AIDAS_franka_pnp_100 (TsFile)

TsFile conversion of the LeRobot-style Franka pick-and-place dataset broxKIM/AIDAS_franka_pnp_100.

• Original dataset: https://huggingface.co/datasets/broxKIM/AIDAS_franka_pnp_100
• Author: broxKIM
• Robot type: franka
• 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 Franka pick-and-place demonstrations in a single train split.

Robot type	franka
Tasks	4 (task_index=0..3)
Episodes	98
Frames / TsFile rows	60,918
Sampling rate	15 fps
Original cameras	observation.images.cam_front, observation.images.cam_wrist

Each frame records Cartesian state, gripper state, joint state, target state, the combined 20-dimensional observation state, and the 7-dimensional action.

Conversion Notes

Converted to TsFile with the generic LeRobot converter.

• One TsFile for the whole train split. All 98 episodes are stored in data/aidas_franka_pnp_100.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=K.
• Vector columns flattened to single-precision FLOAT, preserving the source column name (. -> _, element index appended):
  • observation.state.cartesian [6] -> observation_state_cartesian_0 .. observation_state_cartesian_5
  • observation.state.joints [7] -> observation_state_joints_0 .. observation_state_joints_6
  • observation.state.target [6] -> observation_state_target_0 .. observation_state_target_5
  • observation.state [20] -> observation_state_0 .. observation_state_19
  • action [7] -> action_0 .. action_6
• Scalar state kept. observation.state.gripper is renamed to observation_state_gripper; 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/broxKIM/AIDAS_franka_pnp_100/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_gripper	FIELD	FLOAT
observation_state_cartesian_0 .. observation_state_cartesian_5	FIELD	FLOAT
observation_state_joints_0 .. observation_state_joints_6	FIELD	FLOAT
observation_state_target_0 .. observation_state_target_5	FIELD	FLOAT
observation_state_0 .. observation_state_19	FIELD	FLOAT
action_0 .. action_6	FIELD	FLOAT

Read Example

# Read data/aidas_franka_pnp_100.tsfile with the Apache TsFile SDK.