---
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.