ZhaoRunyi/Piper_carry_basket_0426

Piper LeRobot数据集是一个机器人操作数据集，专注于双臂机器人（aloha类型）执行搬运篮子（carry_basket）任务。数据集包含机器人的状态观测和动作数据，具体涉及左臂和右臂的关节角度（各6个）、夹爪状态（各1个）、末端执行器位置（各3维）和旋转（使用rot6d格式，各6维），以及来自三个摄像头的图像观测：高位摄像头、左腕摄像头和右腕摄像头。数据以10帧每秒（FPS）的速率采样，采用full模式进行时间戳对齐，其中slave_cam_high组作为主导组。数据集以HDF5格式存储，并提供了详细的状态/动作索引映射，便于机器学习和机器人控制任务使用。

The Piper LeRobot dataset is a robotic manipulation dataset focusing on a dual-arm robot (aloha type) performing a carry_basket task. It includes state observations and action data for both left and right arms, covering joint angles (6 per arm), gripper states (1 per arm), end-effector positions (3D per arm), and rotations (in rot6d format, 6D per arm), along with image observations from three cameras: a high camera, a left wrist camera, and a right wrist camera. Data is sampled at 10 frames per second (FPS) using full mode for timestamp alignment, with the slave_cam_high group as the leading group. The dataset is stored in HDF5 format and provides a detailed state/action index map for ease of use in machine learning and robotic control applications.