Add TsFile (converted from DistantSky/long_cable_insertion)

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+data/long_cable_insertion.tsfile filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,67 @@
+---
+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).

data/long_cable_insertion.tsfile

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ace460f5a868fe9dc812fd44f5e9910f6115cc49a23a526fece4b8ab401703d8
+size 7560468

meta/episodes.jsonl

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meta/info.json

@@ -0,0 +1,568 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "hessian",
+  "total_episodes": 114,
+  "total_frames": 50219,
+  "total_tasks": 1,
+  "total_videos": 342,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 60,
+  "splits": {
+    "train": "0:114"
+  },
+  "data_path": "data/long_cable_insertion.tsfile",
+  "features": {
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+      "shape": [
+        1
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+      "unit": "ms"
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+      "shape": [
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+      "dtype": "float32",
+      "shape": [
+        1
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+      "tsfile_role": "FIELD"
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+      "dtype": "float32",
+      "shape": [
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+      "tsfile_role": "FIELD"
+    },
+    "metadata_subgoal_order_2": {
+      "dtype": "float32",
+      "shape": [
+        1
+      ],
+      "tsfile_role": "FIELD"
+    }
+  },
+  "video_path_original": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+  "tsfile_conversion": {
+    "source_dataset": "DistantSky/long_cable_insertion",
+    "source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "converted_data_path": "data/long_cable_insertion.tsfile",
+    "table_name": "long_cable_insertion",
+    "granularity": "merged",
+    "time_precision": "ms",
+    "time_mapping": {
+      "source": "timestamp",
+      "fps": 60,
+      "unit": "milliseconds"
+    },
+    "tag_columns": [
+      "episode_index",
+      "task_index",
+      "prompt"
+    ],
+    "row_count": 50219,
+    "feature_source": "features describe the converted TsFile schema",
+    "flattened_features": {
+      "observation.state": [
+        "observation_state_0",
+        "observation_state_1",
+        "observation_state_2",
+        "observation_state_3",
+        "observation_state_4",
+        "observation_state_5",
+        "observation_state_6",
+        "observation_state_7",
+        "observation_state_8",
+        "observation_state_9",
+        "observation_state_10",
+        "observation_state_11",
+        "observation_state_12",
+        "observation_state_13"
+      ],
+      "observation.velocity": [
+        "observation_velocity_0",
+        "observation_velocity_1",
+        "observation_velocity_2",
+        "observation_velocity_3",
+        "observation_velocity_4",
+        "observation_velocity_5",
+        "observation_velocity_6",
+        "observation_velocity_7",
+        "observation_velocity_8",
+        "observation_velocity_9",
+        "observation_velocity_10",
+        "observation_velocity_11",
+        "observation_velocity_12",
+        "observation_velocity_13"
+      ],
+      "action": [
+        "action_0",
+        "action_1",
+        "action_2",
+        "action_3",
+        "action_4",
+        "action_5",
+        "action_6",
+        "action_7",
+        "action_8",
+        "action_9",
+        "action_10",
+        "action_11",
+        "action_12",
+        "action_13"
+      ],
+      "metadata.subgoal_order": [
+        "metadata_subgoal_order_0",
+        "metadata_subgoal_order_1",
+        "metadata_subgoal_order_2"
+      ]
+    },
+    "renamed_features": {
+      "source.action_time_s": "source_action_time_s",
+      "metadata.failure": "metadata_failure",
+      "metadata.subgoal_switch": "metadata_subgoal_switch",
+      "metadata.subgoal_order_string": "metadata_subgoal_order_string",
+      "index": "sample_index"
+    },
+    "dropped_features": [
+      "timestamp"
+    ],
+    "omitted_features": [
+      "observation.images.video_left",
+      "observation.images.video_overhead",
+      "observation.images.video_right"
+    ],
+    "original_video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "original_video_features": {
+      "observation.images.video_left": {
+        "dtype": "video",
+        "shape": [
+          224,
+          224,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channel"
+        ],
+        "info": {
+          "video.height": 224,
+          "video.width": 224,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "video.fps": 60,
+          "video.channels": 3,
+          "has_audio": false
+        }
+      },
+      "observation.images.video_overhead": {
+        "dtype": "video",
+        "shape": [
+          224,
+          224,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channel"
+        ],
+        "info": {
+          "video.height": 224,
+          "video.width": 224,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "video.fps": 60,
+          "video.channels": 3,
+          "has_audio": false
+        }
+      },
+      "observation.images.video_right": {
+        "dtype": "video",
+        "shape": [
+          224,
+          224,
+          3
+        ],
+        "names": [
+          "height",
+          "width",
+          "channel"
+        ],
+        "info": {
+          "video.height": 224,
+          "video.width": 224,
+          "video.codec": "av1",
+          "video.pix_fmt": "yuv420p",
+          "video.is_depth_map": false,
+          "video.fps": 60,
+          "video.channels": 3,
+          "has_audio": false
+        }
+      }
+    },
+    "original_video_source": "https://huggingface.co/datasets/DistantSky/long_cable_insertion/tree/main/videos",
+    "video_policy": "Videos are not uploaded to this repository; use the original HuggingFace dataset videos."
+  }
+}

meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "insert the cable into the holders"}