THULab/pick_tblock_mp_safe_margin_maxvel

picktblockmpsafemargin_maxvel TsFile Conversion

This dataset is a TsFile conversion of `younghyopark/pick_tblock_mp_safe_margin_maxvel`, a LeRobot v2.1 DualPanda robot dataset.

Modalities: Time-series. The source metadata declares total_videos=0 and video_path=null.

Source Dataset Facts

From the original dataset card and meta/info.json:

• —Source dataset: `younghyopark/pick_tblock_mp_safe_margin_maxvel`
• —License: apache-2.0
• —Codebase version: v2.1
• —Robot type: DualPanda
• —Episodes: 1,000
• —Frames / converted rows: 243,000
• —Sampling rate: 50 fps
• —Split: train episodes 0:1000
• —Task: pick something up

Converted Files

• —data/pick_tblock_mp_safe_margin_maxvel.tsfile ? one merged TsFile containing all 1,000 episodes.
• —meta/ ? mirrored source metadata with meta/info.json updated to describe the TsFile artifact.

The generated TsFile size is 172,777,914 bytes.

TsFile Schema

• —Table name: pick_tblock_mp_safe_margin_maxvel
• —Time precision: milliseconds (ms)
• —Time: synthesized as round(timestamp * 1000). Time restarts per episode.
• —TAG columns: episode_index, task_index
• —Scalar FIELD columns: frame_index, sample_index (source index renamed).
• —Flattened FLOAT FIELD columns:
• —observation.joint[16] -> observation_joint_0 ? observation_joint_15
• —observation.state[30] -> observation_state_0 ? observation_state_29
• —observation.environment_state[7] -> observation_environment_state_0 ? observation_environment_state_6
• —observation.environment.block_xy[2] -> observation_environment_block_xy_0 ? observation_environment_block_xy_1
• —observation.right_arm.joint[7] -> observation_right_arm_joint_0 ? observation_right_arm_joint_6
• —observation.right.joint[8] -> observation_right_joint_0 ? observation_right_joint_7
• —observation.left_arm.joint[7] -> observation_left_arm_joint_0 ? observation_left_arm_joint_6
• —observation.qvel[30] -> observation_qvel_0 ? observation_qvel_29
• —observation.env_qvel[6] -> observation_env_qvel_0 ? observation_env_qvel_5
• —observation.ee_pose[16] -> observation_ee_pose_0 ? observation_ee_pose_15
• —action.ctrl[16] -> action_ctrl_0 ? action_ctrl_15
• —action.joint[16] -> action_joint_0 ? action_joint_15
• —action.ee_pose[16] -> action_ee_pose_0 ? action_ee_pose_15
• —action.right_arm.joint[7] -> action_right_arm_joint_0 ? action_right_arm_joint_6
• —action.right.joint[8] -> action_right_joint_0 ? action_right_joint_7
• —action.left_arm.joint[7] -> action_left_arm_joint_0 ? action_left_arm_joint_6

Conversion Notes

• —Converter: generic scripts/converters/lerobot.py.
• —Source timestamp is dropped after creating Time, because it equals Time / 1000 seconds.
• —Source index is renamed to sample_index.
• —Vector columns preserve source names by replacing . with _ and appending the element index.
• —All 243,000 source rows are preserved in the converted TsFile.
• —No video files are uploaded because the source metadata declares no videos.

Minimal Read Example

# Use Apache TsFile tooling to read:
# data/pick_tblock_mp_safe_margin_maxvel.tsfile
# Query one episode with a predicate such as WHERE episode_index = 0.