Xense/stack-cubes-flexiv-0801
This dataset was created using LeRobot. Dataset Structure meta/info.json: { "codebase_version": "v3.0", "robot_type": "bi_flexiv_rizon4_rt", "total_episodes": 170, "total_frames": 891288, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:170" }, "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet"… See the full description on the dataset page: https://huggingface.co/datasets/Xense/stack-cubes-flexiv-0801.
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1---2license: apache-2.03task_categories:4- robotics5tags:6- LeRobot7configs:8- config_name: default9 data_files: data/*/*.parquet10---11 12This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).13 14 15<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=Xense/stack-cubes-flexiv-0801">16<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>17<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>18</a>19 20 21## Dataset Description22 23 24 25- **Homepage:** [More Information Needed]26- **Paper:** [More Information Needed]27- **License:** apache-2.028 29## Dataset Structure30 31[meta/info.json](meta/info.json):32```json33{34 "codebase_version": "v3.0",35 "robot_type": "bi_flexiv_rizon4_rt",36 "total_episodes": 170,37 "total_frames": 891288,38 "total_tasks": 1,39 "chunks_size": 1000,40 "data_files_size_in_mb": 100,41 "video_files_size_in_mb": 200,42 "fps": 30,43 "splits": {44 "train": "0:170"45 },46 "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",47 "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",48 "features": {49 "action": {50 "dtype": "float32",51 "names": [52 "left_tcp.x",53 "left_tcp.y",54 "left_tcp.z",55 "left_tcp.r1",56 "left_tcp.r2",57 "left_tcp.r3",58 "left_tcp.r4",59 "left_tcp.r5",60 "left_tcp.r6",61 "right_tcp.x",62 "right_tcp.y",63 "right_tcp.z",64 "right_tcp.r1",65 "right_tcp.r2",66 "right_tcp.r3",67 "right_tcp.r4",68 "right_tcp.r5",69 "right_tcp.r6",70 "left_gripper.pos",71 "right_gripper.pos"72 ],73 "shape": [74 2075 ]76 },77 "observation.state": {78 "dtype": "float32",79 "names": [80 "left_tcp.x",81 "left_tcp.y",82 "left_tcp.z",83 "left_tcp.r1",84 "left_tcp.r2",85 "left_tcp.r3",86 "left_tcp.r4",87 "left_tcp.r5",88 "left_tcp.r6",89 "right_tcp.x",90 "right_tcp.y",91 "right_tcp.z",92 "right_tcp.r1",93 "right_tcp.r2",94 "right_tcp.r3",95 "right_tcp.r4",96 "right_tcp.r5",97 "right_tcp.r6",98 "left_gripper.pos",99 "right_gripper.pos"100 ],101 "shape": [102 20103 ]104 },105 "observation.images.head": {106 "dtype": "video",107 "shape": [108 480,109 640,110 3111 ],112 "names": [113 "height",114 "width",115 "channels"116 ],117 "info": {118 "video.height": 480,119 "video.width": 640,120 "video.codec": "h264",121 "video.pix_fmt": "yuv420p",122 "video.is_depth_map": false,123 "video.fps": 30,124 "video.channels": 3,125 "has_audio": false126 }127 },128 "observation.images.left_wrist": {129 "dtype": "video",130 "shape": [131 480,132 640,133 3134 ],135 "names": [136 "height",137 "width",138 "channels"139 ],140 "info": {141 "video.height": 480,142 "video.width": 640,143 "video.codec": "h264",144 "video.pix_fmt": "yuv420p",145 "video.is_depth_map": false,146 "video.fps": 30,147 "video.channels": 3,148 "has_audio": false149 }150 },151 "observation.images.right_wrist": {152 "dtype": "video",153 "shape": [154 480,155 640,156 3157 ],158 "names": [159 "height",160 "width",161 "channels"162 ],163 "info": {164 "video.height": 480,165 "video.width": 640,166 "video.codec": "h264",167 "video.pix_fmt": "yuv420p",168 "video.is_depth_map": false,169 "video.fps": 30,170 "video.channels": 3,171 "has_audio": false172 }173 },174 "observation.images.left_tactile_0": {175 "dtype": "video",176 "shape": [177 400,178 700,179 3180 ],181 "names": [182 "height",183 "width",184 "channels"185 ],186 "info": {187 "video.height": 400,188 "video.width": 700,189 "video.codec": "h264",190 "video.pix_fmt": "yuv420p",191 "video.is_depth_map": false,192 "video.fps": 30,193 "video.channels": 3,194 "has_audio": false195 }196 },197 "observation.images.left_tactile_1": {198 "dtype": "video",199 "shape": [200 400,201 700,202 3203 ],204 "names": [205 "height",206 "width",207 "channels"208 ],209 "info": {210 "video.height": 400,211 "video.width": 700,212 "video.codec": "h264",213 "video.pix_fmt": "yuv420p",214 "video.is_depth_map": false,215 "video.fps": 30,216 "video.channels": 3,217 "has_audio": false218 }219 },220 "observation.images.right_tactile_0": {221 "dtype": "video",222 "shape": [223 400,224 700,225 3226 ],227 "names": [228 "height",229 "width",230 "channels"231 ],232 "info": {233 "video.height": 400,234 "video.width": 700,235 "video.codec": "h264",236 "video.pix_fmt": "yuv420p",237 "video.is_depth_map": false,238 "video.fps": 30,239 "video.channels": 3,240 "has_audio": false241 }242 },243 "observation.images.right_tactile_1": {244 "dtype": "video",245 "shape": [246 400,247 700,248 3249 ],250 "names": [251 "height",252 "width",253 "channels"254 ],255 "info": {256 "video.height": 400,257 "video.width": 700,258 "video.codec": "h264",259 "video.pix_fmt": "yuv420p",260 "video.is_depth_map": false,261 "video.fps": 30,262 "video.channels": 3,263 "has_audio": false264 }265 },266 "timestamp": {267 "dtype": "float32",268 "shape": [269 1270 ],271 "names": null272 },273 "frame_index": {274 "dtype": "int64",275 "shape": [276 1277 ],278 "names": null279 },280 "episode_index": {281 "dtype": "int64",282 "shape": [283 1284 ],285 "names": null286 },287 "index": {288 "dtype": "int64",289 "shape": [290 1291 ],292 "names": null293 },294 "task_index": {295 "dtype": "int64",296 "shape": [297 1298 ],299 "names": null300 }301 }302}303```304 305 306## Citation307 308**BibTeX:**309 310```bibtex311@misc{vertax2026lerobotxense,312 author = {vertax42 and Xense Robotics Team},313 title = {LeRobot-Xense: LeRobot with Xense Tactile Robotics Support},314 howpublished = {\url{https://github.com/Vertax42/lerobot-xense}},315 year = {2026}316}317```