---
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)