Xense/assemble_box_with_phone_stand0421

---
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": 61309,
"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（LeRobot）
配置项:
- 配置名称: default
数据文件: data/*/*.parquet
---

本数据集基于 [LeRobot（LeRobot）](https://github.com/huggingface/lerobot) 构建。

## 数据集说明
- **主页：** [需补充更多信息]
- **论文：** [需补充更多信息]
- **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",
"机器人类型": "bi_flexiv_rizon4_rt",
"总轨迹数": 5,
"总帧数": 61309,
"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": [
"左工具中心点x坐标（left_tcp.x）",
"左工具中心点y坐标（left_tcp.y）",
"左工具中心点z坐标（left_tcp.z）",
"左工具中心点姿态角r1（left_tcp.r1）",
"左工具中心点姿态角r2（left_tcp.r2）",
"左工具中心点姿态角r3（left_tcp.r3）",
"左工具中心点姿态角r4（left_tcp.r4）",
"左工具中心点姿态角r5（left_tcp.r5）",
"左工具中心点姿态角r6（left_tcp.r6）",
"右工具中心点x坐标（right_tcp.x）",
"右工具中心点y坐标（right_tcp.y）",
"右工具中心点z坐标（right_tcp.z）",
"右工具中心点姿态角r1（right_tcp.r1）",
"右工具中心点姿态角r2（right_tcp.r2）",
"右工具中心点姿态角r3（right_tcp.r3）",
"右工具中心点姿态角r4（right_tcp.r4）",
"右工具中心点姿态角r5（right_tcp.r5）",
"右工具中心点姿态角r6（right_tcp.r6）",
"左夹爪位置（left_gripper.pos）",
"右夹爪位置（right_gripper.pos）"
],
"形状": [
20
]
},
"观测.状态": {
"数据类型": "float32",
"维度名称": [
"左工具中心点x坐标（left_tcp.x）",
"左工具中心点y坐标（left_tcp.y）",
"左工具中心点z坐标（left_tcp.z）",
"左工具中心点姿态角r1（left_tcp.r1）",
"左工具中心点姿态角r2（left_tcp.r2）",
"左工具中心点姿态角r3（left_tcp.r3）",
"左工具中心点姿态角r4（left_tcp.r4）",
"左工具中心点姿态角r5（left_tcp.r5）",
"左工具中心点姿态角r6（left_tcp.r6）",
"右工具中心点x坐标（right_tcp.x）",
"右工具中心点y坐标（right_tcp.y）",
"右工具中心点z坐标（right_tcp.z）",
"右工具中心点姿态角r1（right_tcp.r1）",
"右工具中心点姿态角r2（right_tcp.r2）",
"右工具中心点姿态角r3（right_tcp.r3）",
"右工具中心点姿态角r4（right_tcp.r4）",
"右工具中心点姿态角r5（right_tcp.r5）",
"右工具中心点姿态角r6（right_tcp.r6）",
"左夹爪位置（left_gripper.pos）",
"右夹爪位置（right_gripper.pos）"
],
"形状": [
20
]
},
"观测.图像.头部摄像头": {
"数据类型": "视频（video）",
"形状": [
480,
640,
3
],
"维度名称": [
"height",
"width",
"channels"
],
"详细信息": {
"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
}
},
"观测.图像.左腕摄像头": {
"数据类型": "视频（video）",
"形状": [
480,
640,
3
],
"维度名称": [
"height",
"width",
"channels"
],
"详细信息": {
"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
}
},
"观测.图像.右腕摄像头": {
"数据类型": "视频（video）",
"形状": [
480,
640,
3
],
"维度名称": [
"height",
"width",
"channels"
],
"详细信息": {
"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
}
},
"观测.图像.左触觉传感器0": {
"数据类型": "视频（video）",
"形状": [
400,
700,
3
],
"维度名称": [
"height",
"width",
"channels"
],
"详细信息": {
"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
}
},
"观测.图像.左触觉传感器1": {
"数据类型": "视频（video）",
"形状": [
400,
700,
3
],
"维度名称": [
"height",
"width",
"channels"
],
"详细信息": {
"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
}
},
"观测.图像.右触觉传感器0": {
"数据类型": "视频（video）",
"形状": [
400,
700,
3
],
"维度名称": [
"height",
"width",
"channels"
],
"详细信息": {
"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
}
},
"观测.图像.右触觉传感器1": {
"数据类型": "视频（video）",
"形状": [
400,
700,
3
],
"维度名称": [
"height",
"width",
"channels"
],
"详细信息": {
"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
}
},
"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:**
bibtex
[需补充更多信息]