| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - tsfile |
| - timeseries |
| - robotics |
| - format:tsfile |
| pretty_name: NVIDIA WORKSPACE |
| size_categories: |
| - 10K<n<100K |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/nvidia_workspace_train.tsfile |
| modality: |
| - tabular |
| - timeseries |
| --- |
| |
| # NVIDIA WORKSPACE (TsFile) |
|
|
| Apache TsFile version of |
| [`tremmelnicholas/NVIDIA_WORKSPACE`](https://huggingface.co/datasets/tremmelnicholas/NVIDIA_WORKSPACE). |
|
|
| ## Overview |
|
|
| This LeRobot v3.0 dataset records an SO-101 follower robot performing the task |
| "Pick up the vial and place it in the rack." |
|
|
| - **Scale:** 27 episodes, 19,913 frames, one task, and one train split. |
| - **Sampling rate:** 30 Hz. |
| - **Modalities:** Time-series. The source dataset also provides video. |
| - **Source cameras:** ego and external Intel RealSense D455 streams at |
| 640 x 480, encoded as AV1 video at 30 fps. |
| - **Artifact:** one TsFile, `data/nvidia_workspace_train.tsfile`. |
|
|
| ## TsFile schema |
|
|
| - **Time** (INT64, milliseconds): `round(timestamp * 1000)`, restarting for |
| each episode. |
| - **episode_index**, **task_index** (TAG): episode and task dimensions. Use the |
| TAG columns to select one trajectory, for example `episode_index=0`. |
| - **frame_index**, **sample_index** (FIELD, INT64): the frame position within |
| an episode and the renamed global source `index`. |
| - **observation_state_0..observation_state_5** (FIELD, FLOAT): shoulder pan, |
| shoulder lift, elbow flex, wrist flex, wrist roll, and gripper positions. |
| - **action_0..action_5** (FIELD, FLOAT): commands for the same six robot axes. |
|
|
| The source `observation.state[6]` and `action[6]` vectors are flattened without |
| discarding elements. The source `timestamp` field is represented by `Time` and |
| is not duplicated as a FIELD. Source `index` is renamed to `sample_index`. |
|
|
| The two video features, `observation.images.ego` and |
| `observation.images.external_D455`, are not uploaded here. Their MP4 files |
| remain available in the |
| [original videos directory](https://huggingface.co/datasets/tremmelnicholas/NVIDIA_WORKSPACE/tree/main/videos). |
| The mirrored `meta/info.json` records the flattened columns, time mapping, |
| omitted video features, and row count. |
|
|
| ## Usage |
|
|
| ```python |
| from tsfile import TsFileReader |
| |
| reader = TsFileReader("data/nvidia_workspace_train.tsfile") |
| schemas = reader.get_all_table_schemas() |
| print(schemas) |
| reader.close() |
| ``` |
|
|
| All episodes share the `nvidia_workspace_train` table. Query by |
| `episode_index` and `task_index` to isolate a trajectory. |
|
|
| ## Source and license |
|
|
| - Original dataset: https://huggingface.co/datasets/tremmelnicholas/NVIDIA_WORKSPACE |
| - Author / publisher: tremmelnicholas |
| - Framework: LeRobot v3.0 |
| - Robot type: `so101_follower` |
| - Paper or homepage: not declared by the source dataset |
| - License: Apache License 2.0 |
|
|
