---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- so100
- tutorial
- robotics
- tsfile
- time-series
- modality:timeseries
pretty_name: SO-100 Sorting (TsFile)
size_categories:
- 10K<n<100K
configs:
- config_name: default
  data_files:
  - split: train
    path: data/so100_sorting.tsfile
---

# SO-100 Sorting (TsFile)

This dataset is an Apache TsFile conversion of the Hugging Face dataset
[`dragon-95/so100_sorting`](https://huggingface.co/datasets/dragon-95/so100_sorting).
The source dataset was created using [LeRobot](https://github.com/huggingface/lerobot).

Modalities: Time-series. The original repository also contains synchronized video
streams; videos are not included in this converted repository.

## Source Dataset

- Original dataset: [`dragon-95/so100_sorting`](https://huggingface.co/datasets/dragon-95/so100_sorting)
- License: `apache-2.0`
- LeRobot codebase version: `v2.0`
- Robot type: `so100`
- Task: `Put the object in box A into box B`
- Split: `train` (`0:61`)
- Source scale from `meta/info.json`: `61` episodes, `95,346` frames, `1` task
- Source video count: `122`
- Sampling rate: `50` fps
- Source data layout: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
- Source video layout: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`

## Converted Files

- TsFile: `data/so100_sorting.tsfile`
- Converted rows: `95,346`
- TsFile table: `so100_sorting`
- Time precision: milliseconds
- TAG columns: `episode_index`, `task_index`

## Schema

`Time` is synthesized as `round(timestamp * 1000)` in milliseconds. The source
`timestamp` column is dropped because it is redundant with `Time / 1000` seconds.
At 50 fps, consecutive frames are spaced by about 20 ms.

TAG columns:

- `episode_index`
- `task_index`

FIELD columns:

- `frame_index`
- `sample_index` (renamed from source `index`)
- `action_0` to `action_5`
- `observation_state_0` to `observation_state_5`

Vector features are flattened by preserving the source feature name and replacing
`.` with `_`. For example, `observation.state` becomes
`observation_state_0` to `observation_state_5`. The 6-element `action` and
`observation.state` vectors use the source joint order:
`main_shoulder_pan`, `main_shoulder_lift`, `main_elbow_flex`, `main_wrist_flex`,
`main_wrist_roll`, and `main_gripper`.

## Video Policy

The following source video features are not converted into TsFile and are not
uploaded here:

- `observation.images.laptop`
- `observation.images.phone`

Use the original dataset for videos:
[`dragon-95/so100_sorting/videos`](https://huggingface.co/datasets/dragon-95/so100_sorting/tree/main/videos).

## Metadata

The source `meta/` files are mirrored in this repository. `meta/info.json` is
updated so `data_path` points to `data/so100_sorting.tsfile` and includes a
`tsfile_conversion` object documenting the Time mapping, TAG columns, flattened
features, dropped fields, and video policy.

## Validation

The converted TsFile was validated with the project pipeline and read back using
the TsFile Python SDK:

- staged Parquet rows: `95,346`
- TsFile metadata rows: `95,346`
- TsFile query rows: `95,346`
- TsFile size: `1,682,521` bytes

## Usage

```python
from tsfile import TsFileReader

path = "data/so100_sorting.tsfile"
with TsFileReader(path) as reader:
    schemas = reader.get_all_table_schemas()
    print(schemas.keys())
```