Dongkkka/robotis_lab_ces_pick_place_2
收藏Hugging Face2025-12-03 更新2025-12-20 收录
下载链接：
https://hf-mirror.com/datasets/Dongkkka/robotis_lab_ces_pick_place_2
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资源简介：
---
license: apache-2.0
task_categories:
- robotics
tags:
- robotis
- LeRobot
- FFW_SG2
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using [Physical AI Tools](https://github.com/ROBOTIS-GIT/physical_ai_tools) and [LeRobot](https://github.com/huggingface/lerobot).
## Dataset Description
- **Homepage:** [More Information Needed]
- **License:** apache-2.0
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"total_episodes": 2000,
"total_frames": 264879,
"total_videos": 2000,
"codebase_version": "v2.1",
"robot_type": "FFW_SG2",
"total_tasks": 1,
"total_chunks": 2,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:2000"
},
"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": [
19
],
"names": [
"arm_l_joint1.pos",
"arm_l_joint2.pos",
"arm_l_joint3.pos",
"arm_l_joint4.pos",
"arm_l_joint5.pos",
"arm_l_joint6.pos",
"arm_l_joint7.pos",
"gripper_l_joint1.pos",
"arm_r_joint1.pos",
"arm_r_joint2.pos",
"arm_r_joint3.pos",
"arm_r_joint4.pos",
"arm_r_joint5.pos",
"arm_r_joint6.pos",
"arm_r_joint7.pos",
"gripper_r_joint1.pos",
"head_joint1.pos",
"head_joint2.pos",
"lift_joint.pos"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
19
],
"names": [
"arm_l_joint1.pos",
"arm_l_joint2.pos",
"arm_l_joint3.pos",
"arm_l_joint4.pos",
"arm_l_joint5.pos",
"arm_l_joint6.pos",
"arm_l_joint7.pos",
"gripper_l_joint1.pos",
"arm_r_joint1.pos",
"arm_r_joint2.pos",
"arm_r_joint3.pos",
"arm_r_joint4.pos",
"arm_r_joint5.pos",
"arm_r_joint6.pos",
"arm_r_joint7.pos",
"gripper_r_joint1.pos",
"head_joint1.pos",
"head_joint2.pos",
"lift_joint.pos"
]
},
"observation.images.cam_head_left": {
"dtype": "video",
"shape": [
376,
672,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.height": 376,
"video.width": 672,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10.0,
"video.channels": 3,
"has_audio": false
},
"info": {
"video.height": 376,
"video.width": 672,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"video.channels": 3,
"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:**
```bibtex
[More Information Needed]
```
提供机构：
Dongkkka
