| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - tsfile |
| - timeseries |
| - time-series |
| - LeRobot |
| - so101 |
| - robotics |
| pretty_name: so101_test (TsFile) |
| size_categories: |
| - 10K<n<100K |
| configs: |
| - config_name: default |
| data_files: data/*.tsfile |
| --- |
| |
| # so101_test (TsFile) |
| |
| Apache TsFile version of [`enpeicv/so101_test`](https://huggingface.co/datasets/enpeicv/so101_test). |
| |
| ## Overview |
| |
| A single-arm robot manipulation dataset recorded with an SO-101 arm (`so101`, |
| 6 DOF). The task in every episode is to grasp a Lego block and put it in the bin. |
| It was created with [LeRobot](https://github.com/huggingface/lerobot) (codebase |
| version v2.1). |
| |
| - **Scale:** 50 episodes, 22,378 frames total. |
| - **Sampling rate:** 30 fps. |
| - **Robot:** `so101` — single SO-101 arm, 6 DOF (5 joints + gripper). |
| - **Task:** a single task, `task_index = 0` — "Grasp a lego block and put it in the bin". |
|
|
| ## Schema (TsFile structure) |
|
|
| - **Time** (INT64, milliseconds) — frame timestamp, `round(timestamp * 1000)`. |
| It restarts from 0 at the beginning of each episode (~33 ms between frames at 30 fps). |
| - **episode_index** (TAG) — which of the 50 episodes the row belongs to. |
| - **task_index** (TAG) — the task identifier (always `0` here). |
| Both tags form the TsFile device dimension; query one episode with |
| `WHERE episode_index=0`. |
| - **frame_index** (FIELD, INT64) — frame number within the episode. |
| - **sample_index** (FIELD, INT64) — the original global `index` column. |
| - **action_0 .. action_5** (FIELD, FLOAT) — the commanded target positions, 6 |
| values: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper. |
| - **observation_state_0 .. observation_state_5** (FIELD, FLOAT) — the measured |
| joint/gripper positions, same 6-element layout as `action`. |
| |
| The source `timestamp` column is dropped (it equals `Time ÷ 1000` seconds). Vector |
| columns are flattened single-precision FLOAT (`.` → `_`, element index appended, |
| the `observation.` prefix stripped). |
|
|
| ## Usage |
|
|
| Read the `.tsfile` files with the Apache TsFile Java or Python SDK. |
|
|
| ## Notes |
|
|
| - Camera video streams are **not** included in this repository. The original |
| dataset has 2 camera views (`observation.images.laptop`, |
| `observation.images.phone`, both 640×480) under its `videos/` directory — see the |
| original dataset for them. |
| - `meta/` from the source is mirrored alongside the data. Aside from the redundant |
| `timestamp` column noted above, no columns or rows are dropped. |
|
|
| ## Source & license |
|
|
| - Original dataset: https://huggingface.co/datasets/enpeicv/so101_test |
| - Author / publisher: enpeicv |
| - Paper: not declared by the original dataset. |
| - License: apache-2.0 (from the original dataset card). |
| |
