Pick Up Cube 0713 TsFile
Apache TsFile edition of Xense/pick_up_cube_0713, a
LeRobot v3.0 bimanual Flexiv Rizon 4 robotics dataset.
Source and attribution
- Original dataset: https://huggingface.co/datasets/Xense/pick_up_cube_0713
- Authors: vertax42 and Xense Robotics Team
- Publishing organization: XenseRobotics (
Xense) - Related project: LeRobot-Xense
- License: Apache-2.0
- Task:
Use the left arm to pick the red cube and place it into the blue plastic box first, then use the right arm to grasp the green cube and put it into the same blue plastic box after the first action is fully finished. - Robot:
bi_flexiv_rizon4_rt - Train split: 200 episodes, 208,762 frame rows, one task, 30 fps, 8 Parquet shards
- Source frame layout:
data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet
The source card provides this citation:
@misc{vertax2026lerobotxense,
author = {vertax42 and Xense Robotics Team},
title = {LeRobot-Xense: LeRobot with Xense Tactile Robotics Support},
howpublished = {\url{https://github.com/Vertax42/lerobot-xense}},
year = {2026}
}
TsFile schema
Time = round(timestamp * 1000) as INT64 milliseconds and restarts at zero in
each episode. The source timestamp column is removed because it is exactly
represented by Time / 1000 seconds. index is renamed to sample_index, and
frame_index is retained.
| Columns | TsFile type | Role |
|---|---|---|
Time |
INT64/TIMESTAMP | TIME |
episode_index, task_index |
STRING device segments | TAG |
frame_index, sample_index |
INT64 | FIELD |
action_0 ... action_19 |
FLOAT | FIELD |
observation_state_0 ... observation_state_19 |
FLOAT | FIELD |
The 20 action and 20 state elements follow the source feature order. Each arm contains TCP x/y/z, six rotation representation values, r1 through r6, in the source-defined order, and a gripper position value. The left-arm values precede the right-arm values. Dots in source vector names are represented by the scalar field prefix and element index. No numeric rows, action dimensions, or state dimensions are omitted.
Original videos
The 56 source MP4 files remain at videos/ and
are not included here. The path template is
videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4
for these streams:
observation.images.head(640 x 480, H.264, 30 fps)observation.images.left_wrist(640 x 480, H.264, 30 fps)observation.images.right_wrist(640 x 480, H.264, 30 fps)observation.images.left_tactile_0(700 x 400, H.264, 30 fps)observation.images.left_tactile_1(700 x 400, H.264, 30 fps)observation.images.right_tactile_0(700 x 400, H.264, 30 fps)observation.images.right_tactile_1(700 x 400, H.264, 30 fps)
Use episode_index and frame_index to align numeric rows with the matching
frame in each original per-episode video.
Read example
from tsfile import TsFileReader
reader = TsFileReader("data/xense_pick_up_cube_0713.tsfile")
with reader.query_table(
"xense_pick_up_cube_0713",
["episode_index", "task_index", "Time", "frame_index", "action_0"],
batch_size=4096,
) as result:
print(result.read_arrow_batch().to_pandas().head())
reader.close()
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