THULab/blue_Pick_03

Blue Pick 03 (TsFile)

Apache TsFile version of Team-Atom/blue_Pick_03.

Overview

A LeRobot teleoperation dataset recorded on a Koch follower arm performing a single manipulation task: "Pick the blue". Each episode captures the synchronized robot proprioception (joint states) and the commanded action at 30 Hz while the operator demonstrates the pick motion.

• Robot: Koch follower (6-DOF: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper).
• Scale: 50 episodes / 23,484 frames / 1 task.
• Sampling rate: 30 fps.
• LeRobot codebase version: v2.1.

Schema (TsFile structure)

• Time (INT64, milliseconds) — per-frame timestamp, round(timestamp * 1000), restarts at 0 for each episode (≈33 ms between frames at 30 fps).
• episode_index (TAG) — episode identifier (the device dimension). Query a single episode with WHERE episode_index=0.
• task_index (TAG) — task identifier; this dataset has a single task (0).
• frame_index (FIELD, INT64) — frame counter within the episode.
• sample_index (FIELD, INT64) — the source index global row counter, renamed.
• observation_state_0 … observation_state_5 (FIELD, FLOAT) — measured joint positions of the 6 arm joints (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper).
• action_0 … action_5 (FIELD, FLOAT) — commanded target for the same 6 joints.

The 6-element observation.state and action vectors are flattened to one FLOAT field per joint, in the source joint order. The source timestamp column is dropped because it equals Time / 1000 seconds.

Camera video streams (observation.images.web, observation.images.rs) are not included in this repository; see the original dataset's videos/ directory for them: Team-Atom/blue_Pick_03.

Usage

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

Source & license

• Original dataset: https://huggingface.co/datasets/Team-Atom/blue_Pick_03
• Author / publisher: Team-Atom
• Paper: none
• License: not declared by the original dataset; please defer to the original.