THULab/samsitol_so100_PnPblock

SO100 PnP Block TsFile

This Apache TsFile dataset is derived from samsitol/so100_PnPblock, a LeRobot v2.1 SO100 robot-manipulation dataset.

Source Dataset

• Original dataset: samsitol/so100_PnPblock
• Author, repository owner, and sole contributor: Sam (samsitol)
• License: Apache-2.0
• Robot type: so100
• LeRobot codebase version: v2.1
• Task: Grasp the yellow block and put it in the fixed green bin.
• Split: train
• Scale: 50 episodes, 32,709 frames, 1 task, 30 fps
• Source frame files: 50 Parquet files
• Source frame layout: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
• The source card does not provide a paper or completed citation.

TsFile Data

• Path: data/samsitol_so100_pnpblock.tsfile
• Table: samsitol_so100_pnpblock
• Rows: 32,709
• Time precision: milliseconds
• Episodes are represented by TsFile TAG values rather than separate files.

Schema

Time is round(timestamp * 1000) milliseconds and restarts within each episode.

Column	TsFile role	Type	Source mapping
Time	TIME	INT64	round(timestamp * 1000)
episode_index	TAG	STRING device/tag value	Source episode_index
task_index	TAG	STRING device/tag value	Source task_index
frame_index	FIELD	INT64	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 six action and state dimensions are main_shoulder_pan, main_shoulder_lift, main_elbow_flex, main_wrist_flex, main_wrist_roll, and main_gripper.

Conversion Notes

• All 50 episode Parquet files are merged into one table-model TsFile. Filter by episode_index and task_index to select a device/episode.
• Vector columns are flattened to scalar fields. Full source prefixes are retained, with . replaced by _.
• The source timestamp column is omitted after creating Time because the same value is recoverable as Time / 1000 seconds.
• No numeric rows, episodes, action dimensions, or state dimensions are omitted.
• Numeric columns use the requested compact TsFile codecs with LZ4, while TAG values use the TsFile table/device mechanism. This source has no BOOLEAN field.

Videos

Videos are not included here. They remain in the original repository under videos/chunk-000:

• observation.images.base
• observation.images.head
• observation.images.wrist

Each stream has one MP4 per episode, for 150 source videos total. Numeric rows remain frame-aligned through episode_index and frame_index.

Usage

from tsfile import TsFileReader

reader = TsFileReader("data/samsitol_so100_pnpblock.tsfile")
table_name = "samsitol_so100_pnpblock"
columns = [
    "episode_index",
    "task_index",
    "frame_index",
    "sample_index",
    "action_0",
    "observation_state_0",
]

with reader.query_table(table_name, columns, batch_size=65536) as result:
    batch = result.read_arrow_batch()
    print(batch.to_pandas().head())