| tags: | |
| - lerobot | |
| - so101 | |
| - molmoact2 | |
| # move_blue_ball_training_v21 | |
| This is a convention-converted copy of `andlyu/move_blue_ball_training`. | |
| Only the 6D SO101 joint columns were changed: | |
| - `observation.state` | |
| - `action` | |
| The source dataset was recorded with LeRobot SO101 v3 calibrated robot degrees. | |
| This copy converts those joint vectors into the older SO100/SO101 v2.1 policy | |
| degree convention expected by `allenai/MolmoAct2-SO100_101`. | |
| Conversion: | |
| ```text | |
| old = (new - [0, 90, -90, 0, 0, 0]) / [1, -1, 1, 1, 1, 1] | |
| ``` | |
| Equivalent per-joint form: | |
| ```text | |
| shoulder_lift_old = 90 - shoulder_lift_new | |
| elbow_flex_old = elbow_flex_new + 90 | |
| ``` | |
| All videos, task metadata, timestamps, frame indices, and episode boundaries are | |
| copied from the source dataset. Global and per-episode LeRobot stats were | |
| recomputed for the converted joint columns. | |