---
license: apache-2.0
task_categories:
- robotics
tags:
- lerobot
- placement
- visual-goal-conditioning
---

# Placement Yellow-Dot Red-Arrow Sanity Dataset

This is a LeRobot-format one-episode sanity export derived from local HDF5 placement data.
It uses source recording `episode_00201.hdf5`, one of the five episodes newer
than the existing 197-episode placement export.

Dataset size:

- episodes: 1
- frames: 259
- videos: 3
- export fps: 100
- frame stride from 100 Hz source: 1
- source episode index: 201

Source goal label:

- full-resolution target: `(564.0, 223.0)` px
- 224x224 overlay target: `(98.7, 81.025)` px
- image-space orientation: `0.42662749` radians

Instruction:

> move the connector to the yellow dot and match the red arrow orientation

The overhead video is rendered from the raw HDF5 overhead camera frame with an anti-aliased red arrow and yellow source dot plotted from HDF5 metadata:

- `placement/episode_target_image_xy_px`
- `placement/episode_target_theta_rad`

No green-pixel detection is used. The 1280x800 source image is mapped to a 224x140 view with 42 px vertical padding inside the 224x224 LeRobot video frame.

Timing:

- `metadata.source_fps` stores the source recording rate from HDF5, normally 100 Hz.
- `metadata.export_fps` and top-level `fps` store this dataset's export rate.
- `metadata.frame_stride` stores the source-frame stride used for export.
- `source.action_time_s` stores the original source time for the retained frame.
- `timestamp` stores the LeRobot export timestamp.