so100_pick

Converted from aaronsu11/so100_pick, a LeRobot SO-100 robot dataset created with LeRobot.

Source Dataset

• Original dataset: aaronsu11/so100_pick
• License: apache-2.0
• Task category: robotics
• Robot type: so100
• Source metadata version: LeRobot v2.1
• Source scale: 125 episodes, 19,980 frames, 250 videos, 30 fps
• Tasks: task_index=0 is "Pick up the lego block."; task_index=1 is "Pick up a lego block."
• Modalities: Time-series

Converted Files

• TsFile table: so100_pick_train
• TsFile path: data/so100_pick_train.tsfile
• Rows: 19,980
• Episode coverage: episode indexes 0..124
• Metadata: source meta/ is mirrored in this repository, with meta/info.json updated to describe the converted TsFile artifact.

TsFile Schema

• Time: integer milliseconds, computed as round(timestamp * 1000).
• TAG columns: episode_index, task_index.
• FIELD columns: frame_index, sample_index, action_0..5, observation_state_0..5.
• Source index is renamed to sample_index.
• Source action[6] is flattened to action_0..5.
• Source observation.state[6] is flattened to observation_state_0..5.

The 6-dimensional state/action vectors use the source names: main_shoulder_pan, main_shoulder_lift, main_elbow_flex, main_wrist_flex, main_wrist_roll, and main_gripper.

Conversion Notes

The source timestamp column is not kept as a separate field because it is represented by Time / 1000 seconds after conversion. The source video features observation.images.wrist and observation.images.front are not converted to TsFile and videos are not uploaded here; use the original dataset video tree at aaronsu11/so100_pick/videos.

Task-index distribution in the converted table:

• task_index=0: 75 episodes, 12,194 rows
• task_index=1: 50 episodes, 7,786 rows

Minimal Read Example

# Read data/so100_pick_train.tsfile with the Apache TsFile Java or Python SDK.
# Table name: so100_pick_train