meta/conversion_config.json

{
  "source_dataset": "ABC-130K LeRobot v3 export",
  "source_path": "/localscratch/cgao304/dev/datasets/abc_130k/abc_130k_v3_train_numeric",
  "source_split": "train",
  "fps": 30,
  "control_mode": "joint_position",
  "source_action_semantics": "absolute joint-position target",
  "source_vector_layout": [
    "left_joint_pos[6]",
    "left_gripper",
    "right_joint_pos[6]",
    "right_gripper"
  ],
  "fk": {
    "model": "YAM",
    "endpoint": "grasp_site",
    "model_source": "https://github.com/amazon-far/abc/blob/20ecbe6ff17fa5a3e3ce4013f1f104671a7bea6e/assets/put_bottles/assets/i2rt_yam/yam.xml",
    "vendored_asset": "abc2lerobot/assets/yam_abc_fk.xml",
    "left_mount_translation_m": [
      0.2524999976158142,
      0.3100000023841858,
      0.7599999904632568
    ],
    "right_mount_translation_m": [
      0.2524999976158142,
      -0.3100000023841858,
      0.7599999904632568
    ],
    "mount_rotation": [
      [
        1.0,
        0.0,
        0.0
      ],
      [
        0.0,
        1.0,
        0.0
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "raw_eef_fields_emitted": false
  },
  "world_alignment": [
    [
      1,
      0,
      0
    ],
    [
      0,
      1,
      0
    ],
    [
      0,
      0,
      1
    ]
  ],
  "gripper_alignment": [
    [
      0,
      -1,
      0
    ],
    [
      1,
      0,
      0
    ],
    [
      0,
      0,
      1
    ]
  ],
  "gripper_normalization": {
    "source_units": "normalized aperture",
    "source_closed": 0.0,
    "source_open": 1.0,
    "raw_values_modified": false,
    "canonical_transform": "clip(raw, 0, 1)"
  },
  "debug_eef_motion": {
    "source": "consecutive canonical achieved state poses",
    "semantics": "state[t] to state[t+1] relative motion in the canonical gripper frame at t",
    "translation_representation": "xyz meters",
    "rotation_representation": "rot6d first two rotation-matrix columns",
    "final_frame_padding": {
      "xyz": [
        0.0,
        0.0,
        0.0
      ],
      "rot6d": [
        1.0,
        0.0,
        0.0,
        0.0,
        1.0,
        0.0
      ]
    }
  },
  "frames_filtered": 0,
  "source_language_fields": {
    "language_persistent": "preserved unchanged as a LeRobot 0.6 frame feature",
    "language_events": "preserved unchanged as a LeRobot 0.6 frame feature"
  },
  "camera_videos_modified": false,
  "camera_transfer_requested": "deferred_remote_copy",
  "camera_transfer_actual_counts": {
    "hardlink": 0,
    "copy": 0
  },
  "load_time_camera_transform": null,
  "success_label_available": false,
  "deferred_video_source": {
    "repo_id": "lerobot/abc_130k_v3_train",
    "revision": "68651e4929d9fb00f798937b2d62617cab5c771d",
    "path": "videos/",
    "method": "Hugging Face Xet server-side repository copy"
  }
}