THULab/openarm_pick_v6

OpenArm Pick v6

Apache TsFile conversion of qualiadev/openarm_pick_v6, a LeRobot v2.1 dataset for bimanual OpenArm manipulation recorded in Isaac Sim with teleoperation.

• Modalities: Time-series
• Robot type: openarm_bimanual
• Sampling rate: 30 Hz
• Task: grab the electric screwdriver from the table and drop it inside the box
• License: Apache-2.0

Dataset Scale

Item	Count
Episodes	100
Trajectory frames / TsFile rows	65,190
Tasks	1
Source camera videos	300
Converted TsFile files	1

All train episodes are merged into data/openarm_pick_v6_train.tsfile. Episodes remain queryable through the original episode_index and task_index TAG columns.

TsFile Schema

Role	Columns	Type / meaning
TIME	Time	INT64 milliseconds, round(timestamp * 1000)
TAG	episode_index, task_index	Original LeRobot episode and task identifiers
FIELD	frame_index, sample_index	Original frame index and renamed global source index
FIELD	observation_state_0 ... observation_state_15	OpenArm state vector, FLOAT
FIELD	action_0 ... action_15	OpenArm action vector, FLOAT

The 16-element state and action vectors use this source order: left_joint1, left_joint2, left_joint3, left_joint4, left_joint5, left_joint6, left_joint7, left_gripper, right_joint1, right_joint2, right_joint3, right_joint4, right_joint5, right_joint6, right_joint7, and right_gripper.

Conversion Notes

• observation.state[16] and action[16] are flattened into scalar single-precision FLOAT fields. Full source prefixes are retained with . replaced by _.
• Time = round(timestamp * 1000) milliseconds and restarts for every episode. The source timestamp column is dropped because it is redundant with Time.
• Source index is retained as sample_index; frame_index is unchanged.
• All 65,190 trajectory rows are retained, with no duplicate (episode_index, task_index, Time) keys.
• Source metadata is mirrored. meta/info.json is rewritten so its features and data path describe the converted TsFile while preserving source video details under tsfile_conversion.

Camera Videos

The source camera streams observation.images.head, observation.images.wrist_left, and observation.images.wrist_right are not included in this repository. They are 480 x 360, 30 Hz AV1 streams without audio. The original videos remain available from the source dataset's videos/ tree.

TsFile rows stay aligned with source video frames through episode_index and frame_index.

Reading

from tsfile import TsFileReader

reader = TsFileReader("data/openarm_pick_v6_train.tsfile")
print(reader.get_all_table_schemas())
reader.close()

Source

• Original dataset: https://huggingface.co/datasets/qualiadev/openarm_pick_v6
• Source dataset card title: OpenArm Pick v6 - LeRobot Dataset
• Source author in citation: AiSaurabhPatil
• Created using: LeRobot v2.1
• Collection platform: Isaac Sim with VR teleoperation and a custom ROS2 bridge