{
  "action": "native normalized LIBERO [delta_xyz3, delta_rot6d6, gripper_open_command1]",
  "action_gripper_formula": "open_command = -source_native_close_command",
  "action_position_formula": "output_xyz = source_action_xyz (copied unchanged)",
  "action_rotation_formula": "output_rot6d = rot6d(Exp(source_action_rotvec))",
  "action_rotation_scale_applied": 1.0,
  "rot6d_normalization": "identity",
  "created_at": "2026-08-29T06:30:55.684238+00:00",
  "independent_copied_files": true,
  "normalization_stats_file": "meta/normalization_stats.npy",
  "normalization_stats_keys": {
    "action": "libero",
    "state": "libero_state"
  },
  "output_representation": "native_delta_eef10",
  "preserved": {
    "episode_metadata_and_offsets": true,
    "episodes": 1693,
    "fps": 10.0,
    "frames": 273465,
    "parquet_file_count": 377,
    "parquet_row_order_and_nonconverted_columns": true,
    "tasks": 40,
    "video_bytes_and_timestamps": true,
    "video_file_count": 74
  },
  "roundtrip_max_abs_error": {
    "gripper": 0.0,
    "position": 0.0,
    "rotation": 2.4177677138137454e-08
  },
  "source_gripper_is_continuous": true,
  "source_gripper_observed_range": [
    -1.0,
    1.0
  ],
  "source_repo_id": "lerobot/libero",
  "source_revision": "a1aaacb7f6cd6ee5fb43120f673cebb0cfea7dd4",
  "source_root": "/mnt/data/wangyuran/libero-lerobot",
  "state": "achieved [xyz3, rot6d6, gripper_open_scale1]",
  "state_gripper_formula": "clip(2 * (source_qpos0 - source_qpos1) / 0.08 - 1, -1, 1)",
  "state_gripper_projection": {
    "max_abs_finger_joint_sum": 0.04134345974307507,
    "max_width_clip_error_m": 0.002002341747283934,
    "rows_outside_nominal_width": 2972,
    "source_joint_pair_is_not_bijectively_recoverable": true
  },
  "video_reencoded": false
}