---
license: apache-2.0
task_categories:
- robotics
tags:
- robotics
- LeRobot
- tsfile
- modality:timeseries
modality:
- timeseries
configs:
- config_name: default
  data_files:
  - split: train
    path: data/pick_tblock_mp_safe_margin_maxvel.tsfile
size_categories:
- 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
- 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.
```