meta/export_plan.json

{
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  "camera_map": {
    "zed_back_left": "back_left",
    "zed_front_left": "front_left",
    "zed_front": "front",
    "zed_right": "right",
    "zed_top": "top"
  },
  "native_resolution": true,
  "offset_t": 0.19,
  "offset_semantics": "positive offset trims the start of state/action and the end of video; negative offset trims the start of video and the end of state/action",
  "action_filter": {
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    "window": 9,
    "sigma": 0.1,
    "alpha": 0.75,
    "gripper_filtered": false
  },
  "state_filter": {
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    "sigma": 0.0,
    "alpha": 0.0,
    "gripper_filtered": false
  },
  "initial_stillness_filter": {
    "enabled": true,
    "tcp_speed_m_per_s": 0.005,
    "joint_speed_rad_per_s": 0.05,
    "sustained_frames": 2,
    "min_usable_frames": 20,
    "skipped": [
      {
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        "aligned_frames": 21,
        "initial_still_frames": 21,
        "usable_frames": 0
      }
    ]
  },
  "action_source": "next observation EE xyz/rot6d plus converted next gripper command; raw deltas ignored",
  "ee_tcp_offset_m": 0.172,
  "ee_tcp_offset_frame": "local +Z of the recorded EE/link6 orientation; exported xyz is TCP/tool point",
  "action_gripper_source": "command",
  "action_gripper_threshold": null,
  "action_gripper_smooth": null,
  "gripper_conversion": "converted = 0.85 if raw <= 0 else 0.85 - raw",
  "fps_source": "observations/relative_timestamps",
  "source_fps_mean": 19.304759496382058,
  "output_fps": 30.0,
  "fps": 30.0
}