Datasets:
File size: 2,357 Bytes
af5bea3 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 | ---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- so101
- tutorial
- tsfile
- format:tsfile
- time-series
- timeseries
modality:
- tabular
- timeseries
configs:
- config_name: default
data_files:
- split: train
path: data/so101_test.tsfile
size_categories:
- 10K<n<100K
---
# so101_test (TsFile)
Apache TsFile version of [`Jeevesh2009/so101_test`](https://huggingface.co/datasets/Jeevesh2009/so101_test), a LeRobot v2.1 demonstration dataset recorded with an SO-101 arm.
## Overview
This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). It records one SO-101 manipulation task with per-frame joint state and action vectors, plus two RealSense camera streams (`realsense1`, `realsense2`).
- **Robot:** SO-101 (`so101`)
- **Scale:** 62 episodes, 34,427 frames, 1 task, 30 fps
- **Split:** train
## Schema (TsFile structure)
The TsFile table is named `so101_test`.
| 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 RealSense camera streams (`observation.images.realsense1`, `realsense2`) are video and are NOT included in this repository; they remain in the [source videos tree](https://huggingface.co/datasets/Jeevesh2009/so101_test/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/so101_test.tsfile") as reader:
print(reader.get_all_table_schemas()["so101_test"])
```
## Source & license
- Original dataset: https://huggingface.co/datasets/Jeevesh2009/so101_test
- Author: Jeevesh2009
- License: apache-2.0
|