RELATIVE TIME: Robot dataset from bag_all_0

README.md

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+---
+license: mit
+task_categories:
+- robotics
+tags:
+- lerobot
+- relative-timestamps
+- dual-arm
+- visualizer-compatible
+- bag_all_0
+size_categories:
+- 1K<n<10K
+---
+# LeRobot Dataset with Relative Timestamps
+
+**Source:** bag_all_0.db3
+**Episode:** bag_all_0 → episode_0  
+**Messages:** 300 joint state messages
+**Duration:** 2.989938 seconds (100.3 Hz)
+**Robot:** Dual-arm with 12 joints
+
+## RELATIVE TIME CONVERSION
+
+✅ **TIMESTAMPS START FROM 0:**
+- Original absolute timestamps converted to relative
+- First frame: 0.000000s
+- Last frame: 2.989938s
+- Duration: 2.989938s
+
+✅ **VISUALIZER COMPATIBILITY:**
+- Relative timestamps (not absolute Unix time)
+- Progressive time for smooth playback
+- Proper LeRobot v2.1 format
+- Clock synchronization maintained
+
+🎬 **SHOULD NOW PLAY** in LeRobot visualizer!
+
+**Key Fix:** LeRobot expects timestamps starting from 0, not absolute Unix timestamps.
+This dataset converts absolute bag timestamps to relative time for proper playback.

data/chunk-000/episode_000000.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a32a1edce95f2cf79f9a5c4ce572edd5580f98733683193bd54494f393c20b34
+size 50420

meta/episodes.jsonl

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

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"min": [0.0, 0.16851235528129088, 0.18993271714998358, 0.21294248162122043, 0.2496967140232501, 0.3101805304114893, 0.4000000245699039, 0.5000000012211573, 0.6000000184737996, 0.7000000141103293, 0.8000000195483872, 0.9000000205355057], "max": [0.19999917501902342, 0.29999981438174944, 0.39999926283603543, 0.49999941417538596, 0.5999147206083011, 0.6818594853651363, 0.7350926361102302, 0.766997630031181, 0.788325171314484, 0.8425729203896462, 1.0217101446048849, 1.1974198143497972], "mean": [0.1439307630440892, 0.255005582264436, 0.34160842830886573, 0.40585441721026394, 0.45338832116169814, 0.49249338310441404, 0.5327835747994071, 0.5836857620784287, 0.6529514100071322, 0.745432796990464, 0.8623169467044501, 1.0009382231580333], "std": [0.05727481013772823, 0.039057206588533046, 0.0607214039920627, 0.09194597656403311, 0.11373128072404003, 0.1200473073209522, 0.1094900061634727, 0.08446809180323413, 0.05287376485839693, 0.04003130829767786, 0.06541564566212883, 0.0959275102839054], "count": [300]}, "action": {"min": [-0.07319326409798918, -0.0939495305653655, -0.09999971655331968, -0.09999974241539594, -0.09999971814821146, -0.09999971533620733, -0.09999972847664043, -0.09999971280232765, -0.09982947757947531, -0.0896758416334147, -0.06536436208636119, -0.030733286997841936], "max": [0.1, 0.09210609940028852, 0.06967067093471654, 0.03623577544766734, -0.0029199522301288816, -0.031498289497750805, 0.007947745758343608, 0.04613900671427515, 0.07704593301476845, 0.09578900057864953, 0.09999949037566225, 0.09999948027282846], "mean": [0.028807798901355153, -0.001490899684806797, -0.03155421799264861, -0.0566358190937785, -0.07277586966871781, -0.0774262106192088, -0.06985265536089252, -0.05125090174168047, -0.02455775764258034, 0.00601251641216653, 0.03563354632867786, 0.059628822790513285], "std": [0.056311576214553266, 0.060081013957995116, 0.0554014653159447, 0.04333103891285338, 0.027520783620076022, 0.01970420224451777, 0.03152902190722575, 0.04698276228177467, 0.05737757255470451, 0.059920515467072805, 0.054048986211559465, 0.04111657545964219], "count": [300]}, "timestamp": {"min": [0.0], "max": [2.989937936], "mean": [1.4880681793166668], "std": [0.8692205139644605], "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": 100.33653086503398,
+  "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": "float64",
+      "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": "relative time dual arm manipulation from bag_all_0"}\n