Search is not available for this dataset
action list | observation.state list | timestamp float64 | frame_index int64 | episode_index int64 | index int64 | task_index int64 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
rb10_iros_double_0921
Source: rainbowrobotics/rb10_iros_double
at revision 020afce7d1fa3061d74101f7d6fce0acbd102cc9.
Both action and observation.state are absolute RB10 end-effector poses:
[ee_x, ee_y, ee_z, ee_roll, ee_pitch, ee_yaw, gripper_0] (float32).
Position is in metres. Angles are radians, with
R = Rz(yaw) @ Ry(pitch) @ Rx(roll) (extrinsic XYZ).
Roll/yaw are canonical [-pi, pi]; pitch is [-pi/2, pi/2]. Euler branch
wraps are possible; these are not sudden physical rotations. No unwrapping
or relative-action conversion is applied.
Frame: link0 (base) → URDF tcp, with no additional gripper-tool offset.
FK uses rb10_1300e.urdf (RB10), not the RB10-E model. Gripper values
are unchanged (1=open). Original joint values remain in the source dataset,
not in additional columns here.
Videos, codec, episode/frame order, and timestamps are unchanged. Numeric pose statistics are recomputed; unchanged video statistics are retained. For the double-camera dataset, the source's already-rotated front video is preserved exactly; it is not rotated a second time.
For later RB10-E inference, solve IK with rb10_1300e_u.urdf for the same
base-to-tcp pose. This dataset does not establish physical reachability,
collision safety, controller TCP alignment, or the calibration of the
real RB10-E installation. URDF joint limits are generic +/-3.14 while
recorded source angles can exceed them; do not silently clip FK inputs
or assume these limits describe the real controller's permissible range.
Model-only URDFs are included in meta/kinematics; referenced visual meshes
are not bundled. See meta/fk_conversion.json for exact provenance.
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