meta/conversion_config.json

{
  "source_dir": "/scratch/cgao304/dev/FastWAM/data/libero_mujoco3.3.2/libero_spatial_no_noops_lerobot",
  "source_release": "Fast-WAM LIBERO MuJoCo 3.3.2",
  "source_version": "v2.1",
  "source_license": "CC BY 4.0",
  "output_version": "v3.0",
  "mujoco_version": "3.3.2",
  "fps": 20,
  "controller_mode": "robosuite OSC_POSE delta EEF control",
  "position_action_scale": 0.05,
  "position_target_composition": "p_target = p_state + scale * action_xyz",
  "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,
  "state_gripper_normalization": {
    "finger_0": "clip(raw_finger_0 / 0.04, 0, 1)",
    "finger_1": "clip(-raw_finger_1 / 0.04, 0, 1)"
  },
  "target_gripper_source_range": [
    0,
    1
  ],
  "target_gripper_semantics": "0=closed, 1=open; preserved without remapping",
  "source_preprocessing": {
    "successful_episodes_only": true,
    "historical_noop_filter_applied_during_simulator_replay": true
  },
  "frames_filtered_by_this_conversion": 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.image": 10000,
      "observation.images.wrist_image": 10000
    }
  }
}