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