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Datasets:
XNX25
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so100_brick

Tasks:
Robotics
Modalities:
Time-series
Size:
10K<n<100K
Tags:
LeRobot
so100
tutorial
tsfile
format:tsfile
time-series
License:
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metadata 
license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - so100
  - tutorial
  - tsfile
  - format:tsfile
  - time-series
  - timeseries
modality:
  - tabular
  - timeseries
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/so100_brick.tsfile
size_categories:
  - 10K<n<100K

so100_brick (TsFile)

Apache TsFile version of mldev19/so100_brick, a LeRobot v2.1 demonstration dataset recorded with an SO-100 arm.

Overview

This dataset was created using LeRobot. It records one SO-100 manipulation task (brick) with per-frame joint state and action vectors, plus two camera streams (laptop, phone).

  • Robot: SO-100 (so100)
  • Scale: 55 episodes, 16,279 frames, 1 task, 30 fps
  • Split: train

Schema (TsFile structure)

The TsFile table is named so100_brick.

Role Columns
Time Time, INT64 milliseconds
TAG episode_index, task_index
FIELD frame_index, sample_index
FIELD action_0 … action_5, FLOAT
FIELD observation_state_0 … observation_state_5, FLOAT

The original 6-element action and observation.state vectors are flattened into scalar FLOAT measurements. The source index column is retained as sample_index.

Conversion notes

  • Time = round(timestamp * 1000) with millisecond precision; time restarts inside each episode, while episode_index and task_index identify the TsFile device.
  • The original timestamp field is omitted because it is exactly represented by Time / 1000.
  • The two camera streams (observation.images.laptop, observation.images.phone) are video and are NOT included in this repository; they remain in the source videos tree.
  • meta/ is mirrored from the source. Aside from the redundant timestamp column and the excluded videos, no source rows or numeric fields are dropped.

Read example 

from tsfile import TsFileReader

with TsFileReader("data/so100_brick.tsfile") as reader:
    print(reader.get_all_table_schemas()["so100_brick"])

Source & license