{
  "codebase_version": "v2.1",
  "robot_type": null,
  "total_episodes": 177,
  "total_frames": 124872,
  "total_tasks": 1,
  "total_videos": 531,
  "total_chunks": 1,
  "chunks_size": 1000,
  "fps": 20,
  "splits": {
    "train": "0:177"
  },
  "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": {
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      "dtype": "float64",
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      "names": null
    },
    "frame_index": {
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    },
    "episode_index": {
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    },
    "index": {
      "dtype": "int64",
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      "names": null
    },
    "task_index": {
      "dtype": "int64",
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      "names": null
    },
    "observation.state.franka_robot_left_measured_joint_states": {
      "dtype": "float32",
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      ],
      "names": [
        "left_fr3_joint1",
        "left_fr3_joint2",
        "left_fr3_joint3",
        "left_fr3_joint4",
        "left_fr3_joint5",
        "left_fr3_joint6",
        "left_fr3_joint7"
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    },
    "observation.state.franka_robot_left_joint_states": {
      "dtype": "float32",
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      "names": [
        "robotiq_85_left_knuckle_joint"
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    },
    "observation.state.franka_robot_left_external_joint_torques": {
      "dtype": "float32",
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        7
      ],
      "names": [
        "left_fr3_joint1",
        "left_fr3_joint2",
        "left_fr3_joint3",
        "left_fr3_joint4",
        "left_fr3_joint5",
        "left_fr3_joint6",
        "left_fr3_joint7"
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    },
    "observation.state.franka_robot_left_external_wrench_in_stiffness_frame": {
      "dtype": "float32",
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      ],
      "names": [
        "force_x",
        "force_y",
        "force_z",
        "torque_x",
        "torque_y",
        "torque_z"
      ]
    },
    "observation.state.franka_robot_right_measured_joint_states": {
      "dtype": "float32",
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      "names": [
        "right_fr3_joint1",
        "right_fr3_joint2",
        "right_fr3_joint3",
        "right_fr3_joint4",
        "right_fr3_joint5",
        "right_fr3_joint6",
        "right_fr3_joint7"
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    },
    "observation.state.franka_robot_right_joint_states": {
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      "names": [
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    },
    "observation.state.franka_robot_right_external_joint_torques": {
      "dtype": "float32",
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      "names": [
        "right_fr3_joint1",
        "right_fr3_joint2",
        "right_fr3_joint3",
        "right_fr3_joint4",
        "right_fr3_joint5",
        "right_fr3_joint6",
        "right_fr3_joint7"
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    },
    "observation.state.franka_robot_right_external_wrench_in_stiffness_frame": {
      "dtype": "float32",
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      "names": [
        "force_x",
        "force_y",
        "force_z",
        "torque_x",
        "torque_y",
        "torque_z"
      ]
    },
    "action": {
      "dtype": "float32",
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        17
      ],
      "names": [
        "left_follower_gello_joint_states_fr3_joint1",
        "left_follower_gello_joint_states_fr3_joint2",
        "left_follower_gello_joint_states_fr3_joint3",
        "left_follower_gello_joint_states_fr3_joint4",
        "left_follower_gello_joint_states_fr3_joint5",
        "left_follower_gello_joint_states_fr3_joint6",
        "left_follower_gello_joint_states_fr3_joint7",
        "left_follower_gripper_gripper_client_target_gripper_width_percent_value",
        "right_follower_gello_joint_states_fr3_joint1",
        "right_follower_gello_joint_states_fr3_joint2",
        "right_follower_gello_joint_states_fr3_joint3",
        "right_follower_gello_joint_states_fr3_joint4",
        "right_follower_gello_joint_states_fr3_joint5",
        "right_follower_gello_joint_states_fr3_joint6",
        "right_follower_gello_joint_states_fr3_joint7",
        "right_follower_gripper_gripper_client_target_gripper_width_percent_value",
        "spine_target_height_value"
      ]
    },
    "observation.state": {
      "dtype": "float32",
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      ],
      "names": [
        "franka_robot_left_measured_joint_states_left_fr3_joint1",
        "franka_robot_left_measured_joint_states_left_fr3_joint2",
        "franka_robot_left_measured_joint_states_left_fr3_joint3",
        "franka_robot_left_measured_joint_states_left_fr3_joint4",
        "franka_robot_left_measured_joint_states_left_fr3_joint5",
