ZhaoRunyi/Piper_rearr_0421

Piper LeRobot数据集生成于2026年4月24日，使用`convert_piper_hdf5_to_lerobot.py`脚本转换。数据集涉及`aloha`类型的机器人，包含双臂（左、右）的关节、夹持器、末端执行器位置和旋转数据。数据采集频率为10 FPS，采样模式为`full`，主要图像组为`slave_cam_high`。数据集还包含来自三个摄像头（高摄像头、左腕摄像头、右腕摄像头）的图像数据。末端执行器的旋转数据采用`rot6d`格式，夹持器数据为原始格式。数据集详细记录了双臂的各个关节状态、夹持器状态、末端执行器位置和旋转信息，适用于机器人操控任务的研究和开发。

The Piper LeRobot Dataset was generated on `2026-04-24` using the script `convert_piper_hdf5_to_lerobot.py`. It involves a robot of type `aloha`, featuring dual-arm (left, right) data including joint positions, gripper states, end-effector positions, and rotations. The data was captured at 10 FPS in `full` sampling mode, with the leading image group being `slave_cam_high`. The dataset also includes image data from three cameras (high cam, left wrist cam, right wrist cam). End-effector rotations are in `rot6d` format, and gripper data is in raw format. The dataset meticulously records the state of each joint, gripper status, end-effector positions, and rotation information for both arms, making it suitable for research and development in robotic manipulation tasks.