Add TsFile (converted from kumarhans/ethernetGrab6)

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+data/ethernetGrab6_lerobot.tsfile filter=lfs diff=lfs merge=lfs -text

README.md

@@ -1,3 +1,74 @@
 ---
 license: apache-2.0
+task_categories:
+- robotics
+tags:
+- tsfile
+- timeseries
+- time-series
+- LeRobot
+- robotics
+- bimanual-manipulation
+pretty_name: ethernetGrab6 (TsFile)
+size_categories:
+- 10K<n<100K
+configs:
+- config_name: default
+  data_files: data/*.tsfile
 ---
+
+# ethernetGrab6 (TsFile)
+
+Apache TsFile version of [`kumarhans/ethernetGrab6`](https://huggingface.co/datasets/kumarhans/ethernetGrab6).
+
+## Overview
+
+A bimanual robot-manipulation dataset recorded with a `bi_xarm6_follower` setup
+(two UFACTORY xArm6 arms, each with a gripper). The single task across the whole
+dataset is **"Grab the cable and plug it in"** — picking up an Ethernet cable and
+inserting it. It was created with [LeRobot](https://github.com/huggingface/lerobot)
+(codebase version v2.1).
+
+- **Scale:** 30 episodes, 47,857 frames total.
+- **Sampling rate:** 30 fps.
+- **Robot:** `bi_xarm6_follower` — dual xArm6, 14 DOF total (per arm: 6 joints + 1 gripper).
+- **Task:** a single task, `task_index = 0` — "Grab the cable and plug it in".
+
+## Schema (TsFile structure)
+
+- **Time** (INT64, milliseconds) — frame timestamp, `round(timestamp * 1000)`. It
+  restarts from 0 at the beginning of each episode (~33 ms between frames at 30 fps).
+- **episode_index** (TAG) — which of the 30 episodes the row belongs to.
+- **task_index** (TAG) — the task identifier (always `0` here).
+  Both tags form the TsFile device dimension; query one episode with
+  `WHERE episode_index=0`.
+- **frame_index** (FIELD, INT64) — frame number within the episode.
+- **sample_index** (FIELD, INT64) — the original global `index` column.
+- **action_0 .. action_13** (FIELD, FLOAT) — the commanded target positions, 14
+  values: left arm joints 1–6, left gripper, then right arm joints 1–6, right gripper.
+- **observation_state_0 .. observation_state_13** (FIELD, FLOAT) — the measured
+  joint/gripper positions, same 14-element layout as `action`.
+
+The source `timestamp` column is dropped (it equals `Time ÷ 1000` seconds). Vector
+columns are flattened single-precision FLOAT (`.` → `_`, element index appended,
+the `observation.` prefix stripped).
+
+## Usage
+
+Read the `.tsfile` files with the Apache TsFile Java or Python SDK.
+
+## Notes
+
+- Camera video streams are **not** included in this repository. The original
+  dataset has 3 camera views (`observation.images.ego`, `observation.images.left_wrist`,
+  `observation.images.right_wrist`, 90 videos total) under its `videos/` directory —
+  see the original dataset for them.
+- `meta/` from the source is mirrored alongside the data. Aside from the redundant
+  `timestamp` column noted above, no columns or rows are dropped.
+
+## Source & license
+
+- Original dataset: https://huggingface.co/datasets/kumarhans/ethernetGrab6
+- Author / publisher: kumarhans
+- Paper: not declared by the original dataset.
+- License: apache-2.0 (from the original dataset card).

