Datasets:

jzpeng
/

team13_two_balls_stacking

	---
	license: apache-2.0
	task_categories:
	- robotics
	tags:
	- LeRobot
	- so100
	- hackathon
	- tsfile
	- timeseries
	modality: [timeseries]
	configs:
	- config_name: default
	data_files:
	- split: train
	path: data/team13_two_balls_stacking_train.tsfile
	---
	# Team 13 Two-Balls Stacking (TsFile)

	Converted from [`roboticshack/team13-two-balls-stacking`](https://huggingface.co/datasets/roboticshack/team13-two-balls-stacking) at pinned revision [`7df39c37cad86c865ae9194461160824afd46d4a`](https://huggingface.co/datasets/roboticshack/team13-two-balls-stacking/tree/7df39c37cad86c865ae9194461160824afd46d4a). Modalities: Time-series.

	## Dataset description

	This LeRobot v2.1 SO100 dataset records demonstrations of stacking two balls on top of each other.

	The pinned task instruction is: “Stack the balls on top of each other.”

	- Source repository owner/publisher: roboticshack
	- 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.

	## Dataset Scale

	\| Split \| Episodes \| Tasks \| Source trajectory Parquets \| TsFile rows \| Sampling rate \| TsFile files/shards \|
	\|---\|---:\|---:\|---:\|---:\|---:\|---:\|
	\| `train` \| 51 \| 1 \| 51 \| 13,476 \| 30 Hz \| 1 \|

	The staged Parquet has 13,476 rows and 17 columns including `Time`; TsFile chunk metadata independently reports the same 13,476 rows.

	## TsFile schema

	\| Column \| Role \| TsFile type \| Observed/source range \|
	\|---\|---\|---\|---\|
	\| `Time` \| TIME \| INT64 \| 0–11,767 ms; restarts per episode \|
	\| `episode_index` \| TAG \| STRING \| source integer 0–50 \|
	\| `task_index` \| TAG \| STRING \| source integer 0–0 \|
	\| `frame_index` \| FIELD \| INT64 \| 0–353 within an episode \|
	\| `sample_index` \| FIELD \| INT64 \| 0–13,475 globally \|

	Exact remaining FIELD names/ranges and imported types:

	- `action_0`–`action_5` (FLOAT): main 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/team13_two_balls_stacking_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 102 source videos across side and RealSense camera streams. MP4 files were not downloaded or uploaded; they remain in [the pinned source `videos/` tree](https://huggingface.co/datasets/roboticshack/team13-two-balls-stacking/tree/7df39c37cad86c865ae9194461160824afd46d4a/videos).

	## Minimal read example

	```python
	from tsfile import TsFileReader

	reader = TsFileReader("data/team13_two_balls_stacking_train.tsfile")
	print(reader.get_all_table_schemas().keys())
	reader.close()
	```

	## Source and provenance

	- Source dataset: [`roboticshack/team13-two-balls-stacking`](https://huggingface.co/datasets/roboticshack/team13-two-balls-stacking)
	- Pinned source revision: [`7df39c37cad86c865ae9194461160824afd46d4a`](https://huggingface.co/datasets/roboticshack/team13-two-balls-stacking/tree/7df39c37cad86c865ae9194461160824afd46d4a)
	- Converted artifact: `data/team13_two_balls_stacking_train.tsfile`