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---
license: apache-2.0
task_categories:
- robotics
- reinforcement-learning
tags:
- lerobot
- reachy2
- bimanual
- mobile-manipulation
- teleoperation
- kitchen
language:
- en
size_categories:
- 10K<n<100K
---
# Reachy2 Kitchen Multimodal Dataset
Teleoperation dataset for **Reachy2 mobile bi-manipulator** performing kitchen tasks in the **SAI platform**. Collected using [`sai-zoo`](https://github.com/ArenaX-Labs/sai-zoo.git) teleoperation tool and converted to [LeRobot](https://github.com/huggingface/lerobot) format.
## Dataset Statistics
| Metric | Value |
|--------|-------|
| Episodes | 219 |
| Total Frames | 23,644 |
| Tasks | 9 |
| FPS | 20 |
| Camera Resolution | 256×256 |
## Tasks
| Task | Description |
|------|-------------|
| Drawer | Open/close left drawer, Open/close right drawer |
| Stove | Turn on/off front-left, front-right, rear-left burners |
## Features
**Observation State** (36 dims):
- `base` (3): Mobile base position
- `torso` (1): Torso joint
- `left_arm` / `right_arm` (7 each): Arm joint positions
- `left_arm_eef_pos` / `right_arm_eef_pos` (3 each): End-effector position
- `left_arm_eef_quat` / `right_arm_eef_quat` (4 each): End-effector orientation (quaternion)
- `left_hand` / `right_hand` (1 each): Gripper position
**Action** (18 dims):
- `base` (3): Base velocity command
- `torso` (1): Torso command
- `left_arm_eef_pos` / `right_arm_eef_pos` (3 each): EEF position delta
- `left_arm_eef_rot` / `right_arm_eef_rot` (3 each): EEF rotation delta
- `left_gripper_close` / `right_gripper_close` (1 each): Gripper command
**Videos** (3 cameras):
- `agentview_center_rgb`: Front center camera
- `agentview_left_rgb`: Front left camera
- `agentview_right_rgb`: Front right camera
## Dataset Structure
```
reachy2-kitchen-multimodal/
├── data/
│ └── chunk-000/
│ └── episode_XXXXXX.parquet # State, action, timestamps per episode
├── videos/
│ └── chunk-000/
│ ├── observation.images.cam_robot_0:agentview_center_rgb/
│ ├── observation.images.cam_robot_0:agentview_left_rgb/
│ └── observation.images.cam_robot_0:agentview_right_rgb/
│ └── episode_XXXXXX.mp4 # Video per camera per episode
├── meta/
│ ├── info.json # Dataset metadata & feature schema
│ ├── tasks.jsonl # Task index → description mapping
│ ├── episodes.jsonl # Episode index, task, length
│ └── modality.json # State/action/video index mapping
└── raw_dataset/ # Raw sai-zoo teleoperation data
├── Reachy2IkKitchenDrawerClose-beta/
├── Reachy2IkKitchenDrawerOpen-beta/
├── Reachy2IkKitchenStoveTurnOff-beta/
└── Reachy2IkKitchenStoveTurnOn-beta/
└── YYYYMMDD_HHMMSS/ # Timestamped episode folder
├── env_metadata.npy # Environment metadata
├── episode_metadata.npy # Episode metadata
└── episodes.hdf5 # Raw episode data
```
## Usage
**Load with LeRobot:**
```python
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("CompeteSAI/reachy2-kitchen-multimodal")
``` |