| { |
| "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" |
| } |
| } |
