
+        },
+        "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
+        }
+    }
+}
+```

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meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["pick the waste paper cup from the small blue plate with the right hand"], "length": 78}
+{"episode_index": 1, "tasks": ["place the waste paper cup on the white trash can with the right hand"], "length": 150}
+{"episode_index": 2, "tasks": ["pick the waste banana from the big rose pink plate with the left hand"], "length": 447}
+{"episode_index": 3, "tasks": ["place the waste banana on the white trash can with the left hand"], "length": 195}
+{"episode_index": 4, "tasks": ["pick the waste cherry from the big sky blue plate with the left hand"], "length": 384}
+{"episode_index": 5, "tasks": ["place the waste cherry on the white trash can with the left hand"], "length": 177}
+{"episode_index": 6, "tasks": ["pick the white waste paper cup from the chartreuse yellow placemat with the left hand"], "length": 279}
+{"episode_index": 7, "tasks": ["place the white waste paper cup on the white trash can with the left hand"], "length": 150}
+{"episode_index": 8, "tasks": ["pick the big rose pink plate from the chartreuse yellow placemat with the left hand"], "length": 504}
+{"episode_index": 9, "tasks": ["stack the big rose pink plate on the big sky blue plate with the left hand"], "length": 195}
+{"episode_index": 10, "tasks": ["pick the spring green spoon from the chartreuse yellow placemat with the right hand"], "length": 309}
+{"episode_index": 11, "tasks": ["place the spring green spoon on the small blue plate with the right hand"], "length": 135}
+{"episode_index": 12, "tasks": ["pick the sky blue fork from the chartreuse yellow placemat with the right hand"], "length": 189}
+{"episode_index": 13, "tasks": ["place the sky blue fork on the small blue plate with the right hand"], "length": 105}
+{"episode_index": 14, "tasks": ["pick the spring green fork from the chartreuse yellow placemat with the right hand"], "length": 396}
+{"episode_index": 15, "tasks": ["place the spring green fork on the small blue plate with the right hand"], "length": 216}
+{"episode_index": 16, "tasks": ["pick the clear acrylic cup from the avocado green table with the right hand"], "length": 222}
+{"episode_index": 17, "tasks": ["place the clear acrylic cup on the chartreuse yellow placemat with the right hand"], "length": 300}
+{"episode_index": 18, "tasks": ["pick the pear green acrylic cup from the avocado green table with the left hand"], "length": 453}
+{"episode_index": 19, "tasks": ["place the pear green acrylic cup on the chartreuse yellow placemat with the left hand"], "length": 250}

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meta/info.json

@@ -0,0 +1,160 @@
+{
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+                "l_joint1",
+                "l_joint2",
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+                "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",
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+                "R_middle_DIP_joint",
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+                "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
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1,20 @@
+{"task_index": 0, "task": "pick the waste paper cup from the small blue plate with the right hand"}
+{"task_index": 1, "task": "place the waste paper cup on the white trash can with the right hand"}
+{"task_index": 2, "task": "pick the waste banana from the big rose pink plate with the left hand"}
+{"task_index": 3, "task": "place the waste banana on the white trash can with the left hand"}
+{"task_index": 4, "task": "pick the waste cherry from the big sky blue plate with the left hand"}
+{"task_index": 5, "task": "place the waste cherry on the white trash can with the left hand"}
+{"task_index": 6, "task": "pick the white waste paper cup from the chartreuse yellow placemat with the left hand"}
+{"task_index": 7, "task": "place the white waste paper cup on the white trash can with the left hand"}
+{"task_index": 8, "task": "pick the big rose pink plate from the chartreuse yellow placemat with the left hand"}
+{"task_index": 9, "task": "stack the big rose pink plate on the big sky blue plate with the left hand"}
+{"task_index": 10, "task": "pick the spring green spoon from the chartreuse yellow placemat with the right hand"}
+{"task_index": 11, "task": "place the spring green spoon on the small blue plate with the right hand"}
+{"task_index": 12, "task": "pick the sky blue fork from the chartreuse yellow placemat with the right hand"}
+{"task_index": 13, "task": "place the sky blue fork on the small blue plate with the right hand"}
+{"task_index": 14, "task": "pick the spring green fork from the chartreuse yellow placemat with the right hand"}
+{"task_index": 15, "task": "place the spring green fork on the small blue plate with the right hand"}
+{"task_index": 16, "task": "pick the clear acrylic cup from the avocado green table with the right hand"}
+{"task_index": 17, "task": "place the clear acrylic cup on the chartreuse yellow placemat with the right hand"}
+{"task_index": 18, "task": "pick the pear green acrylic cup from the avocado green table with the left hand"}
+{"task_index": 19, "task": "place the pear green acrylic cup on the chartreuse yellow placemat with the left hand"}