| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - real |
| - hdf5 |
| - hessian |
| - robotics |
| - cable-insertion |
| - imitation-learning |
| - manipulation |
| - tsfile |
| - modality:timeseries |
| - timeseries |
| - format:tsfile |
| 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 |
| modality: |
| - tabular |
| - text |
| - timeseries |
| --- |
| |
| # 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) |
| |
