ROBOTIS/ffw_bh5_rev1_white_box_gr00t_1
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下载链接：
https://hf-mirror.com/datasets/ROBOTIS/ffw_bh5_rev1_white_box_gr00t_1
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资源简介：
---
license: apache-2.0
task_categories:
- robotics
tags:
- robotis
- LeRobot
- ffw_bh5_rev1
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": 40,
"total_frames": 33440,
"total_videos": 40,
"codebase_version": "v2.1",
"robot_type": "ffw_bh5_rev1",
"total_tasks": 1,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:39"
},
"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.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",
"arm_r_joint1",
"arm_r_joint2",
"arm_r_joint3",
"arm_r_joint4",
"arm_r_joint5",
"arm_r_joint6",
"arm_r_joint7",
"finger_l_joint1",
"finger_l_joint2",
"finger_l_joint3",
"finger_l_joint4",
"finger_l_joint5",
"finger_l_joint6",
"finger_l_joint7",
"finger_l_joint8",
"finger_l_joint9",
"finger_l_joint10",
"finger_l_joint11",
"finger_l_joint12",
"finger_l_joint13",
"finger_l_joint14",
"finger_l_joint15",
"finger_l_joint16",
"finger_l_joint17",
"finger_l_joint18",
"finger_l_joint19",
"finger_l_joint20",
"finger_r_joint1",
"finger_r_joint2",
"finger_r_joint3",
"finger_r_joint4",
"finger_r_joint5",
"finger_r_joint6",
"finger_r_joint7",
"finger_r_joint8",
"finger_r_joint9",
"finger_r_joint10",
"finger_r_joint11",
"finger_r_joint12",
"finger_r_joint13",
"finger_r_joint14",
"finger_r_joint15",
"finger_r_joint16",
"finger_r_joint17",
"finger_r_joint18",
"finger_r_joint19",
"finger_r_joint20"
],
"shape": [
54
]
},
"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",
"arm_r_joint1",
"arm_r_joint2",
"arm_r_joint3",
"arm_r_joint4",
"arm_r_joint5",
"arm_r_joint6",
"arm_r_joint7",
"finger_l_joint1",
"finger_l_joint2",
"finger_l_joint3",
"finger_l_joint4",
"finger_l_joint5",
"finger_l_joint6",
"finger_l_joint7",
"finger_l_joint8",
"finger_l_joint9",
"finger_l_joint10",
"finger_l_joint11",
"finger_l_joint12",
"finger_l_joint13",
"finger_l_joint14",
"finger_l_joint15",
"finger_l_joint16",
"finger_l_joint17",
"finger_l_joint18",
"finger_l_joint19",
"finger_l_joint20",
"finger_r_joint1",
"finger_r_joint2",
"finger_r_joint3",
"finger_r_joint4",
"finger_r_joint5",
"finger_r_joint6",
"finger_r_joint7",
"finger_r_joint8",
"finger_r_joint9",
"finger_r_joint10",
"finger_r_joint11",
"finger_r_joint12",
"finger_r_joint13",
"finger_r_joint14",
"finger_r_joint15",
"finger_r_joint16",
"finger_r_joint17",
"finger_r_joint18",
"finger_r_joint19",
"finger_r_joint20"
],
"shape": [
54
]
}
}
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
```
许可证: apache-2.0
任务类别:
- 机器人学（robotics）
标签:
- Robotis
- LeRobot
- ffw_bh5_rev1
配置:
- 配置名称: 默认（default）
数据文件: data/*/*.parquet
---
本数据集基于[物理人工智能工具（Physical AI Tools）](https://github.com/ROBOTIS-GIT/physical_ai_tools)与[LeRobot](https://github.com/huggingface/lerobot)构建。
## 数据集说明
- **主页:** [更多信息待补充]
- **许可证:** apache-2.0
## 数据集结构
[meta/info.json](meta/info.json):
json
{
"总情节数": 40,
"总帧数": 33440,
"总视频数": 40,
"代码库版本": "v2.1",
"机器人类型": "ffw_bh5_rev1",
"总任务数": 1,
"总分片数": 1,
"分片大小": 1000,
"帧率": 10,
"划分方式": {
"训练集": "0:39"
},
"数据路径": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"视频路径": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"特征项": {
"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
},
"情节索引": {
"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
},
"观测数据.图像.头部相机": {
"数据类型": "视频",
"字段名": ["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,
"视频编码格式": "libx264",
"视频像素格式": "yuv420p"
}
},
"观测数据.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", "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", "左手手指关节1", "左手手指关节2", "左手手指关节3", "左手手指关节4", "左手手指关节5", "左手手指关节6", "左手手指关节7", "左手手指关节8", "左手手指关节9", "左手手指关节10", "左手手指关节11", "左手手指关节12", "左手手指关节13", "左手手指关节14", "左手手指关节15", "左手手指关节16", "左手手指关节17", "左手手指关节18", "左手手指关节19", "左手手指关节20", "右手手指关节1", "右手手指关节2", "右手手指关节3", "右手手指关节4", "右手手指关节5", "右手手指关节6", "右手手指关节7", "右手手指关节8", "右手手指关节9", "右手手指关节10", "右手手指关节11", "右手手指关节12", "右手手指关节13", "右手手指关节14", "右手手指关节15", "右手手指关节16", "右手手指关节17", "右手手指关节18", "右手手指关节19", "右手手指关节20"],
"形状": [54]
},
"动作数据": {
"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", "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", "左手手指关节1", "左手手指关节2", "左手手指关节3", "左手手指关节4", "左手手指关节5", "左手手指关节6", "左手手指关节7", "左手手指关节8", "左手手指关节9", "左手手指关节10", "左手手指关节11", "左手手指关节12", "左手手指关节13", "左手手指关节14", "左手手指关节15", "左手手指关节16", "左手手指关节17", "左手手指关节18", "左手手指关节19", "左手手指关节20", "右手手指关节1", "右手手指关节2", "右手手指关节3", "右手手指关节4", "右手手指关节5", "右手手指关节6", "右手手指关节7", "右手手指关节8", "右手手指关节9", "右手手指关节10", "右手手指关节11", "右手手指关节12", "右手手指关节13", "右手手指关节14", "右手手指关节15", "右手手指关节16", "右手手指关节17", "右手手指关节18", "右手手指关节19", "右手手指关节20"],
"形状": [54]
}
}
}
## 引用
**BibTeX格式:**
bibtex
[更多信息待补充]
提供机构：
ROBOTIS
