Hugging Face's logo

Datasets:
aliberts
/
eval_reachy_test

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
reachy
eval
Libraries:
Datasets
pandas
License:
Dataset card Viewer Files Community
aliberts HF staff commited on
Commit
590b201
·
verified ·
1 Parent(s): 961e973

Upload folder using huggingface_hub

Browse files
Files changed (6) hide show
  1. data/chunk-000/episode_000000.parquet +3 -0
  2. meta/episodes.jsonl +1 -0
  3. meta/info.json +136 -0
  4. meta/stats.json +338 -0
  5. meta/tasks.jsonl +1 -0
  6. videos/chunk-000/observation.images.head_left/episode_000000.mp4 +3 -0
data/chunk-000/episode_000000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2d34e43a33ffbf38e5c055e8401eeb4cf1b2a840c01873aecc2245c166d7f505
3
+ size 71394
meta/episodes.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"episode_index": 0, "tasks": ["eval"], "length": 312}
meta/info.json ADDED
@@ -0,0 +1,136 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v2.0",
3
+ "robot_type": "reachy2",
4
+ "total_episodes": 1,
5
+ "total_frames": 312,
6
+ "total_tasks": 1,
7
+ "total_videos": 1,
8
+ "total_chunks": 1,
9
+ "chunks_size": 1000,
10
+ "fps": 15,
11
+ "splits": {
12
+ "train": "0:1"
13
+ },
14
+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
15
+ "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
16
+ "features": {
17
+ "action": {
18
+ "dtype": "float32",
19
+ "shape": [
20
+ 22
21
+ ],
22
+ "names": [
23
+ "neck_yaw.pos",
24
+ "neck_pitch.pos",
25
+ "neck_roll.pos",
26
+ "r_shoulder_pitch.pos",
27
+ "r_shoulder_roll.pos",
28
+ "r_elbow_yaw.pos",
29
+ "r_elbow_pitch.pos",
30
+ "r_wrist_roll.pos",
31
+ "r_wrist_pitch.pos",
32
+ "r_wrist_yaw.pos",
33
+ "r_gripper.pos",
34
+ "l_shoulder_pitch.pos",
35
+ "l_shoulder_roll.pos",
36
+ "l_elbow_yaw.pos",
37
+ "l_elbow_pitch.pos",
38
+ "l_wrist_roll.pos",
39
+ "l_wrist_pitch.pos",
40
+ "l_wrist_yaw.pos",
41
+ "l_gripper.pos",
42
+ "mobile_base.vx",
43
+ "mobile_base.vy",
44
+ "mobile_base.vtheta"
45
+ ]
46
+ },
47
+ "observation.state": {
48
+ "dtype": "float32",
49
+ "shape": [
50
+ 22
51
+ ],
52
+ "names": [
53
+ "neck_yaw.pos",
54
+ "neck_pitch.pos",
55
+ "neck_roll.pos",
56
+ "r_shoulder_pitch.pos",
57
+ "r_shoulder_roll.pos",
58
+ "r_elbow_yaw.pos",
59
+ "r_elbow_pitch.pos",
60
+ "r_wrist_roll.pos",
61
+ "r_wrist_pitch.pos",
62
+ "r_wrist_yaw.pos",
63
+ "r_gripper.pos",
64
+ "l_shoulder_pitch.pos",
65
+ "l_shoulder_roll.pos",
66
+ "l_elbow_yaw.pos",
67
+ "l_elbow_pitch.pos",
68
+ "l_wrist_roll.pos",
69
+ "l_wrist_pitch.pos",
70
+ "l_wrist_yaw.pos",
71
+ "l_gripper.pos",
72
+ "mobile_base.vx",
73
+ "mobile_base.vy",
74
+ "mobile_base.vtheta"
75
+ ]
76
+ },
77
+ "observation.images.head_left": {
78
+ "dtype": "video",
79
+ "shape": [
80
+ 720,
81
+ 960,
82
+ 3
83
+ ],
84
+ "names": [
85
+ "height",
86
+ "width",
87
+ "channels"
88
+ ],
89
+ "info": {
90
+ "video.fps": 15.0,
91
+ "video.height": 720,
92
+ "video.width": 960,
93
+ "video.channels": 3,
94
+ "video.codec": "h264",
95
+ "video.pix_fmt": "yuv420p",
96
+ "video.is_depth_map": false,
97
+ "has_audio": false
98
+ }
99
+ },
100
+ "timestamp": {
101
+ "dtype": "float32",
102
+ "shape": [
103
+ 1
104
+ ],
105
+ "names": null
106
+ },
107
+ "frame_index": {
108
+ "dtype": "int64",
109
+ "shape": [
110
+ 1
111
+ ],
112
+ "names": null
113
+ },
114
+ "episode_index": {
115
+ "dtype": "int64",
