diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..eabddeee1134da695c76b3779b2fcfe43b7cd2dc --- /dev/null +++ b/README.md @@ -0,0 +1,60 @@ +# Piper LeRobot Dataset + +Generated on `2026-04-21` by `convert_piper_hdf5_to_lerobot.py`. + +## Summary + +- Repo id: `ZhaoRunyi/Piper_items_hand_over_place_0421` +- Robot type: `aloha` +- Input dir: `/home/edemlab/challenge_ws/control_your_robot/example/teleop/save/dual_piper_data/items_hand_over_and_place` +- Output dir: `/home/edemlab/challenge_ws/data/ZhaoRunyi/Piper_items_hand_over_place_0421` +- 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. When both `joint` and `gripper` are enabled, the gripper is appended as the 7th dimension of that arm's joint block. +- `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, 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over to the other arm and then place it in to the pen holder"}