Datasets:
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action
sequence | observation.state
sequence | timestamp
float32 0
29.3
| frame_index
int64 0
439
| episode_index
int64 0
49
| index
int64 0
15.7k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
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44.14212417602539,
129.990234375,
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] | 6.6 | 99 | 0 | 99 | 0 |
End of preview. Expand
in Dataset Viewer.
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "reachy2",
"total_episodes": 50,
"total_frames": 15688,
"total_tasks": 1,
"total_videos": 50,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 15,
"splits": {
"train": "0:50"
},
"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": [
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"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": {
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"shape": [
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],
"names": null
},
"frame_index": {
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1
],
"names": null
},
"episode_index": {
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"shape": [
1
],
"names": null
},
"index": {
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],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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