pu9730962/sandblasting_sim_2.1

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 Summary

• Robot Type: UR10e
• Total Episodes: 2
• Total Frames: 2042
• FPS: 30
• Modality: Video, Robot States (6-DoF)

Dataset Structure

meta/info.json

{
    "codebase_version": "v2.1",
    "robot_type": "ur10e",
    "total_episodes": 99,
    "total_frames": 86454,
    "total_tasks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:99"
    },
    "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": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "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": [
                224,
                224,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 224,
                "video.width": 224,
                "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": [
                6
            ],
            "names": [
                "position.shoulder_pan_joint",
                "position.shoulder_lift_joint",
                "position.elbow_joint",
                "position.wrist_1_joint",
                "position.wrist_2_joint",
                "position.wrist_3_joint"
            ]
        },
        "action": {
            "dtype": "float32",
            "shape": [
                6
            ],
            "names": [
                "position.shoulder_pan_joint",
                "position.shoulder_lift_joint",
                "position.elbow_joint",
                "position.wrist_1_joint",
                "position.wrist_2_joint",
                "position.wrist_3_joint"
            ]
        },
        "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": 198
}