Datasets:

THULab
/

so101-close-lower-drawer

A single-arm robot manipulation dataset recorded with an SO-101 follower arm (so101_follower, 6 DOF). The task in every episode is to close the lower drawer. It was created with LeRobot (codebase version v2.1).

Scale: 59 episodes, 25,013 frames total.
Sampling rate: 30 fps.
Robot: so101_follower — single SO-101 arm, 6 DOF (5 joints + gripper).
Task: a single task, task_index = 0 — "Close the lower drawer".

Schema (TsFile structure)

Time (INT64, milliseconds) — frame timestamp, round(timestamp * 1000). It restarts from 0 at the beginning of each episode (~33 ms between frames at 30 fps).
episode_index (TAG) — which of the 59 episodes the row belongs to.
task_index (TAG) — the task identifier (always 0 here). Both tags form the TsFile device dimension; query one episode with WHERE episode_index=0.
frame_index (FIELD, INT64) — frame number within the episode.
sample_index (FIELD, INT64) — the original global index column.
action_0 .. action_5 (FIELD, FLOAT) — the commanded target positions, 6 values: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper.
observation_state_0 .. observation_state_5 (FIELD, FLOAT) — the measured joint/gripper positions, same 6-element layout as action.

The source timestamp column is dropped (it equals Time ÷ 1000 seconds). Vector columns are flattened single-precision FLOAT (. → _, element index appended, the observation. prefix stripped).

Usage

Read the .tsfile files with the Apache TsFile Java or Python SDK.

Notes

Camera video streams are not included in this repository. The original dataset has 2 camera views (observation.images.top 1280×720, observation.images.ego 640×480) under its videos/ directory — see the original dataset for them.
meta/ from the source is mirrored alongside the data. Aside from the redundant timestamp column noted above, no columns or rows are dropped.

Source & license

Original dataset: https://huggingface.co/datasets/aiden-li/so101-close-lower-drawer
Author / publisher: aiden-li
Paper: not declared by the original dataset.
License: apache-2.0 (from the original dataset card).

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