Datasets:
File size: 2,725 Bytes
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license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- so101
- robotics
- tutorial
- tsfile
- modality:timeseries
pretty_name: so101_test (TsFile)
size_categories:
- 10K<n<100K
configs:
- config_name: default
data_files: data/*.tsfile
modality:
- timeseries
---
# so101_test (TsFile)
Apache TsFile version of [`enpeicv/so101_test`](https://huggingface.co/datasets/enpeicv/so101_test).
## Overview
A single-arm robot manipulation dataset recorded with an SO-101 arm (`so101`,
6 DOF). The task in every episode is to grasp a Lego block and put it in the bin.
It was created with [LeRobot](https://github.com/huggingface/lerobot) (codebase
version v2.1).
- **Scale:** 50 episodes, 22,378 frames total.
- **Sampling rate:** 30 fps.
- **Robot:** `so101` — single SO-101 arm, 6 DOF (5 joints + gripper).
- **Task:** a single task, `task_index = 0` — "Grasp a lego block and put it in the bin".
## Schema (TsFile structure)
- **Time** (INT64, milliseconds) — frame timestamp, `round(timestamp * 1000)`.
It restarts from 0 at the beginning of each episode (~33 ms between frames at 30 fps).
- **episode_index** (TAG) — which of the 50 episodes the row belongs to.
- **task_index** (TAG) — the task identifier (always `0` here).
Both tags form the TsFile device dimension; query one episode with
`WHERE episode_index=0`.
- **frame_index** (FIELD, INT64) — frame number within the episode.
- **sample_index** (FIELD, INT64) — the original global `index` column.
- **action_0 .. action_5** (FIELD, FLOAT) — the commanded target positions, 6
values: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper.
- **observation_state_0 .. observation_state_5** (FIELD, FLOAT) — the measured
joint/gripper positions, same 6-element layout as `action`.
The source `timestamp` column is dropped (it equals `Time ÷ 1000` seconds). Vector
columns are flattened single-precision FLOAT (`.` → `_`, element index appended,
the `observation.` prefix stripped).
## Usage
Read the `.tsfile` files with the Apache TsFile Java or Python SDK.
## Notes
- Camera video streams are **not** included in this repository. The original
dataset has 2 camera views (`observation.images.laptop`,
`observation.images.phone`, both 640×480) under its `videos/` directory — see the
original dataset for them.
- `meta/` from the source is mirrored alongside the data. Aside from the redundant
`timestamp` column noted above, no columns or rows are dropped.
## Source & license
- Original dataset: https://huggingface.co/datasets/enpeicv/so101_test
- Author / publisher: enpeicv
- Paper: not declared by the original dataset.
- License: apache-2.0 (from the original dataset card).
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