---
license: apache-2.0
authors:
- "Beegbrain"
task_categories:
- robotics
tags:
- tsfile
- timeseries
- tabular
- robotics
- lerobot
- so100
- manipulation
modality:
- timeseries
- tabular
pretty_name: "SO100 Put Cube in Cup TsFile"
configs:
- config_name: default
  data_files:
  - split: train
    path: data/beegbrain_so100_put_cube_cup.tsfile
size_categories:
- 10K<n<100K
---

# SO100 Put Cube in Cup TsFile

This Apache TsFile edition comes from
[`Beegbrain/so100_put_cube_cup`](https://huggingface.co/datasets/Beegbrain/so100_put_cube_cup), a LeRobot v2.0 SO100
robot-manipulation dataset. It contains numeric robot trajectories, frame
timing, and episode/task tags. Camera videos remain in the original repository.

## Source Dataset and Attribution

- Original dataset: [`Beegbrain/so100_put_cube_cup`](https://huggingface.co/datasets/Beegbrain/so100_put_cube_cup)
- Original author/uploader: [Beegbrain](https://huggingface.co/Beegbrain)
- Authorship evidence: the repository shows Beegbrain as its owner, uploader,
  and sole contributor. The source card gives no separate author list.
- License: Apache-2.0
- Task: "Put the red cube in the red cup."
- Robot: `so100`; LeRobot version: `v2.0`
- Split: `train`; sampling rate: 15 fps
- Scale: 50 episodes, 10,778 frames, 1 task
- Source layout: 50 Parquet shards at
  `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`

## TsFile Data

- Path: `data/beegbrain_so100_put_cube_cup.tsfile` (293,817 bytes)
- Table: `beegbrain_so100_put_cube_cup`
- Rows: 10,778; episodes/devices: 50; tasks: 1
- Time precision: milliseconds
- TsFile/source-Parquet size ratio: 0.371
- Source metadata remains under `meta/`, with `meta/info.json` describing the
  TsFile layout.

## Schema

`Time = round(timestamp * 1000)` milliseconds. Time restarts at zero in every
episode. Source `timestamp` is omitted afterward because it equals
`Time / 1000` seconds.

TAG columns, stored through the TsFile table/device mechanism:

- `episode_index`
- `task_index`

Scalar FIELD columns:

- `frame_index`
- `sample_index` (renamed from source `index`)

Flattened FLOAT FIELD groups:

- `action[6]` -> `action_0` ... `action_5`
- `observation.state[6]` -> `observation_state_0` ... `observation_state_5`

The six dimensions are `main_shoulder_pan`, `main_shoulder_lift`,
`main_elbow_flex`, `main_wrist_flex`, `main_wrist_roll`, and `main_gripper`.
Dots in source vector names become underscores. No numeric row, episode, task,
or vector dimension is dropped.

## Encodings and Compression

- FLOAT/DOUBLE: GORILLA + LZ4
- INT32/INT64: TS_2DIFF + LZ4
- Time: TS_2DIFF + LZ4
- BOOLEAN: RLE + LZ4 (the source has no BOOLEAN field)
- TAG: TsFile table/device storage

The physical table schema, Time codec, every FIELD codec, and all 10,778 rows
were read back with the Apache TsFile Java API.

## Videos

Videos are not included in this TsFile repository. The source has 100
frame-aligned AV1 MP4 files (155,224,490 bytes, about 148.0 MiB), 640x480,
15 fps, no audio, in two streams:

- [`observation.images.realsense_side`](https://huggingface.co/datasets/Beegbrain/so100_put_cube_cup/tree/main/videos/chunk-000/observation.images.realsense_side)
- [`observation.images.realsense_top`](https://huggingface.co/datasets/Beegbrain/so100_put_cube_cup/tree/main/videos/chunk-000/observation.images.realsense_top)

Each stream uses
`videos/chunk-000/{video_key}/episode_{episode_index:06d}.mp4`.
`episode_index`, `frame_index`, and `meta/episodes.jsonl` preserve alignment.

## Usage

```python
from tsfile import TsFileReader

reader = TsFileReader("data/beegbrain_so100_put_cube_cup.tsfile")
with reader.query_table(
    "beegbrain_so100_put_cube_cup",
    ["episode_index", "task_index", "frame_index", "sample_index",
     "action_0", "observation_state_0"],
    batch_size=65536,
) as result:
    print(result.read_arrow_batch().to_pandas().head())
reader.close()
```

## Source Notes

The source card states that the dataset was created with
[LeRobot](https://github.com/huggingface/lerobot). It does not provide a paper
or completed BibTeX citation.