| ---
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| license: apache-2.0
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| task_categories:
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| - robotics
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| tags:
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| - LeRobot
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| - so100
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| - push
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| - cup
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| - tsfile
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| - format:tsfile
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| - time-series
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| modality:
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| - timeseries
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| configs:
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| - config_name: default
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| data_files:
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| - split: train
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| path: data/push_cup_target.tsfile
|
| ---
|
|
|
| # push_cup_target (TsFile)
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|
|
| Apache TsFile version of [`lirislab/push_cup_target`](https://huggingface.co/datasets/lirislab/push_cup_target).
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|
|
| ## Overview
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|
|
| This dataset is a LeRobot v2.1 dataset of an SO-100 arm pushing a cup toward a target.
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|
|
| - **Robot:** SO-100 (so100)
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| - **Scale:** 30 episodes, 8,528 frames, 30 fps
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| - **Split:** train
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| - **Cameras (not uploaded):** `realsense_top` and `realsense_side`
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|
|
| ## Schema (TsFile structure)
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|
|
| The TsFile table is named `push_cup_target`.
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|
|
| | Role | Columns |
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| | --- | --- |
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| | Time | `Time`, INT64 milliseconds |
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| | TAG | `episode_index`, `task_index` |
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| | FIELD | `frame_index`, `sample_index` |
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| | FIELD | action_0 … action_5 | FLOAT (6-DOF action) |
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| | FIELD | observation_state_0 … observation_state_5 | FLOAT (6-DOF state) |
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|
|
| Vector columns are flattened into scalar FLOAT measurements (single precision). The source `index` column is retained as `sample_index`.
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|
|
| ## Conversion notes
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|
|
| - `Time = round(timestamp * 1000)` with millisecond precision; time restarts inside each episode, while `episode_index` and `task_index` identify the TsFile device.
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| - The original `timestamp` field is omitted because it is exactly represented by `Time / 1000`.
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| - Camera video streams are NOT included in this repository; they remain in the [source videos tree](https://huggingface.co/datasets/lirislab/push_cup_target/tree/main/videos).
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| - `meta/` is mirrored from the source. Aside from the redundant `timestamp` column and the excluded videos, no source rows or numeric fields are dropped.
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|
|
| ## Read example
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|
|
| ```python
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| from tsfile import TsFileReader
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|
|
| with TsFileReader("data/push_cup_target.tsfile") as reader:
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| print(reader.get_all_table_schemas()["push_cup_target"])
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| ```
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|
|
| ## Source & license
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|
|
| - Original dataset: https://huggingface.co/datasets/lirislab/push_cup_target
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| - Author: lirislab
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| - License: apache-2.0
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|
|
