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Update README.md
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README.md
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---
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license: apache-2.0
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---
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license: apache-2.0
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tags:
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- lerobot
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- robotics
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configs:
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- config_name: default
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data_files:
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- split: train
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path: data/chunk-000/*.parquet
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---
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# Sandblasting Sim Dataset v2.1
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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。
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## Dataset Summary
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- **Robot Type:** UR10e
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- **Total Episodes:** 2
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- **Total Frames:** 2042
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- **FPS:** 30
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- **Modality:** Video, Robot States (6-DoF)
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## Dataset Structure
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### meta/info.json
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```json
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{
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"codebase_version": "v2.1",
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"robot_type": "ur10e",
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"total_episodes": 99,
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"total_frames": 86454,
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"total_tasks": 1,
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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"train": "0:99"
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},
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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"features": {
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"observation.images.side": {
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"dtype": "video",
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"shape": [
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224,
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224,
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3
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],
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"names": [
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"height",
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"width",
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"channels"
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],
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"info": {
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"video.height": 224,
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"video.width": 224,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"video.fps": 30,
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"video.channels": 3,
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"has_audio": false
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}
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},
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"observation.images.front": {
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"dtype": "video",
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"shape": [
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224,
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224,
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3
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],
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"names": [
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"height",
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"width",
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"channels"
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],
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"info": {
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"video.height": 224,
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"video.width": 224,
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"video.codec": "av1",
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"video.pix_fmt": "yuv420p",
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"video.is_depth_map": false,
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"video.fps": 30,
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"video.channels": 3,
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"has_audio": false
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}
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},
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"observation.state": {
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"dtype": "float32",
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"shape": [
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6
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],
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"names": [
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"position.shoulder_pan_joint",
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"position.shoulder_lift_joint",
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"position.elbow_joint",
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"position.wrist_1_joint",
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"position.wrist_2_joint",
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"position.wrist_3_joint"
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]
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},
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"action": {
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"dtype": "float32",
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"shape": [
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6
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],
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"names": [
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"position.shoulder_pan_joint",
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"position.shoulder_lift_joint",
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"position.elbow_joint",
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"position.wrist_1_joint",
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"position.wrist_2_joint",
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"position.wrist_3_joint"
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]
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},
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"is_first": {
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"dtype": "bool",
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"shape": [
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1
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],
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"names": null
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},
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"is_last": {
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"dtype": "bool",
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"shape": [
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1
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],
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"names": null
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},
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"is_terminal": {
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"dtype": "bool",
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"shape": [
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1
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],
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"names": null
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},
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"timestamp": {
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"dtype": "float32",
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"shape": [
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1
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],
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"names": null
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},
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"frame_index": {
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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},
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"episode_index": {
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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},
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"index": {
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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},
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"task_index": {
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"dtype": "int64",
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"shape": [
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1
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],
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"names": null
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}
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},
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"total_chunks": 1,
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"total_videos": 198
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}
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