codebase_version string | robot_type string | total_episodes int64 | total_frames int64 | total_tasks int64 | total_videos int64 | total_chunks int64 | chunks_size int64 | fps int64 | splits dict | data_path string | features dict | video_path_original string | tsfile_conversion dict |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
v2.1 | so100 | 252 | 98,999 | 1 | 504 | 1 | 1,000 | 30 | {
"train": "0:252"
} | data/so100_base_env.tsfile | {
"Time": {
"dtype": "int64",
"shape": [
1
],
"tsfile_role": "TIME",
"unit": "ms"
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"tsfile_role": "TAG"
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"tsfile_role": "TAG"
},
... | videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 | {
"source_dataset": "shreyasgite/so100_base_env",
"source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"converted_data_path": "data/so100_base_env.tsfile",
"table_name": "so100_base_env",
"granularity": "merged",
"time_precision": "ms",
"time_mapping": {
"source": ... |
SO-100 Base Environment (TsFile)
Apache TsFile version of 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
trainsplit). - 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
indexcolumn). - 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/.
Source & license
- Original dataset: https://huggingface.co/datasets/shreyasgite/so100_base_env
- Author / publisher: shreyasgite
- License: apache-2.0
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