---
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`](https://huggingface.co/datasets/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

- Original dataset: <https://huggingface.co/datasets/allday-technology/coffeeMakingDemo>
- Author / publisher: allday-technology
- Created with: [LeRobot](https://github.com/huggingface/lerobot)
- License: Apache-2.0 (as declared by the original dataset).