| # CobotMagic Real Dataset: sample_loading |
| |
| Generated by `convert_piper_hdf5_to_lerobot.py`. |
| |
| ## RoboSynChallenge Alignment |
| |
| - Task dir: `sample_loading` |
| - Environment ID: `SampleLoading` |
| - Real dataset: `RoboSynChallenge/cobotmagic_Real_sample_loading` |
| - Aligned simulation dataset: `sample_loading/cobotmagic_Sim_sample_loading_000` |
| - Prompt: `Pick up the test tube, and it to the other arm, and insert it to the rack.` |
|
|
| ## Summary |
|
|
| - Robot type: `aloha` |
| - Visual backend: `video` |
| - 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` |
| - Video preset: `all` -> `['observation.images.cam_high', 'observation.images.cam_left_wrist', 'observation.images.cam_right_wrist']` |
| - Write mode: `add_frame` |
|
|
| ## 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`. |
|
|
| - Visual backend is `video`. |
| - LeRobot v2.1 video datasets do not store camera columns in parquet. This script therefore relies on `dataset.add_frame(...)` and `dataset.save_episode()` so temporary frames under `images/` can be encoded into `videos/.../*.mp4`. |
|
|
| ## Video 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 |
| ``` |
| |
| |
