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| ], |
| "camera_map": { |
| "zed_gripper": "wrist_stereo", |
| "zed_high_left": "left_stereo", |
| "zed_high_right": "right_stereo", |
| "zed_low_left": "low_left_stereo" |
| }, |
| "native_resolution": true, |
| "offset_t": 0.175, |
| "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": { |
| "type": "hampel_bidir_ema", |
| "window": 7, |
| "sigma": 0.3, |
| "alpha": 0.75, |
| "gripper_filtered": false |
| }, |
| "state_filter": { |
| "type": "off", |
| "window": 0, |
| "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": [ |
| { |
| "source_episode_index": 118, |
| "aligned_frames": 8, |
| "initial_still_frames": 1, |
| "usable_frames": 7 |
| }, |
| { |
| "source_episode_index": 119, |
| "aligned_frames": 15, |
| "initial_still_frames": 1, |
| "usable_frames": 14 |
| }, |
| { |
| "source_episode_index": 120, |
| "aligned_frames": 16, |
| "initial_still_frames": 1, |
| "usable_frames": 15 |
| }, |
| { |
| "source_episode_index": 121, |
| "aligned_frames": 6, |
| "initial_still_frames": 1, |
| "usable_frames": 5 |
| }, |
| { |
| "source_episode_index": 127, |
| "aligned_frames": 24, |
| "initial_still_frames": 8, |
| "usable_frames": 16 |
| }, |
| { |
| "source_episode_index": 217, |
| "aligned_frames": 20, |
| "initial_still_frames": 2, |
| "usable_frames": 18 |
| }, |
| { |
| "source_episode_index": 350, |
| "aligned_frames": 12, |
| "initial_still_frames": 12, |
| "usable_frames": 0 |
| }, |
| { |
| "source_episode_index": 386, |
| "aligned_frames": 23, |
| "initial_still_frames": 7, |
| "usable_frames": 16 |
| }, |
| { |
| "source_episode_index": 489, |
| "aligned_frames": 21, |
| "initial_still_frames": 4, |
| "usable_frames": 17 |
| }, |
| { |
| "source_episode_index": 682, |
| "aligned_frames": 20, |
| "initial_still_frames": 2, |
| "usable_frames": 18 |
| }, |
| { |
| "source_episode_index": 683, |
| "aligned_frames": 17, |
| "initial_still_frames": 1, |
| "usable_frames": 16 |
| }, |
| { |
| "source_episode_index": 714, |
| "aligned_frames": 19, |
| "initial_still_frames": 2, |
| "usable_frames": 17 |
| } |
| ] |
| }, |
| "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": 11.491574862950527, |
| "output_fps": 30.0, |
| "fps": 30.0 |
| } |
|
|
