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README.md

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+# Piper LeRobot Dataset
+
+Generated by `convert_piper_hdf5_to_lerobot.py`.
+
+## 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
+```

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