---
task_categories:
- robotics
tags:
- timeseries
- tsfile
- time-series
- robotics
- LeRobot
pretty_name: dagger_final_1_21
---

# dagger_final_1_21 (TsFile)

Apache TsFile version of the LeRobot dataset
[`lerobot-data-collection/dagger_final_1_21`](https://huggingface.co/datasets/lerobot-data-collection/dagger_final_1_21).

## Overview

Bimanual openarms-follower demonstrations (LeRobot v3.0).

- **Robot:** openarms_follower (bimanual)
- **Episodes:** 1
- **Frames:** 841
- **Sampling rate:** 30 fps
- **Tasks:** 1

## Schema (TsFile structure)

- **Time** (INT64, milliseconds) — `round(timestamp * 1000)`, restarting per episode.
- **episode_index / task_index** (TAG) — the device dimension. Query a single episode with
  `WHERE episode_index=N`.
- **FIELD** — `frame_index`, `sample_index`, and the flattened state/action vectors
  (`observation_state_0..15`, `action_0..15`) as single-precision FLOAT.

The robot's the left_wrist / right_wrist / base camera streams are time-series-irrelevant and **not uploaded** to this repository;
get them from the original dataset (its `videos/` directory). The source `meta/` is mirrored here.

## Usage

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

## Source & license

- Original dataset: [`lerobot-data-collection/dagger_final_1_21`](https://huggingface.co/datasets/lerobot-data-collection/dagger_final_1_21)
- Author / publisher: lerobot-data-collection
- License: not declared by the original dataset; please defer to the original.