tote_bag_400

This dataset was converted from Ksato5044/tote_bag_400 to Apache TsFile format.

Dataset Description

The original dataset is a LeRobot-format robot dataset for the task "Pick up the bag on the floor".

• Modalities: Time-series. The original dataset also includes video streams.
• Robot type: hsr
• Codebase version: LeRobot v2.0
• Recording frequency: 10 Hz
• Split: train (0:400)
• Scale: 400 episodes, 102,629 frames, 1 task, 800 source videos
• Source data path: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
• Source video path: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4

Source Dataset

• Original dataset: Ksato5044/tote_bag_400
• Authors: Ksato5044
• Task: Pick up the bag on the floor
• License: Not declared in the source dataset metadata.

TsFile Conversion

The numeric robot state/action/time/task data was converted into one TsFile:

data/tote_bag_400.tsfile

Conversion details:

• All 400 source episodes are stored in one TsFile table named tote_bag_400.
• episode_index and task_index are TsFile TAG columns. Query a single episode with WHERE episode_index=N.
• Time = round(timestamp * 1000) in milliseconds. The source timestamp column is not retained because it equals Time / 1000 seconds.
• frame_index is kept. Source index is renamed to sample_index, and next.done is renamed to next_done.
• Vector columns are flattened by preserving the source column name, replacing . with _, and appending the element index.
• Values from flattened vector columns are stored as single-precision FLOAT.
• The converted TsFile contains 102,629 rows and 104 columns including Time, TAG columns, and FIELD measurements.

Flattened vector features:

• observation.state[8] -> observation_state_0..observation_state_7
• observation.wrench.wrist[60] -> observation_wrench_wrist_0..observation_wrench_wrist_59
• action.absolute[8] -> action_absolute_0..action_absolute_7
• action.relative[11] -> action_relative_0..action_relative_10
• action.arm[5] -> action_arm_0..action_arm_4
• action.gripper[1] -> action_gripper_0
• action.head[2] -> action_head_0..action_head_1
• action.base[3] -> action_base_0..action_base_2

Schema roles:

• TIME: Time in milliseconds.
• TAG: episode_index, task_index.
• FIELD: frame_index, sample_index, next_done, and the flattened robot observation/action measurements.

Dropped or omitted source fields:

• timestamp is dropped because it is represented by Time.
• observation.image.head and observation.image.hand are video features and are not converted into TsFile columns.
• MP4 videos are not included in this repository. They remain in the original dataset under videos/.

The mirrored meta/info.json records the original video path and includes a tsfile_conversion section describing the converted schema, row count, TAG columns, dropped timestamp column, omitted video features, and time mapping.

Read Example

from tsfile import TsFileReader

path = "data/tote_bag_400.tsfile"

with TsFileReader(path) as reader:
    table = reader.get_all_table_schemas()["tote_bag_400"]
    columns = [c.get_column_name() for c in table.get_columns()]
    print(columns[:10])