y0-0n/ffw_sh5_pick

---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- y
- o
- o
- n
- b
- y
- u
- n
- g
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_sh5",
"total_episodes": 5,
"total_frames": 380,
"total_tasks": 1,
"total_videos": 5,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 20,
"splits": {
"train": "0:5"
},
"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": {
"observation.images.agentview": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "libx264",
"video.pix_fmt": "yuv420p"
}
},
"observation.state": {
"dtype": "float32",
"shape": [
16
],
"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"
]
},
"action": {
"dtype": "float32",
"shape": [
16
],
"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"
]
},
"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]
```

---
许可证：Apache-2.0
任务类别：
- 机器人学
标签：
- LeRobot（LeRobot）
- y
- o
- o
- n
- b
- y
- u
- n
- g
配置项：
- 配置名称：default
数据文件：data/*/*.parquet
---

本数据集基于[LeRobot（LeRobot）](https://github.com/huggingface/lerobot)构建。

## 数据集描述

- **主页：** [待补充更多信息]
- **论文：** [待补充更多信息]
- **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_sh5",
"总回合数": 5,
"总帧数": 380,
"总任务数": 1,
"总视频数": 5,
"总块数": 1,
"块大小": 1000,
"帧率": 20,
"数据集划分": {
"训练集": "0:5"
},
"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": {
"观测.图像.智能体视角": {
"数据类型": "视频",
"形状": [
480,
640,
3
],
"维度名称": [
"高度",
"宽度",
"通道数"
],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频通道数": 3,
"视频编码格式": "libx264",
"视频像素格式": "yuv420p"
}
},
"观测.状态": {
"数据类型": "float32",
"形状": [
16
],
"维度名称": [
"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",
"右手爪关节1"
]
},
"动作": {
"数据类型": "float32",
"形状": [
16
],
"维度名称": [
"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",
"右手爪关节1"
]
},
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"回合索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
},
"任务索引": {
"数据类型": "int64",
"形状": [
1
],
"维度名称": null
}
}
}

## 引用

**BibTeX：**

bibtex
[待补充更多信息]