Add TsFile (converted from DistantSky/cable_insertion_2)

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+data/cable_insertion_2.tsfile filter=lfs diff=lfs merge=lfs -text

README.md

@@ -1,3 +1,90 @@
 ---
 license: apache-2.0
+task_categories:
+- robotics
+tags:
+- tsfile
+- timeseries
+- time-series
+- LeRobot
+- robotics
+- cable-insertion
+- imitation-learning
+- manipulation
+pretty_name: Cable Insertion 2 (TsFile)
+size_categories:
+- 10K<n<100K
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: data/cable_insertion_2.tsfile
 ---
+
+# Cable Insertion 2 (TsFile)
+
+Apache TsFile version of [`DistantSky/cable_insertion_2`](https://huggingface.co/datasets/DistantSky/cable_insertion_2).
+
+## Overview
+
+Real-robot teleoperation demonstrations of a **cable-insertion** task — *"insert
+the cable into the holder"* — recorded on a `hessian` robot. Each episode is one
+demonstration with per-frame robot state, velocity, and both processed and raw
+actions, captured at 60 fps.
+
+- **Robot:** `hessian` (14-DOF action / state space).
+- **Episodes:** 72 demonstrations of one task ("insert the cable into the holder").
+- **Frames:** 34,350 timesteps total, recorded at **60 fps**.
+- **Source format:** LeRobot v2.1.
+
+## Schema (TsFile structure)
+
+All 72 episodes are stored in a single `.tsfile` using the TsFile table model.
+
+- **Time** (INT64, milliseconds) — per-frame timestamp, restarts at 0 for each
+  episode (`round(timestamp * 1000)`; ~17 ms apart at 60 fps).
+- **episode_index** (TAG) — demonstration id (0–71). Query a single episode with
+  `WHERE episode_index=0`.
+- **task_index** (TAG) — task id (always `0`; the dataset has one task).
+- **frame_index** (FIELD, INT64) — frame number within the episode.
+- **sample_index** (FIELD, INT64) — the source global `index` column.
+- **prompt** (FIELD, STRING) — the language instruction
+  ("insert the cable into the holder"), repeated per frame.
+- **source_action_time_s** (FIELD, FLOAT) — source action timestamp in seconds.
+- **source_raw_action_time_s** (FIELD, FLOAT) — source raw-action timestamp in seconds.
+- **observation_state_0 .. observation_state_13** (FIELD, FLOAT) — 14-D robot state.
+- **observation_velocity_0 .. observation_velocity_13** (FIELD, FLOAT) — 14-D robot velocity.
+- **action_0 .. action_13** (FIELD, FLOAT) — 14-D commanded action.
+- **raw_action_0 .. raw_action_13** (FIELD, FLOAT) — 14-D raw action.
+
+The source `timestamp` column is dropped because it equals `Time / 1000`.
+Camera videos and raw `.npz` episodes are not included in this repository (see below).
+
+## Usage
+
+Read the `.tsfile` file with the Apache TsFile Java or Python SDK.
+
+```python
+# pip install tsfile
+from tsfile import TsFileReader
+reader = TsFileReader("data/cable_insertion_2.tsfile")
+# query one episode: WHERE episode_index=0
+```
+
+## Not included
+
+- **Camera videos.** The original dataset records three camera streams per episode
+  (`observation.images.video_left`, `observation.images.video_overhead`,
+  `observation.images.video_right`). These MP4 videos are **not** included here —
+  they are not time-series data. Retrieve them from the original dataset under
+  [`DistantSky/cable_insertion_2/videos`](https://huggingface.co/datasets/DistantSky/cable_insertion_2/tree/main/videos).
+- **Raw episodes.** The original `raw_episodes/*.npz` files (raw unprocessed
+  episodes) are **not** included; they are not tabular time-series data. See the
+  original dataset for them.
+
+## Source & license
+
+- Original dataset: https://huggingface.co/datasets/DistantSky/cable_insertion_2
+- Author / publisher: DistantSky
+- Created with: [LeRobot](https://github.com/huggingface/lerobot) (codebase v2.1)
+- License: Apache-2.0 (inherited from the original dataset)

data/cable_insertion_2.tsfile

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34f16e699878de83c23d51139f654c777cfd3efb44bd0b4cd2548b9040a87752
+size 5453201

meta/episodes.jsonl

@@ -0,0 +1,72 @@
+{"episode_index": 0, "tasks": ["insert the cable into the holder"], "length": 479}
+{"episode_index": 1, "tasks": ["insert the cable into the holder"], "length": 479}
+{"episode_index": 2, "tasks": ["insert the cable into the holder"], "length": 478}
+{"episode_index": 3, "tasks": ["insert the cable into the holder"], "length": 478}
+{"episode_index": 4, "tasks": ["insert the cable into the holder"], "length": 476}
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+{"episode_index": 71, "tasks": ["insert the cable into the holder"], "length": 477}

