Upload validated SO100 Orange2Green TsFile dataset

.gitattributes

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+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
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+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
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+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
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+*.tsfile filter=lfs diff=lfs merge=lfs -text

README.md

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----
-license: apache-2.0
----
+---
+license: apache-2.0
+authors:
+- RasmusP
+task_categories:
+- robotics
+tags:
+- tsfile
+- timeseries
+- tabular
+modality:
+- timeseries
+- tabular
+pretty_name: SO100 Orange2Green TsFile
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: data/rasmusp_so100_orange2green.tsfile
+size_categories:
+- 10K<n<100K
+---
+
+# SO100 Orange2Green TsFile
+
+This Apache TsFile dataset is derived from
+[`RasmusP/so100_Orange2Green`](https://huggingface.co/datasets/RasmusP/so100_Orange2Green), a LeRobot v2.1 SO100
+robot-manipulation dataset. It contains numeric trajectories, timing, and
+episode/task tags. The camera videos remain in the original repository.
+
+## Source Dataset and Attribution
+
+- Original dataset: [`RasmusP/so100_Orange2Green`](https://huggingface.co/datasets/RasmusP/so100_Orange2Green)
+- Repository owner, publisher, and commit author:
+  [RasmusP](https://huggingface.co/RasmusP)
+- License: Apache-2.0
+- Task: "Grasp the orange block and drop it in the box."
+- Robot: `so100`; LeRobot version: `v2.1`
+- Split: `train`; sampling rate: 30 fps
+- Scale: 50 episodes, 29,712 frames, 1 task
+- Source shards: 50 Parquet files totaling 1,357,643 bytes
+- Source frame layout:
+  `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
+- Paper, external homepage, separate real-name author, and completed citation:
+  not provided by the source card.
+
+All three source repository commits are attributed to RasmusP.
+
+## TsFile Data
+
+- File: `data/rasmusp_so100_orange2green.tsfile` (400,808 bytes)
+- Table: `rasmusp_so100_orange2green`
+- Rows: 29,712; episodes/devices: 50; tasks: 1
+- Time precision: milliseconds
+- TsFile/source-Parquet size ratio: 0.295
+- Source `meta/` is retained, with `meta/info.json` updated for the
+  TsFile schema and source-video alignment.
+
+## Schema and Mapping
+
+`Time = round(timestamp * 1000)` milliseconds. Time starts at zero and is
+strictly increasing inside every episode. The source `timestamp` is dropped
+afterward because it is represented by `Time / 1000` seconds.
+
+| TsFile column | Role | Type | Source mapping |
+|---|---|---|---|
+| `Time` | TIME | TIMESTAMP | `round(timestamp * 1000)` ms |
+| `episode_index` | TAG | STRING | Original INT64 episode index |
+| `task_index` | TAG | STRING | Original INT64 task index |
+| `frame_index` | FIELD | INT64 | Preserved |
+| `sample_index` | FIELD | INT64 | Renamed from `index` |
+| `action_0` ... `action_5` | FIELD | FLOAT | Flattened from `action[6]` |
+| `observation_state_0` ... `observation_state_5` | FIELD | FLOAT | Flattened from `observation.state[6]` |
+
+The vector dimensions are `main_shoulder_pan`, `main_shoulder_lift`,
+`main_elbow_flex`, `main_wrist_flex`, `main_wrist_roll`, and
+`main_gripper`. Dots in source names are replaced by underscores. No
+numeric row, episode, task, state dimension, or action dimension is dropped.
+
+## Encodings and Compression
+
+- FLOAT/DOUBLE: `GORILLA + LZ4`
+- INT32/INT64: `TS_2DIFF + LZ4`
+- Time: `TS_2DIFF + LZ4`
+- BOOLEAN: `RLE + LZ4` (the source contains no BOOLEAN field)
+- TAG: TsFile table/device TAG storage
+
+The physical table schema, every field codec, TAG roles, and all 29,712 rows
+were read back with the Apache TsFile Java API.
+
+## Videos
+
+Videos are not included here. The source contains 100 frame-aligned AV1 MP4
+files (513,790,985 bytes), 640x480 at 30 fps with no audio, in two streams
+with 50 episode files each:
+
+- [`observation.images.webcam`](https://huggingface.co/datasets/RasmusP/so100_Orange2Green/tree/main/videos/chunk-000/observation.images.webcam)
+- [`observation.images.phone`](https://huggingface.co/datasets/RasmusP/so100_Orange2Green/tree/main/videos/chunk-000/observation.images.phone)
+
+The source layout is
+`videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`.
+Use `episode_index`, `frame_index`, and `meta/episodes.jsonl` to align
+numeric rows with both original video streams.
+
+## Data Integrity
+
+Source Parquet, staged Parquet, and complete Java TsFile readback contain the
+same 29,712 rows. Scalar values, flattened vector values, TAGs, episode
+indexes, Time mapping, monotonicity, physical codecs, file size, and SHA-256
+were checked locally. The conversion script and local reports are excluded
+from the upload-ready directory.
+
+## Minimal Read Example
+
+```python
+from tsfile import TsFileReader
+
+reader = TsFileReader("data/rasmusp_so100_orange2green.tsfile")
+with reader.query_table(
+    "rasmusp_so100_orange2green",
+    ["episode_index", "task_index", "frame_index", "sample_index",
+     "action_0", "observation_state_0"],
+    batch_size=65536,
+) as result:
+    batch = result.read_arrow_batch()
+    print(batch.to_pandas().head())
+reader.close()
+```
+
+## Citation
+
+The source card provides no paper or completed citation. Cite the original
+Hugging Face dataset and its publisher RasmusP when using this dataset.

