Add TsFile (converted from Kunalmod/so101_groot)

.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/kunalmod_so101_groot.tsfile filter=lfs diff=lfs merge=lfs -text

README.md

@@ -1,3 +1,123 @@
----
-license: apache-2.0
----
+---
+license: apache-2.0
+authors:
+- Kunalmod
+task_categories:
+- robotics
+tags:
+- tsfile
+- timeseries
+- tabular
+modality:
+- timeseries
+- tabular
+pretty_name: SO101 Block-to-Box TsFile
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: data/kunalmod_so101_groot.tsfile
+size_categories:
+- 10K<n<100K
+---
+
+# SO101 Block-to-Box TsFile
+
+This dataset provides the numeric robot trajectories from
+[`Kunalmod/so101_groot`](https://huggingface.co/datasets/Kunalmod/so101_groot) as one Apache TsFile table. The LeRobot
+v2.1 SO101 demonstrations cover grasping a block and placing it in a box.
+
+## Source Dataset
+
+- Author, repository owner, and uploader: [Kunalmod](https://huggingface.co/Kunalmod) (`Kunalmod`)
+- License: Apache-2.0
+- Split: `train`
+- Scale: 50 episodes, 47,507 frame rows, 1 task, and 50 source Parquet shards
+- Sampling frequency: 30 fps
+- Robot type: `so101`
+- LeRobot codebase version: `v2.1`
+- Source data layout: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
+- Paper and citation: the source card does not provide either one
+- Task `0`: `Grasp a block and put it in the box.`
+
+## Data Layout
+
+- TsFile: `data/kunalmod_so101_groot.tsfile`
+- Table: `kunalmod_so101_groot`
+- Rows: 47,507
+- Devices: 50, identified by the two TAG columns
+- Time precision: milliseconds
+- Per-episode Time range: 0 to 39,600 ms
+
+All 50 episode shards are represented in the table. Filter by `episode_index`
+and `task_index` to select an episode trajectory.
+
+## Schema
+
+| Column | TsFile type | Role | Meaning |
+|---|---|---|---|
+| `Time` | TIMESTAMP | TIME | `round(timestamp * 1000)` in milliseconds |
+| `episode_index` | STRING | TAG | Source episode index stored by the TsFile device/tag mechanism |
+| `task_index` | STRING | TAG | Source task index stored by the TsFile device/tag mechanism |
+| `frame_index` | INT64 | FIELD | Frame position within the episode |
+| `sample_index` | INT64 | FIELD | Source global `index` value |
+| `action_0` ... `action_5` | FLOAT | FIELD | Six SO101 action components |
+| `observation_state_0` ... `observation_state_5` | FLOAT | FIELD | Six SO101 joint-state components |
+
+The action and state component order is `main_shoulder_pan`,
+`main_shoulder_lift`, `main_elbow_flex`, `main_wrist_flex`, `main_wrist_roll`,
+and `main_gripper`.
+
+## Transform Details
+
+- `Time` is derived from the source timestamp and restarts at zero for every
+  episode. The source `timestamp` is omitted because it equals `Time / 1000`
+  seconds.
+- `index` is renamed to `sample_index`; `frame_index` is preserved.
+- `action[6]` is flattened to `action_0` through `action_5`.
+- `observation.state[6]` is flattened to `observation_state_0` through
+  `observation_state_5`.
+- Rows are ordered by `episode_index`, `task_index`, and `Time`.
+- No source trajectory row, episode, task, action dimension, or state dimension
+  is removed.
+
+## Videos
+
+The 100 source MP4 files remain in the original repository and are not
+included here. Each camera has 50 files at 640x480 and 30 fps:
+
+- [`observation.images.base`](https://huggingface.co/datasets/Kunalmod/so101_groot/tree/main/videos/chunk-000/observation.images.base)
+- [`observation.images.wrist`](https://huggingface.co/datasets/Kunalmod/so101_groot/tree/main/videos/chunk-000/observation.images.wrist)
+
+Their source pattern is
+`videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`.
+Use `episode_index` and `frame_index` to align each numeric row with both video
+streams.
+
+## Usage
+
+```python
+from tsfile import ColumnCategory, TsFileReader
+
+path = "data/kunalmod_so101_groot.tsfile"
+reader = TsFileReader(path)
+table_name = "kunalmod_so101_groot"
+schema = reader.get_all_table_schemas()[table_name]
+columns = [
+    column.get_column_name()
+    for column in schema.get_columns()
+    if column.get_category() in (ColumnCategory.TAG, ColumnCategory.FIELD)
+]
+
+with reader.query_table(table_name, columns, batch_size=65536) as result:
+    batch = result.read_arrow_batch()
+    print(batch.to_pandas().head())
+reader.close()
+```
+
+## Attribution
+
+The demonstrations were published by [Kunalmod](https://huggingface.co/Kunalmod) under the
+Apache-2.0 license and were created with
+[LeRobot](https://github.com/huggingface/lerobot). Cite the original Hugging
+Face dataset URL above when using the data.

