codebase_version string | robot_type string | total_episodes int64 | total_frames int64 | total_tasks int64 | total_videos int64 | total_chunks int64 | chunks_size int64 | fps int64 | splits dict | data_path string | features dict | video_path_original string | tsfile_conversion dict |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
v2.1 | reachy2 | 3 | 14,983 | 1 | 50 | 1 | 1,000 | 30 | {
"train": "0:50"
} | data/v21_apple_storage.tsfile | {
"Time": {
"dtype": "int64",
"shape": [
1
],
"tsfile_role": "TIME",
"unit": "ms"
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"tsfile_role": "TAG"
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"tsfile_role": "TAG"
},
... | videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4 | {
"source_dataset": "rerun/v21_apple_storage",
"source_data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"converted_data_path": "data/v21_apple_storage.tsfile",
"table_name": "v21_apple_storage",
"granularity": "merged",
"time_precision": "ms",
"time_mapping": {
"source... |
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.jsonrecordstotal_frames: 14983(a value carried over from the full upstream dataset). The actual frame data in this sample is 899 rows, matchingmeta/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
indexcolumn, renamed. - observation_state_0 … _18 (FIELD, FLOAT) — robot joint state, flattened from the 19-element
observation.statevector. - action_0 … _18 (FIELD, FLOAT) — joint action command, flattened from the 19-element
actionvector.
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
- License: Apache-2.0 (as declared by the original dataset).
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