Datasets:

THUgewu
/

so100_lego

Exception:    SplitsNotFoundError
Message:      The split names could not be parsed from the dataset config.
Traceback:    Traceback (most recent call last):
                File "tsfile/tsfile_py_cpp.pyx", line 567, in tsfile.tsfile_py_cpp.tsfile_reader_new_c
              tsfile.exceptions.FileOpenError: 28: 
              
              The above exception was the direct cause of the following exception:
              
              Traceback (most recent call last):
                File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
                  for split_generator in builder._split_generators(
                                         ~~~~~~~~~~~~~~~~~~~~~~~~~^
                      StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/tsfile/tsfile.py", line 271, in _split_generators
                  scan = self._scan_metadata(all_files)
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/tsfile/tsfile.py", line 318, in _scan_metadata
                  with self._open_reader(file) as reader:
                       ~~~~~~~~~~~~~~~~~^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/tsfile/tsfile.py", line 742, in _open_reader
                  return TsFileReader(file)
                File "tsfile/tsfile_reader.pyx", line 323, in tsfile.tsfile_reader.TsFileReaderPy.__init__
              SystemError: <class '_weakrefset.WeakSet'> returned a result with an exception set
              
              The above exception was the direct cause of the following exception:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 66, in compute_split_names_from_streaming_response
                  for split in get_dataset_split_names(
                               ~~~~~~~~~~~~~~~~~~~~~~~^
                      path=dataset,
                      ^^^^^^^^^^^^^
                      config_name=config,
                      ^^^^^^^^^^^^^^^^^^^
                      token=hf_token,
                      ^^^^^^^^^^^^^^^
                  )
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
                  info = get_dataset_config_info(
                      path,
                  ...<6 lines>...
                      **config_kwargs,
                  )
                File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
                  raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
              datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.

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SO-100 Lego Grasping (TsFile)

Apache TsFile version of aaronsu11/so100_lego.

Overview

A LeRobot teleoperation dataset recorded on an SO-100 follower arm performing a single manipulation task: "Grasp a lego block and put it on the plate." 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.

Robot: SO-100 (6-DOF: shoulder pan, shoulder lift, elbow flex, wrist flex, wrist roll, gripper).
Scale: 100 episodes / 55,617 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.
action_0 … action_5 (FIELD, FLOAT) — commanded target for the 6 arm joints.

The 6-element observation.state and action vectors are flattened to one FLOAT field per joint, in the source joint order (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper). The source timestamp column is dropped because it equals Time / 1000 seconds.

Camera video streams (observation.images.arm_camera, observation.images.top_camera) are not included in this repository; see the original dataset's videos/ directory for them: aaronsu11/so100_lego.

Usage

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

Source & license

Original dataset: https://huggingface.co/datasets/aaronsu11/so100_lego
Author / publisher: aaronsu11
Paper: none
License: not declared by the original dataset; please defer to the original.

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Total file size:

1.15 MB