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stack_without_ft_tact_v4

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Robotics
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Time-series
Size:
10K<n<100K
Tags:
tsfile
timeseries
time-series
LeRobot
robotics
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metadata 
task_categories:
  - robotics
tags:
  - tsfile
  - timeseries
  - time-series
  - LeRobot
  - robotics
pretty_name: Stack (no F/T, tactile) v4 (TsFile)
size_categories:
  - 10K<n<100K
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/stack_without_ft_tact_v4.tsfile

Stack (no F/T, tactile) v4 (TsFile)

Apache TsFile version of LSY-lab/stack_without_ft_tact_v4.

Overview

A LeRobot teleoperation dataset for the manipulation task "pick the lego block." Each episode records the synchronized robot proprioception and the commanded action while an operator demonstrates the pick motion. The robot exposes a 7-joint arm with a gripper; per-frame state includes the end-effector Cartesian pose, the joint positions, the gripper opening, and the controller target pose.

  • Scale: 51 episodes / 12,244 frames / 1 task.
  • Sampling rate: 15 fps.
  • LeRobot codebase version: v2.1.

Schema (TsFile structure)

  • Time (INT64, milliseconds) — per-frame timestamp, round(timestamp * 1000), restarts at 0 for each episode (≈67 ms between frames at 15 fps).
  • episode_index (TAG) — episode identifier (the device dimension). Query a single episode with WHERE episode_index=0.
  • task_index (TAG) — task identifier; this dataset has a single task (0).
  • frame_index (FIELD, INT64) — frame counter within the episode.
  • sample_index (FIELD, INT64) — the source index global row counter, renamed.
  • observation_state_cartesian_0 … _5 (FIELD, FLOAT) — end-effector pose [x, y, z, roll, pitch, yaw].
  • observation_state_gripper (FIELD, FLOAT) — gripper opening.
  • observation_state_joints_0 … _6 (FIELD, FLOAT) — measured positions of the 7 arm joints.
  • observation_state_target_0 … _5 (FIELD, FLOAT) — controller target pose [target_x, target_y, target_z, target_roll, target_pitch, target_yaw].
  • action_0 … action_6 (FIELD, FLOAT) — commanded action [x, y, z, roll, pitch, yaw, gripper].

Each fixed-size vector column is flattened to one FLOAT field per element, keeping the full source column name (. → _) plus the element index.

Conversion notes

  • The source carries a redundant aggregate column observation.state (20-dim) that is the exact elementwise concatenation of observation.state.cartesian (6), observation.state.gripper (1), observation.state.joints (7) and observation.state.target (6). It is dropped in this TsFile version — no information is lost, because the four named sub-columns above reconstruct it exactly.
  • The source timestamp column is dropped because it equals Time / 1000 seconds.
  • Camera video streams (observation.images.primary, observation.images.wrist) are not included in this repository; see the original dataset's videos/ directory for them: LSY-lab/stack_without_ft_tact_v4.

Usage

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

Source & license