chore: sync metadata, drop original files

README.md

@@ -1,111 +1,112 @@
----
-authors:
-- Jiangeng
-task_categories:
-- robotics
-tags:
-- tsfile
-- timeseries
-- tabular
-- robotics
-- lerobot
-- unitree-g1
-- whole-body-control
-modality:
-- timeseries
-- tabular
-pretty_name: G1 06 11 TsFile
-configs:
-- config_name: default
-  data_files:
-  - split: train
-    path: data/jiangeng_g1_06_11.tsfile
-size_categories:
-- 10K<n<100K
----
-
-# G1 06 11 TsFile
-
-Apache TsFile edition of [`Jiangeng/G1_06_11`](https://huggingface.co/datasets/Jiangeng/G1_06_11), a LeRobot v2.1 Unitree G1 whole-body dataset for the task: **Put the teddy bear in the bag.** Numeric trajectories are stored in one table-model TsFile.
-
-## Source and attribution
-
-- Original repository owner, publisher, uploader, and sole listed contributor: [Jiangeng](https://huggingface.co/Jiangeng). No separate personal name is provided.
-- License: the source repository does not declare one.
-- Paper, homepage, and citation: the source repository does not provide them.
-- Split: `train`; 51 episodes; 79,948 frame rows; one task; 50 Hz; 51 source Parquet episode shards.
-- Task `0`: `Put the teddy bear in the bag.`
-
-## Data layout
-
-The table is `jiangeng_g1_06_11` and contains 79,948 rows across 51 TAG devices. The source Parquet shards total 67,782,033 bytes; the TsFile is 31,817,362 bytes (46.9% of the source Parquet size).
-
-| Column or group | TsFile role | Type | Meaning |
-|---|---|---|---|
-| `Time` | TIME | INT64 milliseconds | `round(timestamp * 1000)`, restarting at zero for each episode |
-| `episode_index` | TAG | STRING from source INT64 | Source episode identity, values 0 through 50 |
-| `task_index` | TAG | STRING from source INT64 | Source task identity, value 0 |
-| `frame_index` | FIELD | INT64 | Frame position within the episode |
-| `sample_index` | FIELD | INT64 | Source `index`, renamed for clarity |
-| `teleop_delta_heading` | FIELD | DOUBLE | Source heading delta |
-| `teleop_smpl_frame_index` | FIELD | INT64 | Source SMPL frame index |
-| `teleop_stream_mode`, `teleop_planner_mode` | FIELD | INT32 | Teleoperation and locomotion planner modes |
-| `teleop_planner_speed`, `teleop_planner_height` | FIELD | FLOAT | Planner speed and height |
-| `observation_state_0` ... `observation_state_42` | FIELD | FLOAT | G1 joint state; 43 elements |
-| `observation_eef_state_0` ... `observation_eef_state_13` | FIELD | FLOAT | left/right wrist position and quaternion state; 14 elements |
-| `action_wbc_0` ... `action_wbc_42` | FIELD | FLOAT | whole-body controller action; 43 elements |
-| `observation_root_orientation_0` ... `observation_root_orientation_3` | FIELD | FLOAT | flattened source `observation.root_orientation` vector; 4 elements |
-| `observation_projected_gravity_0` ... `observation_projected_gravity_2` | FIELD | FLOAT | flattened source `observation.projected_gravity` vector; 3 elements |
-| `observation_cpp_rotation_offset_0` ... `observation_cpp_rotation_offset_3` | FIELD | FLOAT | flattened source `observation.cpp_rotation_offset` vector; 4 elements |
-| `observation_init_base_quat_0` ... `observation_init_base_quat_3` | FIELD | FLOAT | flattened source `observation.init_base_quat` vector; 4 elements |
-| `action_motion_token_0` ... `action_motion_token_63` | FIELD | FLOAT | motion token; 64 elements |
-| `teleop_smpl_joints_0` ... `teleop_smpl_joints_71` | FIELD | FLOAT | SMPL joint values; 72 elements |
-| `teleop_smpl_pose_0` ... `teleop_smpl_pose_62` | FIELD | FLOAT | SMPL pose values; 63 elements |
