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so101_test

Tasks:
Robotics
Tags:
LeRobot
so101
tutorial
tsfile
format:tsfile
time-series
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metadata 
license: apache-2.0
task_categories:
  - robotics
tags:
  - LeRobot
  - so101
  - tutorial
  - tsfile
  - format:tsfile
  - time-series
modality:
  - timeseries
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/so101_test.tsfile

so101_test (TsFile)

Apache TsFile version of Jeevesh2009/so101_test, a LeRobot v2.1 demonstration dataset recorded with an SO-101 arm.

Overview

This dataset was created using 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.
  • 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/so101_test.tsfile") as reader:
    print(reader.get_all_table_schemas()["so101_test"])

Source & license