| --- |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - so101 |
| - robotics |
| - tutorial |
| - tsfile |
| - modality:timeseries |
| pretty_name: 246-Golf (TsFile) |
| size_categories: |
| - 10K<n<100K |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/golf_246.tsfile |
| modality: |
| - timeseries |
| license: apache-2.0 |
| --- |
| |
| # 246-Golf (TsFile) |
|
|
| Apache TsFile version of [`LeRobot-worldwide-hackathon/246-Golf`](https://huggingface.co/datasets/LeRobot-worldwide-hackathon/246-Golf). |
|
|
| ## Overview |
|
|
| A LeRobot teleoperation dataset recorded on an **SO-101** arm performing a single |
| manipulation task: *"Pick up the golf ball and place it on the gray mark at the back."* |
| Each episode captures the synchronized robot proprioception (joint states) and the |
| commanded action at 30 Hz while the operator demonstrates the pick-and-place motion. |
| The dataset was contributed as part of the LeRobot Worldwide Hackathon. |
|
|
| - **Robot:** SO-101 (6-DOF: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper). |
| - **Scale:** 30 episodes / 26,134 frames / 1 task. |
| - **Sampling rate:** 30 fps. |
| - **LeRobot codebase version:** v2.1. |
| |
| ## 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_5** (FIELD, FLOAT) — measured joint positions of the 6 arm joints (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper). |
| - **action_0 … action_5** (FIELD, FLOAT) — commanded target for the same 6 joints. |
|
|
| The 6-element `observation.state` and `action` vectors are flattened to one FLOAT field |
| per joint, in the source joint order. The source `timestamp` column is dropped because it |
| equals `Time / 1000` seconds. |
|
|
| Camera video streams (`observation.images.phone`, `observation.images.usbcam`) are **not** |
| included in this repository; see the original dataset's `videos/` directory for them: |
| [LeRobot-worldwide-hackathon/246-Golf](https://huggingface.co/datasets/LeRobot-worldwide-hackathon/246-Golf). |
|
|
| ## Usage |
|
|
| Read the `.tsfile` files with the Apache TsFile Java or Python SDK. |
|
|
| ## Source & license |
|
|
| - Original dataset: https://huggingface.co/datasets/LeRobot-worldwide-hackathon/246-Golf |
| - Author / publisher: LeRobot-worldwide-hackathon |
| - Paper: none |
| - License: not declared by the original dataset; please defer to the original. |
|
|
