| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - tsfile |
| - format:tsfile |
| - time-series |
| - timeseries |
| modality: |
| - tabular |
| - timeseries |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/piper_umi_inter_stacking.tsfile |
| size_categories: |
| - 10K<n<100K |
| --- |
| |
| # piper_umi_inter_stacking (TsFile) |
| |
| Apache TsFile version of [`axiboai/piper_umi_inter_stacking`](https://huggingface.co/datasets/axiboai/piper_umi_inter_stacking). |
| |
| ## Overview |
| |
| This dataset is a LeRobot v2.1 bimanual dataset of a Piper X arm performing inter-hand stacking. |
| |
| - **Robot:** Piper X bimanual (piperx_bimanual_eef_6d_inter) |
| - **Scale:** 90 episodes, 23,894 frames, 30 fps |
| - **Split:** train |
| - **Cameras (not uploaded):** `cam_front`, `cam_left_wrist`, `cam_right_wrist` |
|
|
| ## Schema (TsFile structure) |
|
|
| The TsFile table is named `piper_umi_inter_stacking`. |
|
|
| | Role | Columns | |
| | --- | --- | |
| | Time | `Time`, INT64 milliseconds | |
| | TAG | `episode_index`, `task_index` | |
| | FIELD | `frame_index`, `sample_index` | |
| | FIELD | `observation_state_0` … `observation_state_29`, FLOAT | |
| | FIELD | `action_0` … `action_19`, FLOAT | |
|
|
| Vector columns are flattened into scalar FLOAT measurements (single precision). The source `index` column is retained as `sample_index`. |
|
|
| ## Conversion notes |
|
|
| - `Time = round(timestamp * 1000)` with millisecond precision; time restarts inside each episode, while `episode_index` and `task_index` identify the TsFile device. |
| - The original `timestamp` field is omitted because it is exactly represented by `Time / 1000`. |
| - Camera video streams are NOT included in this repository; they remain in the [source videos tree](https://huggingface.co/datasets/axiboai/piper_umi_inter_stacking/tree/main/videos). |
| - `meta/` is mirrored from the source. Aside from the redundant `timestamp` column and the excluded videos, no source rows or numeric fields are dropped. |
|
|
| ## Read example |
|
|
| ```python |
| from tsfile import TsFileReader |
| |
| with TsFileReader("data/piper_umi_inter_stacking.tsfile") as reader: |
| print(reader.get_all_table_schemas()["piper_umi_inter_stacking"]) |
| ``` |
|
|
| ## Source & license |
|
|
| - Original dataset: https://huggingface.co/datasets/axiboai/piper_umi_inter_stacking |
| - Author: axiboai |
| - License: apache-2.0 |
| |
