Xense/assemble_box_with_phone_stand0409
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https://hf-mirror.com/datasets/Xense/assemble_box_with_phone_stand0409
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---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
data_files: data/*/*.parquet
---
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
## Dataset Description
- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0
## Dataset Structure
[meta/info.json](meta/info.json):
```json
{
"codebase_version": "v3.0",
"robot_type": "bi_flexiv_rizon4_rt",
"total_episodes": 5,
"total_frames": 45629,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:5"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"action": {
"dtype": "float32",
"names": [
"left_tcp.x",
"left_tcp.y",
"left_tcp.z",
"left_tcp.r1",
"left_tcp.r2",
"left_tcp.r3",
"left_tcp.r4",
"left_tcp.r5",
"left_tcp.r6",
"right_tcp.x",
"right_tcp.y",
"right_tcp.z",
"right_tcp.r1",
"right_tcp.r2",
"right_tcp.r3",
"right_tcp.r4",
"right_tcp.r5",
"right_tcp.r6",
"left_gripper.pos",
"right_gripper.pos"
],
"shape": [
20
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_tcp.x",
"left_tcp.y",
"left_tcp.z",
"left_tcp.r1",
"left_tcp.r2",
"left_tcp.r3",
"left_tcp.r4",
"left_tcp.r5",
"left_tcp.r6",
"right_tcp.x",
"right_tcp.y",
"right_tcp.z",
"right_tcp.r1",
"right_tcp.r2",
"right_tcp.r3",
"right_tcp.r4",
"right_tcp.r5",
"right_tcp.r6",
"left_gripper.pos",
"right_gripper.pos"
],
"shape": [
20
]
},
"observation.images.head": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_tactile_0": {
"dtype": "video",
"shape": [
400,
700,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 400,
"video.width": 700,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_tactile_1": {
"dtype": "video",
"shape": [
400,
700,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 400,
"video.width": 700,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_tactile_0": {
"dtype": "video",
"shape": [
400,
700,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 400,
"video.width": 700,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.right_tactile_1": {
"dtype": "video",
"shape": [
400,
700,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 400,
"video.width": 700,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"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
}
}
}
```
## Citation
**BibTeX:**
```bibtex
[More Information Needed]
```
---
许可证: Apache-2.0
任务类别:
- 机器人学
标签:
- LeRobot
配置项:
- 配置名称: default
数据文件路径: data/*/*.parquet
---
本数据集基于[LeRobot](https://github.com/huggingface/lerobot)框架构建。
## 数据集说明
- **主页**：[更多信息待补充]
- **论文**：[更多信息待补充]
- **许可证**：Apache-2.0
## 数据集结构
[meta/info.json](meta/info.json):
json
{
"代码库版本": "v3.0",
"机器人型号": "bi_flexiv_rizon4_rt",
"总轨迹数": 5,
"总帧数": 45629,
"总任务数": 1,
"分块大小": 1000,
"数据文件总大小（MB）": 100,
"视频文件总大小（MB）": 500,
"帧率": 30,
"数据集划分": {
"训练集": "0:5"
},
"数据路径格式": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"视频路径格式": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"数据特征": {
"动作": {
"数据类型": "float32",
"维度名称": [
"左侧工具中心点X坐标",
"左侧工具中心点Y坐标",
"左侧工具中心点Z坐标",
"左侧工具中心点旋转分量1",
"左侧工具中心点旋转分量2",
"左侧工具中心点旋转分量3",
"左侧工具中心点旋转分量4",
"左侧工具中心点旋转分量5",
"左侧工具中心点旋转分量6",
"右侧工具中心点X坐标",
"右侧工具中心点Y坐标",
"右侧工具中心点Z坐标",
"右侧工具中心点旋转分量1",
"右侧工具中心点旋转分量2",
"右侧工具中心点旋转分量3",
"右侧工具中心点旋转分量4",
"右侧工具中心点旋转分量5",
"右侧工具中心点旋转分量6",
"左侧夹爪位置",
"右侧夹爪位置"
],
"形状": [20]
},
"观测.状态": {
"数据类型": "float32",
"维度名称": [
"左侧工具中心点X坐标",
"左侧工具中心点Y坐标",
"左侧工具中心点Z坐标",
"左侧工具中心点旋转分量1",
"左侧工具中心点旋转分量2",
"左侧工具中心点旋转分量3",
"左侧工具中心点旋转分量4",
"左侧工具中心点旋转分量5",
"左侧工具中心点旋转分量6",
"右侧工具中心点X坐标",
"右侧工具中心点Y坐标",
"右侧工具中心点Z坐标",
"右侧工具中心点旋转分量1",
"右侧工具中心点旋转分量2",
"右侧工具中心点旋转分量3",
"右侧工具中心点旋转分量4",
"右侧工具中心点旋转分量5",
"右侧工具中心点旋转分量6",
"左侧夹爪位置",
"右侧夹爪位置"
],
"形状": [20]
},
"观测.图像.头部相机": {
"数据类型": "video",
"形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测.图像.左侧腕部相机": {
"数据类型": "video",
"形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测.图像.右侧腕部相机": {
"数据类型": "video",
"形状": [480, 640, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 480,
"视频宽度": 640,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测.图像.左侧触觉传感器0": {
"数据类型": "video",
"形状": [400, 700, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 400,
"视频宽度": 700,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测.图像.左侧触觉传感器1": {
"数据类型": "video",
"形状": [400, 700, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 400,
"视频宽度": 700,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测.图像.右侧触觉传感器0": {
"数据类型": "video",
"形状": [400, 700, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 400,
"视频宽度": 700,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"观测.图像.右侧触觉传感器1": {
"数据类型": "video",
"形状": [400, 700, 3],
"维度名称": ["高度", "宽度", "通道数"],
"详细信息": {
"视频高度": 400,
"视频宽度": 700,
"视频编码格式": "h264",
"视频像素格式": "yuv420p",
"是否为深度图": false,
"视频帧率": 30,
"视频通道数": 3,
"是否包含音频": false
}
},
"时间戳": {
"数据类型": "float32",
"形状": [1],
"维度名称": null
},
"帧索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"轨迹索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"全局索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
},
"任务索引": {
"数据类型": "int64",
"形状": [1],
"维度名称": null
}
}
}
## 引用
**BibTeX格式引用**：
bibtex
[更多信息待补充]
提供机构：
Xense
