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Datasets:
VGalaxies666
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long_cable_insertion

Tasks:
Robotics
Modalities:
Time-series
Size:
10K<n<100K
Tags:
tsfile
timeseries
time-series
lerobot
robotics
real
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metadata 
license: apache-2.0
task_categories:
  - robotics
tags:
  - tsfile
  - timeseries
  - time-series
  - lerobot
  - robotics
  - real
  - hessian
  - manipulation
pretty_name: Long Cable Insertion (LeRobot) — TsFile
size_categories:
  - 10K<n<100K

Long Cable Insertion (TsFile)

Apache TsFile version of DistantSky/long_cable_insertion.

Overview

A real-robot LeRobot (v2.1) teleoperation dataset of a long-cable insertion task on a 14-DoF dual-arm "hessian" robot, recorded at 60 fps. Every episode is a trajectory for the single task "insert the cable into the holders", with synchronized joint state, joint velocity, and action commands, plus per-frame subgoal metadata.

  • Robot: hessian, dual-arm, 14 joints.
  • Episodes: 114 (episode_index 0–113).
  • Frames: 50,219 time-series rows.
  • Task: 1 — insert the cable into the holders.
  • Sampling rate: 60 fps (from meta/info.json).

Schema (TsFile structure)

All 114 episodes are stored in a single TsFile table. episode_index, task_index and prompt are TAG columns (the TsFile device dimension); prompt is constant within an episode, so it is stored once as a TAG rather than repeated per frame. Select one episode with WHERE episode_index=0.

  • Time (INT64, milliseconds) — round(timestamp * 1000); restarts at 0 for each episode, stepping by ~17 ms (60 fps).
  • episode_index (TAG) — source episode id, 0–113.
  • task_index (TAG) — source task id (0).
  • prompt (TAG, STRING) — the task instruction text.
  • frame_index (FIELD, INT64) — frame number within the episode.
  • sample_index (FIELD, INT64) — the source global index column, renamed.
  • observation_state_0 … _13 (FIELD, FLOAT) — joint state, flattened from the 14-element observation.state vector.
  • observation_velocity_0 … _13 (FIELD, FLOAT) — joint velocity, flattened from observation.velocity.
  • action_0 … _13 (FIELD, FLOAT) — joint action command, flattened from action.
  • source_action_time_s (FIELD, FLOAT) — source source.action_time_s.
  • metadata_failure, metadata_subgoal_switch (FIELD, BOOLEAN) — per-frame metadata flags.
  • metadata_subgoal_order_0 … _2 (FIELD, FLOAT) — the source metadata.subgoal_order int64[3] indices, stored as FLOAT like the other flattened vectors.
  • metadata_subgoal_order_string (FIELD, STRING) — string form of the subgoal order.

The source timestamp column is dropped because it equals Time / 1000 seconds. No other columns or rows are dropped.

Videos & raw dumps

  • The three camera video streams (observation.images.video_left, observation.images.video_overhead, observation.images.video_right) are NOT included in this repository. Obtain them from the original dataset: https://huggingface.co/datasets/DistantSky/long_cable_insertion (the videos/ directory).
  • The original dataset also ships raw_episodes/*.npz (raw NumPy dumps that duplicate the per-episode Parquet frame data). These are NOT included here; the Parquet frame data is the canonical time series.

Usage

Read the .tsfile file with the Apache TsFile Java or Python SDK.

Source & license