meta/ee_pipeline.json

{
  "source_dataset": "datasets/lerobot/3tasks_combined",
  "anchor_scheme": "B",
  "anchor_stream": "meas",
  "target_stream": "cmd",
  "horizon": 16,
  "stride": 1,
  "include_current": false,
  "chunk_offsets": [
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    2,
    3,
    4,
    5,
    6,
    7,
    8,
    9,
    10,
    11,
    12,
    13,
    14,
    15,
    16
  ],
  "fps": 30.0,
  "control_period_s": 0.03333333333333333,
  "action_dim": 10,
  "obs_dim": 19,
  "urdf": "/mnt/extra/rosetta_arlo/rosetta_ws/src/arm-assistant-central-app/src/arlo_description/urdf/arlo.xacro",
  "tip_link": "gripper_connector_1",
  "tcp_offset": [
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    0.0,
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  ],
  "motion_filter": {
    "lin_thresh_mps": 0.005,
    "ang_thresh_per_s": 0.05,
    "grip_thresh_mps": 0.002,
    "smooth_frames": 7,
    "moving_fraction": 0.8609408385582682
  },
  "trainable_mode": "pose",
  "action_space": "absolute_ee_pose",
  "anchor_column": "observation.ee_pose"
}