| --- |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - tsfile |
| - modality:timeseries |
| - timeseries |
| - format:tsfile |
| pretty_name: Stack (no F/T, tactile) v4 (TsFile) |
| size_categories: |
| - 10K<n<100K |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/stack_without_ft_tact_v4.tsfile |
| modality: |
| - tabular |
| - timeseries |
| license: apache-2.0 |
| --- |
| |
| # Stack (no F/T, tactile) v4 (TsFile) |
|
|
| Apache TsFile version of [`LSY-lab/stack_without_ft_tact_v4`](https://huggingface.co/datasets/LSY-lab/stack_without_ft_tact_v4). |
|
|
| ## Overview |
|
|
| A LeRobot teleoperation dataset for the manipulation task *"pick the lego block."* |
| Each episode records the synchronized robot proprioception and the commanded action |
| while an operator demonstrates the pick motion. The robot exposes a 7-joint arm with a |
| gripper; per-frame state includes the end-effector Cartesian pose, the joint positions, |
| the gripper opening, and the controller target pose. |
|
|
| - **Scale:** 51 episodes / 12,244 frames / 1 task. |
| - **Sampling rate:** 15 fps. |
| - **LeRobot codebase version:** v2.1. |
|
|
| ## Schema (TsFile structure) |
|
|
| - **Time** (INT64, milliseconds) — per-frame timestamp, `round(timestamp * 1000)`, restarts at 0 for each episode (≈67 ms between frames at 15 fps). |
| - **episode_index** (TAG) — episode identifier (the device dimension). Query a single episode with `WHERE episode_index=0`. |
| - **task_index** (TAG) — task identifier; this dataset has a single task (`0`). |
| - **frame_index** (FIELD, INT64) — frame counter within the episode. |
| - **sample_index** (FIELD, INT64) — the source `index` global row counter, renamed. |
| - **observation_state_cartesian_0 … _5** (FIELD, FLOAT) — end-effector pose `[x, y, z, roll, pitch, yaw]`. |
| - **observation_state_gripper** (FIELD, FLOAT) — gripper opening. |
| - **observation_state_joints_0 … _6** (FIELD, FLOAT) — measured positions of the 7 arm joints. |
| - **observation_state_target_0 … _5** (FIELD, FLOAT) — controller target pose `[target_x, target_y, target_z, target_roll, target_pitch, target_yaw]`. |
| - **action_0 … action_6** (FIELD, FLOAT) — commanded action `[x, y, z, roll, pitch, yaw, gripper]`. |
| |
| Each fixed-size vector column is flattened to one FLOAT field per element, keeping the |
| full source column name (`.` → `_`) plus the element index. |
|
|
| ### Conversion notes |
|
|
| - The source carries a redundant aggregate column `observation.state` (20-dim) that is the |
| exact elementwise concatenation of `observation.state.cartesian` (6), `observation.state.gripper` (1), |
| `observation.state.joints` (7) and `observation.state.target` (6). It is **dropped** in this |
| TsFile version — no information is lost, because the four named sub-columns above reconstruct it exactly. |
| - The source `timestamp` column is dropped because it equals `Time / 1000` seconds. |
| - Camera video streams (`observation.images.primary`, `observation.images.wrist`) are **not** |
| included in this repository; see the original dataset's `videos/` directory for them: |
| [LSY-lab/stack_without_ft_tact_v4](https://huggingface.co/datasets/LSY-lab/stack_without_ft_tact_v4). |
|
|
| ## Usage |
|
|
| Read the `.tsfile` files with the Apache TsFile Java or Python SDK. |
|
|
| ## Source & license |
|
|
| - Original dataset: https://huggingface.co/datasets/LSY-lab/stack_without_ft_tact_v4 |
| - Author / publisher: LSY-lab |
| - Paper: none |
| - License: not declared by the original dataset; please defer to the original. |
|
|
