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Datasets:
THUgewu
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omx_ExtendedTest3

Tasks:
Robotics
Modalities:
Time-series
Size:
10K<n<100K
Tags:
tsfile
timeseries
time-series
LeRobot
omx
robotis
License:
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metadata 
license: apache-2.0
task_categories:
  - robotics
tags:
  - tsfile
  - timeseries
  - time-series
  - LeRobot
  - omx
  - robotis
pretty_name: omx_ExtendedTest3 (TsFile)
size_categories:
  - 10K<n<100K
configs:
  - config_name: default
    data_files: data/omx_extendedtest3.tsfile

omx_ExtendedTest3 (TsFile)

Apache TsFile version of ROBOTIS-junha/omx_ExtendedTest3.

Overview

A LeRobot robot-manipulation dataset recorded on a ROBOTIS OpenMANIPULATOR-X ("omx") arm. Each frame captures the robot's 7-joint proprioceptive state and the commanded 7-joint action while performing the task ExtendedTest3.

  • Robot type: aiworker (ROBOTIS OpenMANIPULATOR-X, 7 joints)
  • Episodes: 50 (single train split)
  • Frames: 17,413
  • Sampling rate: 30 fps
  • Tasks: 1 — ExtendedTest3
  • Cameras: 2 (camera1, cam_top) — video streams only, not included here.

Schema (TsFile structure)

  • Time (INT64, milliseconds) — frame timestamp, round(timestamp * 1000), restarts at 0 for each episode (~33 ms apart at 30 fps).
  • episode_index (TAG) — episode id (0–49). Query one episode with WHERE episode_index=0.
  • task_index (TAG) — task id (always 0 here → ExtendedTest3).
  • frame_index (FIELD, INT64) — frame number within the episode.
  • sample_index (FIELD, INT64) — global sample index (source index).
  • observation_state_0 .. observation_state_6 (FIELD, FLOAT) — measured joint positions (joint1–joint7).
  • action_0 .. action_6 (FIELD, FLOAT) — commanded joint positions (joint1–joint7).

The vector columns observation.state[7] and action[7] are flattened to observation_state_0..6 and action_0..6 as single-precision FLOAT.

Usage

Read the .tsfile files with the Apache TsFile Java or Python SDK.

Conversion notes

  • All 50 episodes are stored in a single TsFile (data/omx_extendedtest3.tsfile) using episode_index and task_index as TAG columns — the idiomatic TsFile multi-device table model.
  • The source timestamp column (seconds) is dropped because it equals Time / 1000; frame_index is kept.
  • Camera videos are not included in this repository. See the original dataset's videos/ directory for the two camera streams (camera1, cam_top): https://huggingface.co/datasets/ROBOTIS-junha/omx_ExtendedTest3
  • meta/ is mirrored from the source.

Source & license