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meta/crisp_meta.json

@@ -67,7 +67,19 @@
                 "crop_height": null
             }
         ],
-        "sensor_config": [],
+        "sensor_config": [
+            {
+                "shape": [
+                    6
+                ],
+                "sensor_type": "force_torque",
+                "name": "ft_sensor",
+                "data_topic": "/left/external_wrench",
+                "max_data_delay": 1.0,
+                "buffer_size": null,
+                "reset_service": null
+            }
+        ],
         "gripper_mode": "GripperMode.ABSOLUTE_CONTINUOUS",
         "gripper_threshold": 0.1,
         "cartesian_control_param_config": "None",

meta/info.json

@@ -1,16 +1,14 @@
 {
     "codebase_version": "v2.1",
     "robot_type": "franka",
-    "total_episodes": 1,
-    "total_frames": 502,
-    "total_tasks": 1,
-    "total_videos": 1,
-    "total_chunks": 1,
+    "total_episodes": 0,
+    "total_frames": 0,
+    "total_tasks": 0,
+    "total_videos": 0,
+    "total_chunks": 0,
     "chunks_size": 1000,
     "fps": 5,
-    "splits": {
-        "train": "0:1"
-    },
+    "splits": {},
     "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
     "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
     "features": {
@@ -32,16 +30,6 @@
                 "video.pix_fmt": "yuv420p",
                 "video.is_depth_map": false,
                 "has_audio": false
-            },
-            "info": {
-                "video.height": 256,
-                "video.width": 256,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 5,
-                "video.channels": 3,
-                "has_audio": false
             }
         },
         "observation.state.cartesian": {
@@ -82,6 +70,20 @@
                 "joint_6"
             ]
         },
+        "observation.state.sensors_ft_sensor": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "sensors_ft_sensor_0",
+                "sensors_ft_sensor_1",
+                "sensors_ft_sensor_2",
+                "sensors_ft_sensor_3",
+                "sensors_ft_sensor_4",
+                "sensors_ft_sensor_5"
+            ]
+        },
         "observation.state.target": {
             "dtype": "float32",
             "shape": [
@@ -99,7 +101,7 @@
         "observation.state": {
             "dtype": "float32",
             "shape": [
-                20
+                26
             ],
             "names": [
                 "x",
@@ -116,6 +118,12 @@
                 "joint_4",
                 "joint_5",
                 "joint_6",
+                "sensors_ft_sensor_0",
+                "sensors_ft_sensor_1",
+                "sensors_ft_sensor_2",
+                "sensors_ft_sensor_3",
+                "sensors_ft_sensor_4",
+                "sensors_ft_sensor_5",
                 "target_x",
                 "target_y",
                 "target_z",