Hugging Face's logo

Datasets:
THUgewu
/
so100_base_env

Tasks:
Robotics
Modalities:
Time-series
Size:
10K<n<100K
Tags:
tsfile
timeseries
time-series
lerobot
robotics
so100
License:
Dataset card Data Studio Files
xet
 Community
so100_base_env / README.md
THUgewu's picture
THUgewu
Add TsFile (converted from shreyasgite/so100_base_env)
d435654 verified
preview code
|
Raw
History Blame Contribute Delete
2.37 kB
metadata 
license: apache-2.0
task_categories:
  - robotics
tags:
  - tsfile
  - timeseries
  - time-series
  - lerobot
  - robotics
  - so100
pretty_name: SO-100 Base Environment (TsFile)
size_categories:
  - 10K<n<100K

SO-100 Base Environment (TsFile)

Apache TsFile version of 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/.

Source & license