so100_lego_2cam

This dataset is a TsFile conversion of the LeRobot dataset paszea/so100_lego_2cam. The source dataset was created using LeRobot and contains an SO-100 robot task with two camera streams.

Modalities: Time-series.

Source Dataset

• Original dataset: paszea/so100_lego_2cam
• License: not specified in the source dataset card
• Codebase version: v2.1
• Robot type: so100
• Split: train 0:40
• Scale: 40 episodes, 88,148 frames, 1 task, 1 chunk
• Sampling rate: 30 fps
• Source frame layout: data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
• Source video layout: videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4

Task text from meta/tasks.jsonl:

Grap lego blocks and put them in the plate.

Converted Data

• TsFile path: data/so100_lego_2cam.tsfile
• Table name: so100_lego_2cam
• Rows: 88,148
• TAG columns: episode_index, task_index
• Time precision: milliseconds
• Time mapping: Time = round(timestamp * 1000)
• Mirrored metadata: meta/info.json, meta/tasks.jsonl, meta/episodes.jsonl, meta/episodes_stats.jsonl

meta/info.json has been updated so that data_path points to data/so100_lego_2cam.tsfile and includes a tsfile_conversion object documenting the source path, converted path, TAG columns, row count, flattened features, and video policy.

Schema

Time is the TsFile timestamp column. The original episode_index and task_index columns are stored as TAG columns.

Scalar FIELD columns:

• frame_index
• sample_index converted from source index

Flattened FLOAT FIELD groups:

• action_0 through action_5 from source action[6]
• observation_state_0 through observation_state_5 from source observation.state[6]

Conversion Notes

• The source timestamp column is used only to synthesize Time and is not retained as a separate FIELD because it is redundant with Time / 1000 seconds.
• Source index is renamed to sample_index.
• No numeric time-series rows are intentionally dropped.
• Videos are not included in this converted repository. The original dataset contains 80 H.264 MP4 videos across two video features: observation.images.top and observation.images.front.
• Source videos remain available in the original dataset under videos/.

Usage

from tsfile import TsFileReader

reader = TsFileReader("data/so100_lego_2cam.tsfile")
tables = reader.get_all_table_schemas()
print(tables.keys())

Read the .tsfile file with the Apache TsFile SDK or compatible tooling.