reachy_wave

This repository contains a TsFile conversion of the original Hugging Face

dataset aliberts/reachy_wave.

Source Dataset

The source repository is a LeRobot v2.0 dataset for a Reachy2 robot. The task is:

When you see someone, look at them and wave

Source structure:

data/chunk-000/episode_000000.parquet

data/chunk-000/episode_000001.parquet

data/chunk-000/episode_000002.parquet

data/chunk-000/episode_000003.parquet

data/chunk-000/episode_000004.parquet

meta/episodes.jsonl

meta/info.json

meta/stats.json

meta/tasks.jsonl

videos/chunk-000/observation.images.head_left/episode_000000.mp4

...

videos/chunk-000/observation.images.head_left/episode_000004.mp4

Source metadata:

• Robot type: reachy2

• Episodes: 5

• Frames: 1,380

• Tasks: 1

• FPS: 15

• Videos: 5

• Video key: observation.images.head_left

Converted Structure

data/chunk-000/episode_000000.tsfile
data/chunk-000/episode_000001.tsfile
data/chunk-000/episode_000002.tsfile
data/chunk-000/episode_000003.tsfile
data/chunk-000/episode_000004.tsfile
meta/episodes.jsonl
meta/info.json
meta/stats.json
meta/tasks.jsonl
videos/chunk-000/observation.images.head_left/episode_000000.mp4

...

videos/chunk-000/observation.images.head_left/episode_000004.mp4

The meta/ and videos/ directories are mirrored unchanged from the source

repository for traceability. The TsFile conversion uses only the Parquet data.

Source Schema and Conversion

The source Parquet rows contain:

| Column | Source type | Conversion |

|---|---|---|

| action | float32[22] | flattened to action_0 ... action_21 |

| observation.state | float32[22] | flattened to state_0 ... state_21 |

| timestamp | float32 seconds | preserved as episode_timestamp_s; also used for TsFile Time |

| frame_index | int64 | FIELD |

| episode_index | int64 | FIELD and source for episode_id TAG |

| index | int64 | renamed to sample_index FIELD |

| task_index | int64 | FIELD and source for task_id TAG |

TsFile details:

• Output files: data/chunk-000/episode_000000.tsfile through data/chunk-000/episode_000004.tsfile

• Table name: reachy_wave

• TAG columns: episode_id, task_id

• Time precision: milliseconds

• Time: round(timestamp * 1000)

• Row count preserved: 1,380 source rows -> 1,380 TsFile rows across 5 per-episode files

Feature Names

Both action and observation.state use the same 22 dimensions from the source

metadata:

0  neck_yaw.pos

1  neck_pitch.pos

2  neck_roll.pos

3  r_shoulder_pitch.pos

4  r_shoulder_roll.pos

5  r_elbow_yaw.pos

6  r_elbow_pitch.pos

7  r_wrist_roll.pos

8  r_wrist_pitch.pos

9  r_wrist_yaw.pos

10 r_gripper.pos

11 l_shoulder_pitch.pos

12 l_shoulder_roll.pos

13 l_elbow_yaw.pos

14 l_elbow_pitch.pos

15 l_wrist_roll.pos

16 l_wrist_pitch.pos

17 l_wrist_yaw.pos

18 l_gripper.pos

19 mobile_base.vx

20 mobile_base.vy

21 mobile_base.vtheta

Viewer Note

Hugging Face Dataset Viewer may not preview .tsfile files because the hosted viewer environment must have TsFile support installed. Download the per-episode TsFile files under data/chunk-000/ and read them with a TsFile-compatible reader.

Citation

Please cite the original dataset:

@dataset{reachy_wave,

  author = {aliberts},

  title = {reachy_wave},

  publisher = {Hugging Face},

  url = {https://huggingface.co/datasets/aliberts/reachy_wave}

}