meta/conversion_config.json

{
  "source_dir": "/scratch/cgao304/dev/datasets/libero_plus/libero_plus_spatial",
  "source_version": "v2.1",
  "output_version": "v3.0",
  "fps": 20,
  "position_action_scale": 0.05,
  "rotation_action_scale": 0.5,
  "rotation_target_composition": "R_target = R_delta @ R_state",
  "world_alignment": [
    [
      1.0,
      0.0,
      0.0
    ],
    [
      0.0,
      1.0,
      0.0
    ],
    [
      0.0,
      0.0,
      1.0
    ]
  ],
  "gripper_alignment": [
    [
      0.0,
      1.0,
      0.0
    ],
    [
      -1.0,
      0.0,
      0.0
    ],
    [
      0.0,
      0.0,
      1.0
    ]
  ],
  "finger_limit_m": 0.04,
  "frames_filtered": 0,
  "camera_videos_modified": false,
  "canonical_training_camera_transform": "horizontal_flip_both_views_at_load_time",
  "stats_quantiles": {
    "quantiles": [
      0.01,
      0.99
    ],
    "numeric_strategy": "exact_all_frames",
    "video_strategy": "uniform_sample_of_stored_frames",
    "video_sample_limit_per_view": 10000,
    "sampled_video_frames": {
      "observation.images.front": 10000,
      "observation.images.wrist": 10000
    }
  }
}