rb10_iros_double_0923

Sources (merged with the pinned LeRobot merge, videos byte-identical): rainbowrobotics/rb10_iros_double at revision 020afce7d1fa3061d74101f7d6fce0acbd102cc9 (197 episodes) and rainbowrobotics/rb10_iros_double_2_trim at revision 9863c864 (136 episodes).

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.