---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- so100
- tutorial
- robotics
- tsfile
- modality:timeseries
- timeseries
- format:tsfile
pretty_name: SO-100 Base Environment (TsFile)
size_categories:
- 10K<n<100K
modality:
- tabular
- timeseries
---

# SO-100 Base Environment (TsFile)

Apache TsFile version of [`shreyasgite/so100_base_env`](https://huggingface.co/datasets/shreyasgite/so100_base_env).

## Overview

A LeRobot teleoperation dataset recorded on an SO-100 arm performing a Lego
pick-and-place task: *"Grasp a lego block and put it in the bin."* Each episode
captures the synchronized robot joint state and commanded action at every control
step.

- **Robot:** `so100` (6-DoF arm: shoulder pan/lift, elbow flex, wrist flex/roll, gripper).
- **Episodes:** 252 (single `train` split).
- **Frames:** 98,999 total.
- **Sampling rate:** 30 fps.
- **Tasks:** 1 — "Grasp a lego block and put it in the bin".

## Schema (TsFile structure)

- **Time** (INT64, milliseconds) — per-frame timestamp, restarts at 0 each episode (`round(timestamp * 1000)`).
- **episode_index** (TAG) — episode id; query one episode with `WHERE episode_index=0`.
- **task_index** (TAG) — task id (always 0 here).
- **frame_index** (FIELD, INT64) — frame number within the episode.
- **sample_index** (FIELD, INT64) — global sample index (the source `index` column).
- **action_0 … action_5** (FIELD, FLOAT) — commanded joint positions
  (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper).
- **observation_state_0 … observation_state_5** (FIELD, FLOAT) — measured joint
  positions, same joint order as `action`.

Fixed-size vector columns from the source (`action`, `observation.state`, each
length 6) are flattened to single-precision FLOAT columns; `.` becomes `_` and the
element index is appended. The source `timestamp` column is not retained as a
separate field because it equals `Time / 1000` seconds.

## Usage

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

Camera videos (`observation.images.laptop`, `observation.images.phone`) are NOT
included in this repository. They remain in the original dataset under
[`videos/`](https://huggingface.co/datasets/shreyasgite/so100_base_env/tree/main/videos).

## Source & license

- Original dataset: https://huggingface.co/datasets/shreyasgite/so100_base_env
- Author / publisher: shreyasgite
- License: apache-2.0