# CobotMagic Real Dataset: open_pan

Generated by `convert_piper_hdf5_to_lerobot.py`.

## RoboSynChallenge Alignment

- Task dir: `open_pan`
- Environment ID: `OpenPanPickAndPlaceEnv-v1`
- Real dataset: `RoboSynChallenge/cobotmagic_Real_open_pan`
- Aligned simulation dataset: `open_pan/cobotmagic_Sim_open_pan_000`
- Prompt: `Grab the knob on the pan lid, lift it to open the pan, then pick the carrot with the other arm, place it in the pan, then move the lid back to the pan to close it.`

## Summary

- Robot type: `aloha`
- 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. The historical controller saved gripper as `mm / 70`; this dataset stores gripper as `mm / 100`, i.e. a normalized physical opening ratio where 0 is closed and 1 is about 100 mm open.
- `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
```