---
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).