axiboai_piper_umi_ee_pick_place

axiboai_piper_umi_ee_pick_place (TsFile)

Apache TsFile version of axiboai/piper-umi-ee-pick-place.

Overview

This is a pick-and-place demonstration dataset recorded on an AgileX Piper arm with a single 6-DoF end-effector (piper_single_eef_6d) and packaged in the LeRobot v2.1 layout. Each row is one control step: a 10-dimensional end-effector state (position x, y, z, rotation as 6-D rot6d, and gripper) together with the 10-dimensional commanded action. The metadata records a single task (task_index = 0).

• Robot: AgileX Piper (single 6-DoF end-effector)
• Episodes: 90 · Frames (rows): 38,416 · Tasks: 1
• Sampling rate: 30 fps
• Cameras: observation.images.cam_left_wrist (480x640x3, AV1)
• Converted TsFile: 38,416 rows in a single data/axiboai_piper_umi_ee_pick_place.tsfile, one device per episode_index (WHERE episode_index=0 selects episode 0).

Schema (TsFile structure)

• Time (INT64, milliseconds) — round(timestamp * 1000); restarts at 0 for each episode.
• episode_index (TAG) — episode / device dimension.
• task_index (TAG) — task dimension (constant 0 here).
• frame_index (FIELD, INT64) — source frame counter; sample_index (FIELD, INT64) — source index column (renamed).
• observation.state_{0..9} (FIELD, FLOAT) — end-effector pose (x, y, z, rot6d_0..rot6d_5, gripper)
• action_{0..9} (FIELD, FLOAT) — commanded end-effector pose (same 10-D layout)

Vector columns were flattened to scalar fields: a . in the source column name became _ and the element index is appended (e.g. observation.state → observation_state_0 ... observation_state_{n-1}). Values are single-precision FLOAT. The source timestamp column is dropped because it equals Time ÷ 1000 seconds. No other columns or rows were removed.

Usage

Install the Apache TsFile Python SDK (pip install tsfile) and read a converted file:

from pathlib import Path
from tsfile import TsFileReader

path = Path("data/axiboai_piper_umi_ee_pick_place.tsfile")
with TsFileReader(str(path)) as reader:
    schemas = reader.get_all_table_schemas()
    print("tables:", list(schemas))
    table_name = next(iter(schemas))
    table = schemas[table_name]
    columns = [column.get_column_name() for column in table.get_columns()]
    print("columns:", columns)
    field_names = [
        column.get_column_name()
        for column in table.get_columns()
        if column.get_column_name() not in {"Time", "time"}
    ]
    if field_names:
        with reader.query_table(table_name, field_names[:3], batch_size=1024) as result:
            batch = result.read_arrow_batch()
            if batch is not None:
                print(batch.to_pandas().head())

Source & license

• Original dataset: https://huggingface.co/datasets/axiboai/piper-umi-ee-pick-place
• Author / publisher: axiboai
• License: apache-2.0
• Camera video streams are not included in this repository; they remain at the original dataset's videos/ directory.