---
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