-| `teleop_body_quat_w_0` ... `teleop_body_quat_w_3` | FIELD | FLOAT | flattened source `teleop.body_quat_w` vector; 4 elements |
-| `teleop_target_body_orientation_0` ... `teleop_target_body_orientation_5` | FIELD | FLOAT | flattened source `teleop.target_body_orientation` vector; 6 elements |
-| `teleop_left_hand_joints_0` ... `teleop_left_hand_joints_6` | FIELD | FLOAT | flattened source `teleop.left_hand_joints` vector; 7 elements |
-| `teleop_right_hand_joints_0` ... `teleop_right_hand_joints_6` | FIELD | FLOAT | flattened source `teleop.right_hand_joints` vector; 7 elements |
-| `teleop_left_wrist_joints_0` ... `teleop_left_wrist_joints_2` | FIELD | FLOAT | flattened source `teleop.left_wrist_joints` vector; 3 elements |
-| `teleop_right_wrist_joints_0` ... `teleop_right_wrist_joints_2` | FIELD | FLOAT | flattened source `teleop.right_wrist_joints` vector; 3 elements |
-| `teleop_planner_movement_0` ... `teleop_planner_movement_2` | FIELD | FLOAT | flattened source `teleop.planner_movement` vector; 3 elements |
-| `teleop_planner_facing_0` ... `teleop_planner_facing_2` | FIELD | FLOAT | flattened source `teleop.planner_facing` vector; 3 elements |
-| `teleop_vr_3pt_position_0` ... `teleop_vr_3pt_position_8` | FIELD | FLOAT | flattened source `teleop.vr_3pt_position` vector; 9 elements |
-| `teleop_vr_3pt_orientation_0` ... `teleop_vr_3pt_orientation_17` | FIELD | FLOAT | three-point VR orientation; 18 elements |
-
-The source `timestamp` column is not stored separately because it is represented by `Time / 1000` seconds. All 79,948 numeric rows, every episode and task identity, `frame_index`, and every numeric vector element are retained. Source vector prefixes are preserved with dots replaced by underscores.
-
-## Encoding and compression
-
-- TIME, INT32, and INT64: `TS_2DIFF + LZ4`
-- FLOAT and DOUBLE: `GORILLA + LZ4`
-- BOOLEAN, when present: `RLE + LZ4`
-- TAG values: TsFile table-model device/tag storage
-
-## Videos and alignment
-
-The 51 source ego-view MP4 files are not included here. They remain in the original repository at [`videos/chunk-000/observation.images.ego_view`](https://huggingface.co/datasets/Jiangeng/G1_06_11/tree/main/videos/chunk-000/observation.images.ego_view), named `episode_000000.mp4` through `episode_000050.mp4`. The source directory is displayed as 257 MB on Hugging Face.
-
-The source template is `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`. Use `episode_index` and `frame_index` to align a numeric row with its 50 FPS video frame.
-
-## Read example
-
-```python
-from tsfile import TsFileReader
-
-reader = TsFileReader("data/jiangeng_g1_06_11.tsfile")
-with reader.query_table(
-    "jiangeng_g1_06_11",
-    [
-        "episode_index",
-        "task_index",
-        "frame_index",
-        "sample_index",
-        "observation_state_0",
-        "action_wbc_0",
-    ],
-    batch_size=1024,
-) as result:
-    batch = result.read_arrow_batch()
-    print(batch.to_pandas().head())
-reader.close()
-```
+---
+authors:
+- Jiangeng
+task_categories:
+- robotics
+tags:
+- tsfile
+- timeseries
+- tabular
+- robotics
+- lerobot
+- unitree-g1
+- whole-body-control
+- format:tsfile
+modality:
+- tabular
+- timeseries
+pretty_name: G1 06 11 TsFile
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: data/jiangeng_g1_06_11.tsfile
+size_categories:
+- 10K<n<100K
+---
+
+# G1 06 11 TsFile
+
+Apache TsFile edition of [`Jiangeng/G1_06_11`](https://huggingface.co/datasets/Jiangeng/G1_06_11), a LeRobot v2.1 Unitree G1 whole-body dataset for the task: **Put the teddy bear in the bag.** Numeric trajectories are stored in one table-model TsFile.
