codebase_version string | robot_type null | total_episodes int64 | total_frames int64 | total_tasks int64 | total_videos int64 | total_chunks int64 | chunks_size int64 | fps int64 | splits dict | data_path string | features dict | video_path_original string | tsfile_conversion dict |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
v2.1 | null | 103 | 13,567 | 1 | 206 | 1 | 1,000 | 10 | {
"train": "0:103"
} | data/ur5e_pick_red_cube.tsfile | {
"Time": {
"dtype": "int64",
"shape": [
1
],
"tsfile_role": "TIME",
"unit": "ms"
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"tsfile_role": "TAG"
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"tsfile_role": "TAG"
},
... | videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 | {
"source_dataset": "tlpss/ur5e-pick-red-cube",
"source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"converted_data_path": "data/ur5e_pick_red_cube.tsfile",
"table_name": "ur5e_pick_red_cube",
"granularity": "merged",
"time_precision": "ms",
"time_mapping": {
"sou... |
UR5e Pick Red Cube (TsFile)
Apache TsFile version of tlpss/ur5e-pick-red-cube.
Overview
A UR5e robot-arm manipulation dataset in the LeRobot v2.1 format. The single task is to pick up a red cube and place it on a blue square. Each record is one control frame within a demonstration episode, holding the robot's proprioceptive state, the commanded action, and per-step reward / success flags.
- Scale: 103 episodes, 13,567 frames total (≈ 132 frames per episode on average).
- Sampling rate: 10 fps.
- Tasks: 1 — "pick up the red cube and place it on the blue square".
- Robot: UR5e arm with a gripper.
Schema (TsFile structure)
- Time (INT64, milliseconds) —
round(timestamp * 1000), restarting at 0 for each episode. - episode_index (TAG) — source episode id (0–102).
- task_index (TAG) — source task id.
- frame_index (FIELD, INT64) — frame position within the episode.
- sample_index (FIELD, INT64) — the source global
indexcolumn, renamed. - seed (FIELD, INT64) — episode random seed.
- next_reward (FIELD, FLOAT) — reward at the next step.
- next_success (FIELD, BOOLEAN) — task-success flag.
- gripper_state (FIELD, FLOAT) — scalar gripper state.
- observation_state_0 .. observation_state_6 (FIELD, FLOAT) — the 7-D observation state, flattened.
- robot_pose_0 .. robot_pose_5 (FIELD, FLOAT) — the 6-D robot pose, flattened.
- joints_0 .. joints_5 (FIELD, FLOAT) — the 6-D joint vector, flattened.
- action_0 .. action_9 (FIELD, FLOAT) — the 10-D action, flattened.
All 103 episodes share a single .tsfile; episode_index and task_index are
the device (TAG) dimensions. Query one episode with WHERE episode_index=0.
Vector columns are flattened keeping the source name (e.g. observation.state →
observation_state_0..6, action → action_0..9). The source timestamp
column is dropped because it equals Time / 1000 seconds; frame_index is kept.
Usage
Read the .tsfile files with the Apache TsFile Java or Python SDK.
Source & license
- Original dataset: https://huggingface.co/datasets/tlpss/ur5e-pick-red-cube
- Author / publisher: tlpss (Hugging Face)
- Created with LeRobot.
- Camera videos (
observation.images.wrist_image,observation.images.scene_image, 240×320 RGB @ 10 fps) are not included in this repository; see the original dataset'svideos/directory for them. - License: apache-2.0.
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