| --- |
| 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`](https://huggingface.co/datasets/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. |
|
|
| ```python |
| # 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`](https://huggingface.co/datasets/KuphDev/remove_orange_duck/tree/main/videos). |
|
|
| ## Source & license |
|
|
| - Original dataset: https://huggingface.co/datasets/KuphDev/remove_orange_duck |
| - Author / publisher: KuphDev |
| - License: not declared by the original dataset; please defer to the original. |
|
|
