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license: apache-2.0
task_categories:
- robotics
tags:
- lerobot
- robotics
- reachy2
- manipulation
- tsfile
- modality:timeseries
- timeseries
- format:tsfile
pretty_name: Apple Storage (v2.1, Reachy 2) — TsFile
size_categories:
- n<1K
modality:
- tabular
- timeseries
---
# Apple Storage v2.1 (TsFile)
Apache TsFile version of [`rerun/v21_apple_storage`](https://huggingface.co/datasets/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`](https://huggingface.co/datasets/pollen-robotics/apple_storage) dataset and is used to test the LeRobot dataloader in [Rerun](https://rerun.io/). 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
- Original dataset: <https://huggingface.co/datasets/rerun/v21_apple_storage>
- Upstream (full) dataset: <https://huggingface.co/datasets/pollen-robotics/apple_storage>
- Author / publisher: rerun
- Created with: [LeRobot](https://github.com/huggingface/lerobot)
- License: Apache-2.0 (as declared by the original dataset).
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