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VGalaxies666
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coffeeMakingDemo

Tasks:
Robotics
Modalities:
Time-series
Size:
100K<n<1M
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tsfile
timeseries
time-series
lerobot
robotics
manipulation
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metadata 
license: apache-2.0
task_categories:
  - robotics
tags:
  - tsfile
  - timeseries
  - time-series
  - lerobot
  - robotics
  - manipulation
pretty_name: Coffee Making Demo (LeRobot) — TsFile
size_categories:
  - 100K<n<1M

Coffee Making Demo (TsFile)

Apache TsFile version of allday-technology/coffeeMakingDemo.

Overview

A LeRobot (v2.1) teleoperation dataset of a coffee-making demonstration recorded on a Trossen AI stationary robot. Each episode is a single-arm (7-DoF) trajectory with synchronized proprioceptive state and action commands at 30 fps.

The dataset covers the following tasks:

  • pick up a coffee capsule

  • pick up an empty cup by the handle

  • Robot: trossen_ai_stationary, single arm, 7 joints (left_joint_0 … left_joint_6).

  • Episodes: 66 (episode_index 0–65).

  • Frames: 127,171 time-series rows.

  • Tasks: 3 task ids (task_index 0–2; see meta/tasks.jsonl for the instruction text).

  • Sampling rate: 30 fps (from meta/info.json).

Schema (TsFile structure)

All 66 episodes are stored in a single TsFile table; episode_index and task_index are TAG columns (the TsFile device dimension), so one episode is selected with WHERE episode_index=0.

  • Time (INT64, milliseconds) — round(timestamp * 1000); restarts at 0 for each episode, stepping by ~33 ms (30 fps).
  • episode_index (TAG) — source episode id, 0–65.
  • task_index (TAG) — source task id, 0–2; resolve to the instruction text via meta/tasks.jsonl.
  • frame_index (FIELD, INT64) — frame number within the episode.
  • sample_index (FIELD, INT64) — the source global index column, renamed.
  • observation_state_0 … observation_state_6 (FIELD, FLOAT) — robot proprioceptive joint state, flattened from the 7-element observation.state vector (left_joint_0..6).
  • action_0 … action_6 (FIELD, FLOAT) — joint action command, flattened from the 7-element action vector (left_joint_0..6).

The source timestamp column is dropped because it equals Time / 1000 seconds. No other columns or rows are dropped.

Videos

The two camera video streams of the original dataset (observation.images.cam_high, observation.images.cam_left_wrist) are NOT included in this repository. They are large and non–time-series; obtain them from the original dataset: https://huggingface.co/datasets/allday-technology/coffeeMakingDemo (the videos/ directory).

Usage

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

Source & license