        "franka_robot_left_measured_joint_states_left_fr3_joint6",
        "franka_robot_left_measured_joint_states_left_fr3_joint7",
        "franka_robot_left_joint_states_robotiq_85_left_knuckle_joint",
        "franka_robot_left_external_joint_torques_left_fr3_joint1",
        "franka_robot_left_external_joint_torques_left_fr3_joint2",
        "franka_robot_left_external_joint_torques_left_fr3_joint3",
        "franka_robot_left_external_joint_torques_left_fr3_joint4",
        "franka_robot_left_external_joint_torques_left_fr3_joint5",
        "franka_robot_left_external_joint_torques_left_fr3_joint6",
        "franka_robot_left_external_joint_torques_left_fr3_joint7",
        "franka_robot_left_external_wrench_in_stiffness_frame_force_x",
        "franka_robot_left_external_wrench_in_stiffness_frame_force_y",
        "franka_robot_left_external_wrench_in_stiffness_frame_force_z",
        "franka_robot_left_external_wrench_in_stiffness_frame_torque_x",
        "franka_robot_left_external_wrench_in_stiffness_frame_torque_y",
        "franka_robot_left_external_wrench_in_stiffness_frame_torque_z",
        "franka_robot_right_measured_joint_states_right_fr3_joint1",
        "franka_robot_right_measured_joint_states_right_fr3_joint2",
        "franka_robot_right_measured_joint_states_right_fr3_joint3",
        "franka_robot_right_measured_joint_states_right_fr3_joint4",
        "franka_robot_right_measured_joint_states_right_fr3_joint5",
        "franka_robot_right_measured_joint_states_right_fr3_joint6",
        "franka_robot_right_measured_joint_states_right_fr3_joint7",
        "franka_robot_right_joint_states_robotiq_85_left_knuckle_joint",
        "franka_robot_right_external_joint_torques_right_fr3_joint1",
        "franka_robot_right_external_joint_torques_right_fr3_joint2",
        "franka_robot_right_external_joint_torques_right_fr3_joint3",
        "franka_robot_right_external_joint_torques_right_fr3_joint4",
        "franka_robot_right_external_joint_torques_right_fr3_joint5",
        "franka_robot_right_external_joint_torques_right_fr3_joint6",
        "franka_robot_right_external_joint_torques_right_fr3_joint7",
        "franka_robot_right_external_wrench_in_stiffness_frame_force_x",
        "franka_robot_right_external_wrench_in_stiffness_frame_force_y",
        "franka_robot_right_external_wrench_in_stiffness_frame_force_z",
        "franka_robot_right_external_wrench_in_stiffness_frame_torque_x",
        "franka_robot_right_external_wrench_in_stiffness_frame_torque_y",
        "franka_robot_right_external_wrench_in_stiffness_frame_torque_z"
      ]
    },
    "next.reward": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": null
    },
    "next.done": {
      "dtype": "bool",
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        1
      ],
      "names": null
    },
    "annotation.human.action.task_description": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "annotation.human.validity": {
      "dtype": "int64",
      "shape": [
        1
      ],
      "names": null
    },
    "observation.images.head": {
      "dtype": "video",
      "shape": [
        720,
        1280,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 720,
        "video.width": 1280,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 20,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.wrist_left": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 480,
        "video.width": 640,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 20,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.wrist_right": {
      "dtype": "video",
      "shape": [
        480,
        640,
        3
      ],
      "names": [
        "height",
        "width",
        "channels"
      ],
      "info": {
        "video.height": 480,
        "video.width": 640,
        "video.codec": "h264",
        "video.pix_fmt": "yuv420p",
        "video.is_depth_map": false,
        "video.fps": 20,
        "video.channels": 3,
        "has_audio": false
      }
    }
  },
  "creation_metadata": {
    "source": "LABS processed MCAP",
    "input_episodes": 177,
    "synthetic_action": {
      "enabled": true,
      "topic": "/spine/target_height",
      "value": 434.0,
      "name": "value"
    },
    "video_encoder": "h264_nvenc",
    "video_alignment": "Per-camera source start offset, resampled to the common 20 Hz grid; original resolution retained.",
    "image_geometry": "Head camera approximately undistorted using factory parameters from a different ZED Mini, SN17064700, left eye, alpha=0. The recording camera serial and captured eye were not independently verified. All output pixels sample valid recorded pixels. Uniform focal scaling removes invalid borders, with a top-anchored crop to retain the mannequin mouth. No generated pixels or anisotropic stretching. Wrist camera geometry is unchanged. Native image dimensions and square pixels are retained.",
    "state_semantics": "Same position, torque and wrench fields exported by the supplied portable converter; joint velocities are not included.",
    "statistics": "All numeric rows; deterministic sampled RGB frames using LeRobot sample_indices.",
    "head_camera_calibration": "meta/head_camera_calibration.json"
  },
  "conversion_failures": []
}