---
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.