Sandblasting Sim Dataset v2.1
這是一個專為 UR10e 機器人設計的模擬噴砂（Sandblasting）訓練資料集，使用 LeRobot v2.1 格式。
Dataset Structure
meta/info.json
{
"codebase_version": "v2.1",
"robot_type": "ur10e",
"total_episodes": 11,
"total_frames": 9977,
"total_tasks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:11"
},
"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.side": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.front": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.state": {
"dtype": "float32",
"shape": [
7
],
"names": [
"joint_states.position.shoulder_pan_joint",
"joint_states.position.shoulder_lift_joint",
"joint_states.position.elbow_joint",
"joint_states.position.wrist_1_joint",
"joint_states.position.wrist_2_joint",
"joint_states.position.wrist_3_joint",
"io_and_status_controller.digital_out_states.5.state"
]
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": [
"servo_target.position.shoulder_pan_joint",
"servo_target.position.shoulder_lift_joint",
"servo_target.position.elbow_joint",
"servo_target.position.wrist_1_joint",
"servo_target.position.wrist_2_joint",
"servo_target.position.wrist_3_joint",
"ur_io_command.io_pin5_cmd"
]
},
"is_first": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"is_last": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"is_terminal": {
"dtype": "bool",
"shape": [
1
],
"names": null
},
"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
}
},
"total_chunks": 1,
"total_videos": 22
}
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