cable_insertion_3 (TsFile)

Apache TsFile version of DistantSky/cable_insertion_3.

Overview

This dataset is a LeRobot v2.1 dataset of a Hessian arm performing cable insertion at 60 fps, with per-episode prompt text.

• Robot: Hessian (hessian)
• Scale: 66 episodes, 19,896 frames, 60 fps
• Split: train
• Cameras (not uploaded): video_left, video_overhead, video_right

Schema (TsFile structure)

The TsFile table is named cable_insertion_3.

Role	Columns
Time	Time, INT64 milliseconds
TAG	episode_index, task_index
FIELD	frame_index, sample_index
FIELD	observation_state_0 … observation_state_13, FLOAT
FIELD	observation_velocity_0 … observation_velocity_13, FLOAT
FIELD	action_0 … action_13, FLOAT
FIELD	source_action_time_s
FIELD	prompt

Vector columns are flattened into scalar FLOAT measurements (single precision). The source index column is retained as sample_index.

Conversion notes

• Time = round(timestamp * 1000) with millisecond precision; time restarts inside each episode, while episode_index and task_index identify the TsFile device.
• The original timestamp field is omitted because it is exactly represented by Time / 1000.
• Camera video streams are NOT included in this repository; they remain in the source videos tree.
• meta/ is mirrored from the source. Aside from the redundant timestamp column and the excluded videos, no source rows or numeric fields are dropped.

Read example

from tsfile import TsFileReader

with TsFileReader("data/cable_insertion_3.tsfile") as reader:
    print(reader.get_all_table_schemas()["cable_insertion_3"])

Source & license

• Original dataset: https://huggingface.co/datasets/DistantSky/cable_insertion_3
• Author: DistantSky
• License: apache-2.0