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`.

| indices | arm | component | names | source |
| --- | --- | --- | --- | --- |
| 0-5 | left | joint | left_joint_waist, left_joint_shoulder, left_joint_elbow, left_joint_forearm_roll, left_joint_wrist_angle, left_joint_wrist_rotate | slave_left_arm/joint |
| 6 | left | gripper | left_gripper | slave_left_arm/gripper |
| 7-9 | left | ee_pos | left_ee_pos_x, left_ee_pos_y, left_ee_pos_z | slave_left_arm/ee_pose[:3] |
| 10-15 | left | ee_rot | left_ee_rot6d_0, left_ee_rot6d_1, left_ee_rot6d_2, left_ee_rot6d_3, left_ee_rot6d_4, left_ee_rot6d_5 | slave_left_arm/ee_pose[3:6] (controller-scaled Piper xyz Euler) -> rot6d |
| 16-21 | right | joint | right_joint_waist, right_joint_shoulder, right_joint_elbow, right_joint_forearm_roll, right_joint_wrist_angle, right_joint_wrist_rotate | slave_right_arm/joint |
| 22 | right | gripper | right_gripper | slave_right_arm/gripper |
| 23-25 | right | ee_pos | right_ee_pos_x, right_ee_pos_y, right_ee_pos_z | slave_right_arm/ee_pose[:3] |
| 26-31 | right | ee_rot | right_ee_rot6d_0, right_ee_rot6d_1, right_ee_rot6d_2, right_ee_rot6d_3, right_ee_rot6d_4, right_ee_rot6d_5 | slave_right_arm/ee_pose[3:6] (controller-scaled Piper xyz Euler) -> rot6d |

## 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

| dataset key | hdf5 group |
| --- | --- |
| observation.images.cam_high | slave_cam_high |
| observation.images.cam_left_wrist | slave_cam_left |
| observation.images.cam_right_wrist | slave_cam_right |

## Feature Names

`observation.state` / `action` names:

```text
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
```

# Piper LeRobot数据集
本数据集由`convert_piper_hdf5_to_lerobot.py`于`2026-04-20`生成。

## 摘要
- 仓库ID：`ZhaoRunyi/Piper_click_bell_0403`
- 机器人类型：`aloha`
- 输入目录：`/home/edemlab/challenge_ws/control_your_robot/example/teleop/save/dual_piper_data/click_bell`
- 输出目录：`/home/edemlab/challenge_ws/data/ZhaoRunyi/Piper_click_bell_0403`
- 帧率(FPS)：`10`
- 采样模式：`full`
- 主导组：`slave_cam_high`
- 裁剪策略：`LATEST_START`
- 默认主导容差：`0.1` s
- 附加约束：`[]`
- 机械臂选择：`dual` -> `左、右`
- 空间维度标识：`all` -> `['joint', 'gripper', 'ee_pos', 'ee_rot']`
- 末端执行器(EE)旋转格式：`rot6d`
- 夹爪(gripper)格式：`raw`
- 图像预设：`all` -> `['observation.images.cam_high', 'observation.images.cam_left_wrist', 'observation.images.cam_right_wrist']`

## 状态/动作索引映射
`action`与`observation.state`使用完全一致的索引顺序。

| 索引范围 | 机械臂 | 组件类型 | 名称 | 数据源 |
| --- | --- | --- | --- | --- |
| 0-5 | 左 | 关节 | left_joint_waist, left_joint_shoulder, left_joint_elbow, left_joint_forearm_roll, left_joint_wrist_angle, left_joint_wrist_rotate | slave_left_arm/joint |
| 6 | 左 | 夹爪 | left_gripper | slave_left_arm/gripper |
| 7-9 | 左 | 末端执行器位置(EE pos) | left_ee_pos_x, left_ee_pos_y, left_ee_pos_z | slave_left_arm/ee_pose[:3] |
| 10-15 | 左 | 末端执行器旋转(EE rot) | left_ee_rot6d_0, left_ee_rot6d_1, left_ee_rot6d_2, left_ee_rot6d_3, left_ee_rot6d_4, left_ee_rot6d_5 | slave_left_arm/ee_pose[3:6] (controller-scaled Piper xyz Euler) -> rot6d |
| 16-21 | 右 | 关节 | right_joint_waist, right_joint_shoulder, right_joint_elbow, right_joint_forearm_roll, right_joint_wrist_angle, right_joint_wrist_rotate | slave_right_arm/joint |
| 22 | 右 | 夹爪 | right_gripper | slave_right_arm/gripper |
| 23-25 | 右 | 末端执行器位置(EE pos) | right_ee_pos_x, right_ee_pos_y, right_ee_pos_z | slave_right_arm/ee_pose[:3] |
| 26-31 | 右 | 末端执行器旋转(EE rot) | right_ee_rot6d_0, right_ee_rot6d_1, right_ee_rot6d_2, right_ee_rot6d_3, right_ee_rot6d_4, right_ee_rot6d_5 | slave_right_arm/ee_pose[3:6] (controller-scaled Piper xyz Euler) -> rot6d |

## 说明
- 时间戳对齐基于HDF5数据组完成。每个相机数据组与每个机械臂数据组均拥有独立的`timestamp`数据集，可视为单独的话题时间线。
- 主导组为`slave_cam_high`。在`full`（全量）模式下，所有主导组时间步均被保留；在`fps`模式下，将首先对主导时间线进行重采样，随后通过最近邻时间戳将其余所有数据组绑定至该时间线。
- Piper格式的HDF5文件为每台机械臂存储6个关节数据与1个独立的夹爪标量数据。当同时启用`joint`（关节）与`gripper`（夹爪）维度时，夹爪数据将作为该机械臂关节块的第7维被追加。
- `ee_pose`（末端执行器位姿）旋转数据基于当前Piper控制器约定解码：控制器数值 -> 乘以1000 -> Piper XYZ欧拉角（角度制） -> 转换为`rot6d`（6维旋转表示）。当`EE_ROT_FORMAT`设置为`rpy`/`euler`时，导出值将以弧度为单位。
- 当`GRIPPER_FORMAT="01"`时，将`[0,1]`区间内的数值视为归一化的夹爪张开比率，并通过`GRIPPER_FULL_WIDTH=0.05`与`GRIPPER_THRESHOLD=0.01`对其进行阈值处理。

## 图像键值
| 数据集键 | HDF5数据组 |
| --- | --- |
| observation.images.cam_high | slave_cam_high |
| observation.images.cam_left_wrist | slave_cam_left |
| observation.images.cam_right_wrist | slave_cam_right |

## 特征名称
`observation.state`与`action`的特征名称如下：
text
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