domrachev03's picture
feat: convert to standard LeRobot V3.0 feature format (observation.state + twist action)
8b7781c verified
{
"codebase_version": "v3.0",
"robot_type": "franka_crisp",
"total_episodes": 60,
"total_frames": 27028,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
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"fps": 30,
"splits": {
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},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"observation.state": {
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"shape": [
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],
"names": {
"observation": [
"tcp_pos_x",
"tcp_pos_y",
"tcp_pos_z",
"tcp_quat_x",
"tcp_quat_y",
"tcp_quat_z",
"tcp_quat_w",
"gripper_pos",
"wrench_force_x",
"wrench_force_y",
"wrench_force_z",
"wrench_torque_x",
"wrench_torque_y",
"wrench_torque_z",
"ft_force_x",
"ft_force_y",
"ft_force_z",
"ft_torque_x",
"ft_torque_y",
"ft_torque_z"
]
}
},
"observation.images.external_camera": {
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"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left_wrist_camera": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channel"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"action": {
"dtype": "float32",
"shape": [
7
],
"names": {
"action": [
"delta_pos_x",
"delta_pos_y",
"delta_pos_z",
"delta_rotvec_x",
"delta_rotvec_y",
"delta_rotvec_z",
"gripper_pos"
]
}
},
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],
"names": null
},
"timestamp": {
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],
"names": null
},
"frame_index": {
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"names": null
},
"episode_index": {
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"names": null
},
"index": {
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},
"task_index": {
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],
"names": null
}
}
}