| --- |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - robotics |
| - so100 |
| - manipulation |
| - tsfile |
| - modality:timeseries |
| pretty_name: SO-100 Grab Pen (record-test-11, TsFile) |
| size_categories: |
| - 10K<n<100K |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/alexisbo_record_test_11.tsfile |
| modality: |
| - timeseries |
| license: apache-2.0 |
| --- |
| |
| # SO-100 Grab Pen — record-test-11 (TsFile) |
|
|
| Apache TsFile version of [`Alexisbo/record-test-11`](https://huggingface.co/datasets/Alexisbo/record-test-11). |
|
|
| ## Overview |
|
|
| Teleoperated demonstrations on an **SO-100 follower arm** (`robot_type = |
| so100_follower`, 6 DoF) of a single task: **"Grab pen and put in orange box"**. |
| Each episode records the arm's joint positions (state) and commanded joint |
| targets (action) over time. |
|
|
| - **Episodes:** 46 demonstrations of one task. |
| - **Frames:** 33,461 timesteps total, recorded at **30 fps**. |
| - **Robot:** SO-100 follower arm (6 joints incl. gripper). |
| - **Source format:** LeRobot v2.1. |
|
|
| > **Episode count note:** the source `data/` directory ships **46** episode files |
| > (indices 0–45). The source `meta/` declares only **42** episodes |
| > (`info.json` `total_episodes=42` / `total_frames=28964`; `episodes.jsonl` has |
| > 42 lines). Episodes 42–45 (4,497 frames) are present and valid on disk but |
| > missing from `meta`. This TsFile includes **all 46** episodes; the mirrored |
| > `meta/` is left as-is (still describing 42), so prefer the TsFile contents as |
| > the source of truth for episode/frame counts. |
|
|
| ## Schema (TsFile structure) |
|
|
| - **Time** (INT64, milliseconds) — per-frame timestamp, restarts at 0 for each |
| episode (`round(timestamp * 1000)`; ~33 ms apart at 30 fps). |
| - **episode_index** (TAG) — demonstration id (0–45). Query a single episode |
| with `WHERE episode_index=0`. |
| - **task_index** (TAG) — task id (always `0`; the dataset has one task). |
| - **frame_index** (FIELD, INT64) — frame number within the episode. |
| - **sample_index** (FIELD, INT64) — the source global `index` column. |
| - **observation_state_0 .. observation_state_5** (FIELD, FLOAT) — measured joint |
| positions. |
| - **action_0 .. action_5** (FIELD, FLOAT) — commanded joint targets. |
| |
| The 6 channels of each vector are the SO-100 joints, in order: |
| `shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper` |
| (positions, in degrees). |
|
|
| The source `timestamp` column is dropped because it equals `Time / 1000`. |
| Camera videos are not included in this repository (see below). |
|
|
| ## Usage |
|
|
| Read the `.tsfile` file with the Apache TsFile Java or Python SDK. |
|
|
| ```python |
| # pip install tsfile |
| from tsfile import TsFileReader |
| reader = TsFileReader("data/alexisbo_record_test_11.tsfile") |
| # query one episode: WHERE episode_index=0 |
| ``` |
|
|
| ## Videos |
|
|
| The original dataset records two camera streams per episode |
| (`observation.images.front`, `observation.images.side`). These MP4 videos are |
| **not** included here — they are not time-series data. Retrieve them from the |
| original dataset under |
| [`Alexisbo/record-test-11/videos`](https://huggingface.co/datasets/Alexisbo/record-test-11/tree/main/videos). |
|
|
| ## Source & license |
|
|
| - Original dataset: https://huggingface.co/datasets/Alexisbo/record-test-11 |
| - Author / publisher: Alexisbo |
| - License: not declared by the original dataset; please defer to the original. |
|
|
