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| "repo_id": "mocovision/pico_dual_arm_record_20260526_165905_delta", |
| "output_root": "/home/sion/work/pico/dataset_lerobot/record_20260526_165905_697933683_first_frame_delta", |
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| "video_codec": "h264_nvenc", |
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| "state_definition": "left robot joints rad[6], right robot joints rad[6], latest left gripper target width mm, latest right gripper target width mm. State is kept as original robot joint information and is not converted to first-frame delta.", |
| "action_definition": "left Pico controller pose [x,y,z,qx,qy,qz,qw], right Pico controller pose [x,y,z,qx,qy,qz,qw], latest left/right gripper target width mm. With --first-frame-delta, controller xyz is relative to the first sampled frame and quaternion is relative rotation; identity [0,0,0,1] means zero rotation. Gripper widths remain absolute mm.", |
| "video_definition": "observation.images.left/right are sampled from raw camera MP4 by nearest camera monotonic timestamp and re-encoded at dataset fps.", |
| "robot_0_action_definition": "left Pico controller pose [x,y,z,qx,qy,qz,qw] plus latest left gripper target width mm.", |
| "robot_1_action_definition": "right Pico controller pose [x,y,z,qx,qy,qz,qw] plus latest right gripper target width mm." |
| } |
|
|
