Add TsFile (converted from advpatel/handshake_data)

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+data/handshake_data_train.tsfile filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,84 @@
+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- LeRobot
+- so100
+- tutorial
+- tsfile
+- timeseries
+modality: [timeseries]
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: data/handshake_data_train.tsfile
+---
+# Handshake Data (TsFile)
+
+Converted from [`advpatel/handshake_data`](https://huggingface.co/datasets/advpatel/handshake_data) at pinned revision [`c64b79ec9dd64531a42715d921d1b736d2fa35ff`](https://huggingface.co/datasets/advpatel/handshake_data/tree/c64b79ec9dd64531a42715d921d1b736d2fa35ff). **Modalities: Time-series.**
+
+## Dataset description
+
+This LeRobot v2.1 SO100 dataset records demonstrations of a robot shaking a person's hand.
+
+The pinned task table contains one instruction: “Shake the person's hand.”
+
+- **Source repository owner/publisher:** advpatel
+- **License:** apache-2.0 (declared by the source card).
+- **Paper/homepage/citation:** no completed paper, homepage, or citation is documented in the pinned source card unless linked above.
+
+> **Source metadata note:** The source README embeds an older one-episode/353-frame snapshot with a different camera entry. Counts and camera names here use the pinned `meta/info.json`, 50 source episode Parquets, staged rows, and TsFile metadata.
+
+## Dataset Scale
+
+| Split | Episodes | Tasks | Source trajectory Parquets | TsFile rows | Sampling rate | TsFile files/shards |
+|---|---:|---:|---:|---:|---:|---:|
+| `train` | 50 | 1 | 50 | 15,779 | 30 Hz | 1 |
+
+The staged Parquet has 15,779 rows and 17 columns including `Time`; TsFile chunk metadata independently reports the same 15,779 rows.
+
+## TsFile schema
+
+| Column | Role | TsFile type | Observed/source range |
+|---|---|---|---|
+| `Time` | TIME | INT64 | 0–14,333 ms; restarts per episode |
+| `episode_index` | TAG | STRING | source integer 0–49 |
+| `task_index` | TAG | STRING | source integer 0–0 |
+| `frame_index` | FIELD | INT64 | 0–430 within an episode |
+| `sample_index` | FIELD | INT64 | 0–15,778 globally |
+
+Exact remaining FIELD names/ranges and imported types:
+
+- `action_0`–`action_5` (FLOAT): shoulder pan/lift, elbow flex, wrist flex/roll, and gripper action
+- `observation_state_0`–`observation_state_5` (FLOAT): the corresponding SO100 state
+
+## Conversion
+
+- All source episodes in the train split are merged into `data/handshake_data_train.tsfile`; `episode_index` and `task_index` are TAG dimensions.
+- `Time = round(timestamp * 1000)` in milliseconds. The source `timestamp` column is omitted because it is redundant with `Time / 1000` seconds.
+- `frame_index` is retained. Source `index` is retained as `sample_index`.
+- Every vector is fully flattened: the complete source name is kept, `.` becomes `_`, and element indices are appended. Float vectors are imported as single-precision FLOAT fields.
+- Other scalar source columns shown above are retained; no trajectory rows are intentionally dropped.
+- Source metadata is mirrored for publication, with copied `meta/info.json` rewritten to describe the converted data path and conversion semantics.
+
+## Video policy
+
+The pinned metadata declares 100 source videos across tripod and arm cameras. MP4 files were not downloaded or uploaded; they remain in [the pinned source `videos/` tree](https://huggingface.co/datasets/advpatel/handshake_data/tree/c64b79ec9dd64531a42715d921d1b736d2fa35ff/videos).
+
+## Minimal read example
+
+```python
+from tsfile import TsFileReader
+
+reader = TsFileReader("data/handshake_data_train.tsfile")
+print(reader.get_all_table_schemas().keys())
+reader.close()
+```
+
+## Source and provenance
+
+- Source dataset: [`advpatel/handshake_data`](https://huggingface.co/datasets/advpatel/handshake_data)
+- Pinned source revision: [`c64b79ec9dd64531a42715d921d1b736d2fa35ff`](https://huggingface.co/datasets/advpatel/handshake_data/tree/c64b79ec9dd64531a42715d921d1b736d2fa35ff)
+- Converted artifact: `data/handshake_data_train.tsfile`

data/handshake_data_train.tsfile

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c2a026a727c35bad09e8b4185ecc18505bd882ca644d84bf842e4eca9e004cd
+size 333300

