pu9730962/sandblasting_sim_dataset_v2.1_test

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": 2,
  "total_frames": 2042,
  "total_tasks": 1,
  "chunks_size": 1000,
  "fps": 30,
  "splits": {
    "train": "0:2"
  },
  "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
      }
    },
    "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
      }
    },
    "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": 4
}