azithromycin/qualiadev_openarm_pick_v6

OpenArm Pick v6 TsFile

This Apache TsFile edition is based on qualiadev/openarm_pick_v6, a LeRobot v2.1 bimanual robot manipulation dataset recorded in Isaac Sim through VR teleoperation.

Source and Attribution

• Source repository: qualiadev/openarm_pick_v6
• Repository publisher: qualiadev
• Original author named by the source card and citation: AiSaurabhPatil
• License: Apache-2.0
• Task: grab the electric screwdriver from the table and drop it inside the box
• Platform: Isaac Sim (NVIDIA Omniverse)
• Control: VR teleoperation with Quest 3
• Robot: openarm_bimanual; LeRobot version: v2.1
• Split: train; 100 episodes; 65,190 frames; 1 task; 30 Hz
• Duration: about 36.2 minutes
• Source data: 100 shards at data/chunk-000/episode_{episode_index:06d}.parquet

TsFile Data

• Path: data/qualiadev_openarm_pick_v6.tsfile
• Table: qualiadev_openarm_pick_v6
• Rows: 65,190
• Episode devices: 100
• Time precision: milliseconds
• Source Parquet size: 3,081,465 bytes
• TsFile size: 1,533,267 bytes

The 100 episode shards are combined into one table. episode_index and task_index remain the TsFile TAG/device dimensions, so a single episode or task can be selected through TAG predicates.

Schema

Time = round(timestamp * 1000) milliseconds and restarts at zero for every episode. Source timestamp is omitted afterward because it equals Time / 1000 seconds.

TAG columns:

• episode_index
• task_index

Scalar FIELD columns:

• frame_index
• sample_index (renamed from source index)

FLOAT FIELD groups:

• action[16] -> action_0 ... action_15
• observation.state[16] -> observation_state_0 ... observation_state_15

For each vector, indexes 0-6 are the left arm joints, index 7 is the left gripper, indexes 8-14 are the right arm joints, and index 15 is the right gripper. Dots in source vector names become underscores. No numeric row, episode, task, or vector dimension is omitted.

Encodings and Compression

• FLOAT/DOUBLE: GORILLA + LZ4
• INT32/INT64: TS_2DIFF + LZ4
• Time: TS_2DIFF + LZ4
• BOOLEAN: RLE + LZ4 (no BOOLEAN FIELD is present)
• TAG: TsFile table/device storage

Videos

Videos are not included in this TsFile repository. The source has 300 frame-aligned AV1 MP4 files (1,152,509,583 bytes, about 1.07 GiB), 480x360, 30 fps, without audio:

• observation.images.head
• observation.images.wrist_left
• observation.images.wrist_right

Each stream uses videos/chunk-000/{video_key}/episode_{episode_index:06d}.mp4. episode_index, frame_index, and meta/episodes.jsonl preserve frame alignment with the source videos.

Usage

from tsfile import TsFileReader

reader = TsFileReader("data/qualiadev_openarm_pick_v6.tsfile")
with reader.query_table(
    "qualiadev_openarm_pick_v6",
    ["episode_index", "task_index", "frame_index", "sample_index",
     "action_0", "observation_state_0"],
    batch_size=65536,
) as result:
    print(result.read_arrow_batch().to_pandas().head())
reader.close()

Citation

@dataset{openarm_pick_v6,
  author = {AiSaurabhPatil},
  title = {OpenArm Pick v6 - LeRobot Dataset},
  year = {2026},
  publisher = {Hugging Face},
  url = {https://huggingface.co/datasets/AiSaurabhPatil/openarm_pick_v6}
}