Add TsFile (converted from LSY-lab/stack_without_ft_tact_v4)

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+data/stack_without_ft_tact_v4.tsfile filter=lfs diff=lfs merge=lfs -text

README.md

@@ -1,3 +1,72 @@
 ---
-license: apache-2.0
+task_categories:
+- robotics
+tags:
+- tsfile
+- timeseries
+- time-series
+- LeRobot
+- robotics
+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
 ---
+
+# 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.

data/stack_without_ft_tact_v4.tsfile

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aa6de79b85c6efaff43267a49ab84fe72e6b5796936a92ee05fd2b23c096cb1
+size 1348358

meta/episodes.jsonl

@@ -0,0 +1,51 @@
+{"episode_index": 0, "tasks": ["pick the lego block."], "length": 278}
+{"episode_index": 1, "tasks": ["pick the lego block."], "length": 228}
+{"episode_index": 2, "tasks": ["pick the lego block."], "length": 219}
+{"episode_index": 3, "tasks": ["pick the lego block."], "length": 260}
+{"episode_index": 4, "tasks": ["pick the lego block."], "length": 256}
+{"episode_index": 5, "tasks": ["pick the lego block."], "length": 307}
+{"episode_index": 6, "tasks": ["pick the lego block."], "length": 222}
+{"episode_index": 7, "tasks": ["pick the lego block."], "length": 215}
+{"episode_index": 8, "tasks": ["pick the lego block."], "length": 253}
+{"episode_index": 9, "tasks": ["pick the lego block."], "length": 201}
+{"episode_index": 10, "tasks": ["pick the lego block."], "length": 200}
+{"episode_index": 11, "tasks": ["pick the lego block."], "length": 218}
+{"episode_index": 12, "tasks": ["pick the lego block."], "length": 245}
+{"episode_index": 13, "tasks": ["pick the lego block."], "length": 204}
+{"episode_index": 14, "tasks": ["pick the lego block."], "length": 283}
+{"episode_index": 15, "tasks": ["pick the lego block."], "length": 209}
+{"episode_index": 16, "tasks": ["pick the lego block."], "length": 207}
+{"episode_index": 17, "tasks": ["pick the lego block."], "length": 239}
+{"episode_index": 18, "tasks": ["pick the lego block."], "length": 294}
+{"episode_index": 19, "tasks": ["pick the lego block."], "length": 250}
+{"episode_index": 20, "tasks": ["pick the lego block."], "length": 276}
+{"episode_index": 21, "tasks": ["pick the lego block."], "length": 216}
+{"episode_index": 22, "tasks": ["pick the lego block."], "length": 265}
+{"episode_index": 23, "tasks": ["pick the lego block."], "length": 229}
+{"episode_index": 24, "tasks": ["pick the lego block."], "length": 247}
+{"episode_index": 25, "tasks": ["pick the lego block."], "length": 205}
+{"episode_index": 26, "tasks": ["pick the lego block."], "length": 246}
+{"episode_index": 27, "tasks": ["pick the lego block."], "length": 229}
+{"episode_index": 28, "tasks": ["pick the lego block."], "length": 230}
+{"episode_index": 29, "tasks": ["pick the lego block."], "length": 236}
+{"episode_index": 30, "tasks": ["pick the lego block."], "length": 242}
+{"episode_index": 31, "tasks": ["pick the lego block."], "length": 230}
+{"episode_index": 32, "tasks": ["pick the lego block."], "length": 246}
+{"episode_index": 33, "tasks": ["pick the lego block."], "length": 357}
+{"episode_index": 34, "tasks": ["pick the lego block."], "length": 208}
+{"episode_index": 35, "tasks": ["pick the lego block."], "length": 241}
+{"episode_index": 36, "tasks": ["pick the lego block."], "length": 239}
+{"episode_index": 37, "tasks": ["pick the lego block."], "length": 251}
+{"episode_index": 38, "tasks": ["pick the lego block."], "length": 283}
+{"episode_index": 39, "tasks": ["pick the lego block."], "length": 212}
+{"episode_index": 40, "tasks": ["pick the lego block."], "length": 209}
+{"episode_index": 41, "tasks": ["pick the lego block."], "length": 248}
+{"episode_index": 42, "tasks": ["pick the lego block."], "length": 238}
+{"episode_index": 43, "tasks": ["pick the lego block."], "length": 256}
+{"episode_index": 44, "tasks": ["pick the lego block."], "length": 214}
+{"episode_index": 45, "tasks": ["pick the lego block."], "length": 193}
+{"episode_index": 46, "tasks": ["pick the lego block."], "length": 271}
+{"episode_index": 47, "tasks": ["pick the lego block."], "length": 213}
+{"episode_index": 48, "tasks": ["pick the lego block."], "length": 234}
+{"episode_index": 49, "tasks": ["pick the lego block."], "length": 248}
+{"episode_index": 50, "tasks": ["pick the lego block."], "length": 244}

meta/info.json

@@ -0,0 +1,208 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": null,
+    "total_episodes": 51,
+    "total_frames": 12244,
+    "total_tasks": 1,
+    "total_videos": 102,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
+        "train": "0:51"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "observation.images.primary": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "video_info": {
+                "video.fps": 30.0,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            },
+            "info": {
+                "video.height": 256,
+                "video.width": 256,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                256,
+                256,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "video_info": {
+                "video.fps": 30.0,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            },
+            "info": {
+                "video.height": 256,
+                "video.width": 256,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.state.cartesian": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "x",
+                "y",
+                "z",
+                "roll",
+                "pitch",
+                "yaw"
+            ]
+        },
+        "observation.state.gripper": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": [
+                "gripper"
+            ]
+        },
+        "observation.state.joints": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": [
+                "joint_0",
+                "joint_1",
+                "joint_2",
+                "joint_3",
+                "joint_4",
+                "joint_5",
+                "joint_6"
+            ]
+        },
+        "observation.state.target": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "target_x",
+                "target_y",
+                "target_z",
+                "target_roll",
+                "target_pitch",
+                "target_yaw"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                20
+            ],
+            "names": [
+                "x",
+                "y",
+                "z",
+                "roll",
+                "pitch",
+                "yaw",
+                "gripper",
+                "joint_0",
+                "joint_1",
+                "joint_2",
+                "joint_3",
+                "joint_4",
+                "joint_5",
+                "joint_6",
+                "target_x",
+                "target_y",
+                "target_z",
+                "target_roll",
+                "target_pitch",
+                "target_yaw"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": [
+                "x",
+                "y",
+                "z",
+                "roll",
+                "pitch",
+                "yaw",
+                "gripper"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "pick the lego block."}