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frankaros2bagtest

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frankaros2bagtest
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{
    "codebase_version": "v2.1",
    "dataset_name": "fr3_dataset",
    "robot_type": "fr3",
    "total_episodes": 1,
    "total_frames": 1610,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30.0,
    "splits": {
        "train": "0:1"
    },
    "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": {
        "action": {
            "dtype": "float32",
            "shape": [
                2
            ],
            "names": [
                "fr3_finger_joint1",
                "fr3_finger_joint2"
            ]
        },
        "observation.state": {
            "dtype": "float32",
            "shape": [
                9
            ],
            "names": [
                "fr3_joint1",
                "fr3_joint2",
                "fr3_joint3",
                "fr3_joint4",
                "fr3_joint5",
                "fr3_joint6",
                "fr3_joint7",
                "fr3_finger_joint1",
                "fr3_finger_joint2"
            ]
        },
        "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
        },
        "reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "next.reward": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        },
        "next.done": {
            "dtype": "bool",
            "shape": [
                1
            ],
            "names": null
        }
    }
}