Datasets:
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: [More Information Needed]
- Paper: [More Information Needed]
- License: apache-2.0
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "reachy2",
"total_episodes": 20,
"total_frames": 4964,
"total_tasks": 1,
"total_videos": 20,
"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": {
"action": {
"dtype": "float32",
"shape": [
22
],
"names": [
"neck_yaw.pos",
"neck_pitch.pos",
"neck_roll.pos",
"r_shoulder_pitch.pos",
"r_shoulder_roll.pos",
"r_elbow_yaw.pos",
"r_elbow_pitch.pos",
"r_wrist_roll.pos",
"r_wrist_pitch.pos",
"r_wrist_yaw.pos",
"r_gripper.pos",
"l_shoulder_pitch.pos",
"l_shoulder_roll.pos",
"l_elbow_yaw.pos",
"l_elbow_pitch.pos",
"l_wrist_roll.pos",
"l_wrist_pitch.pos",
"l_wrist_yaw.pos",
"l_gripper.pos",
"mobile_base.vx",
"mobile_base.vy",
"mobile_base.vtheta"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
22
],
"names": [
"neck_yaw.pos",
"neck_pitch.pos",
"neck_roll.pos",
"r_shoulder_pitch.pos",
"r_shoulder_roll.pos",
"r_elbow_yaw.pos",
"r_elbow_pitch.pos",
"r_wrist_roll.pos",
"r_wrist_pitch.pos",
"r_wrist_yaw.pos",
"r_gripper.pos",
"l_shoulder_pitch.pos",
"l_shoulder_roll.pos",
"l_elbow_yaw.pos",
"l_elbow_pitch.pos",
"l_wrist_roll.pos",
"l_wrist_pitch.pos",
"l_wrist_yaw.pos",
"l_gripper.pos",
"mobile_base.vx",
"mobile_base.vy",
"mobile_base.vtheta"
]
},
"observation.images.head_left": {
"dtype": "video",
"shape": [
720,
960,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 720,
"video.width": 960,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"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
}
}
}
Citation
BibTeX:
[More Information Needed]