---
license: apache-2.0
authors:
- "Adrien Payan"
task_categories:
- robotics
tags:
- tsfile
- timeseries
- tabular
- robotics
- lerobot
- so100
- manipulation
modality:
- timeseries
- tabular
pretty_name: "SO100 Ball8 TsFile"
configs:
- config_name: default
  data_files:
  - split: train
    path: data/apayan_so100_ball8.tsfile
size_categories:
- 100K<n<1M
---

# SO100 Ball8 TsFile

Apache TsFile conversion of [`apayan/so100_ball8`](https://huggingface.co/datasets/apayan/so100_ball8), a LeRobot v2.1 SO100 dataset
for "Grasp object and put it in the box." Numeric observations, actions, timing,
and episode/task metadata are included; camera videos remain upstream.

## Source facts

- Author/uploader: [Adrien Payan](https://huggingface.co/apayan)
- License: Apache-2.0; pinned revision: [`f318cc9490b327bd1382e29c528f7d7348aa4716`](https://huggingface.co/datasets/apayan/so100_ball8/tree/f318cc9490b327bd1382e29c528f7d7348aa4716)
- Robot: `so100`; split: `train`; sampling rate: 30 fps; task index `0`
- 104 episodes, 110,416 frames, 1 task, 104 source Parquet shards
- Source layout: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
- Current metadata is authoritative; source README embeds a stale 5-episode/5,992-frame example.

## Converted artifact

- TsFile: `data/apayan_so100_ball8.tsfile`; table: `apayan_so100_ball8`
- Rows: 110,416; TAG devices: 104; size: 1.14 MiB (source Parquet: 4.58 MiB)
- `meta/` is mirrored; `meta/info.json` documents the TsFile mapping and video policy.

## Schema and conversion

`Time = round(timestamp * 1000)` integer milliseconds, restarting per episode.
Source `timestamp` is dropped because it equals `Time / 1000` seconds. Rows
are sorted by `episode_index`, `task_index`, `Time`; `frame_index` is retained.

TAG/device columns: `episode_index`, `task_index` (source INT64, native TsFile TAG/device mechanism).

FIELD columns: `frame_index`, `sample_index` (renamed from `index`),
`action_0..action_5`, and `observation_state_0..observation_state_5` (FLOAT32).
No numeric rows, episodes, tasks, or vector dimensions are dropped.

Encoding/compression: FLOAT/DOUBLE -> GORILLA + LZ4; INT32/INT64 -> TS_2DIFF +
LZ4; Time -> TS_2DIFF + LZ4; BOOLEAN -> RLE + LZ4 (no BOOLEAN source fields).

## Videos

Videos are not included here. The source has 312 MP4 files (104 episodes x
three 30-fps streams):
- [`observation.images.front`](https://huggingface.co/datasets/apayan/so100_ball8/tree/f318cc9490b327bd1382e29c528f7d7348aa4716/videos/chunk-000/observation.images.front)
- [`observation.images.top`](https://huggingface.co/datasets/apayan/so100_ball8/tree/f318cc9490b327bd1382e29c528f7d7348aa4716/videos/chunk-000/observation.images.top)
- [`observation.images.wrist`](https://huggingface.co/datasets/apayan/so100_ball8/tree/f318cc9490b327bd1382e29c528f7d7348aa4716/videos/chunk-000/observation.images.wrist)

Template: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`.
Use `episode_index` and `frame_index` to align rows with source video frames;
`meta/episodes.jsonl` is mirrored.

## Validation

All 104 Parquet schemas matched and the staged table exactly matched the
independent transformation. TsFile inspection found one table, 2 TAG columns,
14 FIELD columns, and 110,416 metadata rows; query readback returned
110,416 rows. Reports remain local at
`D:/code/workdir/apayan_so100_ball8/validation_report.json` and
`D:/code/workdir/apayan_so100_ball8/VALIDATION.md`.

## Minimal read example

```python
from tsfile import TsFileReader
reader = TsFileReader("data/apayan_so100_ball8.tsfile")
columns = ["episode_index", "task_index", "frame_index", "sample_index", "action_0", "observation_state_0"]
with reader.query_table("apayan_so100_ball8", columns, batch_size=65536) as result:
    print(result.read_arrow_batch().to_pandas().head())
reader.close()
```

The source card provides no paper or completed citation; cite the original
Hugging Face dataset and Adrien Payan (`apayan`).