glannuzel/grab-mug

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.0",
    "robot_type": "reachy2",
    "total_episodes": 6,
    "total_frames": 1774,
    "total_tasks": 2,
    "total_videos": 0,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:6"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": null,
    "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": "image",
            "shape": [
                720,
                960,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": null
        },
        "observation.images.torso_rgb": {
            "dtype": "image",
            "shape": [
                720,
                1280,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": null
        },
        "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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