data/kunalmod_so101_groot.tsfile

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:135e892a98252808e8173befee293e0f46b530b88eae14ed1596e1cbf7863778
+size 524344

meta/episodes.jsonl

@@ -0,0 +1,50 @@
+{"episode_index": 0, "tasks": ["Grasp a block and put it in the box."], "length": 921}
+{"episode_index": 1, "tasks": ["Grasp a block and put it in the box."], "length": 1009}
+{"episode_index": 2, "tasks": ["Grasp a block and put it in the box."], "length": 911}
+{"episode_index": 3, "tasks": ["Grasp a block and put it in the box."], "length": 993}
+{"episode_index": 4, "tasks": ["Grasp a block and put it in the box."], "length": 1119}
+{"episode_index": 5, "tasks": ["Grasp a block and put it in the box."], "length": 883}
+{"episode_index": 6, "tasks": ["Grasp a block and put it in the box."], "length": 992}
+{"episode_index": 7, "tasks": ["Grasp a block and put it in the box."], "length": 941}
+{"episode_index": 8, "tasks": ["Grasp a block and put it in the box."], "length": 929}
+{"episode_index": 9, "tasks": ["Grasp a block and put it in the box."], "length": 1056}
+{"episode_index": 10, "tasks": ["Grasp a block and put it in the box."], "length": 964}
+{"episode_index": 11, "tasks": ["Grasp a block and put it in the box."], "length": 973}
+{"episode_index": 12, "tasks": ["Grasp a block and put it in the box."], "length": 1047}
+{"episode_index": 13, "tasks": ["Grasp a block and put it in the box."], "length": 1023}
+{"episode_index": 14, "tasks": ["Grasp a block and put it in the box."], "length": 1065}
+{"episode_index": 15, "tasks": ["Grasp a block and put it in the box."], "length": 1007}
+{"episode_index": 16, "tasks": ["Grasp a block and put it in the box."], "length": 786}
+{"episode_index": 17, "tasks": ["Grasp a block and put it in the box."], "length": 923}
+{"episode_index": 18, "tasks": ["Grasp a block and put it in the box."], "length": 1068}
+{"episode_index": 19, "tasks": ["Grasp a block and put it in the box."], "length": 1103}
+{"episode_index": 20, "tasks": ["Grasp a block and put it in the box."], "length": 989}
+{"episode_index": 21, "tasks": ["Grasp a block and put it in the box."], "length": 899}
+{"episode_index": 22, "tasks": ["Grasp a block and put it in the box."], "length": 897}
+{"episode_index": 23, "tasks": ["Grasp a block and put it in the box."], "length": 979}
+{"episode_index": 24, "tasks": ["Grasp a block and put it in the box."], "length": 947}
+{"episode_index": 25, "tasks": ["Grasp a block and put it in the box."], "length": 1034}
+{"episode_index": 26, "tasks": ["Grasp a block and put it in the box."], "length": 1189}
+{"episode_index": 27, "tasks": ["Grasp a block and put it in the box."], "length": 849}
+{"episode_index": 28, "tasks": ["Grasp a block and put it in the box."], "length": 939}
+{"episode_index": 29, "tasks": ["Grasp a block and put it in the box."], "length": 881}
+{"episode_index": 30, "tasks": ["Grasp a block and put it in the box."], "length": 952}
+{"episode_index": 31, "tasks": ["Grasp a block and put it in the box."], "length": 875}
+{"episode_index": 32, "tasks": ["Grasp a block and put it in the box."], "length": 902}
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+{"episode_index": 35, "tasks": ["Grasp a block and put it in the box."], "length": 1041}
+{"episode_index": 36, "tasks": ["Grasp a block and put it in the box."], "length": 853}
+{"episode_index": 37, "tasks": ["Grasp a block and put it in the box."], "length": 955}
+{"episode_index": 38, "tasks": ["Grasp a block and put it in the box."], "length": 995}
+{"episode_index": 39, "tasks": ["Grasp a block and put it in the box."], "length": 855}
+{"episode_index": 40, "tasks": ["Grasp a block and put it in the box."], "length": 912}
+{"episode_index": 41, "tasks": ["Grasp a block and put it in the box."], "length": 834}
+{"episode_index": 42, "tasks": ["Grasp a block and put it in the box."], "length": 846}
+{"episode_index": 43, "tasks": ["Grasp a block and put it in the box."], "length": 940}
+{"episode_index": 44, "tasks": ["Grasp a block and put it in the box."], "length": 940}
+{"episode_index": 45, "tasks": ["Grasp a block and put it in the box."], "length": 825}
+{"episode_index": 46, "tasks": ["Grasp a block and put it in the box."], "length": 835}
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+{"episode_index": 48, "tasks": ["Grasp a block and put it in the box."], "length": 828}
+{"episode_index": 49, "tasks": ["Grasp a block and put it in the box."], "length": 934}

