| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - omx |
| - robotis |
| - tsfile |
| - modality:timeseries |
| - timeseries |
| - format:tsfile |
| pretty_name: omx_ExtendedTest3 (TsFile) |
| size_categories: |
| - 10K<n<100K |
| configs: |
| - config_name: default |
| data_files: data/omx_extendedtest3.tsfile |
| modality: |
| - tabular |
| - timeseries |
| --- |
| |
| # omx_ExtendedTest3 (TsFile) |
| |
| Apache TsFile version of [`ROBOTIS-junha/omx_ExtendedTest3`](https://huggingface.co/datasets/ROBOTIS-junha/omx_ExtendedTest3). |
| |
| ## Overview |
| |
| A [LeRobot](https://github.com/huggingface/lerobot) robot-manipulation dataset |
| recorded on a ROBOTIS OpenMANIPULATOR-X ("omx") arm. Each frame captures the |
| robot's 7-joint proprioceptive state and the commanded 7-joint action while |
| performing the task `ExtendedTest3`. |
| |
| - **Robot type:** `aiworker` (ROBOTIS OpenMANIPULATOR-X, 7 joints) |
| - **Episodes:** 50 (single `train` split) |
| - **Frames:** 17,413 |
| - **Sampling rate:** 30 fps |
| - **Tasks:** 1 — `ExtendedTest3` |
| - **Cameras:** 2 (`camera1`, `cam_top`) — video streams only, not included here. |
|
|
| ## Schema (TsFile structure) |
|
|
| - **Time** (INT64, milliseconds) — frame timestamp, `round(timestamp * 1000)`, |
| restarts at 0 for each episode (~33 ms apart at 30 fps). |
| - **episode_index** (TAG) — episode id (0–49). Query one episode with |
| `WHERE episode_index=0`. |
| - **task_index** (TAG) — task id (always 0 here → `ExtendedTest3`). |
| - **frame_index** (FIELD, INT64) — frame number within the episode. |
| - **sample_index** (FIELD, INT64) — global sample index (source `index`). |
| - **observation_state_0 .. observation_state_6** (FIELD, FLOAT) — measured joint |
| positions (joint1–joint7). |
| - **action_0 .. action_6** (FIELD, FLOAT) — commanded joint positions |
| (joint1–joint7). |
| |
| The vector columns `observation.state[7]` and `action[7]` are flattened to |
| `observation_state_0..6` and `action_0..6` as single-precision FLOAT. |
|
|
| ## Usage |
|
|
| Read the `.tsfile` files with the Apache TsFile Java or Python SDK. |
|
|
| ## Conversion notes |
|
|
| - All 50 episodes are stored in a single TsFile (`data/omx_extendedtest3.tsfile`) |
| using `episode_index` and `task_index` as TAG columns — the idiomatic TsFile |
| multi-device table model. |
| - The source `timestamp` column (seconds) is dropped because it equals |
| `Time / 1000`; `frame_index` is kept. |
| - Camera videos are **not** included in this repository. See the original |
| dataset's `videos/` directory for the two camera streams (`camera1`, `cam_top`): |
| https://huggingface.co/datasets/ROBOTIS-junha/omx_ExtendedTest3 |
| - `meta/` is mirrored from the source. |
| |
| ## Source & license |
| |
| - Original dataset: https://huggingface.co/datasets/ROBOTIS-junha/omx_ExtendedTest3 |
| - Author / publisher: ROBOTIS-junha |
| - Paper: not declared by the original dataset. |
| - License: apache-2.0 |
| </content> |
|
|