+
+## Source and attribution
+
+- Original repository owner, publisher, uploader, and sole listed contributor: [Jiangeng](https://huggingface.co/Jiangeng). No separate personal name is provided.
+- License: the source repository does not declare one.
+- Paper, homepage, and citation: the source repository does not provide them.
+- Split: `train`; 51 episodes; 79,948 frame rows; one task; 50 Hz; 51 source Parquet episode shards.
+- Task `0`: `Put the teddy bear in the bag.`
+
+## Data layout
+
+The table is `jiangeng_g1_06_11` and contains 79,948 rows across 51 TAG devices. The source Parquet shards total 67,782,033 bytes; the TsFile is 31,817,362 bytes (46.9% of the source Parquet size).
+
+| Column or group | TsFile role | Type | Meaning |
+|---|---|---|---|
+| `Time` | TIME | INT64 milliseconds | `round(timestamp * 1000)`, restarting at zero for each episode |
+| `episode_index` | TAG | STRING from source INT64 | Source episode identity, values 0 through 50 |
+| `task_index` | TAG | STRING from source INT64 | Source task identity, value 0 |
+| `frame_index` | FIELD | INT64 | Frame position within the episode |
+| `sample_index` | FIELD | INT64 | Source `index`, renamed for clarity |
+| `teleop_delta_heading` | FIELD | DOUBLE | Source heading delta |
+| `teleop_smpl_frame_index` | FIELD | INT64 | Source SMPL frame index |
+| `teleop_stream_mode`, `teleop_planner_mode` | FIELD | INT32 | Teleoperation and locomotion planner modes |
+| `teleop_planner_speed`, `teleop_planner_height` | FIELD | FLOAT | Planner speed and height |
+| `observation_state_0` ... `observation_state_42` | FIELD | FLOAT | G1 joint state; 43 elements |
+| `observation_eef_state_0` ... `observation_eef_state_13` | FIELD | FLOAT | left/right wrist position and quaternion state; 14 elements |
+| `action_wbc_0` ... `action_wbc_42` | FIELD | FLOAT | whole-body controller action; 43 elements |
+| `observation_root_orientation_0` ... `observation_root_orientation_3` | FIELD | FLOAT | flattened source `observation.root_orientation` vector; 4 elements |
+| `observation_projected_gravity_0` ... `observation_projected_gravity_2` | FIELD | FLOAT | flattened source `observation.projected_gravity` vector; 3 elements |
+| `observation_cpp_rotation_offset_0` ... `observation_cpp_rotation_offset_3` | FIELD | FLOAT | flattened source `observation.cpp_rotation_offset` vector; 4 elements |
+| `observation_init_base_quat_0` ... `observation_init_base_quat_3` | FIELD | FLOAT | flattened source `observation.init_base_quat` vector; 4 elements |
+| `action_motion_token_0` ... `action_motion_token_63` | FIELD | FLOAT | motion token; 64 elements |
+| `teleop_smpl_joints_0` ... `teleop_smpl_joints_71` | FIELD | FLOAT | SMPL joint values; 72 elements |
+| `teleop_smpl_pose_0` ... `teleop_smpl_pose_62` | FIELD | FLOAT | SMPL pose values; 63 elements |
+| `teleop_body_quat_w_0` ... `teleop_body_quat_w_3` | FIELD | FLOAT | flattened source `teleop.body_quat_w` vector; 4 elements |
+| `teleop_target_body_orientation_0` ... `teleop_target_body_orientation_5` | FIELD | FLOAT | flattened source `teleop.target_body_orientation` vector; 6 elements |
+| `teleop_left_hand_joints_0` ... `teleop_left_hand_joints_6` | FIELD | FLOAT | flattened source `teleop.left_hand_joints` vector; 7 elements |
+| `teleop_right_hand_joints_0` ... `teleop_right_hand_joints_6` | FIELD | FLOAT | flattened source `teleop.right_hand_joints` vector; 7 elements |
+| `teleop_left_wrist_joints_0` ... `teleop_left_wrist_joints_2` | FIELD | FLOAT | flattened source `teleop.left_wrist_joints` vector; 3 elements |
+| `teleop_right_wrist_joints_0` ... `teleop_right_wrist_joints_2` | FIELD | FLOAT | flattened source `teleop.right_wrist_joints` vector; 3 elements |
+| `teleop_planner_movement_0` ... `teleop_planner_movement_2` | FIELD | FLOAT | flattened source `teleop.planner_movement` vector; 3 elements |
+| `teleop_planner_facing_0` ... `teleop_planner_facing_2` | FIELD | FLOAT | flattened source `teleop.planner_facing` vector; 3 elements |
+| `teleop_vr_3pt_position_0` ... `teleop_vr_3pt_position_8` | FIELD | FLOAT | flattened source `teleop.vr_3pt_position` vector; 9 elements |
+| `teleop_vr_3pt_orientation_0` ... `teleop_vr_3pt_orientation_17` | FIELD | FLOAT | three-point VR orientation; 18 elements |
+
+The source `timestamp` column is not stored separately because it is represented by `Time / 1000` seconds. All 79,948 numeric rows, every episode and task identity, `frame_index`, and every numeric vector element are retained. Source vector prefixes are preserved with dots replaced by underscores.
