---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- so100
- push
- cup
- tsfile
- format:tsfile
- time-series
modality:
- timeseries
configs:
- config_name: default
  data_files:
  - split: train
    path: data/push_cup_target.tsfile
---

# push_cup_target (TsFile)

Apache TsFile version of [`lirislab/push_cup_target`](https://huggingface.co/datasets/lirislab/push_cup_target).

## Overview

This dataset is a LeRobot v2.1 dataset of an SO-100 arm pushing a cup toward a target.

- **Robot:** SO-100 (so100)
- **Scale:** 30 episodes, 8,528 frames, 30 fps
- **Split:** train
- **Cameras (not uploaded):** `realsense_top` and `realsense_side`

## Schema (TsFile structure)

The TsFile table is named `push_cup_target`.

| Role | Columns |
| --- | --- |
| Time | `Time`, INT64 milliseconds |
| TAG | `episode_index`, `task_index` |
| FIELD | `frame_index`, `sample_index` |
| FIELD | action_0 … action_5 | FLOAT (6-DOF action) |
| FIELD | observation_state_0 … observation_state_5 | FLOAT (6-DOF state) |

Vector columns are flattened into scalar FLOAT measurements (single precision). The source `index` column is retained as `sample_index`.

## Conversion notes

- `Time = round(timestamp * 1000)` with millisecond precision; time restarts inside each episode, while `episode_index` and `task_index` identify the TsFile device.
- The original `timestamp` field is omitted because it is exactly represented by `Time / 1000`.
- 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).
- `meta/` is mirrored from the source. Aside from the redundant `timestamp` column and the excluded videos, no source rows or numeric fields are dropped.

## Read example

```python
from tsfile import TsFileReader

with TsFileReader("data/push_cup_target.tsfile") as reader:
    print(reader.get_all_table_schemas()["push_cup_target"])
```

## Source & license

- Original dataset: https://huggingface.co/datasets/lirislab/push_cup_target
- Author: lirislab
- License: apache-2.0