8ml_vial_place_30fps (TsFile)

TsFile conversion of the LeRobot v3.0 yam teleoperation dataset ttotmoon/8ml_vial_place_30fps.

• Original dataset: https://huggingface.co/datasets/ttotmoon/8ml_vial_place_30fps
• Author: ttotmoon
• License: Apache 2.0
• Robot type: yam
• Task: place the vial into the stand
• Created with: LeRobot-style metadata (codebase_version v3.0)
• Modalities: Time-series
• Dropped / not included: the source timestamp column (redundant with Time) and the camera video streams (not uploaded; see Conversion Notes).

Dataset Description

This dataset contains teleoperated yam-arm demonstrations for placing an 8 ml vial into a stand.

Robot type	yam
Tasks	1 (task_index=0)
Episodes	197
Frames / TsFile rows	229,860
Sampling rate	30 fps
Original cameras	observation.images.head_camera, observation.images.left_wrist_camera, observation.images.right_wrist_camera

Each frame records a 14-dimensional robot state and a 14-dimensional action. State and action indices are aligned with the original dataset card: left arm joints 0-5, left gripper, right arm joints 0-5, and right gripper.

Conversion Notes

Converted to TsFile with the generic LeRobot converter.

• One TsFile for the whole train split. All 197 episodes are stored in data/vial_place_8ml_30fps.tsfile. The source columns episode_index and task_index are TAG columns (the TsFile device dimension). Query one episode with WHERE episode_index=N, or one task with WHERE task_index=0.
• Vector columns flattened to single-precision FLOAT, preserving the source column name (. -> _, element index appended):
  • observation.state [14] -> observation_state_0 .. observation_state_13
  • action [14] -> action_0 .. action_13
• Scalar state kept. index is renamed to sample_index.
• Time. Time = round(timestamp * 1000) ms, restarting per episode. The source timestamp column is dropped because it equals Time / 1000 seconds. frame_index is kept.
• Videos are NOT included in this repository. The original camera streams remain in the source dataset: https://huggingface.co/datasets/ttotmoon/8ml_vial_place_30fps/tree/main/videos
• meta/ is mirrored from the source with meta/info.json rewritten to describe the converted TsFile schema and video policy. Aside from the redundant timestamp column noted above, no numeric time-series rows are dropped.

Schema

Column	Role	Type
Time	TIME (ms)	INT64
episode_index	TAG	INT64
task_index	TAG	INT64
frame_index	FIELD	INT64
sample_index	FIELD	INT64
observation_state_0 .. observation_state_13	FIELD	FLOAT
action_0 .. action_13	FIELD	FLOAT

Read Example

# Read data/vial_place_8ml_30fps.tsfile with the Apache TsFile SDK.