+
+## Encoding and compression
+
+- TIME, INT32, and INT64: `TS_2DIFF + LZ4`
+- FLOAT and DOUBLE: `GORILLA + LZ4`
+- BOOLEAN, when present: `RLE + LZ4`
+- TAG values: TsFile table-model device/tag storage
+
+## Videos and alignment
+
+The 51 source ego-view MP4 files are not included here. They remain in the original repository at [`videos/chunk-000/observation.images.ego_view`](https://huggingface.co/datasets/Jiangeng/G1_06_11/tree/main/videos/chunk-000/observation.images.ego_view), named `episode_000000.mp4` through `episode_000050.mp4`. The source directory is displayed as 257 MB on Hugging Face.
+
+The source template is `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`. Use `episode_index` and `frame_index` to align a numeric row with its 50 FPS video frame.
+
+## Read example
+
+```python
+from tsfile import TsFileReader
+
+reader = TsFileReader("data/jiangeng_g1_06_11.tsfile")
+with reader.query_table(
+    "jiangeng_g1_06_11",
+    [
+        "episode_index",
+        "task_index",
+        "frame_index",
+        "sample_index",
+        "observation_state_0",
+        "action_wbc_0",
+    ],
+    batch_size=1024,
+) as result:
+    batch = result.read_arrow_batch()
+    print(batch.to_pandas().head())
+reader.close()
+```

meta/episodes.jsonl

@@ -1,51 +0,0 @@
-{"episode_index": 0, "tasks": ["Put the teddy bear in the bag."], "length": 2155}
-{"episode_index": 1, "tasks": ["Put the teddy bear in the bag."], "length": 1781}
-{"episode_index": 2, "tasks": ["Put the teddy bear in the bag."], "length": 1934}
-{"episode_index": 3, "tasks": ["Put the teddy bear in the bag."], "length": 1772}
-{"episode_index": 4, "tasks": ["Put the teddy bear in the bag."], "length": 1738}
-{"episode_index": 5, "tasks": ["Put the teddy bear in the bag."], "length": 1779}
-{"episode_index": 6, "tasks": ["Put the teddy bear in the bag."], "length": 1577}
-{"episode_index": 7, "tasks": ["Put the teddy bear in the bag."], "length": 1652}
-{"episode_index": 8, "tasks": ["Put the teddy bear in the bag."], "length": 1734}
-{"episode_index": 9, "tasks": ["Put the teddy bear in the bag."], "length": 1939}
-{"episode_index": 10, "tasks": ["Put the teddy bear in the bag."], "length": 1661}
-{"episode_index": 11, "tasks": ["Put the teddy bear in the bag."], "length": 1659}
-{"episode_index": 12, "tasks": ["Put the teddy bear in the bag."], "length": 1512}
-{"episode_index": 13, "tasks": ["Put the teddy bear in the bag."], "length": 1348}
-{"episode_index": 14, "tasks": ["Put the teddy bear in the bag."], "length": 1397}
-{"episode_index": 15, "tasks": ["Put the teddy bear in the bag."], "length": 1353}
-{"episode_index": 16, "tasks": ["Put the teddy bear in the bag."], "length": 1370}
-{"episode_index": 17, "tasks": ["Put the teddy bear in the bag."], "length": 1245}
-{"episode_index": 18, "tasks": ["Put the teddy bear in the bag."], "length": 1533}
-{"episode_index": 19, "tasks": ["Put the teddy bear in the bag."], "length": 1495}
-{"episode_index": 20, "tasks": ["Put the teddy bear in the bag."], "length": 1299}
-{"episode_index": 21, "tasks": ["Put the teddy bear in the bag."], "length": 1617}
-{"episode_index": 22, "tasks": ["Put the teddy bear in the bag."], "length": 1514}
-{"episode_index": 23, "tasks": ["Put the teddy bear in the bag."], "length": 1715}
-{"episode_index": 24, "tasks": ["Put the teddy bear in the bag."], "length": 1600}
-{"episode_index": 25, "tasks": ["Put the teddy bear in the bag."], "length": 1495}
-{"episode_index": 26, "tasks": ["Put the teddy bear in the bag."], "length": 1596}
