Datasets:

THULab
/

Pick_up_Acetylcysteine_v2

A LeRobot (v3.0) teleoperation dataset recorded on a Franka arm performing a single manipulation task: "Pick up Acetylcysteine from table". Each episode captures the synchronized robot proprioception and the commanded end-effector action at 30 Hz.

Robot: Franka (7-DOF arm + gripper).
Scale: 100 episodes / 65,409 frames / 1 task.
Sampling rate: 30 fps.
LeRobot codebase version: v3.0.

Schema (TsFile structure)

Time (INT64, milliseconds) — per-frame timestamp, round(timestamp * 1000), restarts at 0 for each episode (≈33 ms between frames at 30 fps).
episode_index (TAG) — episode identifier (the device dimension). Query a single episode with WHERE episode_index=0.
task_index (TAG) — task identifier; this dataset has a single task (0).
frame_index (FIELD, INT64) — frame counter within the episode.
sample_index (FIELD, INT64) — the source index global row counter, renamed.
observation_state_0 … observation_state_14 (FIELD, FLOAT) — the 15-dim state: joint_1..7 positions, gripper_state_norm, gripper_cmd_bin, and ee_pose (x, y, z, rx, ry, rz).
action_0 … action_6 (FIELD, FLOAT) — the 7-dim action: delta_ee_pose (x, y, z, rx, ry, rz) and gripper_cmd_bin.

The 15-element observation.state and 7-element action vectors are flattened to one FLOAT field per element, in the source order. The source timestamp column is dropped because it equals Time / 1000 seconds.

Camera video streams (observation.images.camera_1, observation.images.camera_2) are not included in this repository; see the original dataset's videos/ directory for them: KyraLeeChunWei/Pick_up_Acetylcysteine_v2.

The source repository's _corrupted_backup/ directory (a backup of corrupted image and video data) is not included.

Usage

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

Source & license

Original dataset: https://huggingface.co/datasets/KyraLeeChunWei/Pick_up_Acetylcysteine_v2
Author / publisher: KyraLeeChunWei
Paper: none
License: not declared by the original dataset; please defer to the original.

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