| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - tsfile |
| - timeseries |
| - time-series |
| - LeRobot |
| - robotics |
| - format:tsfile |
| pretty_name: PickPlace_staticMarker |
| size_categories: |
| - 10K<n<100K |
| --- |
| |
| # PickPlace_staticMarker (TsFile) |
| |
| Apache TsFile version of [`BlankHead/PickPlace_staticMarker`](https://huggingface.co/datasets/BlankHead/PickPlace_staticMarker). |
| |
| ## Overview |
| |
| A LeRobot robot manipulation dataset. Each frame holds the commanded `action` and observed `observation.state` joint positions; camera views are stored as videos in the original dataset. |
| |
| - **Episodes:** 76 |
| - **Frames:** 26911 |
| - **Sampling rate:** 30 fps |
| - **Tasks:** 1 |
| - **Split:** a single train split |
| - **Robot:** so_follower |
| - **Cameras (not uploaded):** wrist, up, side |
|
|
| ## Schema (TsFile structure) |
|
|
| All episodes share one TsFile with `episode_index` and `task_index` as TAG columns; query a single episode with `WHERE episode_index = N`. |
|
|
| - **Time** (INT64, milliseconds) — `round(timestamp * 1000)`; the source `timestamp` column is dropped (it equals Time / 1000). |
| - **episode_index** (TAG) — device dimension. |
| - **task_index** (TAG) — device dimension. |
| - **frame_index** (INT64) — measurement. |
| - **sample_index** (INT64) — measurement. |
| - **action_0..N** (FLOAT) — commanded joints. |
| - **state_0..N** (FLOAT) — measurement. |
|
|
| Vector columns are flattened element-wise with an index suffix. |
|
|
| ## Usage |
|
|
| Install the Apache TsFile Python SDK (`pip install tsfile`) and read a converted file: |
|
|
| ```python |
| from pathlib import Path |
| from tsfile import TsFileReader |
| |
| path = Path("data/PickPlace_staticMarker.tsfile") |
| with TsFileReader(str(path)) as reader: |
| schemas = reader.get_all_table_schemas() |
| print("tables:", list(schemas)) |
| table_name = next(iter(schemas)) |
| table = schemas[table_name] |
| columns = [column.get_column_name() for column in table.get_columns()] |
| print("columns:", columns) |
| field_names = [ |
| column.get_column_name() |
| for column in table.get_columns() |
| if column.get_column_name() not in {"Time", "time"} |
| ] |
| if field_names: |
| with reader.query_table(table_name, field_names[:3], batch_size=1024) as result: |
| batch = result.read_arrow_batch() |
| if batch is not None: |
| print(batch.to_pandas().head()) |
| ``` |
|
|
| ## Source & license |
|
|
| - Original dataset: https://huggingface.co/datasets/BlankHead/PickPlace_staticMarker |
| - Author / publisher: BlankHead |
| - License: apache-2.0 |
| - Note: camera videos are NOT included; see the original dataset for them. |
| |