-{"episode_index": 27, "tasks": ["Put the teddy bear in the bag."], "length": 1470}
-{"episode_index": 28, "tasks": ["Put the teddy bear in the bag."], "length": 1659}
-{"episode_index": 29, "tasks": ["Put the teddy bear in the bag."], "length": 1592}
-{"episode_index": 30, "tasks": ["Put the teddy bear in the bag."], "length": 1464}
-{"episode_index": 31, "tasks": ["Put the teddy bear in the bag."], "length": 1534}
-{"episode_index": 32, "tasks": ["Put the teddy bear in the bag."], "length": 1632}
-{"episode_index": 33, "tasks": ["Put the teddy bear in the bag."], "length": 1535}
-{"episode_index": 34, "tasks": ["Put the teddy bear in the bag."], "length": 1460}
-{"episode_index": 35, "tasks": ["Put the teddy bear in the bag."], "length": 1692}
-{"episode_index": 36, "tasks": ["Put the teddy bear in the bag."], "length": 1582}
-{"episode_index": 37, "tasks": ["Put the teddy bear in the bag."], "length": 1515}
-{"episode_index": 38, "tasks": ["Put the teddy bear in the bag."], "length": 1545}
-{"episode_index": 39, "tasks": ["Put the teddy bear in the bag."], "length": 1677}
-{"episode_index": 40, "tasks": ["Put the teddy bear in the bag."], "length": 1570}
-{"episode_index": 41, "tasks": ["Put the teddy bear in the bag."], "length": 1622}
-{"episode_index": 42, "tasks": ["Put the teddy bear in the bag."], "length": 1426}
-{"episode_index": 43, "tasks": ["Put the teddy bear in the bag."], "length": 1463}
-{"episode_index": 44, "tasks": ["Put the teddy bear in the bag."], "length": 1435}
-{"episode_index": 45, "tasks": ["Put the teddy bear in the bag."], "length": 1380}
-{"episode_index": 46, "tasks": ["Put the teddy bear in the bag."], "length": 1417}
-{"episode_index": 47, "tasks": ["Put the teddy bear in the bag."], "length": 1353}
-{"episode_index": 48, "tasks": ["Put the teddy bear in the bag."], "length": 1286}
-{"episode_index": 49, "tasks": ["Put the teddy bear in the bag."], "length": 1405}
-{"episode_index": 50, "tasks": ["Put the teddy bear in the bag."], "length": 1764}

meta/modality.json

@@ -1,182 +0,0 @@
-{
-    "state": {
-        "left_leg": {
-            "start": 0,
-            "end": 6
-        },
-        "right_leg": {
-            "start": 6,
-            "end": 12
-        },
-        "waist": {
-            "start": 12,
-            "end": 15
-        },
-        "left_arm": {
-            "start": 15,
-            "end": 22
-        },
-        "left_hand": {
-            "start": 22,
-            "end": 29
-        },
-        "right_arm": {
-            "start": 29,
-            "end": 36
-        },
-        "right_hand": {
-            "start": 36,
-            "end": 43
-        },
-        "left_wrist_pos": {
-            "start": 0,
-            "end": 3,
-            "original_key": "observation.eef_state"
-        },
-        "left_wrist_abs_quat": {
-            "start": 3,
-            "end": 7,
-            "original_key": "observation.eef_state",
-            "rotation_type": "quaternion"
-        },
-        "right_wrist_pos": {
-            "start": 7,
-            "end": 10,
-            "original_key": "observation.eef_state"
-        },
-        "right_wrist_abs_quat": {
-            "start": 10,
-            "end": 14,
-            "original_key": "observation.eef_state",
-            "rotation_type": "quaternion"
-        },
-        "root_orientation": {
-            "start": 0,
-            "end": 4,
-            "original_key": "observation.root_orientation",
-            "rotation_type": "quaternion"
-        },
-        "projected_gravity": {
-            "start": 0,
