| --- |
| 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`](https://huggingface.co/datasets/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 |
|
|
| - Original dataset: <https://huggingface.co/datasets/DistantSky/long_cable_insertion> |
| - Author / publisher: DistantSky |
| - Created with: [LeRobot](https://github.com/huggingface/lerobot) |
| - License: Apache-2.0 (as declared by the original dataset). |
|
|
