{
  "codebase_version": "v3.0",
  "robot_type": "ur7e",
  "total_episodes": 100,
  "total_frames": 69932,
  "total_tasks": 1,
  "chunks_size": 1000,
  "data_files_size_in_mb": 100,
  "video_files_size_in_mb": 200,
  "fps": 10,
  "splits": {
    "train": "0:100"
  },
  "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
  "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
  "features": {
    "observation.state": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": [
        "shoulder_pan.pos",
        "shoulder_lift.pos",
        "elbow.pos",
        "wrist_1.pos",
        "wrist_2.pos",
        "wrist_3.pos",
        "gripper.pos"
      ]
    },
    "action": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": [
        "shoulder_pan.pos",
        "shoulder_lift.pos",
        "elbow.pos",
        "wrist_1.pos",
        "wrist_2.pos",
        "wrist_3.pos",
        "gripper.pos"
      ]
    },
    "observation.images.realsense_topview": {
      "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": 10,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "observation.images.realsense_wrist": {
      "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": 10,
        "video.channels": 3,
        "has_audio": false
      }
    },
    "skill.type": {
      "dtype": "string",
      "shape": [
        1
      ],
      "names": null
    },
    "skill.progress": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": null
    },
    "skill.goal_position.joint": {
      "dtype": "float32",
      "shape": [
        7
      ],
      "names": [
        "shoulder_pan.pos",
        "shoulder_lift.pos",
        "elbow.pos",
        "wrist_1.pos",
        "wrist_2.pos",
        "wrist_3.pos",
        "gripper.pos"
      ]
    },
    "skill.goal_position.world_xyzrpy": {
      "dtype": "float32",
      "shape": [
        6
      ],
      "names": [
        "x",
        "y",
        "z",
        "roll",
        "pitch",
        "yaw"
      ]
    },
    "skill.goal_position.robot_xyzrpy": {
      "dtype": "float32",
      "shape": [
        6
      ],
      "names": [
        "x",
        "y",
        "z",
        "roll",
        "pitch",
        "yaw"
      ]
    },
    "skill.goal_position.gripper": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": [
        "gripper.pos"
      ]
    },
    "skill.natural_language": {
      "dtype": "string",
      "shape": [
        1
      ],
      "names": null
    },
    "observation.ee_pos.robot_xyzrpy": {
      "dtype": "float32",
      "shape": [
        6
      ],
      "names": [
        "x",
        "y",
        "z",
        "roll",
        "pitch",
        "yaw"
      ]
    },
    "observation.gripper_binary": {
      "dtype": "float32",
      "shape": [
        1
      ],
      "names": null
    },
    "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
    }
  },
  "ur7e_action_semantics": "absolute_joint_target",
  "ur7e_action_labeling": "same_timestamp_interpolated_skill_target_10fps",
  "ur7e_source_repo_id": "CoRL2026-CSI/UR7e-CaP-Stack_Block-100epi_10fps",
  "ur7e_source_root": "/home/franka/.cache/huggingface/lerobot/CoRL2026-CSI/UR7e-CaP-Stack_Block-100epi_10fps",
  "ur7e_action_interpolation": {
    "created_at": "2026-05-19T22:29:14",
    "action_definition": "action[t] is a one-record-tick advanced absolute interpolation from segment start state to original skill final target",
    "alpha": "alpha[k] = (k + 1) / N",
    "segment_policy": "skill type / natural language / source target / goal target / progress reset",
    "gripper_policy": "preserve-target",
    "joint_target_atol": 1e-05,
    "progress_reset_epsilon": -0.001,
    "feature_schema_policy": "identical_to_source",
    "stats_policy": "recomputed_from_target_actions",
    "mixing_policy": "do_not_mix_with_controller_desired_without_explicit_ablation",
    "video_mode": "copy"
  }
}