Datasets:

ZhaoRunyi
/

Piper_open_pan_0421

Repo id: ZhaoRunyi/Piper_open_pan_0421
Robot type: aloha
Input dir: /home/edemlab/challenge_ws/control_your_robot/example/teleop/save/dual_piper_data/open_pan
Output dir: /home/edemlab/challenge_ws/data/ZhaoRunyi/Piper_open_pan_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:

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