-            "end": 3,
-            "original_key": "observation.projected_gravity"
-        },
-        "cpp_rotation_offset": {
-            "start": 0,
-            "end": 4,
-            "original_key": "observation.cpp_rotation_offset",
-            "rotation_type": "quaternion"
-        },
-        "init_base_quat": {
-            "start": 0,
-            "end": 4,
-            "original_key": "observation.init_base_quat",
-            "rotation_type": "quaternion"
-        }
-    },
-    "action": {
-        "delta_heading": {
-            "start": 0,
-            "end": 1,
-            "original_key": "teleop.delta_heading"
-        },
-        "motion_token": {
-            "start": 0,
-            "end": 64,
-            "original_key": "action.motion_token"
-        },
-        "smpl_joints": {
-            "start": 0,
-            "end": 72,
-            "original_key": "teleop.smpl_joints"
-        },
-        "smpl_pose": {
-            "start": 0,
-            "end": 63,
-            "original_key": "teleop.smpl_pose"
-        },
-        "body_quat_w": {
-            "start": 0,
-            "end": 4,
-            "original_key": "teleop.body_quat_w",
-            "rotation_type": "quaternion"
-        },
-        "target_body_orientation": {
-            "start": 0,
-            "end": 6,
-            "original_key": "teleop.target_body_orientation",
-            "rotation_type": "rotation_6d"
-        },
-        "left_hand_joints": {
-            "start": 0,
-            "end": 7,
-            "original_key": "teleop.left_hand_joints"
-        },
-        "right_hand_joints": {
-            "start": 0,
-            "end": 7,
-            "original_key": "teleop.right_hand_joints"
-        },
-        "left_wrist_joints": {
-            "start": 0,
-            "end": 3,
-            "original_key": "teleop.left_wrist_joints"
-        },
-        "right_wrist_joints": {
-            "start": 0,
-            "end": 3,
-            "original_key": "teleop.right_wrist_joints"
-        },
-        "stream_mode": {
-            "start": 0,
-            "end": 1,
-            "original_key": "teleop.stream_mode"
-        },
-        "planner_mode": {
-            "start": 0,
-            "end": 1,
-            "original_key": "teleop.planner_mode"
-        },
-        "planner_movement": {
-            "start": 0,
-            "end": 3,
-            "original_key": "teleop.planner_movement"
-        },
-        "planner_facing": {
-            "start": 0,
-            "end": 3,
-            "original_key": "teleop.planner_facing"
-        },
-        "planner_speed": {
-            "start": 0,
-            "end": 1,
-            "original_key": "teleop.planner_speed"
-        },
-        "planner_height": {
-            "start": 0,
-            "end": 1,
-            "original_key": "teleop.planner_height"
-        },
-        "vr_3pt_position": {
-            "start": 0,
-            "end": 9,
-            "original_key": "teleop.vr_3pt_position"
-        },
-        "vr_3pt_orientation": {
-            "start": 0,
-            "end": 18,
-            "original_key": "teleop.vr_3pt_orientation",
-            "rotation_type": "rotation_6d"
-        }
-    },
-    "video": {
-        "ego_view": {
-            "original_key": "observation.images.ego_view"
-        }
-    },
-    "annotation": {
-        "human.task_description": {
-            "original_key": "task_index"
-        }
-    }
-}

meta/tasks.jsonl

@@ -1 +0,0 @@
-{"task_index": 0, "task": "Put the teddy bear in the bag."}