---
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.