File size: 1,954 Bytes
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"schema_version": 1,
"default_action_space": "joint_abs",
"canonical_lerobot_action": "action",
"state": {
"field": "observation.state",
"dimension": 16,
"layout": [
"ee_x",
"ee_y",
"ee_z",
"ee_qw",
"ee_qx",
"ee_qy",
"ee_qz",
"j1",
"j2",
"j3",
"j4",
"j5",
"j6",
"j7",
"gripper_1",
"gripper_2"
],
"padding": "none in dataset; model-side padding only"
},
"spaces": {
"joint_abs": {
"field": "action.joint_abs",
"dimension": 8
},
"ee_abs_quat": {
"field": "action.ee_abs_quat",
"dimension": 8
},
"ee_abs_rot6d": {
"field": "action.ee_abs_rot6d",
"dimension": 10
},
"ee_delta": {
"field": "action.ee_delta",
"dimension": 7
}
},
"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",
"gripper": "absolute single-finger position copied from source action[:, 7]"
},
"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"
}
}
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