meta/info.json

@@ -0,0 +1,639 @@
+{
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+  "robot_type": "hessian",
+  "total_episodes": 72,
+  "total_frames": 34350,
+  "total_tasks": 1,
+  "total_videos": 216,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 60,
+  "splits": {
+    "train": "0:72"
+  },
+  "data_path": "data/cable_insertion_2.tsfile",
+  "features": {
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+      "unit": "ms"
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+      "shape": [
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+    }
+  },
+  "video_path_original": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "tsfile_conversion": {
+    "source_dataset": "DistantSky/cable_insertion_2",
+    "source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "converted_data_path": "data/cable_insertion_2.tsfile",
+    "table_name": "cable_insertion_2",
+    "granularity": "merged",
+    "time_precision": "ms",
+    "time_mapping": {
+      "source": "auto",
+      "fps": 30,
+      "unit": "milliseconds"
+    },
+    "tag_columns": [
+      "episode_index",
+      "task_index"
+    ],
+    "row_count": 34350,
+    "feature_source": "features describe the converted TsFile schema",
+    "flattened_features": {
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+        "observation_state_1",
+        "observation_state_2",
+        "observation_state_3",
+        "observation_state_4",
+        "observation_state_5",
+        "observation_state_6",
+        "observation_state_7",
+        "observation_state_8",
+        "observation_state_9",
+        "observation_state_10",
+        "observation_state_11",
+        "observation_state_12",
+        "observation_state_13"
+      ],
+      "observation.velocity": [
+        "observation_velocity_0",
+        "observation_velocity_1",
+        "observation_velocity_2",
+        "observation_velocity_3",
+        "observation_velocity_4",
+        "observation_velocity_5",
+        "observation_velocity_6",
+        "observation_velocity_7",
+        "observation_velocity_8",
+        "observation_velocity_9",
+        "observation_velocity_10",
+        "observation_velocity_11",
+        "observation_velocity_12",
+        "observation_velocity_13"
+      ],
+      "action": [
+        "action_0",
+        "action_1",
+        "action_2",
+        "action_3",
+        "action_4",
+        "action_5",
+        "action_6",
+        "action_7",
+        "action_8",
+        "action_9",
+        "action_10",
+        "action_11",
+        "action_12",
+        "action_13"
+      ],
+      "raw_action": [
+        "raw_action_0",
+        "raw_action_1",
+        "raw_action_2",
+        "raw_action_3",
+        "raw_action_4",
+        "raw_action_5",
+        "raw_action_6",
+        "raw_action_7",
+        "raw_action_8",
+        "raw_action_9",
+        "raw_action_10",
+        "raw_action_11",
+        "raw_action_12",
+        "raw_action_13"
+      ]
+    },
+    "renamed_features": {
+      "source.action_time_s": "source_action_time_s",
+      "source.raw_action_time_s": "source_raw_action_time_s",
+      "index": "sample_index"
+    },
+    "dropped_features": [
+      "timestamp"
+    ],
+    "omitted_features": [
+      "observation.images.video_left",
+      "observation.images.video_overhead",
+      "observation.images.video_right"
+    ],
+    "original_video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "original_video_features": {
+      "observation.images.video_left": {
+        "dtype": "video",
+        "shape": [
+          224,
+          224,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channel"
+        ],
+        "info": {
+          "video.height": 224,
+          "video.width": 224,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "video.fps": 60,
+          "video.channels": 3,
+          "has_audio": false
+        }
+      },
+      "observation.images.video_overhead": {
+        "dtype": "video",
+        "shape": [
+          224,
+          224,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channel"
+        ],
+        "info": {
+          "video.height": 224,
+          "video.width": 224,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "video.fps": 60,
+          "video.channels": 3,
+          "has_audio": false
+        }
+      },
+      "observation.images.video_right": {
+        "dtype": "video",
+        "shape": [
+          224,
+          224,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channel"
+        ],
+        "info": {
+          "video.height": 224,
+          "video.width": 224,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "video.fps": 60,
+          "video.channels": 3,
+          "has_audio": false
+        }
+      }
+    },
+    "original_video_source": "https://huggingface.co/datasets/DistantSky/cable_insertion_2/tree/main/videos",
+    "video_policy": "Videos are not uploaded to this repository; use the original HuggingFace dataset videos."
+  }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "insert the cable into the holder"}