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21c3d2c | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 | # Converted Robotics Dataset
This dataset stores authoritative timestamps and metadata in Parquet tables and
stores frame payloads in video containers. Video presentation timestamps are not
used for synchronization; use `tables/frames.parquet` and `video_frame_idx`.
Core loading rule:
```text
decoded video frame k == frames.parquet row where video_frame_idx == k
```
Useful files:
- `dataset_manifest.parquet`: converted sessions in this dataset root
- `sessions/<session_id>/metadata/streams.parquet`: stream IDs and modalities
- `sessions/<session_id>/metadata/videos.parquet`: stream-to-video mapping
- `sessions/<session_id>/tables/frames.parquet`: authoritative timestamps,
frame indices, clock domains, and hashes
- `sessions/<session_id>/tables/robot_states.parquet`: robot states, if present
- `sessions/<session_id>/metadata/calibration.json`: calibration and transform
conventions
- `sessions/<session_id>/metadata/validation_report.json`: validation status
Downstream reading requires Python, NumPy, PyArrow, and PyAV/FFmpeg-compatible
decoders. Camera SDKs are conversion-only dependencies.
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