Robot dataset with real timing from bag_all_0

README.md

@@ -0,0 +1,40 @@
+---
+license: mit
+task_categories:
+- robotics
+tags:
+- lerobot
+- robot-timing-data
+- dual-arm
+- bag_all_0
+size_categories:
+- 10K<n<100K
+---
+# Robot Dataset with Real Timing Data
+
+**Source:** bag_all_0.db3
+**Episode:** bag_all_0 → episode_0  
+**Messages:** 1000 joint state messages
+**Duration:** 10.03 seconds (99.7 Hz)
+**Robot:** Dual-arm with 12 joints
+
+## Data Content
+
+✅ **REAL TIMING:**
+- Timestamps from actual robot recording
+- Message order and frequency
+- Episode duration: 10.03s
+
+🔧 **CURRENT STATUS:**
+- Joint data: Placeholder sine waves (for structure)
+- Real timestamps and timing
+- Proper LeRobot format
+
+🚀 **NEXT STEPS:**
+1. Add real ROS message decoding with rosbags
+2. Extract actual joint positions/velocities  
+3. Add episode segmentation by timestamps
+4. Add camera image processing
+
+**Note:** This demonstrates the pipeline structure with real timing.
+Next iteration will decode actual joint values from ROS messages.

data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbc8643e71f9a6b7e5e3b8eaf19411da52eee95c6975277a2a23ec2230263d20
+size 60809

meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["dual arm manipulation from bag_all_0"], "length": 1000}\n

meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"observation.state": {"min": [-0.0999997146387718, -0.0999997146387718, -0.0999997146387718, -0.0999997146387718, -0.0999997146387718, -0.09999902065507035, -0.09999902065507035, -0.09999902065507035, -0.0999999230697499, -0.0999999230697499, -0.0999999230697499, -0.0999999230697499], "max": [0.09999996829318347, 0.09999996829318347, 0.09999920733059188, 0.09999920733059188, 0.09999920733059188, 0.0999995986891472, 0.0999995986891472, 0.0999995986891472, 0.0999995986891472, 0.0999995986891472, 0.0999995986891472, 0.09999999379605563], "mean": [0.018417763090092812, 0.0054507944819103885, -0.012527609435313778, -0.01898818701174139, -0.007991113018084911, 0.010352953431493018, 0.019178562241247234, 0.010371489372870003, -0.0079710829943501, -0.01898507841709734, -0.012544280297340185, 0.005429671276878993], "std": [0.06656633911488334, 0.07209964519524278, 0.06987808157980765, 0.06616782316655756, 0.07151018441862722, 0.07075520186446603, 0.06603156700227765, 0.07074847179116395, 0.07151572619990551, 0.06617003446794713, 0.06987066698883793, 0.0721035963339609], "count": [1000]}, "action": {"min": [-0.009999987317275395, -0.009999987317275395, -0.009999987317275395, -0.009999987317275395, -0.00999988585567158, -0.00999988585567158, -0.009999979258619932, -0.009999979258619932, -0.009999979258619932, -0.009999979258619932, -0.009999979258619932, -0.009999979258619932], "max": [0.01, 0.009999949269133753, 0.009999949269133753, 0.009999949269133753, 0.009999949269133753, 0.009999949269133753, 0.009999949269133753, 0.009999934137871648, 0.009999934137871648, 0.009999999013971618, 0.009999999013971618, 0.009999999013971618], "mean": [-0.0005348212197271742, -0.001838766462783698, -0.0014521582998628963, 0.000269557506980739, 0.0017434433850344144, 0.0016144154551885601, 1.1014011006681944e-06, -0.0016132252760798062, -0.0017443600742020405, -0.000271738264631557, 0.0014507184522559646, 0.0018393913144702692], "std": [0.007211868777156528, 0.0066586964127900205, 0.0068914703393223075, 0.007248449355861808, 0.006721961137543186, 0.006801385181100118, 0.007260864127825205, 0.00680208524517669, 0.006721371537975202, 0.0072482474899529074, 0.006892222082597941, 0.006658268562291091], "count": [1000]}, "timestamp": {"min": [1754491295.7790332], "max": [1754491305.809178], "mean": [1754491300.790894], "std": [2.9060753545739675], "count": [1000]}, "frame_index": {"min": [0], "max": [999], "mean": [499.5], "std": [288.6749902572095], "count": [1000]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1000]}, "index": {"min": [0], "max": [999], "mean": [499.5], "std": [288.6749902572095], "count": [1000]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1000]}}}\n

meta/info.json

@@ -0,0 +1,82 @@
+{
+  "codebase_version": "v2.1",
+  "robot_type": "dual_arm_robot_from_bag_all_0",
+  "total_episodes": 1,
+  "total_frames": 1000,
+  "total_tasks": 1,
+  "total_videos": 0,
+  "total_chunks": 1,
+  "chunks_size": 1000,
+  "fps": 99.6994566868516,
+  "splits": {
+    "train": "0:1"
+  },
+  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+  "features": {
+    "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"
+      ]
+    },
+    "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"
+      ]
+    },
+    "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

@@ -0,0 +1 @@
+{"task_index": 0, "task": "dual arm robot manipulation from bag_all_0"}\n