Add TsFile (converted from enpeicv/so101_test)

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+data/so101_test_lerobot.tsfile filter=lfs diff=lfs merge=lfs -text

README.md

@@ -1,3 +1,73 @@
 ---
 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).

data/so101_test_lerobot.tsfile

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31917f450e9c97174899e475ab002c9ada697476445d358d9813cd19311ba138
+size 375256

meta/episodes.jsonl

@@ -0,0 +1,50 @@
+{"episode_index": 0, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 1, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 2, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 3, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 4, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 5, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 6, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 7, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 8, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 9, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 10, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 11, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 12, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 13, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 14, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 15, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 16, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 17, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 18, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 19, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 20, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 21, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 22, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 23, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 24, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 25, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 26, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 27, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 28, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 29, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 30, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 31, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 32, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 33, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 34, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 35, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 36, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 37, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 38, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 39, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 40, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 41, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 42, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 43, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 44, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 45, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 46, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 47, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}
+{"episode_index": 48, "tasks": ["Grasp a lego block and put it in the bin."], "length": 447}
+{"episode_index": 49, "tasks": ["Grasp a lego block and put it in the bin."], "length": 448}

meta/info.json

@@ -0,0 +1,236 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "so101",
+  "total_episodes": 50,
+  "total_frames": 22378,
+  "total_tasks": 1,
+  "total_videos": 100,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:50"
+  },
+  "data_path": "data/so101_test_lerobot.tsfile",
+  "features": {
+    "Time": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TIME",
+      "unit": "ms"
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TAG"
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TAG"
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "sample_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_0": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_1": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_2": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_3": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_4": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_5": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_0": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_1": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_2": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_3": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_4": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_5": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    }
+  },
+  "video_path_original": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "tsfile_conversion": {
+    "source_dataset": "enpeicv/so101_test",
+    "source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "converted_data_path": "data/so101_test_lerobot.tsfile",
+    "table_name": "so101_test_lerobot",
+    "granularity": "merged",
+    "time_precision": "ms",
+    "time_mapping": {
+      "source": "auto",
+      "fps": 30,
+      "unit": "milliseconds"
+    },
+    "tag_columns": [
+      "episode_index",
+      "task_index"
+    ],
+    "row_count": 22378,
+    "feature_source": "features describe the converted TsFile schema",
+    "flattened_features": {
+      "action": [
+        "action_0",
+        "action_1",
+        "action_2",
+        "action_3",
+        "action_4",
+        "action_5"
+      ],
+      "observation.state": [
+        "observation_state_0",
+        "observation_state_1",
+        "observation_state_2",
+        "observation_state_3",
+        "observation_state_4",
+        "observation_state_5"
+      ]
+    },
+    "renamed_features": {
+      "index": "sample_index"
+    },
+    "dropped_features": [
+      "timestamp"
+    ],
+    "omitted_features": [
+      "observation.images.laptop",
+      "observation.images.phone"
+    ],
+    "original_video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "original_video_features": {
+      "observation.images.laptop": {
+        "dtype": "video",
+        "shape": [
+          480,
+          640,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channels"
+        ],
+        "info": {
+          "video.height": 480,
+          "video.width": 640,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "video.fps": 30,
+          "video.channels": 3,
+          "has_audio": false
+        }
+      },
+      "observation.images.phone": {
+        "dtype": "video",
+        "shape": [
+          480,
+          640,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channels"
+        ],
+        "info": {
+          "video.height": 480,
+          "video.width": 640,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "video.fps": 30,
+          "video.channels": 3,
+          "has_audio": false
+        }
+      }
+    },
+    "original_video_source": "https://huggingface.co/datasets/enpeicv/so101_test/tree/main/videos",
+    "video_policy": "Videos are not uploaded to this repository; use the original HuggingFace dataset videos."
+  }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Grasp a lego block and put it in the bin."}