Inhachoi/ffw_bg2_rev4_real_teleop

--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - ffw_bg2_rev4 - 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_bg2_rev4", "total_episodes": 21, "total_frames": 19038, "total_tasks": 1, "total_videos": 63, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:21" }, "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", "hand_r_thumb_mcp", "hand_r_thumb_abd", "hand_r_thumb_pip", "hand_r_thumb_dip", "hand_r_index_abd", "hand_r_index_mcp", "hand_r_index_pip", "hand_r_middle_abd", "hand_r_middle_mcp", "hand_r_middle_pip", "hand_r_ring_abd", "hand_r_ring_mcp", "hand_r_ring_pip", "hand_r_pinky_abd", "hand_r_pinky_mcp", "hand_r_pinky_pip", "hand_r_wrist" ], "shape": [ 32 ] }, "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", "hand_r_thumb_mcp", "hand_r_thumb_abd", "hand_r_thumb_pip", "hand_r_thumb_dip", "hand_r_index_abd", "hand_r_index_mcp", "hand_r_index_pip", "hand_r_middle_abd", "hand_r_middle_mcp", "hand_r_middle_pip", "hand_r_ring_abd", "hand_r_ring_mcp", "hand_r_ring_pip", "hand_r_pinky_abd", "hand_r_pinky_mcp", "hand_r_pinky_pip", "hand_r_wrist" ], "shape": [ 32 ] } } } ``` ## Citation **BibTeX:** ```bibtex [More Information Needed] ```许可证：Apache-2.0 任务类别： - 机器人学 标签： - LeRobot - ffw_bg2_rev4 - Robotis 配置项： - 配置名称：默认 数据文件：data/*/*.parquet 本数据集基于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 元数据文件 [meta/info.json](meta/info.json) 内容如下： json { "代码库版本": "v2.1", "机器人型号": "ffw_bg2_rev4", "总轨迹数": 21, "总帧数": 19038, "总任务数": 1, "总视频数": 63, "总数据块数": 1, "数据块大小": 1000, "帧率": 30, "数据集划分": { "训练集": "0:21" }, "数据文件路径格式": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "视频文件路径格式": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "数据特征": { "timestamp": { "数据类型": "float32", "形状": [1], "字段名": null }, "frame_index": { "数据类型": "int64", "形状": [1], "字段名": null }, "episode_index": { "数据类型": "int64", "形状": [1], "字段名": null }, "index": { "数据类型": "int64", "形状": [1], "字段名": null }, "task_index": { "数据类型": "int64", "形状": [1], "字段名": null }, "observation.images.cam_head": { "数据类型": "视频", "维度名称": ["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", "视频像素格式": "yuv420p" } }, "observation.images.cam_wrist_left": { "数据类型": "视频", "维度名称": ["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", "视频像素格式": "yuv420p" } }, "observation.images.cam_wrist_right": { "数据类型": "视频", "维度名称": ["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", "视频像素格式": "yuv420p" } }, "observation.state": { "数据类型": "float32", "维度名称": ["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", "hand_r_thumb_mcp", "hand_r_thumb_abd", "hand_r_thumb_pip", "hand_r_thumb_dip", "hand_r_index_abd", "hand_r_index_mcp", "hand_r_index_pip", "hand_r_middle_abd", "hand_r_middle_mcp", "hand_r_middle_pip", "hand_r_ring_abd", "hand_r_ring_mcp", "hand_r_ring_pip", "hand_r_pinky_abd", "hand_r_pinky_mcp", "hand_r_pinky_pip", "hand_r_wrist"], "形状": [32] }, "action": { "数据类型": "float32", "维度名称": ["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", "hand_r_thumb_mcp", "hand_r_thumb_abd", "hand_r_thumb_pip", "hand_r_thumb_dip", "hand_r_index_abd", "hand_r_index_mcp", "hand_r_index_pip", "hand_r_middle_abd", "hand_r_middle_mcp", "hand_r_middle_pip", "hand_r_ring_abd", "hand_r_ring_mcp", "hand_r_ring_pip", "hand_r_pinky_abd", "hand_r_pinky_mcp", "hand_r_pinky_pip", "hand_r_wrist"], "形状": [32] } } } ## 引用 **BibTeX格式引用：** bibtex [需补充更多信息]