| --- |
| 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`](https://huggingface.co/datasets/mldev19/so100_brick), a LeRobot v2.1 demonstration dataset recorded with an SO-100 arm. |
| |
| ## Overview |
| |
| This dataset was created using [LeRobot](https://github.com/huggingface/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](https://huggingface.co/datasets/mldev19/so100_brick/tree/main/videos). |
| - `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 |
|
|
| ```python |
| from tsfile import TsFileReader |
| |
| with TsFileReader("data/so100_brick.tsfile") as reader: |
| print(reader.get_all_table_schemas()["so100_brick"]) |
| ``` |
|
|
| ## Source & license |
|
|
| - Original dataset: https://huggingface.co/datasets/mldev19/so100_brick |
| - Author: mldev19 |
| - License: apache-2.0 |
| |