meta/info.json

@@ -0,0 +1,250 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "so101",
+  "total_episodes": 50,
+  "total_frames": 47507,
+  "total_tasks": 1,
+  "total_videos": 100,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:50"
+  },
+  "data_path": "data/kunalmod_so101_groot.tsfile",
+  "features": {
+    "Time": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TIME",
+      "unit": "ms"
+    },
+    "episode_index": {
+      "dtype": "string",
+      "source_dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TAG"
+    },
+    "task_index": {
+      "dtype": "string",
+      "source_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": "Kunalmod/so101_groot",
+    "original_dataset_url": "https://huggingface.co/datasets/Kunalmod/so101_groot",
+    "source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "converted_data_path": "data/kunalmod_so101_groot.tsfile",
+    "table_name": "kunalmod_so101_groot",
+    "granularity": "merged",
+    "time_precision": "ms",
+    "time_mapping": {
+      "source": "timestamp",
+      "formula": "round(timestamp * 1000)",
+      "unit": "milliseconds",
+      "restarts_per_episode": true
+    },
+    "tag_columns": [
+      "episode_index",
+      "task_index"
+    ],
+    "row_count": 47507,
+    "episode_count": 50,
+    "source_episode_file_count": 50,
+    "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_video_features": [
+      "observation.images.base",
+      "observation.images.wrist"
+    ],
+    "original_video_features": {
+      "observation.images.base": {
+        "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.wrist": {
+        "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_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "original_video_source": "https://huggingface.co/datasets/Kunalmod/so101_groot/tree/main/videos",
+    "video_policy": "Videos stay in the original repository and are not included with the TsFile.",
+    "frame_video_alignment": "episode_index and frame_index preserve alignment with both source MP4 streams.",
+    "source_author": {
+      "name": "Kunalmod",
+      "huggingface_user": "Kunalmod",
+      "url": "https://huggingface.co/Kunalmod"
+    },
+    "task_index_mapping": {
+      "0": "Grasp a block and put it in the box."
+    }
+  }
+}

meta/modality.json

@@ -0,0 +1,47 @@
+{
+    "state": {
+        "single_arm": {
+            "start": 0,
+            "end": 5
+        },
+        "gripper": {
+            "start": 5,
+            "end": 6
+        }
+    },
+    "action": {
+        "single_arm": {
+            "start": 0,
+            "end": 5
+        },
+        "gripper": {
+            "start": 5,
+            "end": 6
+        }
+    },
+    "video": {
+        "wrist": {
+            "original_key": "observation.images.wrist",
+            "resolution": [
+                640,
+                480
+            ],
+            "channels": 3,
+            "fps": 30.0
+        },
+        "base": {
+            "original_key": "observation.images.base",
+            "resolution": [
+                640,
+                480
+            ],
+            "channels": 3,
+            "fps": 30.0
+        }
+    },
+    "annotation": {
+        "human.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

meta/tasks.jsonl

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