data/ethernetGrab6_lerobot.tsfile

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21db9b0c273134d64ffa22f79d06ce6a28dfd72f035b99280b386faafd03a5d4
+size 1835697

meta/episodes.jsonl

@@ -0,0 +1,30 @@
+{"episode_index": 0, "tasks": ["Grab the cable and plug it in"], "length": 1778}
+{"episode_index": 1, "tasks": ["Grab the cable and plug it in"], "length": 1491}
+{"episode_index": 2, "tasks": ["Grab the cable and plug it in"], "length": 1633}
+{"episode_index": 3, "tasks": ["Grab the cable and plug it in"], "length": 1772}
+{"episode_index": 4, "tasks": ["Grab the cable and plug it in"], "length": 1582}
+{"episode_index": 5, "tasks": ["Grab the cable and plug it in"], "length": 1568}
+{"episode_index": 6, "tasks": ["Grab the cable and plug it in"], "length": 1562}
+{"episode_index": 7, "tasks": ["Grab the cable and plug it in"], "length": 1926}
+{"episode_index": 8, "tasks": ["Grab the cable and plug it in"], "length": 1847}
+{"episode_index": 9, "tasks": ["Grab the cable and plug it in"], "length": 1595}
+{"episode_index": 10, "tasks": ["Grab the cable and plug it in"], "length": 1383}
+{"episode_index": 11, "tasks": ["Grab the cable and plug it in"], "length": 1491}
+{"episode_index": 12, "tasks": ["Grab the cable and plug it in"], "length": 1812}
+{"episode_index": 13, "tasks": ["Grab the cable and plug it in"], "length": 1636}
+{"episode_index": 14, "tasks": ["Grab the cable and plug it in"], "length": 1698}
+{"episode_index": 15, "tasks": ["Grab the cable and plug it in"], "length": 1790}
+{"episode_index": 16, "tasks": ["Grab the cable and plug it in"], "length": 1659}
+{"episode_index": 17, "tasks": ["Grab the cable and plug it in"], "length": 1520}
+{"episode_index": 18, "tasks": ["Grab the cable and plug it in"], "length": 1489}
+{"episode_index": 19, "tasks": ["Grab the cable and plug it in"], "length": 1513}
+{"episode_index": 20, "tasks": ["Grab the cable and plug it in"], "length": 1388}
+{"episode_index": 21, "tasks": ["Grab the cable and plug it in"], "length": 1720}
+{"episode_index": 22, "tasks": ["Grab the cable and plug it in"], "length": 1355}
+{"episode_index": 23, "tasks": ["Grab the cable and plug it in"], "length": 1496}
+{"episode_index": 24, "tasks": ["Grab the cable and plug it in"], "length": 1465}
+{"episode_index": 25, "tasks": ["Grab the cable and plug it in"], "length": 1569}
+{"episode_index": 26, "tasks": ["Grab the cable and plug it in"], "length": 1593}
+{"episode_index": 27, "tasks": ["Grab the cable and plug it in"], "length": 1597}
+{"episode_index": 28, "tasks": ["Grab the cable and plug it in"], "length": 1588}
+{"episode_index": 29, "tasks": ["Grab the cable and plug it in"], "length": 1341}

meta/info.json

@@ -0,0 +1,166 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "bi_xarm6_follower",
+    "total_episodes": 30,
+    "total_frames": 47857,
+    "total_tasks": 1,
+    "total_videos": 90,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:30"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_joint1.pos",
+                "left_joint2.pos",
+                "left_joint3.pos",
+                "left_joint4.pos",
+                "left_joint5.pos",
+                "left_joint6.pos",
+                "left_gripper.pos",
+                "right_joint1.pos",
+                "right_joint2.pos",
+                "right_joint3.pos",
+                "right_joint4.pos",
+                "right_joint5.pos",
+                "right_joint6.pos",
+                "right_gripper.pos"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                "left_joint1.pos",
+                "left_joint2.pos",
+                "left_joint3.pos",
+                "left_joint4.pos",
+                "left_joint5.pos",
+                "left_joint6.pos",
+                "left_gripper.pos",
+                "right_joint1.pos",
+                "right_joint2.pos",
+                "right_joint3.pos",
+                "right_joint4.pos",
+                "right_joint5.pos",
+                "right_joint6.pos",
+                "right_gripper.pos"
+            ]
+        },
+        "observation.images.ego": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "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": "av1",
+                "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": "av1",
+                "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
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Grab the cable and plug it in"}