Dongkkka/ffw_bg2_rev4_pick_total_1209_merge

---
license: apache-2.0
task_categories:
- robotics
tags:
- robotis
- LeRobot
- ffw_bg2_rev4
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": 857,
"total_frames": 85474,
"total_videos": 2828,
"codebase_version": "v2.1",
"robot_type": "ffw_bg2_rev4",
"total_tasks": 1,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:857"
},
"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": {
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"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",
"video.fps": 10
}
},
"observation.images.cam_head_right": {
"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",
"video.fps": 10
}
},
"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",
"video.fps": 10
}
},
"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",
"video.fps": 10
}
},
"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"
],
"shape": [
19
]
},
"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"
],
"shape": [
19
]
}
}
}
```

## 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_bg2_rev4
配置项：
- 配置名称：default
数据文件：data/*/*.parquet

---

本数据集基于[Physical AI Tools（物理人工智能工具）](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
{
"总回合数": 857,
"总帧数": 85474,
"总视频数": 2828,
"代码库版本": "v2.1",
"机器人型号": "ffw_bg2_rev4",
"总任务数": 1,
"总块数": 1,
"块大小": 1000,
"帧率": 10,
"数据划分": {
"训练集": "0:857"
},
"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": {
"时间戳": {
"数据类型": "float32",
"形状": [
1
],
"字段名": null
},
"帧索引": {
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1
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},
"回合索引": {
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},
"任务索引": {
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"形状": [
1
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},
"观测数据.图像.头部相机": {
"数据类型": "video（视频）",
"字段名": [
"高度",
"宽度",
"通道数"
],
"形状": [
376,
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],
"详细信息": {
"视频高度": 376,
"视频宽度": 672,
"视频通道数": 3,
"视频编码格式": "libx264",
"像素格式": "yuv420p",
"视频帧率": 10
}
},
"观测数据.图像.头部右侧相机": {
"数据类型": "video（视频）",
"字段名": [
"高度",
"宽度",
"通道数"
],
"形状": [
376,
672,
3
],
"详细信息": {
"视频高度": 376,
"视频宽度": 672,
"视频通道数": 3,
"视频编码格式": "libx264",
"像素格式": "yuv420p",
"视频帧率": 10
}
},
"观测数据.图像.左侧腕部相机": {
"数据类型": "video（视频）",
"字段名": [
"高度",
"宽度",
"通道数"
],
"形状": [
240,
424,
3
],
"详细信息": {
"视频高度": 240,
"视频宽度": 424,
"视频通道数": 3,
"视频编码格式": "libx264",
"像素格式": "yuv420p",
"视频帧率": 10
}
},
"观测数据.图像.右侧腕部相机": {
"数据类型": "video（视频）",
"字段名": [
"高度",
"宽度",
"通道数"
],
"形状": [
240,
424,
3
],
"详细信息": {
"视频高度": 240,
"视频宽度": 424,
"视频通道数": 3,
"视频编码格式": "libx264",
"像素格式": "yuv420p",
"视频帧率": 10
}
},
"观测数据.状态": {
"数据类型": "float32",
"字段名": [
"左机械臂关节1",
"左机械臂关节2",
"左机械臂关节3",
"左机械臂关节4",
"左机械臂关节5",
"左机械臂关节6",
"左机械臂关节7",
"左夹爪关节1",
"右机械臂关节1",
"右机械臂关节2",
"右机械臂关节3",
"右机械臂关节4",
"右机械臂关节5",
"右机械臂关节6",
"右机械臂关节7",
"右夹爪关节1",
"头部关节1",
"头部关节2",
"升降关节"
],
"形状": [
19
]
},
"动作": {
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"左机械臂关节1",
"左机械臂关节2",
"左机械臂关节3",
"左机械臂关节4",
"左机械臂关节5",
"左机械臂关节6",
"左机械臂关节7",
"左夹爪关节1",
"右机械臂关节1",
"右机械臂关节2",
"右机械臂关节3",
"右机械臂关节4",
"右机械臂关节5",
"右机械臂关节6",
"右机械臂关节7",
"右夹爪关节1",
"头部关节1",
"头部关节2",
"升降关节"
],
"形状": [
19
]
}
}
}

## 引用
**BibTeX格式：**
bibtex
[需补充更多信息]