Datasets:
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, | |
| "video_files_size_in_mb": 200, | |
| "fps": 30, | |
| "splits": { | |
| "train": "0:60" | |
| }, | |
| "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": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 20 | |
| ], | |
| "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": { | |
| "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 | |
| } | |
| }, | |
| "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" | |
| ] | |
| } | |
| }, | |
| "next.done": { | |
| "dtype": "bool", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "frame_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "episode_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| }, | |
| "task_index": { | |
| "dtype": "int64", | |
| "shape": [ | |
| 1 | |
| ], | |
| "names": null | |
| } | |
| } | |
| } |