meta/ee_transform.json

{
  "repo_id": "kimyg119/UMI_1-50_EE_FIX",
  "source_dataset": "/home/rcv/.cache/huggingface/lerobot/kimyg119/Box_palletizing_UMI_ep_1_150_filtered_20260919",
  "source_repo_id": "kimyg119/Box_palletizing_UMI_ep_1_150_filtered_20260919",
  "source_logical_episode_range": [
    1,
    150
  ],
  "source_retained_episodes": 144,
  "source_total_frames": 270283,
  "operation": "T_base_EE = T_base_pose @ T_Tracker_EE",
  "pose_layout": "xyz + quaternion_xyzw",
  "features_modified": [
    "observation.state",
    "action"
  ],
  "head_yaw_modified": false,
  "T_RightTracker_RightEE": [
    [
      0.497805667,
      -0.431644036,
      0.752245269,
      -0.07810086
    ],
    [
      0.855388661,
      0.101167344,
      -0.508011227,
      0.007625062
    ],
    [
      0.143177361,
      0.896352941,
      0.419585091,
      0.037195367
    ],
    [
      0.0,
      0.0,
      0.0,
      1.0
    ]
  ],
  "T_LeftTracker_LeftEE": [
    [
      0.600497655,
      0.362772821,
      0.71259978,
      -0.021880852
    ],
    [
      -0.774649857,
      0.042929698,
      0.630931565,
      -0.027372234
    ],
    [
      0.198293131,
      -0.930888243,
      0.306801097,
      0.048419394
    ],
    [
      0.0,
      0.0,
      0.0,
      1.0
    ]
  ]
}