---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- so100
- tutorial
- time-series
- tsfile
- robot
- imitation-learning
- timeseries
configs:
- config_name: default
  data_files:
  - split: train
    path: data/5position.tsfile
---

# 5position

This dataset is a TsFile conversion of
[`DAbraham/5Position`](https://huggingface.co/datasets/DAbraham/5Position), a
LeRobot SO100 robot dataset. The original dataset was created using
[LeRobot](https://github.com/huggingface/lerobot).

## Source Dataset

- Source dataset: [`DAbraham/5Position`](https://huggingface.co/datasets/DAbraham/5Position)
- License: apache-2.0
- Robot type: SO100
- Episodes: 50
- Frames: 43,346
- Tasks: 1
- Sampling rate: 30 fps
- Original data path: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
- Original video path: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`

## TsFile Conversion

The numeric frame data was converted to one TsFile:

```text
data/5position.tsfile
```

All episodes are stored in the same TsFile table, with the original source
columns `episode_index` and `task_index` declared as TAG columns. To query one
episode, filter by `episode_index`.

`Time` is generated as `round(timestamp * 1000)` in milliseconds and restarts per
episode. The source `timestamp` column is dropped because it is represented by
`Time / 1000` seconds. The source `frame_index` column is kept.

The source `index` column is renamed to `sample_index`.

Vector columns are flattened while preserving the source column name:

- `action` -> `action_0` ... `action_5`
- `observation.state` -> `observation_state_0` ... `observation_state_5`

Flattened vector values are stored as single-precision FLOAT fields.

## Schema

Roles in the converted TsFile:

- TIME: `Time`
- TAG: `episode_index`, `task_index`
- FIELD: `frame_index`, `sample_index`, `action_0` ... `action_5`,
  `observation_state_0` ... `observation_state_5`

The converted dataset contains 43,346 rows and 17 columns.

## Video Policy

The original dataset contains three video streams:

- `observation.images.context`
- `observation.images.arm`
- `observation.images.base`

Videos are not included in this converted repository. They remain available in
the original Hugging Face dataset:

https://huggingface.co/datasets/DAbraham/5Position/tree/main/videos

## Metadata

The original `meta/` files are mirrored in this repository. `meta/info.json` is
updated so `data_path` points to `data/5position.tsfile`, and it includes a
`tsfile_conversion` object documenting the source dataset, converted data path,
time mapping, TAG columns, flattened fields, dropped fields, omitted video
features, and video alignment policy.

## Citation

The original dataset card does not provide a BibTeX citation.