mkkimuser/032422222
收藏Hugging Face2026-03-24 更新2026-03-29 收录
下载链接：
https://hf-mirror.com/datasets/mkkimuser/032422222
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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
{
"codebase_version": "v2.1",
"robot_type": "FFW_SG2",
"total_episodes": 500,
"total_frames": 79185,
"total_tasks": 1,
"total_videos": 500,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:500"
},
"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",
"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"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
19
],
"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"
]
},
"observation.images.cam_head": {
"dtype": "video",
"shape": [
376,
672,
3
],
"names": [
"height",
"width",
"channels"
],
"video_info": {
"video.height": 376,
"video.width": 672,
"video.codec": "libx264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 10,
"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]
```
许可证：Apache-2.0
任务类别：
- 机器人学
标签：
- ROBOTIS
- LeRobot
- FFW_SG2
配置项：
- 配置名称：default
数据文件：data/*/*.parquet
本数据集依托[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**：[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",
"总回合数": 500,
"总帧数": 79185,
"总任务数": 1,
"总视频数": 500,
"总数据块数": 1,
"数据块大小": 1000,
"帧率（fps）": 10,
"数据集划分": {
"训练集": "0:500"
},
"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",
"数据特征": {
"动作": {
"数据类型": "float32",
"形状": [19],
"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",
"头部关节1",
"头部关节2",
"升降关节"
]
},
"观测状态": {
"数据类型": "float32",
"形状": [19],
"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",
"头部关节1",
"头部关节2",
"升降关节"
]
},
"观测图像.头部相机": {
"数据类型": "video",
"形状": [376, 672, 3],
"维度名称": ["高度", "宽度", "通道数"],
"视频信息": {
"视频高度": 376,
"视频宽度": 672,
"视频编码格式": "libx264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率（fps）": 10,
"视频通道数": 3,
"是否含音频": false
},
"补充信息": {
"视频高度": 376,
"视频宽度": 672,
"视频编码格式": "av1",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率（fps）": 10,
"视频通道数": 3,
"是否含音频": false
}
},
"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
},
"全局索引": {
"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格式**：
bibtex
[需补充更多信息]
提供机构：
mkkimuser
