Datasets:

THULab
/

v30_apple_storage

A LeRobot (v3.0) robot-manipulation dataset collected on a reachy2 robot. Each episode records the robot placing an apple in a plate — the commanded action and the measured state, sampled frame by frame.

Robot: reachy2 (19-dim state / action).
Task: "place the apple in the plate" (1 task).
Scale: 3 episodes (episode_index 0/1/2), 899 frames total (299 + 300 + 300), single train split.
Sampling rate: 30 fps.
Videos: one camera stream (observation.image) in the original dataset; not included here (see below).

Note: the source meta/info.json reports total_frames 14983 and splits "0:50", which do not match the actually published data — the data parquet and the meta/episodes table both contain only 3 episodes / 899 frames. This TsFile reflects the actual published data.

Schema (TsFile structure)

Time (INT64, milliseconds) — round(timestamp * 1000), restarts per episode.
episode_index (TAG) — episode device dimension; query one episode with WHERE episode_index=0.
task_index (TAG) — task device dimension (single task here).
frame_index (FIELD, INT64) — original per-episode frame counter.
sample_index (FIELD, INT64) — source index column, renamed.
observation_state_0..observation_state_18 (FIELD, FLOAT) — measured 19-dim state.
action_0..action_18 (FIELD, FLOAT) — commanded 19-dim action.

Vector columns are flattened by preserving the source name (. → _) and appending the element index. The source timestamp column is dropped because it equals Time ÷ 1000 seconds.

Videos

The camera video stream is not included in this TsFile repository. It remains in the original dataset under videos/.

Usage

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

Source & license

Original dataset: https://huggingface.co/datasets/rerun/v30_apple_storage
Author / publisher: rerun
Created with: LeRobot (codebase v3.0)
License: apache-2.0

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