| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - so100 |
| - timeseries |
| - tsfile |
| - format:tsfile |
| modality: |
| - tabular |
| - timeseries |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/so100_pick_train.tsfile |
| size_categories: |
| - 10K<n<100K |
| --- |
| |
| # so100_pick |
| |
| Converted from [`aaronsu11/so100_pick`](https://huggingface.co/datasets/aaronsu11/so100_pick), a LeRobot SO-100 robot dataset created with [LeRobot](https://github.com/huggingface/lerobot). |
| |
| ## Source Dataset |
| |
| - Original dataset: [`aaronsu11/so100_pick`](https://huggingface.co/datasets/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`](https://huggingface.co/datasets/aaronsu11/so100_pick/tree/main/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 |
|
|
| ```python |
| # Read data/so100_pick_train.tsfile with the Apache TsFile Java or Python SDK. |
| # Table name: so100_pick_train |
| ``` |
|
|
