| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - manipulation |
| - so100 |
| - tsfile |
| - modality:timeseries |
| pretty_name: Remove Green Duck (TsFile) |
| size_categories: |
| - 10K<n<100K |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/kuphdev_remove_green_duck.tsfile |
| modality: |
| - timeseries |
| --- |
| |
| # Remove Green Duck (TsFile) |
|
|
| Apache TsFile version of [`KuphDev/remove_green_duck`](https://huggingface.co/datasets/KuphDev/remove_green_duck). |
|
|
| ## Overview |
|
|
| This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). |
| It contains teleoperated demonstrations on an SO-class follower arm |
| (`robot_type = so_follower`, 6 DoF) for one task: **"Remove green duck from |
| target"**. Each episode records joint state and commanded action vectors over |
| time. |
|
|
| - **Modalities:** Time-series. |
| - **Episodes:** 60 demonstrations of one task. |
| - **Frames:** 53,522 timesteps total, recorded at **30 fps**. |
| - **Robot:** SO follower arm, 6 joints including gripper. |
| - **Source format:** LeRobot v3.0 Parquet plus video metadata. |
| - **Converted file:** `data/kuphdev_remove_green_duck.tsfile`. |
|
|
| ## Schema |
|
|
| - **Time** (TIME, INT64, milliseconds): per-frame timestamp, synthesized as |
| `round(timestamp * 1000)`. Time restarts at 0 for each episode. |
| - **episode_index** (TAG, INT64): demonstration id, values 0 through 59. |
| - **task_index** (TAG, INT64): task id, always 0 in this dataset. |
| - **frame_index** (FIELD, INT64): frame number within each episode. |
| - **sample_index** (FIELD, INT64): renamed from the source global `index` column. |
| - **observation_state_0 .. observation_state_5** (FIELD, FLOAT): measured joint |
| positions. |
| - **action_0 .. action_5** (FIELD, FLOAT): commanded joint targets. |
|
|
| The 6 channels of `observation.state` and `action` are, in source order: |
| `shoulder_pan.pos`, `shoulder_lift.pos`, `elbow_flex.pos`, `wrist_flex.pos`, |
| `wrist_roll.pos`, and `gripper.pos`. |
|
|
| ## Conversion Notes |
|
|
| - Source `data/chunk-*/*.parquet` files were merged into one TsFile table named |
| `kuphdev_remove_green_duck`. |
| - Source vector columns were flattened without changing their semantic order: |
| `observation.state[6]` became `observation_state_0..observation_state_5`, and |
| `action[6]` became `action_0..action_5`. |
| - Source `episode_index` and `task_index` are TsFile TAG columns. Query a single |
| episode with a predicate such as `WHERE episode_index = 0`. |
| - Source `timestamp` was dropped after conversion because it equals `Time / 1000` |
| seconds. |
| - Source `index` was renamed to `sample_index`. |
| - Source camera video feature `observation.images.top` is not included in this |
| converted repository. The numeric time-series data can be aligned back to the |
| original videos by `episode_index`, `frame_index`, and `Time`. |
| - The source `meta/` directory is mirrored, with `meta/info.json` updated to |
| describe the converted TsFile schema and video policy. |
|
|
| ## Usage |
|
|
| Read the `.tsfile` file with the Apache TsFile Java or Python SDK. |
|
|
| ```python |
| # pip install tsfile |
| from tsfile import TsFileReader |
| |
| reader = TsFileReader("data/kuphdev_remove_green_duck.tsfile") |
| # Example query intent: select one demonstration with WHERE episode_index = 0. |
| ``` |
|
|
| ## Videos |
|
|
| The original dataset records one camera stream per episode |
| (`observation.images.top`). These MP4 videos are not included here; retrieve |
| them from the original dataset under |
| [`KuphDev/remove_green_duck/videos`](https://huggingface.co/datasets/KuphDev/remove_green_duck/tree/main/videos). |
|
|
| ## Source And License |
|
|
| - Original dataset: https://huggingface.co/datasets/KuphDev/remove_green_duck |
| - Author / publisher: KuphDev |
| - License: apache-2.0 |
| - Citation: the original dataset card does not provide a citation. |
|
|
