| { |
| "version": "px_timestamped/0.3", |
| "robot_type": "fr3", |
| "fps": 30, |
| "total_episodes": 1, |
| "episodes_path": "meta/episodes.parquet", |
| "tasks_path": "meta/tasks.parquet", |
| "topics": { |
| "observation.tf_static": { |
| "shape": [ |
| 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": [ |
| 14, |
| 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": [ |
| 7 |
| ], |
| "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" |
| } |
| } |
| } |