data/rasmusp_so100_orange2green.tsfile

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+size 400808

meta/episodes.jsonl

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+{"episode_index": 1, "tasks": ["Grasp the orange block and drop it in the box."], "length": 595}
+{"episode_index": 2, "tasks": ["Grasp the orange block and drop it in the box."], "length": 595}
+{"episode_index": 3, "tasks": ["Grasp the orange block and drop it in the box."], "length": 595}
+{"episode_index": 4, "tasks": ["Grasp the orange block and drop it in the box."], "length": 595}
+{"episode_index": 5, "tasks": ["Grasp the orange block and drop it in the box."], "length": 595}
+{"episode_index": 6, "tasks": ["Grasp the orange block and drop it in the box."], "length": 595}
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+{"episode_index": 8, "tasks": ["Grasp the orange block and drop it in the box."], "length": 595}
+{"episode_index": 9, "tasks": ["Grasp the orange block and drop it in the box."], "length": 594}
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+{"episode_index": 20, "tasks": ["Grasp the orange block and drop it in the box."], "length": 594}
+{"episode_index": 21, "tasks": ["Grasp the orange block and drop it in the box."], "length": 594}
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+{"episode_index": 36, "tasks": ["Grasp the orange block and drop it in the box."], "length": 594}
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+{"episode_index": 40, "tasks": ["Grasp the orange block and drop it in the box."], "length": 594}
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+{"episode_index": 42, "tasks": ["Grasp the orange block and drop it in the box."], "length": 594}
+{"episode_index": 43, "tasks": ["Grasp the orange block and drop it in the box."], "length": 594}
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+{"episode_index": 48, "tasks": ["Grasp the orange block and drop it in the box."], "length": 594}
+{"episode_index": 49, "tasks": ["Grasp the orange block and drop it in the box."], "length": 594}

