---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- omx
- robotis
- tsfile
- modality:timeseries
- timeseries
- format:tsfile
pretty_name: omx_ExtendedTest3 (TsFile)
size_categories:
- 10K<n<100K
configs:
- config_name: default
  data_files: data/omx_extendedtest3.tsfile
modality:
- tabular
- timeseries
---

# omx_ExtendedTest3 (TsFile)

Apache TsFile version of [`ROBOTIS-junha/omx_ExtendedTest3`](https://huggingface.co/datasets/ROBOTIS-junha/omx_ExtendedTest3).

## Overview

A [LeRobot](https://github.com/huggingface/lerobot) robot-manipulation dataset
recorded on a ROBOTIS OpenMANIPULATOR-X ("omx") arm. Each frame captures the
robot's 7-joint proprioceptive state and the commanded 7-joint action while
performing the task `ExtendedTest3`.

- **Robot type:** `aiworker` (ROBOTIS OpenMANIPULATOR-X, 7 joints)
- **Episodes:** 50 (single `train` split)
- **Frames:** 17,413
- **Sampling rate:** 30 fps
- **Tasks:** 1 — `ExtendedTest3`
- **Cameras:** 2 (`camera1`, `cam_top`) — video streams only, not included here.

## Schema (TsFile structure)

- **Time** (INT64, milliseconds) — frame timestamp, `round(timestamp * 1000)`,
  restarts at 0 for each episode (~33 ms apart at 30 fps).
- **episode_index** (TAG) — episode id (0–49). Query one episode with
  `WHERE episode_index=0`.
- **task_index** (TAG) — task id (always 0 here → `ExtendedTest3`).
- **frame_index** (FIELD, INT64) — frame number within the episode.
- **sample_index** (FIELD, INT64) — global sample index (source `index`).
- **observation_state_0 .. observation_state_6** (FIELD, FLOAT) — measured joint
  positions (joint1–joint7).
- **action_0 .. action_6** (FIELD, FLOAT) — commanded joint positions
  (joint1–joint7).

The vector columns `observation.state[7]` and `action[7]` are flattened to
`observation_state_0..6` and `action_0..6` as single-precision FLOAT.

## Usage

Read the `.tsfile` files with the Apache TsFile Java or Python SDK.

## Conversion notes

- All 50 episodes are stored in a single TsFile (`data/omx_extendedtest3.tsfile`)
  using `episode_index` and `task_index` as TAG columns — the idiomatic TsFile
  multi-device table model.
- The source `timestamp` column (seconds) is dropped because it equals
  `Time / 1000`; `frame_index` is kept.
- Camera videos are **not** included in this repository. See the original
  dataset's `videos/` directory for the two camera streams (`camera1`, `cam_top`):
  https://huggingface.co/datasets/ROBOTIS-junha/omx_ExtendedTest3
- `meta/` is mirrored from the source.

## Source & license

- Original dataset: https://huggingface.co/datasets/ROBOTIS-junha/omx_ExtendedTest3
- Author / publisher: ROBOTIS-junha
- Paper: not declared by the original dataset.
- License: apache-2.0
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