The dataset viewer is not available for this split.
Error code: StreamingRowsError
Exception: ArrowInvalid
Message: BatchSize must be greater than 0, got 0
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 147, in get_rows_or_raise
return get_rows(
dataset=dataset,
...<4 lines>...
column_names=column_names,
)
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
File "/src/services/worker/src/worker/utils.py", line 127, in get_rows
rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
File "/src/services/worker/src/worker/utils.py", line 483, in safe_iter
yield from ds.decode(False) if ds.features else ds
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2840, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2373, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2398, in _iter_arrow
for key, pa_table in self.ex_iterable._iter_arrow():
~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 536, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/parquet/parquet.py", line 208, in _generate_tables
parquet_fragment.to_batches(
~~~~~~~~~~~~~~~~~~~~~~~~~~~^
batch_size=batch_size,
^^^^^^^^^^^^^^^^^^^^^^
...<3 lines>...
fragment_readahead=0,
^^^^^^^^^^^^^^^^^^^^^
)
^
File "pyarrow/_dataset.pyx", line 1648, in pyarrow._dataset.Fragment.to_batches
File "pyarrow/_dataset.pyx", line 3792, in pyarrow._dataset.Scanner.from_fragment
_populate_builder(builder, columns=columns, filter=filter,
File "pyarrow/_dataset.pyx", line 3574, in pyarrow._dataset._populate_builder
check_status(builder.BatchSize(batch_size))
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
pyarrow.lib.ArrowInvalid: BatchSize must be greater than 0, got 0Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
XINGYING RGB-D Tactile Cylinder Trial 0828
This public dataset contains a recovered 201-second multimodal robotics capture recorded with XINGYING/NOKOV motion capture, an Intel RealSense D435i, and one left DM-Tac tactile sensor. The original XINGYING CAP and companion directory are retained beside inspectable Parquet, Zarr, MP4, CSV, and HDF5 derivatives.
Important quality status
This is a useful recovered capture, not a clean benchmark episode.
export_complete=true: the published bundle was exported successfully and all files declared by the manifest are present.source_complete=false: the original recorder stopped when an older sequence gate treated a reused depth frame (6245 -> 6245) as fatal.- The 6,031 stored RGB-D pairs and 12,072 NOKOV frames preceding that event are readable and have continuous stored frame numbers.
- The target rigid body
cylinderhas a finite pose in 6,316 / 12,072 frames (52.32%). There are 10 invalid runs; the longest is about 32.30 seconds. - Only the left tactile sensor (
M26190152) is present. There is no right tactile stream in this trial. - Tactile force mode is
deferred_completed, but finger geometry status is unknown. Wrench values are readable relative outputs, not certified absolute force ground truth.
Do not filter these limitations out when reporting results derived from this dataset.
Contents
| Modality | Count / status |
|---|---|
| NOKOV frames | 12,072 |
| RGB-D pairs | 6,031 |
| Left DM-Tac frames | 6,038 |
| NOKOV duration | 201.166 s |
| RGB-D to NOKOV absolute time delta | median 4.287 ms, max 9.267 ms |
| Left tactile to NOKOV absolute delta | median 1.388 ms, max 50.233 ms |
| Left tactile to RGB-D absolute delta | median 8.293 ms, max 57.933 ms |
The larger tactile maxima are confined to the short tactile tail retained by the recovery export.
Data layout
.
├── session.json
├── calibration.json
├── color.mp4
├── preview.mp4
├── depth.zarr/depth_raw
├── tactile/left_M26190152.h5
├── tables/
│ ├── mocap_frames.parquet
│ ├── markers.parquet
│ ├── rigid_bodies.parquet
│ ├── rigid_kinematics.parquet
│ ├── sync.parquet
│ ├── tactile_sync.parquet
│ └── six_points.csv
└── xingying/
├── 0828_trial222231.cap
└── 0828_trial222231/
tables/sync.parquet and tables/tactile_sync.parquet are the authoritative
time-pairing tables. MP4 timing is for playback only. Cross-device association
uses nearest host monotonic timestamps and is software synchronization, not
hardware triggering or temporal resampling.
Positions are stored in metres. Rigid-body quaternions use xyzw order. Depth
is raw uint16; convert it with depth_scale_m from session.json.
Publication notes
Local filesystem paths and NOKOV network addresses were redacted from the
published session.json. Hardware serials were retained because they identify
the calibration and tactile source used for this trial. The color and preview
videos may reveal the laboratory scene.
No reuse license is granted by this initial publication. Contact the repository owner before redistribution or incorporation into another released dataset.
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