---
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
```