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pu9730962/sandblasting_real_v2.1

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Hugging Face2026-03-27 更新2026-03-29 收录
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https://hf-mirror.com/datasets/pu9730962/sandblasting_real_v2.1
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资源简介:
--- license: apache-2.0 tags: - lerobot - robotics configs: - config_name: default data_files: - split: train path: data/chunk-000/*.parquet --- # 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 ```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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