codebase_version string | robot_type string | total_episodes int64 | total_frames int64 | total_tasks int64 | total_videos int64 | total_chunks int64 | chunks_size int64 | fps int64 | splits dict | data_path string | features dict | video_path_original string | tsfile_conversion dict |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
v2.1 | hessian | 114 | 50,219 | 1 | 342 | 1 | 1,000 | 60 | {
"train": "0:114"
} | data/long_cable_insertion.tsfile | {
"Time": {
"dtype": "int64",
"shape": [
1
],
"tsfile_role": "TIME",
"unit": "ms"
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"tsfile_role": "TAG"
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"tsfile_role": "TAG"
},
... | videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 | {
"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":... |
Long Cable Insertion (TsFile)
Apache TsFile version of 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
indexcolumn, renamed. - observation_state_0 … _13 (FIELD, FLOAT) — joint state, flattened from the 14-element
observation.statevector. - 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_orderint64[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 (thevideos/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
- License: Apache-2.0 (as declared by the original dataset).
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