Raw recording dictionary
Each raw/<original-take-name>/ contains unchanged vectors.h5, cam1.mp4, and cam2.mp4.
HDF5 groups contain one float64 dataset per named column. ur_joint_states/q1..q6 are measured joints (radians); command/cmd1..cmd6 are commanded joint targets (radians). gripper/grip_pos and grip_cmd use 0=open, 1=closed. GELLO leader coordinates are not policy observations.
cam1_frames and cam2_frames map zero-based frame_idx to stamp_s (ROS header seconds) and t_rel_s (callback seconds relative to take start). Cam1 is the scene view; cam2 is the wrist view. The empty synchronized group is not used.
The LeRobot conversion aligns camera/joint header stamps and command/gripper callback clocks using nearest timestamps. It retains all cam1 frames, with no servo-lag subtraction. State and action each contain six joints plus gripper. No depth was recorded.
source_takes.json preserves collection tags and episode order; checksums.json records SHA-256 for every raw recording file. No success labels or paper evaluation split are asserted.