| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - so100 |
| - tutorial |
| - robotics |
| - tsfile |
| - modality:timeseries |
| - timeseries |
| - format:tsfile |
| pretty_name: SO-100 Base Environment (TsFile) |
| size_categories: |
| - 10K<n<100K |
| modality: |
| - tabular |
| - timeseries |
| --- |
| |
| # SO-100 Base Environment (TsFile) |
|
|
| Apache TsFile version of [`shreyasgite/so100_base_env`](https://huggingface.co/datasets/shreyasgite/so100_base_env). |
|
|
| ## Overview |
|
|
| A LeRobot teleoperation dataset recorded on an SO-100 arm performing a Lego |
| pick-and-place task: *"Grasp a lego block and put it in the bin."* Each episode |
| captures the synchronized robot joint state and commanded action at every control |
| step. |
|
|
| - **Robot:** `so100` (6-DoF arm: shoulder pan/lift, elbow flex, wrist flex/roll, gripper). |
| - **Episodes:** 252 (single `train` split). |
| - **Frames:** 98,999 total. |
| - **Sampling rate:** 30 fps. |
| - **Tasks:** 1 — "Grasp a lego block and put it in the bin". |
|
|
| ## Schema (TsFile structure) |
|
|
| - **Time** (INT64, milliseconds) — per-frame timestamp, restarts at 0 each episode (`round(timestamp * 1000)`). |
| - **episode_index** (TAG) — episode id; query one episode with `WHERE episode_index=0`. |
| - **task_index** (TAG) — task id (always 0 here). |
| - **frame_index** (FIELD, INT64) — frame number within the episode. |
| - **sample_index** (FIELD, INT64) — global sample index (the source `index` column). |
| - **action_0 … action_5** (FIELD, FLOAT) — commanded joint positions |
| (shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper). |
| - **observation_state_0 … observation_state_5** (FIELD, FLOAT) — measured joint |
| positions, same joint order as `action`. |
|
|
| Fixed-size vector columns from the source (`action`, `observation.state`, each |
| length 6) are flattened to single-precision FLOAT columns; `.` becomes `_` and the |
| element index is appended. The source `timestamp` column is not retained as a |
| separate field because it equals `Time / 1000` seconds. |
|
|
| ## Usage |
|
|
| Read the `.tsfile` files with the Apache TsFile Java or Python SDK. |
|
|
| Camera videos (`observation.images.laptop`, `observation.images.phone`) are NOT |
| included in this repository. They remain in the original dataset under |
| [`videos/`](https://huggingface.co/datasets/shreyasgite/so100_base_env/tree/main/videos). |
|
|
| ## Source & license |
|
|
| - Original dataset: https://huggingface.co/datasets/shreyasgite/so100_base_env |
| - Author / publisher: shreyasgite |
| - License: apache-2.0 |
|
|