meta/episodes.jsonl

@@ -0,0 +1,50 @@
+{"episode_index": 0, "tasks": ["Shake the person's hand."], "length": 415}
+{"episode_index": 1, "tasks": ["Shake the person's hand."], "length": 365}
+{"episode_index": 2, "tasks": ["Shake the person's hand."], "length": 431}
+{"episode_index": 3, "tasks": ["Shake the person's hand."], "length": 356}
+{"episode_index": 4, "tasks": ["Shake the person's hand."], "length": 322}
+{"episode_index": 5, "tasks": ["Shake the person's hand."], "length": 374}
+{"episode_index": 6, "tasks": ["Shake the person's hand."], "length": 374}
+{"episode_index": 7, "tasks": ["Shake the person's hand."], "length": 313}
+{"episode_index": 8, "tasks": ["Shake the person's hand."], "length": 297}
+{"episode_index": 9, "tasks": ["Shake the person's hand."], "length": 336}
+{"episode_index": 10, "tasks": ["Shake the person's hand."], "length": 375}
+{"episode_index": 11, "tasks": ["Shake the person's hand."], "length": 292}
+{"episode_index": 12, "tasks": ["Shake the person's hand."], "length": 278}
+{"episode_index": 13, "tasks": ["Shake the person's hand."], "length": 356}
+{"episode_index": 14, "tasks": ["Shake the person's hand."], "length": 324}
+{"episode_index": 15, "tasks": ["Shake the person's hand."], "length": 286}
+{"episode_index": 16, "tasks": ["Shake the person's hand."], "length": 307}
+{"episode_index": 17, "tasks": ["Shake the person's hand."], "length": 316}
+{"episode_index": 18, "tasks": ["Shake the person's hand."], "length": 366}
+{"episode_index": 19, "tasks": ["Shake the person's hand."], "length": 287}
+{"episode_index": 20, "tasks": ["Shake the person's hand."], "length": 349}
+{"episode_index": 21, "tasks": ["Shake the person's hand."], "length": 352}
+{"episode_index": 22, "tasks": ["Shake the person's hand."], "length": 358}
+{"episode_index": 23, "tasks": ["Shake the person's hand."], "length": 344}
+{"episode_index": 24, "tasks": ["Shake the person's hand."], "length": 383}
+{"episode_index": 25, "tasks": ["Shake the person's hand."], "length": 361}
+{"episode_index": 26, "tasks": ["Shake the person's hand."], "length": 380}
+{"episode_index": 27, "tasks": ["Shake the person's hand."], "length": 325}
+{"episode_index": 28, "tasks": ["Shake the person's hand."], "length": 303}
+{"episode_index": 29, "tasks": ["Shake the person's hand."], "length": 300}
+{"episode_index": 30, "tasks": ["Shake the person's hand."], "length": 261}
+{"episode_index": 31, "tasks": ["Shake the person's hand."], "length": 280}
+{"episode_index": 32, "tasks": ["Shake the person's hand."], "length": 282}
+{"episode_index": 33, "tasks": ["Shake the person's hand."], "length": 257}
+{"episode_index": 34, "tasks": ["Shake the person's hand."], "length": 240}
+{"episode_index": 35, "tasks": ["Shake the person's hand."], "length": 246}
+{"episode_index": 36, "tasks": ["Shake the person's hand."], "length": 273}
+{"episode_index": 37, "tasks": ["Shake the person's hand."], "length": 234}
+{"episode_index": 38, "tasks": ["Shake the person's hand."], "length": 244}
+{"episode_index": 39, "tasks": ["Shake the person's hand."], "length": 290}
+{"episode_index": 40, "tasks": ["Shake the person's hand."], "length": 307}
+{"episode_index": 41, "tasks": ["Shake the person's hand."], "length": 381}
+{"episode_index": 42, "tasks": ["Shake the person's hand."], "length": 310}
+{"episode_index": 43, "tasks": ["Shake the person's hand."], "length": 295}
+{"episode_index": 44, "tasks": ["Shake the person's hand."], "length": 294}
+{"episode_index": 45, "tasks": ["Shake the person's hand."], "length": 297}
+{"episode_index": 46, "tasks": ["Shake the person's hand."], "length": 260}
+{"episode_index": 47, "tasks": ["Shake the person's hand."], "length": 277}
+{"episode_index": 48, "tasks": ["Shake the person's hand."], "length": 272}
+{"episode_index": 49, "tasks": ["Shake the person's hand."], "length": 254}

meta/info.json

@@ -0,0 +1,236 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "so100",
+  "total_episodes": 50,
+  "total_frames": 15779,
+  "total_tasks": 1,
+  "total_videos": 100,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30,
+  "splits": {
+    "train": "0:50"
+  },
+  "data_path": "data/handshake_data_train.tsfile",
+  "features": {
+    "Time": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TIME",
+      "unit": "ms"
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TAG"
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "TAG"
+    },
+    "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": "advpatel/handshake_data",
+    "source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "converted_data_path": "data/handshake_data_train.tsfile",
+    "table_name": "handshake_data",
+    "granularity": "per_split",
+    "time_precision": "ms",
+    "time_mapping": {
+      "source": "timestamp",
+      "fps": 30,
+      "unit": "milliseconds"
+    },
+    "tag_columns": [
+      "episode_index",
+      "task_index"
+    ],
+    "row_count": 15779,
+    "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.tripod",
+      "observation.images.arm_cam"
+    ],
+    "original_video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "original_video_features": {
+      "observation.images.tripod": {
+        "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.arm_cam": {
+        "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/advpatel/handshake_data/tree/main/videos",
+    "video_policy": "Videos are not uploaded to this repository; use the original HuggingFace dataset videos."
+  }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Shake the person's hand."}