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VGalaxies666
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v21_apple_storage

Tasks:
Robotics
Modalities:
Time-series
Size:
n<1K
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tsfile
timeseries
time-series
lerobot
robotics
reachy2
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metadata 
license: apache-2.0
task_categories:
  - robotics
tags:
  - tsfile
  - timeseries
  - time-series
  - lerobot
  - robotics
  - reachy2
  - manipulation
pretty_name: Apple Storage (v2.1, Reachy 2) — TsFile
size_categories:
  - n<1K

Apple Storage v2.1 (TsFile)

Apache TsFile version of rerun/v21_apple_storage.

Overview

A small LeRobot (v2.1) sample dataset of an apple-storage manipulation task on a Reachy 2 humanoid robot, recorded at 30 fps. It contains the first three episodes of the pollen-robotics/apple_storage dataset and is used to test the LeRobot dataloader in Rerun. Each episode is a trajectory for the single task "place the apple in the plate", with synchronized joint state and action commands.

  • Robot: reachy2, 19-DoF.
  • Episodes: 3 (episode_index 0–2; lengths 299 / 300 / 300).
  • Frames: 899 time-series rows.
  • Task: 1 — place the apple in the plate.
  • Sampling rate: 30 fps (from meta/info.json).

Note: the source meta/info.json records total_frames: 14983 (a value carried over from the full upstream dataset). The actual frame data in this sample is 899 rows, matching meta/episodes.jsonl (299 + 300 + 300).

Schema (TsFile structure)

All 3 episodes are stored in a single TsFile table; episode_index and task_index are TAG columns (the TsFile device dimension), so one episode is selected with WHERE episode_index=0.

  • Time (INT64, milliseconds) — round(timestamp * 1000); restarts at 0 for each episode, stepping by ~33 ms (30 fps).
  • episode_index (TAG) — source episode id, 0–2.
  • task_index (TAG) — source task id (0).
  • frame_index (FIELD, INT64) — frame number within the episode.
  • sample_index (FIELD, INT64) — the source global index column, renamed.
  • observation_state_0 … _18 (FIELD, FLOAT) — robot joint state, flattened from the 19-element observation.state vector.
  • action_0 … _18 (FIELD, FLOAT) — joint action command, flattened from the 19-element action vector.

The source timestamp column is dropped because it equals Time / 1000 seconds. No other columns or rows are dropped.

Videos

The camera video stream of the original dataset (observation.image) is NOT included in this repository. Obtain it from the original dataset: https://huggingface.co/datasets/rerun/v21_apple_storage (the videos/ directory).

Usage

Read the .tsfile file with the Apache TsFile Java or Python SDK.

Source & license