Datasets:

THULab
/

red_green_apple_sort_11_25

A LeRobot teleoperation dataset recorded on an OpenMANIPULATOR-X (omx_f) arm performing a single sorting task: "red green apple sort". Each episode captures the synchronized robot proprioception (joint states) and the commanded action at 30 Hz while the operator demonstrates sorting red and green apples.

Robot: OpenMANIPULATOR-X (6-DOF: joint1, joint2, joint3, joint4, joint5, gripper_joint_1).
Scale: 307 episodes / 247,406 frames / 1 task.
Sampling rate: 30 fps.
LeRobot codebase version: v2.1.

Schema (TsFile structure)

Time (INT64, milliseconds) — per-frame timestamp, round(timestamp * 1000), restarts at 0 for each episode (≈33 ms between frames at 30 fps).
episode_index (TAG) — episode identifier (the device dimension). Query a single episode with WHERE episode_index=0.
task_index (TAG) — task identifier; this dataset has a single task (0).
frame_index (FIELD, INT64) — frame counter within the episode.
sample_index (FIELD, INT64) — the source index global row counter, renamed.
observation_state_0 … observation_state_5 (FIELD, FLOAT) — measured joint positions (joint1, joint2, joint3, joint4, joint5, gripper_joint_1).
action_0 … action_5 (FIELD, FLOAT) — commanded target for the same 6 joints.

The 6-element observation.state and action vectors are flattened to one FLOAT field per joint, in the source joint order. The source timestamp column is dropped because it equals Time / 1000 seconds.

Camera video streams (observation.images.top_cam, observation.images.wrist_cam) are not included in this repository; see the original dataset's videos/ directory for them: IMsubin/red_green_apple_sort_11_25.

Usage

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

Source & license

Original dataset: https://huggingface.co/datasets/IMsubin/red_green_apple_sort_11_25
Author / publisher: IMsubin
Paper: none
License: not declared by the original dataset; please defer to the original.

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