| ---
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| license: apache-2.0
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| task_categories:
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| - robotics
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| tags:
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| - LeRobot
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| - so101
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| - tutorial
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| - tsfile
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| - format:tsfile
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| - time-series
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| modality:
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| - timeseries
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| configs:
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| - config_name: default
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| data_files:
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| - split: train
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| path: data/so101_test.tsfile
|
| ---
|
|
|
| # 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.
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|
|
| ## Overview
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|
|
| 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`)
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| - **Scale:** 62 episodes, 34,427 frames, 1 task, 30 fps
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| - **Split:** train
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|
|
| ## Schema (TsFile structure)
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|
|
| The TsFile table is named `so101_test`.
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|
|
| | Role | Columns |
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| | --- | --- |
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| | Time | `Time`, INT64 milliseconds |
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| | TAG | `episode_index`, `task_index` |
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| | FIELD | `frame_index`, `sample_index` |
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| | FIELD | `action_0` … `action_5`, FLOAT |
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| | FIELD | `observation_state_0` … `observation_state_5`, FLOAT |
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|
|
| The original 6-element `action` and `observation.state` vectors are flattened into scalar FLOAT measurements. The source `index` column is retained as `sample_index`.
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|
|
| ## Conversion notes
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|
|
| - `Time = round(timestamp * 1000)` with millisecond precision; time restarts inside each episode, while `episode_index` and `task_index` identify the TsFile device.
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| - The original `timestamp` field is omitted because it is exactly represented by `Time / 1000`.
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| - 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).
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| - `meta/` is mirrored from the source. Aside from the redundant `timestamp` column and the excluded videos, no source rows or numeric fields are dropped.
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|
|
| ## Read example
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|
|
| ```python
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| from tsfile import TsFileReader
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|
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| with TsFileReader("data/so101_test.tsfile") as reader:
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| print(reader.get_all_table_schemas()["so101_test"])
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| ```
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|
|
| ## Source & license
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|
|
| - Original dataset: https://huggingface.co/datasets/Jeevesh2009/so101_test
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| - Author: Jeevesh2009
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| - License: apache-2.0
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| |
