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action
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[ 4.769741058349609, -15.559829711914062, -0.7106330394744873, 9.347225189208984, -5.9093546867370605, 4.2485880851745605, -61.70155334472656, 2.7804291248321533, 3.3257918581651794e-14, -43.29245376586914, 129.9864959716797, 5.481008529663086, 7.692906856536865, -2.9018259048461914, -66.14069366455078, 3.4828715324401855, 9.215817568981616e-15, 53.861656188964844, 129.98855590820312, 0, 0, 0 ]
6.333333
95
0
95
0
[ -0.2327219545841217, -15.625329971313477, 7.388546943664551, 9.085623741149902, -6.0141496658325195, 4.1474528312683105, -61.34745407104492, -3.021148920059204, 2.569373369216919, -43.66339874267578, 99.98999786376953, 5.459543228149414, 7.704913139343262, -2.915048599243164, -66.394775390625, -4.539599418640137, 3.850069046020508, 54.037322998046875, 99.99251556396484, 0, 0, 0 ]
[ 5.968426704406738, -15.639742851257324, -0.5379781723022461, 9.295097351074219, -5.928744792938232, 4.245900630950928, -61.58319091796875, 2.6619670391082764, 3.842359644432719e-14, -43.350826263427734, 129.9864959716797, 5.503512859344482, 7.707584381103516, -2.8946008682250977, -66.25176239013672, 3.638087511062622, 1.4171805649300633e-15, 53.96298599243164, 129.98907470703125, 0, 0, 0 ]
6.4
96
0
96
0
[ -0.12609252333641052, -15.627182960510254, 7.861361503601074, 8.958431243896484, -6.026827335357666, 4.162015438079834, -61.20283508300781, -3.0313007831573486, 2.5785138607025146, -43.74396514892578, 99.98999786376953, 5.441042900085449, 7.698930740356445, -2.9346041679382324, -66.39263916015625, -4.43781042098999, 3.930675506591797, 54.09476852416992, 99.9926528930664, 0, 0, 0 ]
[ 6.703332901000977, -15.624770164489746, -0.3648471534252167, 9.144153594970703, -5.987698078155518, 4.177570819854736, -61.39595031738281, 2.661120891571045, 4.172110587238355e-14, -43.54109573364258, 129.9864959716797, 5.457337379455566, 7.702306270599365, -2.909517765045166, -66.29472351074219, 3.7573561668395996, -4.250705249754776e-15, 54.00725555419922, 129.98951721191406, 0, 0, 0 ]
6.466667
97
0
97
0
[ -0.044310033321380615, -15.622071266174316, 8.156169891357422, 8.903026580810547, -6.03288459777832, 4.180365085601807, -61.124080657958984, -3.060218334197998, 2.5410215854644775, -43.84164047241211, 99.98999786376953, 5.44334602355957, 7.706299781799316, -2.9315342903137207, -66.41905212402344, -4.385827541351318, 4.026402473449707, 54.164649963378906, 99.99276733398438, 0, 0, 0 ]
[ 7.861361503601074, -15.627182960510254, -0.12609252333641052, 8.958431243896484, -6.026827335357666, 4.162015438079834, -61.20283126831055, 2.5785138607025146, 1.7709683546029975e-14, -43.74396514892578, 129.9864959716797, 5.441042900085449, 7.698930263519287, -2.9346041679382324, -66.39263916015625, 3.930675745010376, 4.319867353370574e-14, 54.09476852416992, 129.99008178710938, 0, 0, 0 ]
6.533333
98
0
98
0
[ -0.020330309867858887, -15.621047019958496, 8.353811264038086, 8.902338981628418, -6.018929958343506, 4.217921733856201, -61.03295135498047, -3.0708847045898438, 2.4762439727783203, -43.84364700317383, 99.98999786376953, 5.46230936050415, 7.724242687225342, -2.9064931869506836, -66.42973327636719, -4.330819129943848, 4.06695032119751, 54.23542022705078, 99.99276733398438, 0, 0, 0 ]
[ 7.861361503601074, -15.627182960510254, -0.12609252333641052, 8.958431243896484, -6.026827335357666, 4.162015438079834, -61.20283126831055, 2.5785138607025146, 1.7709683546029975e-14, -43.74396514892578, 129.9864959716797, 5.441042900085449, 7.698930263519287, -2.9346041679382324, -66.39263916015625, 3.930675745010376, 4.319867353370574e-14, 54.09476852416992, 129.99008178710938, 0, 0, 0 ]
6.6
99
0
99
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "reachy2",
    "total_episodes": 1,
    "total_frames": 312,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:1"
    },
    "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": 15.0,
                "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:

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