| --- |
| 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). |
| |
