jkim50104/ffw_sg2_rev1_clear_item
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--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - ffw_sg2_rev1 - robotis configs: - config_name: default data_files: data/*/*.parquet --- This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). ## Dataset Description - **Homepage:** [More Information Needed] - **Paper:** [More Information Needed] - **License:** apache-2.0 ## Dataset Structure [meta/info.json](meta/info.json): ```json { "codebase_version": "v2.1", "robot_type": "ffw_sg2_rev1", "total_episodes": 2, "total_frames": 650, "total_tasks": 1, "total_videos": 6, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:2" }, "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": { "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 }, "observation.images.cam_head": { "dtype": "video", "names": [ "height", "width", "channels" ], "shape": [ 376, 672, 3 ], "info": { "video.height": 376, "video.width": 672, "video.channels": 3, "video.codec": "libx264", "video.pix_fmt": "yuv420p" } }, "observation.images.cam_wrist_left": { "dtype": "video", "names": [ "height", "width", "channels" ], "shape": [ 240, 424, 3 ], "info": { "video.height": 240, "video.width": 424, "video.channels": 3, "video.codec": "libx264", "video.pix_fmt": "yuv420p" } }, "observation.images.cam_wrist_right": { "dtype": "video", "names": [ "height", "width", "channels" ], "shape": [ 240, 424, 3 ], "info": { "video.height": 240, "video.width": 424, "video.channels": 3, "video.codec": "libx264", "video.pix_fmt": "yuv420p" } }, "observation.state": { "dtype": "float32", "names": [ "arm_l_joint1", "arm_l_joint2", "arm_l_joint3", "arm_l_joint4", "arm_l_joint5", "arm_l_joint6", "arm_l_joint7", "gripper_l_joint1", "arm_r_joint1", "arm_r_joint2", "arm_r_joint3", "arm_r_joint4", "arm_r_joint5", "arm_r_joint6", "arm_r_joint7", "gripper_r_joint1", "head_joint1", "head_joint2", "lift_joint", "linear_x", "linear_y", "angular_z" ], "shape": [ 22 ] }, "action": { "dtype": "float32", "names": [ "arm_l_joint1", "arm_l_joint2", "arm_l_joint3", "arm_l_joint4", "arm_l_joint5", "arm_l_joint6", "arm_l_joint7", "gripper_l_joint1", "arm_r_joint1", "arm_r_joint2", "arm_r_joint3", "arm_r_joint4", "arm_r_joint5", "arm_r_joint6", "arm_r_joint7", "gripper_r_joint1", "head_joint1", "head_joint2", "lift_joint", "linear_x", "linear_y", "angular_z" ], "shape": [ 22 ] } } } ``` ## Citation **BibTeX:** ```bibtex [More Information Needed] ```
--- 许可证：Apache-2.0 任务类别： - 机器人学 标签： - LeRobot - ffw_sg2_rev1 - robotis 配置项： - 配置名称：default 数据文件：data/*/*.parquet --- 本数据集由[LeRobot](https://github.com/huggingface/lerobot)构建。 ## 数据集说明 - **主页**：[需补充更多信息] - **论文**：[需补充更多信息] - **许可证**：Apache-2.0 ## 数据集结构 [meta/info.json](meta/info.json): json { "代码库版本": "v2.1", "机器人类型": "ffw_sg2_rev1", "总回合数": 2, "总帧数": 650, "总任务数": 1, "总视频数": 6, "总块数": 1, "块大小": 1000, "帧率": 30, "数据划分": { "训练集": "0:2" }, "数据路径格式": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "视频路径格式": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "数据特征": { "时间戳": { "数据类型": "float32", "形状": [1], "字段名": null }, "帧索引": { "数据类型": "int64", "形状": [1], "字段名": null }, "回合索引": { "数据类型": "int64", "形状": [1], "字段名": null }, "全局索引": { "数据类型": "int64", "形状": [1], "字段名": null }, "任务索引": { "数据类型": "int64", "形状": [1], "字段名": null }, "观测图像.头部相机": { "数据类型": "视频", "维度名称": ["高度", "宽度", "通道数"], "形状": [376, 672, 3], "附加信息": { "视频高度": 376, "视频宽度": 672, "视频通道数": 3, "视频编码器": "libx264", "视频像素格式": "yuv420p" } }, "观测图像.左手腕相机": { "数据类型": "视频", "维度名称": ["高度", "宽度", "通道数"], "形状": [240, 424, 3], "附加信息": { "视频高度": 240, "视频宽度": 424, "视频通道数": 3, "视频编码器": "libx264", "视频像素格式": "yuv420p" } }, "观测图像.右手腕相机": { "数据类型": "视频", "维度名称": ["高度", "宽度", "通道数"], "形状": [240, 424, 3], "附加信息": { "视频高度": 240, "视频宽度": 424, "视频通道数": 3, "视频编码器": "libx264", "视频像素格式": "yuv420p" } }, "观测状态": { "数据类型": "float32", "字段名": ["左臂关节1", "左臂关节2", "左臂关节3", "左臂关节4", "左臂关节5", "左臂关节6", "左臂关节7", "左手夹爪关节1", "右臂关节1", "右臂关节2", "右臂关节3", "右臂关节4", "右臂关节5", "右臂关节6", "右臂关节7", "右手夹爪关节1", "头部关节1", "头部关节2", "升降关节", "线位移X", "线位移Y", "角位移Z"], "形状": [22] }, "动作": { "数据类型": "float32", "字段名": ["左臂关节1", "左臂关节2", "左臂关节3", "左臂关节4", "左臂关节5", "左臂关节6", "左臂关节7", "左手夹爪关节1", "右臂关节1", "右臂关节2", "右臂关节3", "右臂关节4", "右臂关节5", "右臂关节6", "右臂关节7", "右手夹爪关节1", "头部关节1", "头部关节2", "升降关节", "线位移X", "线位移Y", "角位移Z"], "形状": [22] } } } ## 引用 **BibTeX格式**： bibtex [需补充更多信息]
