---
pretty_name: SO101 Sim Pick Place V1 (TsFile)
tags:
- robotics
- lerobot
- so101
- tsfile
- modality:timeseries
- timeseries
- format:tsfile
modality:
- tabular
- timeseries
configs:
- config_name: default
  data_files:
  - split: train
    path: data/so101_sim_pick_place_v1.tsfile
size_categories:
- 10K<n<100K
---

# SO101 Sim Pick Place V1 (TsFile)

This dataset is an Apache TsFile conversion of the Hugging Face dataset
[`BrandonAL/so101_sim_pick_place_v1`](https://huggingface.co/datasets/BrandonAL/so101_sim_pick_place_v1).

Modalities: Time-series. The converted repository contains numeric robot
state/action time-series and source metadata. Camera videos remain in the
original Hugging Face dataset.

## Source Dataset

- Source dataset: [`BrandonAL/so101_sim_pick_place_v1`](https://huggingface.co/datasets/BrandonAL/so101_sim_pick_place_v1)
- Source format: LeRobot v3.0
- Robot type: `so101`
- Split: `train` (`0:51`)
- Episodes: 51
- Frames: 18,000
- Tasks: 1
- Sampling rate: 30 fps
- Source numeric data path: `data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet`
- Source video path: `videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4`

## Converted Data

- TsFile path: `data/so101_sim_pick_place_v1.tsfile`
- Table name: `so101_sim_pick_place_v1`
- Rows: 18,000
- TsFile files: 1
- Time precision: milliseconds
- TAG columns: `episode_index`, `task_index`

## Schema

`Time` is the TsFile time column.

TAG columns:

- `episode_index`
- `task_index`

FIELD columns:

- `frame_index`
- `sample_index`
- `observation_state_0` through `observation_state_5`
- `action_0` through `action_5`

The six `observation_state_*` and `action_*` values correspond to the SO-101
joint/gripper dimensions listed by the source metadata: `shoulder_pan`,
`shoulder_lift`, `elbow_flex`, `wrist_flex`, `wrist_roll`, and `gripper`.

## Conversion Notes

- `Time = round(timestamp * 1000)` in milliseconds and restarts per episode.
- The source `timestamp` column is dropped because it is redundant with
  `Time / 1000`.
- The source `index` column is renamed to `sample_index`.
- `observation.state` is flattened to `observation_state_0..5`.
- `action` is flattened to `action_0..5`.
- Flattened vector values are stored as single-precision FLOAT fields.
- Video features `observation.images.top` and `observation.images.wrist` are not
  uploaded here. Use the original dataset for visual data:
  https://huggingface.co/datasets/BrandonAL/so101_sim_pick_place_v1/tree/main/videos
- Source `meta/` files are mirrored, with `meta/info.json` updated to describe
  the converted TsFile artifact and video policy.

## Read Example

```python
# Read data/so101_sim_pick_place_v1.tsfile with the Apache TsFile SDK.
# Query one episode by filtering the TAG column, for example:
#   WHERE episode_index = 0
```