timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 | observation.state list | action.left_ee list | action.right_ee list | action.gripper list | action.base_vel list | action.lift_cmd list | episode_uid string | success bool | valid bool | keep bool | observation.left_ee list | observation.right_ee list |
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0 | 0 | 0 | 0 | 0 | [
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0.033333 | 1 | 0 | 1 | 0 | [
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0.066667 | 2 | 0 | 2 | 0 | [
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0.1 | 3 | 0 | 3 | 0 | [
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0.166667 | 5 | 0 | 5 | 0 | [
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0.2 | 6 | 0 | 6 | 0 | [
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0.233333 | 7 | 0 | 7 | 0 | [
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0.266667 | 8 | 0 | 8 | 0 | [
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0.3 | 9 | 0 | 9 | 0 | [
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0.333333 | 10 | 0 | 10 | 0 | [
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0.366667 | 11 | 0 | 11 | 0 | [
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0.4 | 12 | 0 | 12 | 0 | [
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0.433333 | 13 | 0 | 13 | 0 | [
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End of preview. Expand in Data Studio
icl-dataset-fixed-obs
Derived from adityx23/icl-dataset
(lerobot v2.1 format). Every existing column, task, episode flag
(success/valid/keep), and episode_uid is carried through unchanged.
What's added
Two new features, observation.left_ee / observation.right_ee (float32,
shape [7], names qw, qx, qy, qz, x, y, z): the Cartesian end-effector
pose of each arm, forward-kinematics'd from that frame's recorded
observation.state (real joint encoders) through the same reference
kinematic model icl-dataset-fixed-action's
action.q_target is solved against. This is the FK counterpart of that IK
reconstruction — no iterative solve, no warm-starting: observation.state
is already a fully-determined joint configuration, so this is a single
closed-form forward-kinematics pass per frame.
Fixes applied:
- Quaternion hemisphere continuity. Converting each frame's rotation
matrix to a quaternion independently has no obligation to pick the same
sign as the previous frame —
qand-qrepresent the identical rotation, but an arbitrary hemisphere switch reads as a spurious sign-flip across every component at once. Each arm's quaternion stream is post-processed frame-to-frame to stay on a consistent hemisphere (sign flipped whenever it would otherwise dot-product negative against the previous frame), so downstream consumers see a continuous curve rather than an artifact of the per-frame conversion. - Anchor correction, if comparing against
action.{left,right}_ee. Unlikeaction.q_targetinicl-dataset-fixed-action, the poses stored here are raw FK of the real encoders — they are not corrected against the recorded action targets. Comparingobservation.{left,right}_eetoaction.{left,right}_eedirectly will show the same per-episode/per-arm rigid offset documented there (near-zero in X/Y, tens of cm in Z, stable for an entire episode/session, different between arms and between recording sessions). Anchoraction.*_ee's frame 0 to this dataset's frame 0 before comparing the two streams, the same wayicl-dataset-fixed-actionanchors it before solving IK.
What's NOT included
- Videos. This repo has no
videos/directory. The source dataset's videos still apply unchanged perepisode_index— pair this repo'sdata/withadityx23/icl-dataset'svideos/if you need both.
- Downloads last month
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