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proximityrobotics
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test_2

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Time-series
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test_2
File size: 3,869 Bytes
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{
  "version": "px_timestamped/0.3",
  "robot_type": "fr3",
  "fps": 30,
  "total_episodes": 1,
  "episodes_path": "meta/episodes.parquet",
  "tasks_path": "meta/tasks.parquet",
  "topics": {
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        16,
        7
      ],
      "dtype": "float32",
      "data_path_template": "episode-{ep:06d}/observation.tf_static.parquet",
      "latched": true,
      "frame_names": [
        "base->right_fr3_link0",
        "base->left_fr3_link0",
        "right_fr3_link7->right_fr3_link8",
        "left_fr3_link7->left_fr3_link8",
        "right_fr3_link8->wiping_ee",
        "left_fr3_link8->calib_tool_ee",
        "right_fr3_link8->camera_link",
        "camera_link->camera_depth_frame",
        "camera_depth_frame->camera_depth_optical_frame",
        "camera_link->camera_color_frame",
        "camera_color_frame->camera_color_optical_frame",
        "left_fr3_link8->zivid_optical_frame"
      ]
    },
    "observation.tf": {
      "shape": [
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        7
      ],
      "dtype": "float32",
      "data_path_template": "episode-{ep:06d}/observation.tf.parquet",
      "latched": false,
      "frame_names": [
        "right_fr3_link0->right_fr3_link1",
        "right_fr3_link1->right_fr3_link2",
        "right_fr3_link2->right_fr3_link3",
        "right_fr3_link3->right_fr3_link4",
        "right_fr3_link4->right_fr3_link5",
        "right_fr3_link5->right_fr3_link6",
        "right_fr3_link6->right_fr3_link7",
        "left_fr3_link0->left_fr3_link1",
        "left_fr3_link1->left_fr3_link2",
        "left_fr3_link2->left_fr3_link3",
        "left_fr3_link3->left_fr3_link4",
        "left_fr3_link4->left_fr3_link5",
        "left_fr3_link5->left_fr3_link6",
        "left_fr3_link6->left_fr3_link7"
      ]
    },
    "observation.bota_wrench": {
      "shape": [
        6
      ],
      "dtype": "float32",
      "data_path_template": "episode-{ep:06d}/observation.bota_wrench.parquet",
      "latched": false
    },
    "observation.ee_pose": {
      "shape": [
        7
      ],
      "dtype": "float32",
      "data_path_template": "episode-{ep:06d}/observation.ee_pose.parquet",
      "latched": false
    },
    "observation.ee_pose_desired": {
      "shape": [
        7
      ],
      "dtype": "float32",
      "data_path_template": "episode-{ep:06d}/observation.ee_pose_desired.parquet",
      "latched": false
    },
    "observation.joint_positions": {
      "shape": [
        7
      ],
      "dtype": "float32",
      "data_path_template": "episode-{ep:06d}/observation.joint_positions.parquet",
      "latched": false
    },
    "observation.joint_velocities": {
      "shape": [
        7
      ],
      "dtype": "float32",
      "data_path_template": "episode-{ep:06d}/observation.joint_velocities.parquet",
      "latched": false
    },
    "observation.joint_efforts": {
      "shape": [
        7
      ],
      "dtype": "float32",
      "data_path_template": "episode-{ep:06d}/observation.joint_efforts.parquet",
      "latched": false
    },
    "observation.tau_ext_hat_filtered": {
      "shape": [
        7
      ],
      "dtype": "float32",
      "data_path_template": "episode-{ep:06d}/observation.tau_ext_hat_filtered.parquet",
      "latched": false
    },
    "observation.ddq_d": {
      "shape": [
        7
      ],
      "dtype": "float32",
      "data_path_template": "episode-{ep:06d}/observation.ddq_d.parquet",
      "latched": false
    },
    "observation.dtau_j": {
      "shape": [
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      ],
      "dtype": "float32",
      "data_path_template": "episode-{ep:06d}/observation.dtau_j.parquet",
      "latched": false
    }
  },
  "videos": {
    "observation.images.color": {
      "shape": [
        3,
        480,
        640
      ],
      "dtype": "image",
      "path_template": "episode-{ep:06d}/observation.images.color.mp4"
    }
  }
}