ANTHONY FORMAT: Robot dataset from bag_all_0

README.md

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+---
+license: mit
+task_categories:
+- robotics
+tags:
+- lerobot
+- anthony-format
+- dual-arm
+- regular-timestamps
+- bag_all_0
+size_categories:
+- 1K<n<10K
+---
+# Robot Dataset in Anthony's Exact Format
+
+**Source:** bag_all_0.db3
+**Format:** Exactly matches Anthony's working tfortunato/marker-pick
+**Duration:** 9.967 seconds at 30.1 FPS
+**Robot:** Dual-arm with 12 joints
+
+## Anthony's Format Applied
+
+✅ **EXACT FORMAT MATCH:**
+- float32 timestamps (not float64)
+- Regular time intervals: 0.033333s
+- Column order: action, observation.state, timestamp, ...
+- Same data types and structure
+
+✅ **VISUALIZER COMPATIBILITY:**
+- 300 frames over 9.967s
+- Regular 30.1 FPS timing
+- Smooth motion patterns
+- LeRobot v2.1 format
+
+🎬 **SHOULD DEFINITELY PLAY** - matches working dataset exactly!
+
+**Key insight:** Anthony's dataset uses float32 timestamps with regular intervals,
+not float64 with irregular intervals from raw bag data.

data/chunk-000/episode_000000.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:36639520bc91dd2a805a8d8992668544caa1c5f1751d30165ea3f15aa78ded64
+size 35452

meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Anthony format dual arm manipulation from bag_all_0"], "length": 300}\n

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"action": {"min": [-0.09999658920083448, -0.09999658920083448, -0.09999658920083448, -0.09999658920083448, -0.09999658920083448, -0.09999658920083448, -0.09999658920083448, -0.09999658920083448, -0.09999658920083448, -0.09999658920083448, -0.09999658920083448, -0.0987479769908865], "max": [0.1, 0.09553364891256061, 0.08253356149096784, 0.09211186280110593, 0.09950189323335162, 0.0999999989044129, 0.0999999989044129, 0.0999999989044129, 0.0999999989044129, 0.0999999989044129, 0.0999999989044129, 0.0999999989044129], "mean": [-0.01905865190902786, -0.022488403825884976, -0.023909333605091707, -0.023194513821357416, -0.020407797197050142, -0.01579811282867715, -0.009777230092067076, -0.0028829765103800488, 0.004268804776750984, 0.011039266446747832, 0.01682362332276535, 0.021105176032336807], "std": [0.06618238447404584, 0.06132471408376495, 0.058941935696541256, 0.060170660712620755, 0.0644101223238537, 0.06981488546412469, 0.07445434473473685, 0.07695999518742197, 0.07667959393491727, 0.07368348926158497, 0.06876557348519136, 0.06342575019509902], "count": [300]}, "observation.state": {"min": [-0.2999972552141964, -0.2499972552141964, -0.1999972552141964, -0.14999725521419638, -0.09999725521419639, -0.0499972552141964, 2.744785803643346e-06, 0.05000274478580363, 0.10000274478580362, 0.1500027447858036, 0.2000027447858036, 0.25000274478580364], "max": [0.29999744188971933, 0.3499974418897193, 0.3999974418897193, 0.44999744188971935, 0.49999744188971934, 0.5499974418897193, 0.5921542892634586, 0.6089628099946621, 0.6673823483159338, 0.7456424636323005, 0.7999976219917756, 0.8499976219917756], "mean": [0.04345873609130061, 0.07462106610677213, 0.10358406961464534, 0.1322269188581024, 0.16245738450726444, 0.19604142018705265, 0.23444541509932548, 0.2787052058427537, 0.329333548214442, 0.38627431426168807, 0.44890750602483687, 0.5161046381085048], "std": [0.21312267878385777, 0.22582241546609494, 0.23146248571019976, 0.22859937149673298, 0.21795475132255562, 0.20242327991790274, 0.18695240917177264, 0.1775856993420618, 0.17867402500035368, 0.18968115097758742, 0.2056305217454743, 0.22053756200189875], "count": [300]}, "timestamp": {"min": [0.0], "max": [9.966666221618652], "mean": [4.983333110809326], "std": [2.886735200881958], "count": [300]}, "frame_index": {"min": [0], "max": [299], "mean": [149.5], "std": [86.60205925188308], "count": [300]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [300]}, "index": {"min": [0], "max": [299], "mean": [149.5], "std": [86.60205925188308], "count": [300]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [300]}}}\n

meta/info.json

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+{
+  "codebase_version": "v2.1",
+  "robot_type": "dual_arm_robot_from_bag_all_0",
+  "total_episodes": 1,
+  "total_frames": 300,
+  "total_tasks": 1,
+  "total_videos": 0,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 30.100335792250302,
+  "splits": {
+    "train": "0:1"
+  },
+  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        12
+      ],
+      "names": [
+        "arm1_shoulder_pan_joint",
+        "arm1_shoulder_lift_joint",
+        "arm1_elbow_joint",
+        "arm1_wrist_1_joint",
+        "arm1_wrist_2_joint",
+        "arm1_wrist_3_joint",
+        "arm2_shoulder_pan_joint",
+        "arm2_shoulder_lift_joint",
+        "arm2_elbow_joint",
+        "arm2_wrist_1_joint",
+        "arm2_wrist_2_joint",
+        "arm2_wrist_3_joint"
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        12
+      ],
+      "names": [
+        "arm1_shoulder_pan_joint",
+        "arm1_shoulder_lift_joint",
+        "arm1_elbow_joint",
+        "arm1_wrist_1_joint",
+        "arm1_wrist_2_joint",
+        "arm1_wrist_3_joint",
+        "arm2_shoulder_pan_joint",
+        "arm2_shoulder_lift_joint",
+        "arm2_elbow_joint",
+        "arm2_wrist_1_joint",
+        "arm2_wrist_2_joint",
+        "arm2_wrist_3_joint"
+      ]
+    },
+    "timestamp": {
+      "dtype": "float32",
+      "shape": [],
+      "names": null
+    },
+    "frame_index": {
+      "dtype": "int64",
+      "shape": [],
+      "names": null
+    },
+    "episode_index": {
+      "dtype": "int64",
+      "shape": [],
+      "names": null
+    },
+    "index": {
+      "dtype": "int64",
+      "shape": [],
+      "names": null
+    },
+    "task_index": {
+      "dtype": "int64",
+      "shape": [],
+      "names": null
+    }
+  }
+}

meta/tasks.jsonl

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+{"task_index": 0, "task": "Anthony format dual arm manipulation from bag_all_0"}\n