| { |
| "source_root": "data/archive_recordings/leoffice_data", |
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| "camera_map": { |
| "realsense": "wrist" |
| }, |
| "native_resolution": true, |
| "offset_t": 0.0, |
| "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": 9, |
| "sigma": 0.1, |
| "alpha": 0.67, |
| "gripper_filtered": false |
| }, |
| "state_filter": { |
| "type": "hampel_bidir_ema", |
| "window": 9, |
| "sigma": 0.1, |
| "alpha": 0.67, |
| "gripper_filtered": true |
| }, |
| "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": [] |
| }, |
| "action_source": "next observation EE xyz/rot6d plus thresholded next observed gripper state; 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": "next_state_threshold", |
| "action_gripper_threshold": 0.425, |
| "action_gripper_smooth": { |
| "type": "hampel", |
| "window": 5, |
| "sigma": 0.5 |
| }, |
| "gripper_conversion": "converted = 0.85 if raw <= 0 else 0.85 - raw", |
| "fps_source": "observations/relative_timestamps", |
| "source_fps_mean": 20.00218368674577, |
| "output_fps": 30.0, |
| "fps": 30.0 |
| } |
|
|
