--- license: apache-2.0 task_categories: - robotics tags: - LeRobot - LeRobot configs: - config_name: default data_files: data/*/*.parquet --- This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). ## Dataset Description Repaired copy of [`Grigorij/franka_WAMs_end_effector`](https://huggingface.co/datasets/Grigorij/franka_WAMs_end_effector). The original is left untouched. **What was wrong.** The recording loop initialised the previous commanded quaternion before the task had set its commanded orientation. As a result the **first frame of every episode** carried a bogus rotation delta: `action[3:6]` encoded the *absolute* approach orientation instead of a near-zero delta. Exactly 40 frames (one per episode, all at `frame_index == 0`) had an identical rotation magnitude of 0.7959 rad (45.60 deg), while every other frame in the dataset had a rotation magnitude of exactly 0.0. The position delta at those frames was ~1e-5 m, so only the rotation channel was affected. **What was changed.** The first frame of every episode was dropped: 40 x 295 = 11800 frames becomes 40 x 294 = 11760 frames. Nothing else was modified — same 40 episodes, same 30 fps, same 480x640 AV1 video, same 7-D action layout `[dx, dy, dz, dax, day, daz, gripper]`, same single task, no feature added or removed, and no rescaling. **How the videos were handled.** LeRobot v3.0 concatenates all episodes into one mp4 per camera and locates a frame at `round((episode.from_timestamp + row.timestamp) * fps)`. Each episode's `from_timestamp` was therefore advanced by exactly one frame period (1/30 s) while `to_timestamp` was left unchanged. **The mp4 files are byte-for-byte identical to the original** (verified by md5) — there was no transcode and no quality loss. `meta/stats.json` and the per-episode statistics were recomputed from the remaining frames rather than copied. **Verification.** The repaired dataset loads with `LeRobotDataset` and satisfies: 40 episodes / 11760 frames; contiguous `index`, `frame_index`, `episode_index` and `timestamp`; no frame with action rotation magnitude > 0.1 rad (the maximum is now exactly 0.0); gripper still takes exactly the two values 0.0 and 0.04 m; the position delta distribution is bit-identical to the original minus the dropped frames (median 5.0e-3 m). Video/action alignment was checked by decoding 400 sampled (episode, frame, camera) triples and confirming each is **bit-identical** to the original dataset's frame `k+1` of the same episode, while differing from its neighbours wherever those neighbours are not static. - **Homepage:** [More Information Needed] - **Paper:** [More Information Needed] - **License:** apache-2.0 ## Dataset Structure [meta/info.json](meta/info.json): ```json { "codebase_version": "v3.0", "fps": 30, "features": { "observation.images.image": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.preset": 12, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {}, "is_depth_map": false } }, "observation.images.image2": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.preset": 12, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {}, "is_depth_map": false } }, "action": { "dtype": "float32", "shape": [ 7 ], "names": [ "dx", "dy", "dz", "dax", "day", "daz", "gripper" ] }, "timestamp": { "dtype": "float32", "shape": [ 1 ], "names": null }, "frame_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "episode_index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "index": { "dtype": "int64", "shape": [ 1 ], "names": null }, "task_index": { "dtype": "int64", "shape": [ 1 ], "names": null } }, "total_episodes": 40, "total_frames": 11760, "total_tasks": 1, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", "robot_type": "franka", "splits": { "train": "0:40" } } ``` ## Citation **BibTeX:** ```bibtex [More Information Needed] ```