{
  "codebase_version": "v3.0",
  "robot_type": "franka_fr3",
  "total_episodes": 150,
  "total_frames": 93888,
  "total_tasks": 1,
  "chunks_size": 1000,
  "total_chunks": 1,
  "fps": 30.0,
  "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
  "video_path": "videos/{video_key}/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.mp4",
  "features": {
    "action": {
      "dtype": "float32",
      "shape": [
        8
      ],
      "names": [
        "ee_pose_cmd_x",
        "ee_pose_cmd_y",
        "ee_pose_cmd_z",
        "ee_pose_cmd_qx",
        "ee_pose_cmd_qy",
        "ee_pose_cmd_qz",
        "ee_pose_cmd_qw",
        "gripper_state"
      ],
      "info": {
        "action_source": "ee_pose_cmd_plus_gripper_state",
        "pose_format": "xyz_quat_xyzw"
      }
    },
    "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
    },
    "observation.state.q_cmd": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": [
        "q_cmd_0",
        "q_cmd_1",
        "q_cmd_2",
        "q_cmd_3",
        "q_cmd_4",
        "q_cmd_5",
        "q_cmd_6"
      ]
    },
    "observation.state.q": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": [
        "q_0",
        "q_1",
        "q_2",
        "q_3",
        "q_4",
        "q_5",
        "q_6"
      ]
    },
    "observation.state.ee_pose": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": [
        "ee_pose_x",
        "ee_pose_y",
        "ee_pose_z",
        "ee_pose_qx",
        "ee_pose_qy",
        "ee_pose_qz",
        "ee_pose_qw"
      ],
      "info": {
        "pose_format": "xyz_quat_xyzw",
        "source_matrix_shape": [
          4,
          4
        ]
      }
    },
    "observation.state.ee_pose_cmd": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": [
        "ee_pose_cmd_x",
        "ee_pose_cmd_y",
        "ee_pose_cmd_z",
        "ee_pose_cmd_qx",
        "ee_pose_cmd_qy",
        "ee_pose_cmd_qz",
        "ee_pose_cmd_qw"
      ],
      "info": {
        "pose_format": "xyz_quat_xyzw",
        "source_matrix_shape": [
          4,
          4
        ]
      }
    },
    "observation.state.gripper_state": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": [
        "gripper_state"
      ]
    },
    "observation.state.wrench_raw_chunk": {
      "dtype": "float32",
      "shape": [
        4,
        6
      ],
      "names": null,
      "info": {
        "chunk_shape": [
          4,
          6
        ],
        "window_s": null,
        "channel_names": [
          "fx",
          "fy",
          "fz",
          "tx",
          "ty",
          "tz"
        ]
      }
    },
    "observation.state.wrench_filtered_chunk": {
      "dtype": "float32",
      "shape": [
        4,
        6
      ],
      "names": null,
      "info": {
        "chunk_shape": [
          4,
          6
        ],
        "window_s": null,
        "channel_names": [
          "fx",
          "fy",
          "fz",
          "tx",
          "ty",
          "tz"
        ]
      }
    },
    "observation.state.wrench_chunk_valid_len": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": [
        "valid_len"
      ],
      "info": {
        "max_valid_len": 4
      }
    },
    "timestamp_us": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "source_id": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "episode_label": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "frame_label": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": [
        "frame_label"
      ]
    },
    "interaction_label": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": [
        "interaction_label"
      ]
    },
    "side_1": {
      "dtype": "video",
      "shape": [
        3,
        192,
        256
      ],
      "names": [
        "channels",
        "height",
        "width"
      ],
      "info": {
        "video.height": 192,
        "video.width": 256,
        "video.codec": "libx264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30.0,
        "video.channels": 3,
        "has_audio": false,
        "source_crop_y0y1x0x1": null,
        "source_resize_wh": null
      }
    },
    "side_2": {
      "dtype": "video",
      "shape": [
        3,
        192,
        256
      ],
      "names": [
        "channels",
        "height",
        "width"
      ],
      "info": {
        "video.height": 192,
        "video.width": 256,
        "video.codec": "libx264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30.0,
        "video.channels": 3,
        "has_audio": false,
        "source_crop_y0y1x0x1": null,
        "source_resize_wh": null
      }
    },
    "wrist": {
      "dtype": "video",
      "shape": [
        3,
        192,
        256
      ],
      "names": [
        "channels",
        "height",
        "width"
      ],
      "info": {
        "video.height": 192,
        "video.width": 256,
        "video.codec": "libx264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 30.0,
        "video.channels": 3,
        "has_audio": false,
        "source_crop_y0y1x0x1": null,
        "source_resize_wh": null
      }
    }
  }
}