| { |
| "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" |
| } |
| } |
|
|