116
+ "shape": [
117
+ 1
118
+ ],
119
+ "names": null
120
+ },
121
+ "index": {
122
+ "dtype": "int64",
123
+ "shape": [
124
+ 1
125
+ ],
126
+ "names": null
127
+ },
128
+ "task_index": {
129
+ "dtype": "int64",
130
+ "shape": [
131
+ 1
132
+ ],
133
+ "names": null
134
+ }
135
+ }
136
+ }
meta/stats.json ADDED
@@ -0,0 +1,338 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "action": {
3
+ "mean": [
4
+ -0.8558781743049622,
5
+ -15.985635757446289,
6
+ -1.1406447887420654,
7
+ 5.472658157348633,
8
+ -10.071477890014648,
9
+ -2.7361464500427246,
10
+ -69.89735412597656,
11
+ -0.6956265568733215,
12
+ 4.946587085723877,
13
+ -44.5843620300293,
14
+ 99.98999786376953,
15
+ 5.05110502243042,
16
+ 7.410813808441162,
17
+ -3.6361327171325684,
18
+ -66.12930297851562,
19
+ -3.7728686332702637,
20
+ 1.5392988920211792,
21
+ 53.26459503173828,
22
+ 99.97650146484375,
23
+ 0.0,
24
+ 0.0,
25
+ 0.0
26
+ ],
27
+ "std": [
28
+ 0.971467137336731,
29
+ 1.9955943822860718,
30
+ 9.541749000549316,
31
+ 7.798650741577148,
32
+ 11.156699180603027,
33
+ 18.381330490112305,
34
+ 20.09843635559082,
35
+ 3.4520702362060547,
36
+ 4.906522274017334,
37
+ 5.857232093811035,
38
+ 0.0,
39
+ 0.6422269940376282,
40
+ 0.38132452964782715,
41
+ 0.5716971755027771,
42
+ 2.0299997329711914,
43
+ 1.2590001821517944,
44
+ 1.216393232345581,
45
+ 0.6820372343063354,
46
+ 0.012684588320553303,
47
+ 0.0,
48
+ 0.0,
49
+ 0.0
50
+ ],
51
+ "max": [
52
+ 1.3519033193588257,
53
+ -11.636529922485352,
54
+ 17.622920989990234,
55
+ 10.451887130737305,
56
+ -4.285669326782227,
57
+ 7.35537576675415,
58
+ -57.449214935302734,
59
+ 11.587696075439453,
60
+ 21.095155715942383,
61
+ -40.49365234375,
62
+ 99.98999786376953,
63
+ 6.858264923095703,
64
+ 8.441610336303711,
65
+ -2.126746654510498,
66
+ -63.174312591552734,
67
+ -0.6905778050422668,
68
+ 4.06695032119751,
69
+ 54.55213165283203,
70
+ 99.99420928955078,
71
+ 0.0,
72
+ 0.0,
73
+ 0.0
74
+ ],
75
+ "min": [
76
+ -3.0452442169189453,
77
+ -19.408348083496094,
78
+ -25.905088424682617,
79
+ -23.080326080322266,
80
+ -46.61800003051758,
81
+ -61.37744140625,
82
+ -126.19651794433594,
83
+ -3.7829349040985107,
84
+ -0.385678768157959,
85
+ -66.22288513183594,
86
+ 99.98999786376953,
87
+ 4.121206283569336,
88
+ 6.6836771965026855,
89
+ -4.8510894775390625,
90
+ -72.09623718261719,
91
+ -5.603322982788086,
92
+ -0.8805427551269531,
93
+ 51.228275299072266,
94
+ 99.94462585449219,
95
+ 0.0,
96
+ 0.0,
97
+ 0.0
98
+ ]
99
+ },
100
+ "observation.state": {
101
+ "mean": [
102
+ -1.1775535345077515,
103
+ -15.947755813598633,
104
+ -0.8498926162719727,
105
+ 5.615993499755859,
106
+ -9.919230461120605,
107
+ -2.468371629714966,
108
+ -69.5678482055664,
109
+ 4.880346775054932,
110
+ 2.1524719940463344e-14,
111
+ -44.52438735961914,
112
+ 129.9864959716797,
113
+ 5.0505852699279785,
114
+ 7.401465892791748,
115
+ -3.6454718112945557,
116
+ -66.08599090576172,
117
+ 1.5420902967453003,
118
+ 2.3324624295797264e-14,
119
+ 53.26094436645508,
120
+ 129.9683380126953,
121
+ 0.0,
122
+ 0.0,
123
+ 0.0
124
+ ],
125
+ "std": [
126
+ 9.544178009033203,
127
+ 1.9872589111328125,
128
+ 0.9715912938117981,
129
+ 7.683455467224121,
130
+ 11.03636360168457,
131
+ 18.150009155273438,
132
+ 19.740070343017578,
133
+ 4.866195201873779,
134
+ 2.719500243487244e-14,
135
+ 5.837826251983643,
136
+ 0.0,
137
