| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - tsfile |
| - timeseries |
| - robotics |
| - so101 |
| - manipulation |
| - format:tsfile |
| modality: |
| - tabular |
| - timeseries |
| pretty_name: Battery SO-101 TsFile |
| size_categories: |
| - 10K<n<100K |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/battery.tsfile |
| --- |
| |
| # Battery SO-101 TsFile |
|
|
| This dataset is a TsFile conversion of the Hugging Face dataset |
| [`chirag1701/battery`](https://huggingface.co/datasets/chirag1701/battery), |
| which was created using LeRobot. |
|
|
| Modalities: Time-series. The original dataset also includes two video streams, |
| `observation.images.up` and `observation.images.wrist`; those videos are not |
| included in this repository and remain available in the source dataset. |
|
|
| ## Source Dataset |
|
|
| - Original dataset: [`chirag1701/battery`](https://huggingface.co/datasets/chirag1701/battery) |
| - License: Apache-2.0 |
| - Format: LeRobot v2.1 |
| - Robot type: `so101_follower` |
| - Task: `pick the battery and keep it into the box` |
| - Split: single `train` split (`0:50`) |
| - Scale: 50 episodes, 26,439 frames, 1 task, 1 data chunk |
| - Sampling rate: 30 fps |
| - Original video features: |
| - `observation.images.up` at 480x640x3 |
| - `observation.images.wrist` at 480x640x3 |
|
|
| ## Converted Files |
|
|
| - TsFile: `data/battery.tsfile` |
| - Rows: 26,439 |
| - Episodes: 50 |
| - Tasks: 1 (`task_index = 0`) |
| - Table name: `battery` |
| - Time precision: milliseconds |
| - Metadata: `meta/` is mirrored from the source dataset, with `meta/info.json` |
| rewritten to describe the TsFile artifact and conversion mapping. |
|
|
| ## Schema |
|
|
| | Column | Role | Type | Notes | |
| |---|---|---|---| |
| | `Time` | TIME | INT64 | `round(timestamp * 1000)`, in milliseconds; restarts per episode | |
| | `episode_index` | TAG | INT64 | Source episode identifier | |
| | `task_index` | TAG | INT64 | Source task identifier | |
| | `frame_index` | FIELD | INT64 | Source frame index, preserved | |
| | `sample_index` | FIELD | INT64 | Renamed from source `index` | |
| | `action_0` ... `action_5` | FIELD | FLOAT | Flattened from `action[6]` | |
| | `observation_state_0` ... `observation_state_5` | FIELD | FLOAT | Flattened from `observation.state[6]` | |
|
|
| The source action and state element names are `shoulder_pan.pos`, |
| `shoulder_lift.pos`, `elbow_flex.pos`, `wrist_flex.pos`, `wrist_roll.pos`, and |
| `gripper.pos`. |
|
|
| `episode_index` and `task_index` are TAG columns, so they form the TsFile device |
| dimension. To read one episode, filter by `episode_index`. |
|
|
| ## Conversion Notes |
|
|
| - The LeRobot frame Parquet files under `data/chunk-000/` were merged into one |
| TsFile for the `train` split. |
| - Vector columns were flattened by preserving the source column name, replacing |
| `.` with `_`, and appending the element index. |
| - The source `timestamp` column is dropped because it is redundant with |
| `Time / 1000` seconds. |
| - The source `index` column is renamed to `sample_index`. |
| - Videos are not uploaded here. Use the original dataset videos: |
| https://huggingface.co/datasets/chirag1701/battery/tree/main/videos |
|
|
| ## Read Example |
|
|
| ```python |
| from tsfile import TsFileReader |
| |
| path = "data/battery.tsfile" |
| table = "battery" |
| |
| with TsFileReader(path) as reader: |
| columns = [ |
| "episode_index", |
| "task_index", |
| "frame_index", |
| "sample_index", |
| "action_0", |
| "observation_state_0", |
| ] |
| with reader.query_table(table, columns, batch_size=4096) as result: |
| batch = result.read_arrow_batch() |
| print(batch) |
| ``` |
|
|
