| ---
|
| license: apache-2.0
|
| task_categories:
|
| - robotics
|
| tags:
|
| - robotics
|
| - LeRobot
|
| - tsfile
|
| - modality:timeseries
|
| modality:
|
| - timeseries
|
| configs:
|
| - config_name: default
|
| data_files:
|
| - split: train
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| path: data/pick_tblock_mp_safe_margin_maxvel.tsfile
|
| size_categories:
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| - 100K<n<1M
|
| ---
|
|
|
| # pick_tblock_mp_safe_margin_maxvel TsFile Conversion
|
|
|
| This dataset is a TsFile conversion of [`younghyopark/pick_tblock_mp_safe_margin_maxvel`](https://huggingface.co/datasets/younghyopark/pick_tblock_mp_safe_margin_maxvel), a LeRobot v2.1 DualPanda robot dataset.
|
|
|
| Modalities: Time-series. The source metadata declares `total_videos=0` and `video_path=null`.
|
|
|
| ## Source Dataset Facts
|
|
|
| From the original dataset card and `meta/info.json`:
|
|
|
| - Source dataset: [`younghyopark/pick_tblock_mp_safe_margin_maxvel`](https://huggingface.co/datasets/younghyopark/pick_tblock_mp_safe_margin_maxvel)
|
| - License: apache-2.0
|
| - Codebase version: `v2.1`
|
| - Robot type: `DualPanda`
|
| - Episodes: 1,000
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| - Frames / converted rows: 243,000
|
| - Sampling rate: 50 fps
|
| - Split: train episodes `0:1000`
|
| - Task: `pick something up `
|
|
|
| ## Converted Files
|
|
|
| - `data/pick_tblock_mp_safe_margin_maxvel.tsfile` ? one merged TsFile containing all 1,000 episodes.
|
| - `meta/` ? mirrored source metadata with `meta/info.json` updated to describe the TsFile artifact.
|
|
|
| The generated TsFile size is 172,777,914 bytes.
|
|
|
| ## TsFile Schema
|
|
|
| - Table name: `pick_tblock_mp_safe_margin_maxvel`
|
| - Time precision: milliseconds (`ms`)
|
| - `Time`: synthesized as `round(timestamp * 1000)`. Time restarts per episode.
|
| - TAG columns: `episode_index`, `task_index`
|
| - Scalar FIELD columns: `frame_index`, `sample_index` (source `index` renamed).
|
| - Flattened FLOAT FIELD columns:
|
| - `observation.joint[16]` -> `observation_joint_0` ? `observation_joint_15`
|
| - `observation.state[30]` -> `observation_state_0` ? `observation_state_29`
|
| - `observation.environment_state[7]` -> `observation_environment_state_0` ? `observation_environment_state_6`
|
| - `observation.environment.block_xy[2]` -> `observation_environment_block_xy_0` ? `observation_environment_block_xy_1`
|
| - `observation.right_arm.joint[7]` -> `observation_right_arm_joint_0` ? `observation_right_arm_joint_6`
|
| - `observation.right.joint[8]` -> `observation_right_joint_0` ? `observation_right_joint_7`
|
| - `observation.left_arm.joint[7]` -> `observation_left_arm_joint_0` ? `observation_left_arm_joint_6`
|
| - `observation.qvel[30]` -> `observation_qvel_0` ? `observation_qvel_29`
|
| - `observation.env_qvel[6]` -> `observation_env_qvel_0` ? `observation_env_qvel_5`
|
| - `observation.ee_pose[16]` -> `observation_ee_pose_0` ? `observation_ee_pose_15`
|
| - `action.ctrl[16]` -> `action_ctrl_0` ? `action_ctrl_15`
|
| - `action.joint[16]` -> `action_joint_0` ? `action_joint_15`
|
| - `action.ee_pose[16]` -> `action_ee_pose_0` ? `action_ee_pose_15`
|
| - `action.right_arm.joint[7]` -> `action_right_arm_joint_0` ? `action_right_arm_joint_6`
|
| - `action.right.joint[8]` -> `action_right_joint_0` ? `action_right_joint_7`
|
| - `action.left_arm.joint[7]` -> `action_left_arm_joint_0` ? `action_left_arm_joint_6`
|
|
|
| ## Conversion Notes
|
|
|
| - Converter: generic `scripts/converters/lerobot.py`.
|
| - Source `timestamp` is dropped after creating `Time`, because it equals `Time / 1000` seconds.
|
| - Source `index` is renamed to `sample_index`.
|
| - Vector columns preserve source names by replacing `.` with `_` and appending the element index.
|
| - All 243,000 source rows are preserved in the converted TsFile.
|
| - No video files are uploaded because the source metadata declares no videos.
|
|
|
| ## Minimal Read Example
|
|
|
| ```python
|
| # Use Apache TsFile tooling to read:
|
| # data/pick_tblock_mp_safe_margin_maxvel.tsfile
|
| # Query one episode with a predicate such as WHERE episode_index = 0.
|
| ```
|
|
|