+ 0.6397262811660767,
138
+ 0.37386009097099304,
139
+ 0.5652384161949158,
140
+ 2.0038387775421143,
141
+ 1.218854546546936,
142
+ 1.4483221547523413e-14,
143
+ 0.6789560317993164,
144
+ 0.016968796029686928,
145
+ 0.0,
146
+ 0.0,
147
+ 0.0
148
+ ],
149
+ "max": [
150
+ 17.622920989990234,
151
+ -11.651748657226562,
152
+ 1.3519033193588257,
153
+ 10.451887130737305,
154
+ -4.292140007019043,
155
+ 7.355376243591309,
156
+ -57.54789733886719,
157
+ 21.095155715942383,
158
+ 7.370020121532511e-14,
159
+ -40.49365234375,
160
+ 129.9864959716797,
161
+ 6.858264923095703,
162
+ 8.420272827148438,
163
+ -2.126746654510498,
164
+ -63.17510986328125,
165
+ 4.06695032119751,
166
+ 6.060047076780414e-14,
167
+ 54.55213165283203,
168
+ 129.9920196533203,
169
+ 0.0,
170
+ 0.0,
171
+ 0.0
172
+ ],
173
+ "min": [
174
+ -25.905088424682617,
175
+ -19.16539192199707,
176
+ -3.0452442169189453,
177
+ -23.080326080322266,
178
+ -46.45730209350586,
179
+ -61.377437591552734,
180
+ -126.02062225341797,
181
+ -0.323026180267334,
182
+ -4.516709001169822e-14,
183
+ -66.22288513183594,
184
+ 129.9864959716797,
185
+ 4.121206283569336,
186
+ 6.6836771965026855,
187
+ -4.8510894775390625,
188
+ -72.09623718261719,
189
+ -0.8805427551269531,
190
+ -1.6489295416284924e-14,
191
+ 51.228275299072266,
192
+ 129.92587280273438,
193
+ 0.0,
194
+ 0.0,
195
+ 0.0
196
+ ]
197
+ },
198
+ "observation.images.head_left": {
199
+ "mean": [
200
+ [
201
+ [
202
+ 0.4358222484588623
203
+ ]
204
+ ],
205
+ [
206
+ [
207
+ 0.4233792722225189
208
+ ]
209
+ ],
210
+ [
211
+ [
212
+ 0.40291059017181396
213
+ ]
214
+ ]
215
+ ],
216
+ "std": [
217
+ [
218
+ [
219
+ 0.311244934797287
220
+ ]
221
+ ],
222
+ [
223
+ [
224
+ 0.29146382212638855
225
+ ]
226
+ ],
227
+ [
228
+ [
229
+ 0.2860581874847412
230
+ ]
231
+ ]
232
+ ],
233
+ "max": [
234
+ [
235
+ [
236
+ 1.0
237
+ ]
238
+ ],
239
+ [
240
+ [
241
+ 1.0
242
+ ]
243
+ ],
244
+ [
245
+ [
246
+ 1.0
247
+ ]
248
+ ]
249
+ ],
250
+ "min": [
251
+ [
252
+ [
253
+ 0.0
254
+ ]
255
+ ],
256
+ [
257
+ [
258
+ 0.0
259
+ ]
260
+ ],
261
+ [
262
+ [
263
+ 0.0
264
+ ]
265
+ ]
266
+ ]
267
+ },
268
+ "timestamp": {
269
+ "mean": [
270
+ 10.366666793823242
271
+ ],
272
+ "std": [
273
+ 6.004411697387695
274
+ ],
275
+ "max": [
276
+ 20.733333587646484
277
+ ],
278
+ "min": [
279
+ 0.0
280
+ ]
281
+ },
282
+ "frame_index": {
283
+ "mean": [
284
+ 155.50003051757812
285
+ ],
286
+ "std": [
287
+ 90.0661849975586
288
+ ],
289
+ "max": [
290
+ 311.0
291
+ ],
292
+ "min": [
293
+ 0.0
294
+ ]
295
+ },
296
+ "episode_index": {
297
+ "mean": [
298
+ 0.0
299
+ ],
300
+ "std": [
301
+ 0.0
302
+ ],
303
+ "max": [
304
+ 0.0
305
+ ],
306
+ "min": [
307
+ 0.0
308
+ ]
309
+ },
310
+ "index": {
311
+ "mean": [
312
+ 155.50003051757812
313
+ ],
314
+ "std": [
315
+ 90.0661849975586
316
+ ],
317
+ "max": [
318
+ 311.0
319
+ ],
320
+ "min": [
321
+ 0.0
322
+ ]
323
+ },
324
+ "task_index": {
325
+ "mean": [
326
+ 0.0
327
+ ],
328
+ "std": [
329
+ 0.0
330
+ ],
331
+ "max": [
332
+ 0.0
333
+ ],
334
+ "min": [
335
+ 0.0
336
+ ]
337
+ }
338
+ }
meta/tasks.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"task_index": 0, "task": "eval"}
videos/chunk-000/observation.images.head_left/episode_000000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:02706479699ccf5ddea172011d4185e3ebb3365391277f9b7ccb89addf50f204
3
+ size 4953719