| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| - reinforcement-learning |
| tags: |
| - tsfile |
| - timeseries |
| - time-series |
| - LeRobot |
| - robotics |
| pretty_name: Hardwarize first_ds1 (TsFile) |
| size_categories: |
| - 10K<n<100K |
| --- |
| |
| # Hardwarize first_ds1 (TsFile) |
| |
| Apache TsFile version of [`Hardwarize/first_ds1`](https://huggingface.co/datasets/Hardwarize/first_ds1). |
| |
| ## Overview |
| |
| A LeRobot dataset of keyboard-teleoperated episodes on the simulated Franka Panda |
| cube-pick task `PandaPickCubeKeyboard-v0`. Each frame records the full robot state, |
| the end-effector delta action, and the reinforcement-learning reward / done / |
| penalty signals, sampled at 50 Hz. |
| |
| - **Task:** `PandaPickCubeKeyboard-v0` (Franka Panda pick-cube, keyboard teleop). |
| - **Episodes:** 100 trajectories. |
| - **Frames:** 18,167 total time steps. |
| - **Tasks:** 1. |
| - **Sampling rate:** 50 fps. |
| |
| ## Schema (TsFile structure) |
| |
| - **Time** (INT64, milliseconds) — per-frame timestamp, restarting at 0 for each |
| episode (`round(timestamp * 1000)`). |
| - **episode_index** (TAG) — trajectory id; query one episode with |
| `WHERE episode_index=0`. |
| - **task_index** (TAG) — task id (always 0 here; the single task). |
| - **frame_index** (FIELD, INT64) — frame counter within the episode. |
| - **sample_index** (FIELD, INT64) — the source global `index`. |
| - **observation_state_0 .. observation_state_17** (FIELD, FLOAT) — the 18-dim robot |
| state vector. |
| - **action_0 .. action_3** (FIELD, FLOAT) — end-effector delta action: |
| `delta_x_ee`, `delta_y_ee`, `delta_z_ee`, `gripper_delta`. |
| - **next_reward** (FIELD, FLOAT) — reward for the transition. |
| - **next_done** (FIELD, BOOLEAN) — episode-termination flag (true on the last frame |
| of each episode). |
| - **complementary_info_discrete_penalty** (FIELD, FLOAT) — discrete penalty signal. |
| |
| The source vector columns `observation.state[18]` and `action[4]` are flattened to |
| single-precision FLOAT columns. The source `timestamp` column is dropped because it |
| equals `Time / 1000` seconds. |
| |
| ## Usage |
| |
| Read the `.tsfile` files with the Apache TsFile Java or Python SDK. |
| |
| ## Source & license |
| |
| - Original dataset: https://huggingface.co/datasets/Hardwarize/first_ds1 |
| - Author / publisher: Hardwarize |
| - Created with [LeRobot](https://github.com/huggingface/lerobot) |
| - License: apache-2.0 |
| - Camera videos (`observation.images.front`, `observation.images.wrist`) are **not** |
| included in this repository. They remain in the original dataset under `videos/`: |
| https://huggingface.co/datasets/Hardwarize/first_ds1/tree/main/videos |
| |
