File size: 1,953 Bytes
99513ae | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 | {
"schema_version": 1,
"default_action_space": "joint_abs",
"canonical_lerobot_action": "action",
"state": {
"field": "observation.state",
"dimension": 9,
"layout": [
"j0",
"j1",
"j2",
"j3",
"j4",
"j5",
"j6",
"g_left",
"g_right"
]
},
"spaces": {
"joint_abs": {
"field": "action.joint_abs",
"dimension": 9
},
"ee_abs_quat": {
"field": "action.ee_abs_quat",
"dimension": 9
},
"ee_abs_rot6d": {
"field": "action.ee_abs_rot6d",
"dimension": 11
},
"ee_delta": {
"field": "action.ee_delta",
"dimension": 8
}
},
"conventions": {
"verification_reference": "FK of source dataset action[:, :7]",
"source_fk_frame": "right_gripper",
"source_fk_to_tcp_translation_m": [
0.0,
0.0,
0.0034
],
"source_fk_to_tcp_rotation_matrix": [
[
-1.0,
0.0,
0.0
],
[
0.0,
-1.0,
0.0
],
[
0.0,
0.0,
1.0
]
],
"ee_abs_quat_order": "wxyz; canonicalized to qw >= 0",
"ee_abs_rot6d": "first two rotation-matrix columns concatenated",
"ee_delta_frame": "robot base",
"ee_delta_reference": "previous action target within the same episode",
"ee_delta_first_action": "exact zero pose delta with absolute gripper",
"ee_delta_seed": "meta/episodes action.ee_delta.seed_position and seed_quaternion_wxyz",
"fingers": "absolute g_left and g_right copied bitwise from source action[:, 7:9] in every space"
},
"views": {
"included": [
"front",
"left",
"wrist"
],
"excluded": [
"base",
"wrist_bottom"
]
},
"training": {
"selection_argument": "--action-space joint_abs|ee_abs_quat|ee_abs_rot6d|ee_delta",
"padding": "normalize native active dimensions first, then model-side pad and mask"
}
}
|