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Datasets:
THULab
/
ethernetGrab6

Tasks:
Robotics
Modalities:
Time-series
Size:
10K<n<100K
Tags:
LeRobot
robotics
bimanual-manipulation
tsfile
modality:timeseries
timeseries
License:
Dataset card Files
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ethernetGrab6 / README.md
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metadata 
license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - robotics
  - bimanual-manipulation
  - tsfile
  - modality:timeseries
  - timeseries
  - format:tsfile
pretty_name: ethernetGrab6 (TsFile)
size_categories:
  - 10K<n<100K
configs:
  - config_name: default
    data_files: data/*.tsfile
modality:
  - tabular
  - timeseries

ethernetGrab6 (TsFile)

Apache TsFile version of kumarhans/ethernetGrab6.

Overview

A bimanual robot-manipulation dataset recorded with a bi_xarm6_follower setup (two UFACTORY xArm6 arms, each with a gripper). The single task across the whole dataset is "Grab the cable and plug it in" — picking up an Ethernet cable and inserting it. It was created with LeRobot (codebase version v2.1).

  • Scale: 30 episodes, 47,857 frames total.
  • Sampling rate: 30 fps.
  • Robot: bi_xarm6_follower — dual xArm6, 14 DOF total (per arm: 6 joints + 1 gripper).
  • Task: a single task, task_index = 0 — "Grab the cable and plug it in".

Schema (TsFile structure)

  • Time (INT64, milliseconds) — frame timestamp, round(timestamp * 1000). It restarts from 0 at the beginning of each episode (~33 ms between frames at 30 fps).
  • episode_index (TAG) — which of the 30 episodes the row belongs to.
  • task_index (TAG) — the task identifier (always 0 here). Both tags form the TsFile device dimension; query one episode with WHERE episode_index=0.
  • frame_index (FIELD, INT64) — frame number within the episode.
  • sample_index (FIELD, INT64) — the original global index column.
  • action_0 .. action_13 (FIELD, FLOAT) — the commanded target positions, 14 values: left arm joints 1–6, left gripper, then right arm joints 1–6, right gripper.
  • observation_state_0 .. observation_state_13 (FIELD, FLOAT) — the measured joint/gripper positions, same 14-element layout as action.

The source timestamp column is dropped (it equals Time ÷ 1000 seconds). Vector columns are flattened single-precision FLOAT (. → _, element index appended, the observation. prefix stripped).

Usage

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

Notes

  • Camera video streams are not included in this repository. The original dataset has 3 camera views (observation.images.ego, observation.images.left_wrist, observation.images.right_wrist, 90 videos total) under its videos/ directory — see the original dataset for them.
  • meta/ from the source is mirrored alongside the data. Aside from the redundant timestamp column noted above, no columns or rows are dropped.

Source & license