---
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.