labvla_schema.json

{
  "schema_id": "labutopia_franka8",
  "source": "manifest",
  "source_path": "labvla_schema.json",
  "robot_type": "franka",
  "state_keys": ["observation.state"],
  "action_keys": ["action"],
  "state_dims": [8],
  "action_dims": [8],
  "delta_mask": [true, true, true, true, true, true, true, false],
  "gripper_action_dims": [7],
  "image_mapping": {
    "camera_1_rgb": "observation.images.image0",
    "camera_2_rgb": "observation.images.image1",
    "camera_3_rgb": "observation.images.image2"
  },
  "arm_layout": {
    "gripper_binarize_threshold": 0.5
  }
}