| --- |
| 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`](https://huggingface.co/datasets/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](https://github.com/huggingface/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 |
|
|
| - Original dataset: https://huggingface.co/datasets/kumarhans/ethernetGrab6 |
| - Author / publisher: kumarhans |
| - Paper: not declared by the original dataset. |
| - License: apache-2.0 (from the original dataset card). |
|
|
