task_520_isaac_state_train_737.zarr/metadata.json

{
  "observation_space": "libero_ee_axis_angle",
  "action_space": "libero_normalized_delta_ee",
  "delta_ee": 0,
  "joint_pos_padding": 9,
  "task_name": "task_520_isaac_state_train",
  "num_episodes": 737,
  "downsample_ratio": 1,
  "drop_static_frames": false,
  "image_width": 256,
  "image_height": 256,
  "resize_mode": "pad",
  "episode_batch_size": 25,
  "zarr_chunk_size": 100,
  "static_state_tol": 1e-08,
  "static_action_tol": 1e-12,
  "static_root_tol": 1e-08,
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  "static_rgb_mean_tol": -1.0,
  "static_frames_dropped": 0,
  "left_wrist_camera_frames": 76751,
  "right_wrist_camera_frames": 0,
  "head_depth_frames": 0,
  "wrist_depth_frames": 0,
  "has_left_wrist_camera": true,
  "has_right_wrist_camera": false,
  "has_head_depth": false,
  "has_wrist_depth": false,
  "depth_encoding": "uint16_normalized_per_frame",
  "depth_metric_reconstruction": "depth = depth_uint16 / 65535 * (depth_max - depth_min) + depth_min",
  "source_zarr": "/var/jfsCache/yktang/Roboverse_train/axis_replay_500_600_libero_workspace/data_policy/task_520_isaac_state_train_737.zarr",
  "state_dim": 8,
  "action_dim": 7,
  "urdf_path": "/home/shmqd/workspace/yktang/Roboverse_train/.venv/lib/python3.11/site-packages/robosuite/models/assets/bullet_data/panda_description/urdf/panda_arm_hand.urdf",
  "ee_frame": "panda_hand",
  "position_frame": "tcp/grip_site",
  "orientation_frame": "panda_hand",
  "tcp_offset_in_ee_frame": [
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  "libero_pos_scale": 0.05,
  "libero_rot_scale": 0.5,
  "gripper_action_convention": "negative_open_positive_close",
  "clip_actions": true,
  "preclip_abs_max_per_action_dim": [
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  "preclip_ee_value_clip_fraction": 5.86311579002228e-05,
  "all_values_finite": true
}