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[ -33.80889129638672, -13.50536823272705, 2.749303102493286, -7.4064555168151855, -2.1587705612182617, 4.897772312164307, -0.010857529938220978, 16.352676391601562, -7.539883613586426, -38.14078140258789, 129.990234375, -8.717032432556152, -2.652716875076294, -8.926260948181152, -0.02813318930566311, -7.701035022735596, -1.469810128211975, 35.9553108215332, 129.990234375, 0, 0, 0 ]
6.333333
95
0
95
0
[ 2.5533859729766846, -13.79535961151123, -37.681148529052734, -7.756521701812744, -2.1474483013153076, 4.9623236656188965, -0.021577555686235428, 16.323997497558594, -7.119328022003174, -38.11002731323242, 99.98999786376953, -8.707243919372559, -2.4819066524505615, -8.877937316894531, -0.021640023216605186, -7.831900596618652, -1.3324205875396729, 35.897029876708984, 99.98999786376953, 0, 0, 0 ]
[ -35.56096267700195, -13.631465911865234, 2.6728389263153076, -7.488399982452393, -2.0992939472198486, 4.914954662322998, -0.012179081328213215, 16.315509796142578, -7.4230451583862305, -38.13270950317383, 129.990234375, -8.742146492004395, -2.574737548828125, -8.903800010681152, -0.021533070132136345, -7.792900085449219, -1.4067529439926147, 35.923439025878906, 129.990234375, 0, 0, 0 ]
6.4
96
0
96
0
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[ -37.56650924682617, -13.803606033325195, 2.5975074768066406, -7.698550224304199, -2.0768299102783203, 4.939405918121338, -0.011518305167555809, 16.24272346496582, -7.2524895668029785, -38.11282730102539, 129.990234375, -8.743465423583984, -2.4967620372772217, -8.889262199401855, -0.013595671392977238, -7.801285743713379, -1.349871277809143, 35.9512825012207, 129.990234375, 0, 0, 0 ]
6.466667
97
0
97
0
[ 2.585017442703247, -13.967558860778809, -39.4259147644043, -7.963788032531738, -2.2056565284729004, 4.95067834854126, -0.02157696522772312, 16.39439582824707, -7.128107070922852, -38.01352310180664, 99.98999786376953, -8.804903984069824, -2.6239869594573975, -9.003812789916992, -0.02164027839899063, -7.790680885314941, -1.1805014610290527, 36.14713668823242, 99.91999816894531, 0, 0, 0 ]
[ -38.7200813293457, -13.852745056152344, 2.5896143913269043, -7.874331474304199, -2.1561319828033447, 4.96055269241333, -0.02605694718658924, 16.245410919189453, -7.137988567352295, -38.125484466552734, 129.990234375, -8.746108055114746, -2.4980812072753906, -8.891240119934082, -0.012941410765051842, -7.8058013916015625, -1.3262670040130615, 35.97293472290039, 129.990234375, 0, 0, 0 ]
6.533333
98
0
98
0
[ 2.5707385540008545, -14.000673294067383, -38.737892150878906, -7.920807361602783, -2.2798092365264893, 4.882633686065674, -0.021576249971985817, 16.46232795715332, -7.178097724914551, -37.99892044067383, 99.98999786376953, -8.907773971557617, -2.8305702209472656, -9.18227767944336, -0.02164044789969921, -7.766021728515625, -1.0502549409866333, 36.229312896728516, 99.98999786376953, 0, 0, 0 ]
[ -38.93893814086914, -13.929930686950684, 2.621091365814209, -7.940422058105469, -2.18388032913208, 4.96055269241333, -0.027378497645258904, 16.37110137939453, -7.063404560089111, -38.06416702270508, 129.990234375, -8.816814422607422, -2.576718330383301, -8.949397087097168, -0.02879464067518711, -7.843607425689697, -1.098950982093811, 36.127418518066406, 129.990234375, 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": 5,
    "total_frames": 1380,
    "total_tasks": 1,
    "total_videos": 5,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 15,
    "splits": {
        "train": "0:5"
    },
    "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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