ZhaoRunyi/Piper_click_bell_0403

Piper LeRobot Dataset

Generated on 2026-04-20 by convert_piper_hdf5_to_lerobot.py.

Summary

• —Repo id: ZhaoRunyi/Piper_click_bell_0403
• —Robot type: aloha
• —Input dir: /home/edemlab/challenge_ws/control_your_robot/example/teleop/save/dual_piper_data/click_bell
• —Output dir: /home/edemlab/challenge_ws/data/ZhaoRunyi/Piper_click_bell_0403
• —FPS: 10
• —Sampling mode: full
• —Leading group: slave_cam_high
• —Crop strategy: LATEST_START
• —Default leading tolerance: 0.1 s
• —Additional constraints: []
• —Arm selection: dual -> left, right
• —Space ids: all -> ['joint', 'gripper', 'ee_pos', 'ee_rot']
• —EE rotation format: rot6d
• —Gripper format: raw
• —Image preset: all -> ['observation.images.cam_high', 'observation.images.cam_left_wrist', 'observation.images.cam_right_wrist']

State / Action Index Map

action uses the exact same index order as observation.state.

Notes

• —Timestamp alignment is done per HDF5 group. Each camera group and each arm group has its own timestamp dataset, which is treated like an individual topic timeline.
• —The leading group is slave_cam_high. In full mode every leading-group timestep is kept; in fps mode the leading timeline is resampled first and then all other groups are bound to it by nearest timestamp.
• —Piper HDF5 stores 6 arm joints plus one separate gripper scalar per arm. When both joint and gripper are enabled, the gripper is appended as the 7th dimension of that arm's joint block.
• —ee_pose rotation is decoded from the current PiperController convention: controller value -> multiply by 1000 -> Piper xyz Euler degrees -> convert to rot6d. When EE_ROT_FORMAT is rpy/euler, the exported values are radians.
• —GRIPPER_FORMAT="01" treats values in [0, 1] as normalized opening ratio and thresholds them with GRIPPER_FULL_WIDTH=0.05 and GRIPPER_THRESHOLD=0.01.

Image Keys

Feature Names

observation.state / action names:

left_joint_waist, left_joint_shoulder, left_joint_elbow, left_joint_forearm_roll, left_joint_wrist_angle, left_joint_wrist_rotate, left_gripper, left_ee_pos_x, left_ee_pos_y, left_ee_pos_z, left_ee_rot6d_0, left_ee_rot6d_1, left_ee_rot6d_2, left_ee_rot6d_3, left_ee_rot6d_4, left_ee_rot6d_5, right_joint_waist, right_joint_shoulder, right_joint_elbow, right_joint_forearm_roll, right_joint_wrist_angle, right_joint_wrist_rotate, right_gripper, right_ee_pos_x, right_ee_pos_y, right_ee_pos_z, right_ee_rot6d_0, right_ee_rot6d_1, right_ee_rot6d_2, right_ee_rot6d_3, right_ee_rot6d_4, right_ee_rot6d_5