| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - so100 |
| - tutorial |
| - tsfile |
| - timeseries |
| - format:tsfile |
| pretty_name: SO100 Test (TsFile) |
| size_categories: |
| - 10K<n<100K |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/so100_test_train.tsfile |
| modality: |
| - tabular |
| - timeseries |
| --- |
| |
| # SO100 Test (TsFile) |
|
|
| Apache TsFile version of |
| [`burgalon/so100_test`](https://huggingface.co/datasets/burgalon/so100_test), |
| a LeRobot v2.1 SO100 tutorial trajectory dataset. Each frame contains a |
| six-dimensional robot action and a six-dimensional observed robot state. |
|
|
| ## Overview |
|
|
| - **Train split:** 53 episodes and 23,142 frames (`0:53`). |
| - **Sampling rate:** 30 fps. |
| - **Tasks:** one task. |
| - **Robot type:** SO100. |
| - **Converted layout:** one `data/so100_test_train.tsfile` containing all train |
| episodes as separate TAG devices. |
|
|
| ## Schema (TsFile structure) |
|
|
| - **Time** (INT64, milliseconds) is `round(timestamp * 1000)` and restarts for |
| each episode. |
| - **episode_index** and **task_index** (TAG) identify the source episode and |
| task. A single episode can be selected with |
| `WHERE episode_index='0' AND task_index='0'`. |
| - **frame_index** and **sample_index** (FIELD, INT64) preserve source frame and |
| global sample ordering; source `index` is renamed to `sample_index`. |
| - **observation_state_0..5** and **action_0..5** (FIELD, FLOAT) are the flattened |
| six-dimensional source vectors. |
| |
| The source `timestamp` column is omitted after conversion to `Time`, as approved |
| for this conversion. The 53 source Parquet files are merged without dropping |
| rows. Camera videos are not uploaded; they remain in the original |
| [`videos/` tree](https://huggingface.co/datasets/burgalon/so100_test/tree/main/videos). |
| |
| ## Usage |
| |
| Read `data/so100_test_train.tsfile` with the Apache TsFile Java or Python SDK. |
| |
| ## Source & license |
| |
| - Original dataset: https://huggingface.co/datasets/burgalon/so100_test |
| - Author / publisher: burgalon |
| - Paper: not declared by the original dataset |
| - License: Apache-2.0 |
| |
