| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - tsfile |
| - timeseries |
| - robotics |
| - manipulation |
| - teleoperation |
| - tactile |
| - format:tsfile |
| modality: |
| - tabular |
| - timeseries |
| pretty_name: earbud_case_sequential_insertion_teleop TsFile |
| size_categories: |
| - 100K<n<1M |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/earbud_case_sequential_insertion_teleop.tsfile |
| --- |
| |
| # earbud_case_sequential_insertion_teleop TsFile |
|
|
| This dataset is a TsFile conversion of the Hugging Face dataset |
| [`Xense/earbud_case_sequential_insertion_teleop`](https://huggingface.co/datasets/Xense/earbud_case_sequential_insertion_teleop), |
| which was created using [LeRobot](https://github.com/huggingface/lerobot). |
|
|
| Modalities: Time-series. The original dataset also includes camera and tactile |
| video streams; those videos are not included in this repository and remain |
| available in the source dataset. |
|
|
| ## Source Dataset |
|
|
| - Original dataset: [`Xense/earbud_case_sequential_insertion_teleop`](https://huggingface.co/datasets/Xense/earbud_case_sequential_insertion_teleop) |
| - License: Apache-2.0 |
| - Task category: robotics |
| - Robot type: `bi_flexiv_rizon4_rt` |
| - Task: pick up each earbud case from the left stands, insert the matching |
| earbuds, close the lid, and place the case on the middle stand. |
| - Split: single `train` split (`0:85`) |
| - Scale: 85 episodes, 448,367 frames, 1 task, 31 source frame Parquet files |
| - Sampling rate: 30 fps |
| - Original video features: |
| - `observation.images.head` |
| - `observation.images.left_wrist` |
| - `observation.images.right_wrist` |
| - `observation.images.left_tactile_0` |
| - `observation.images.left_tactile_1` |
| - `observation.images.right_tactile_0` |
| - `observation.images.right_tactile_1` |
|
|
| ## Converted Files |
|
|
| - TsFile: `data/earbud_case_sequential_insertion_teleop.tsfile` |
| - Rows: 448,367 |
| - Episodes: 85 |
| - Tasks: 1 (`task_index = 0`) |
| - Table name: `earbud_case_sequential_insertion_teleop` |
| - Time precision: milliseconds |
| - Metadata: `meta/` is mirrored from the source dataset, with `meta/info.json` |
| rewritten to describe the TsFile artifact and conversion mapping. |
|
|
| ## Schema |
|
|
| | Column | Role | Type | Notes | |
| |---|---|---|---| |
| | `Time` | TIME | INT64 | `round(timestamp * 1000)`, in milliseconds; restarts per episode | |
| | `episode_index` | TAG | INT64 | Source episode identifier | |
| | `task_index` | TAG | INT64 | Source task identifier | |
| | `frame_index` | FIELD | INT64 | Source frame index, preserved | |
| | `sample_index` | FIELD | INT64 | Renamed from source `index` | |
| | `action_0` ... `action_19` | FIELD | FLOAT | Flattened from `action[20]` | |
| | `observation_state_0` ... `observation_state_19` | FIELD | FLOAT | Flattened from `observation.state[20]` | |
|
|
| The action and observation-state element names are: |
| `left_tcp.x`, `left_tcp.y`, `left_tcp.z`, `left_tcp.r1` ... `left_tcp.r6`, |
| `right_tcp.x`, `right_tcp.y`, `right_tcp.z`, `right_tcp.r1` ... |
| `right_tcp.r6`, `left_gripper.pos`, and `right_gripper.pos`. |
|
|
| `episode_index` and `task_index` are TAG columns, so they are available as |
| TsFile table tag dimensions. To read one episode, filter by `episode_index`. |
|
|
| ## Conversion Notes |
|
|
| - The LeRobot frame Parquet files under `data/chunk-000/` were merged into one |
| TsFile for the `train` split. |
| - Vector columns were flattened by preserving the source column name, replacing |
| `.` with `_`, and appending the element index. |
| - The source `timestamp` column is dropped because it is redundant with |
| `Time / 1000` seconds. |
| - The source `index` column is renamed to `sample_index`. |
| - Camera and tactile videos are not uploaded here. Use the original dataset |
| videos: |
| https://huggingface.co/datasets/Xense/earbud_case_sequential_insertion_teleop/tree/main/videos |
|
|
| ## Read Example |
|
|
| ```python |
| from tsfile import TsFileReader |
| |
| path = "data/earbud_case_sequential_insertion_teleop.tsfile" |
| table = "earbud_case_sequential_insertion_teleop" |
| |
| with TsFileReader(path) as reader: |
| columns = [ |
| "episode_index", |
| "task_index", |
| "frame_index", |
| "sample_index", |
| "action_0", |
| "observation_state_0", |
| ] |
| with reader.query_table(table, columns, batch_size=4096) as result: |
| batch = result.read_arrow_batch() |
| print(batch) |
| ``` |
|
|
| ## Citation |
|
|
| The original dataset card does not provide a BibTeX citation. |
|
|
