Search is not available for this dataset
observation.state list | action list | observation.images.cam_high imagewidth (px) 640 640 | observation.images.cam_left_wrist imagewidth (px) 640 640 | observation.images.cam_right_wrist imagewidth (px) 640 640 | timestamp float32 0 34.1 | frame_index int64 0 341 | episode_index int64 0 32 | index int64 0 8.48k | task_index int64 0 0 |
|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
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Check out the documentation for more information.
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:
0.1s - 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
timestampdataset, which is treated like an individual topic timeline. - The leading group is
slave_cam_high. Infullmode every leading-group timestep is kept; infpsmode 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
jointandgripperare enabled, the gripper is appended as the 7th dimension of that arm's joint block. ee_poserotation is decoded from the current PiperController convention: controller value -> multiply by 1000 -> Piper xyz Euler degrees -> convert torot6d. WhenEE_ROT_FORMATisrpy/euler, the exported values are radians.GRIPPER_FORMAT="01"treats values in[0, 1]as normalized opening ratio and thresholds them withGRIPPER_FULL_WIDTH=0.05andGRIPPER_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:
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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