---
license: apache-2.0
task_categories:
- robotics
tags:
- tsfile
- timeseries
- time-series
- LeRobot
- emg
- electromyography
- sensor
pretty_name: Forearm EMG Sensor Dataset (TsFile)
size_categories:
- 100K<n<1M
configs:
- config_name: default
  data_files:
  - split: train
    path: data/anaselkhabbaz_sensor_dataset.tsfile
---

# Forearm EMG Sensor Dataset (TsFile)

Apache TsFile version of [`AnasElkhabbaz/sensor_dataset`](https://huggingface.co/datasets/AnasElkhabbaz/sensor_dataset).

## Overview

Surface electromyography (EMG) recordings of the forearm, packaged in the
LeRobot v2.1 layout (`robot_type = None`). Each episode is one resting-state
recording trial of a subject, sampling three forearm muscle sensors over time.

- **Episodes:** 32 recording trials.
- **Frames:** 152,837 timesteps total, sampled at **~3.33 Hz** (each trial ≈ 1500 s).
- **Tasks:** 32, one per episode — each labelled `<Subject>_<Sex>_<N>_Rest`
  (e.g. `Billy_Male_1_Rest`). `task_index` equals `episode_index`.
- **Sensors:** 3 forearm EMG channels — brachioradialis, flexor_carpi_radialis,
  flexor_carpi_ulnaris.
- **Source format:** LeRobot v2.1 (no action and no video columns).

## Schema (TsFile structure)

- **Time** (INT64, milliseconds) — per-frame timestamp, restarts at 0 for each
  episode (`round(timestamp * 1000)`; ~300 ms apart at 3.33 Hz).
- **episode_index** (TAG) — trial id (0–31). Query one trial with
  `WHERE episode_index=0`.
- **task_index** (TAG) — task id (equals `episode_index`); maps to the subject /
  trial label in `meta/tasks.jsonl`.
- **frame_index** (FIELD, INT64) — frame number within the episode.
- **sample_index** (FIELD, INT64) — the source global `index` column.
- **observation_state_0** (FIELD, FLOAT) — brachioradialis EMG.
- **observation_state_1** (FIELD, FLOAT) — flexor_carpi_radialis EMG.
- **observation_state_2** (FIELD, FLOAT) — flexor_carpi_ulnaris EMG.

The source `timestamp` column is dropped because it equals `Time / 1000`.

## Usage

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

```python
# pip install tsfile
from tsfile import TsFileReader
reader = TsFileReader("data/anaselkhabbaz_sensor_dataset.tsfile")
# query one trial: WHERE episode_index=0
```

## Source & license

- Original dataset: https://huggingface.co/datasets/AnasElkhabbaz/sensor_dataset
- Author / publisher: AnasElkhabbaz
- License: Apache-2.0 (inherited from the original dataset)