Datasets:
| { | |
| "schema_version": 1, | |
| "position_units": "metres", | |
| "quaternion_order": "xyzw", | |
| "endpoint_contract": "Rigid terminal-arm attachment independent of finger articulation; no universal gripper-centre TCP", | |
| "per_episode_frame_names": "base_frames and endpoints in each companion JSON", | |
| "camera_geometry": "Existing per-view camera metadata remains separate. Reprojection is not certified across all episodes.", | |
| "AgiBot": { | |
| "base_frame": "source_robot_ego", | |
| "endpoint": "source robot arm flange", | |
| "orientation": "xyzw", | |
| "source": "https://huggingface.co/datasets/agibot-world/AgiBotWorld-Beta#explanation-of-proprioceptive-state", | |
| "state_pose_source": "state/end/position and state/end/orientation", | |
| "command_pose_source": "action/end/position and action/end/orientation", | |
| "exact_URDF_root_origin_independently_verified": false, | |
| "command_alignment": "Dense same-frame or explicit sparse source indices; unresolved indices are masked, not filled from states." | |
| } | |
| } | |