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Datasets:
VGalaxies666
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remove_orange_duck

Tasks:
Robotics
Size:
10K<n<100K
Tags:
LeRobot
robotics
so100
manipulation
tsfile
modality:timeseries
License:
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metadata 
task_categories:
  - robotics
tags:
  - LeRobot
  - robotics
  - so100
  - manipulation
  - tsfile
  - modality:timeseries
pretty_name: Remove Orange Duck (TsFile)
size_categories:
  - 10K<n<100K
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/kuphdev_remove_orange_duck.tsfile
modality:
  - timeseries
license: apache-2.0

Remove Orange Duck (TsFile)

Apache TsFile version of KuphDev/remove_orange_duck.

Overview

Teleoperated demonstrations on an SO-class follower arm (robot_type = so_follower, 6 DoF) of a single task: "Remove orange duck from target". Each episode records the arm's joint positions (state) and commanded joint targets (action) over time.

  • Episodes: 72 demonstrations of one task.
  • Frames: 64,220 timesteps total, recorded at 30 fps.
  • Robot: SO follower arm (6 joints incl. gripper).
  • Source format: LeRobot v3.0.

Schema (TsFile structure)

  • Time (INT64, milliseconds) — per-frame timestamp, restarts at 0 for each episode (round(timestamp * 1000); ~33 ms apart at 30 fps).
  • episode_index (TAG) — demonstration id (0–71). Query a single episode with WHERE episode_index=0.
  • task_index (TAG) — task id (always 0; the dataset has one task).
  • frame_index (FIELD, INT64) — frame number within the episode.
  • sample_index (FIELD, INT64) — the source global index column.
  • observation_state_0 .. observation_state_5 (FIELD, FLOAT) — measured joint positions.
  • action_0 .. action_5 (FIELD, FLOAT) — commanded joint targets.

The 6 channels of each vector are the arm joints, in order: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper (positions, in degrees).

The source timestamp column is dropped because it equals Time / 1000. Camera video is not included in this repository (see below).

Usage

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

# pip install tsfile
from tsfile import TsFileReader
reader = TsFileReader("data/kuphdev_remove_orange_duck.tsfile")
# query one episode: WHERE episode_index=0

Videos

The original dataset records one camera stream per episode (observation.images.top). These MP4 videos are not included here — they are not time-series data. Retrieve them from the original dataset under KuphDev/remove_orange_duck/videos.

Source & license