| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - manipulation |
| - tsfile |
| - modality:timeseries |
| - timeseries |
| - format:tsfile |
| pretty_name: Coffee Making Demo (LeRobot) — TsFile |
| size_categories: |
| - 100K<n<1M |
| modality: |
| - tabular |
| - timeseries |
| --- |
| |
| # Coffee Making Demo (TsFile) |
|
|
| Apache TsFile version of [`allday-technology/coffeeMakingDemo`](https://huggingface.co/datasets/allday-technology/coffeeMakingDemo). |
|
|
| ## Overview |
|
|
| A LeRobot (v2.1) teleoperation dataset of a coffee-making demonstration recorded on a **Trossen AI stationary** robot. Each episode is a single-arm (7-DoF) trajectory with synchronized proprioceptive state and action commands at 30 fps. |
|
|
| The dataset covers the following tasks: |
|
|
| - `pick up a coffee capsule` |
| - `pick up an empty cup by the handle` |
|
|
| - **Robot:** trossen_ai_stationary, single arm, 7 joints (`left_joint_0` … `left_joint_6`). |
| - **Episodes:** 66 (episode_index 0–65). |
| - **Frames:** 127,171 time-series rows. |
| - **Tasks:** 3 task ids (task_index 0–2; see `meta/tasks.jsonl` for the instruction text). |
| - **Sampling rate:** 30 fps (from `meta/info.json`). |
|
|
| ## Schema (TsFile structure) |
|
|
| All 66 episodes are stored in a single TsFile table; `episode_index` and `task_index` are TAG columns (the TsFile device dimension), so one episode is selected with `WHERE episode_index=0`. |
|
|
| - **Time** (INT64, milliseconds) — `round(timestamp * 1000)`; restarts at 0 for each episode, stepping by ~33 ms (30 fps). |
| - **episode_index** (TAG) — source episode id, 0–65. |
| - **task_index** (TAG) — source task id, 0–2; resolve to the instruction text via `meta/tasks.jsonl`. |
| - **frame_index** (FIELD, INT64) — frame number within the episode. |
| - **sample_index** (FIELD, INT64) — the source global `index` column, renamed. |
| - **observation_state_0 … observation_state_6** (FIELD, FLOAT) — robot proprioceptive joint state, flattened from the 7-element `observation.state` vector (`left_joint_0..6`). |
| - **action_0 … action_6** (FIELD, FLOAT) — joint action command, flattened from the 7-element `action` vector (`left_joint_0..6`). |
|
|
| The source `timestamp` column is dropped because it equals `Time / 1000` seconds. No other columns or rows are dropped. |
|
|
| ## Videos |
|
|
| The two camera video streams of the original dataset (`observation.images.cam_high`, `observation.images.cam_left_wrist`) are **NOT** included in this repository. They are large and non–time-series; obtain them from the original dataset: |
| <https://huggingface.co/datasets/allday-technology/coffeeMakingDemo> (the `videos/` directory). |
|
|
| ## Usage |
|
|
| Read the `.tsfile` file with the Apache TsFile Java or Python SDK. |
|
|
| ## Source & license |
|
|
| - Original dataset: <https://huggingface.co/datasets/allday-technology/coffeeMakingDemo> |
| - Author / publisher: allday-technology |
| - Created with: [LeRobot](https://github.com/huggingface/lerobot) |
| - License: Apache-2.0 (as declared by the original dataset). |
|
|
