---
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