meta/info.json

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+{
+  "codebase_version": "v2.1",
+  "robot_type": "so100",
+  "total_episodes": 50,
+  "total_frames": 29712,
+  "total_tasks": 1,
+  "total_videos": 100,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:50"
+  },
+  "data_path": "data/rasmusp_so100_orange2green.tsfile",
+  "features": {
+    "Time": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TIME",
+      "unit": "ms"
+    },
+    "episode_index": {
+      "dtype": "string",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TAG",
+      "source_dtype": "int64"
+    },
+    "task_index": {
+      "dtype": "string",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TAG",
+      "source_dtype": "int64"
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "sample_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_0": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_1": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_2": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_3": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_4": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "action_5": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_0": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_1": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_2": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_3": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_4": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    },
+    "observation_state_5": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    }
+  },
+  "video_path_original": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "tsfile_conversion": {
+    "source_dataset": "RasmusP/so100_Orange2Green",
+    "source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "converted_data_path": "data/rasmusp_so100_orange2green.tsfile",
+    "table_name": "rasmusp_so100_orange2green",
+    "granularity": "merged",
+    "time_precision": "ms",
+    "time_mapping": {
+      "source": "timestamp",
+      "fps": 30,
+      "unit": "milliseconds"
+    },
+    "tag_columns": [
+      "episode_index",
+      "task_index"
+    ],
+    "row_count": 29712,
+    "feature_source": "features describe the converted TsFile schema",
+    "flattened_features": {
+      "action": [
+        "action_0",
+        "action_1",
+        "action_2",
+        "action_3",
+        "action_4",
+        "action_5"
+      ],
+      "observation.state": [
+        "observation_state_0",
+        "observation_state_1",
+        "observation_state_2",
+        "observation_state_3",
+        "observation_state_4",
+        "observation_state_5"
+      ]
+    },
+    "renamed_features": {
+      "index": "sample_index"
+    },
+    "dropped_features": [
+      "timestamp"
+    ],
+    "omitted_features": [
+      "observation.images.webcam",
+      "observation.images.phone"
+    ],
+    "original_video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "original_video_features": {
+      "observation.images.webcam": {
+        "dtype": "video",
+        "shape": [
+          480,
+          640,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channels"
+        ],
+        "info": {
+          "video.fps": 30.0,
+          "video.height": 480,
+          "video.width": 640,
+          "video.channels": 3,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "has_audio": false
+        }
+      },
+      "observation.images.phone": {
+        "dtype": "video",
+        "shape": [
+          480,
+          640,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channels"
+        ],
+        "info": {
+          "video.fps": 30.0,
+          "video.height": 480,
+          "video.width": 640,
+          "video.channels": 3,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "has_audio": false
+        }
+      }
+    },
+    "original_video_source": "https://huggingface.co/datasets/RasmusP/so100_Orange2Green/tree/main/videos",
+    "video_policy": "Videos are not uploaded to this repository; use the original HuggingFace dataset videos.",
+    "source_revision": "06aa72b13edeed2ba48329272dd2f369782947fc",
+    "original_dataset_url": "https://huggingface.co/datasets/RasmusP/so100_Orange2Green",
+    "original_dataset_author": {
+      "huggingface_user": "RasmusP",
+      "role": "repository owner, publisher, and commit author",
+      "url": "https://huggingface.co/RasmusP"
+    },
+    "episode_file_count": 50,
+    "episode_count": 50,
+    "actual_episode_indexes": [
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+      45,
+      46,
+      47,
+      48,
+      49
+    ],
+    "source_video_file_count": 100,
+    "source_video_bytes": 513790985,
+    "source_video_streams": [
+      "observation.images.webcam",
+      "observation.images.phone"
+    ],
+    "frame_video_alignment": "episode_index and frame_index preserve alignment with both original per-episode video streams and meta/episodes.jsonl.",
+    "encoding_profile": {
+      "FLOAT_DOUBLE": "GORILLA+LZ4",
+      "INT32_INT64": "TS_2DIFF+LZ4",
+      "Time": "TS_2DIFF+LZ4",
+      "BOOLEAN": "RLE+LZ4 (no BOOLEAN fields in source)",
+      "TAG": "TsFile table/device TAG mechanism"
+    }
+  }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Grasp the orange block and drop it in the box."}