ZhaoRunyi/Piper_carry_basket_0421

Piper LeRobot数据集是一个关于机器人控制的数据集，特别涉及双臂操作，包含详细的关节、夹持器和末端执行器位置/旋转数据。数据集生成于2026年4月24日，使用`convert_piper_hdf5_to_lerobot.py`脚本转换。数据集包括来自多个摄像头视角的图像，并指定了数据格式和处理方法。主要特点包括：10 FPS的采样率，使用`full`采样模式，`slave_cam_high`作为主导组，`LATEST_START`裁剪策略，以及双臂（左、右）的选择。数据格式包括`rot6d`表示末端执行器旋转，`raw`表示夹持器状态。

The Piper LeRobot Dataset is a robot control dataset, specifically involving dual-arm manipulation with detailed joint, gripper, and end-effector position/rotation data. The dataset was generated on April 24, 2026, using the `convert_piper_hdf5_to_lerobot.py` script. It includes images from multiple camera perspectives and specifies data formats and processing methods. Key features include: 10 FPS sampling rate, `full` sampling mode, `slave_cam_high` as the leading group, `LATEST_START` crop strategy, and dual-arm (left, right) selection. Data formats include `rot6d` for end-effector rotation and `raw` for gripper state.