{ "codebase_version": "v3.0", "fps": 30, "features": { "action": { "dtype": "float32", "shape": [ 26 ], "names": [ "dg5f_0.pos", "dg5f_1.pos", "dg5f_2.pos", "dg5f_3.pos", "dg5f_4.pos", "dg5f_5.pos", "dg5f_6.pos", "dg5f_7.pos", "dg5f_8.pos", "dg5f_9.pos", "dg5f_10.pos", "dg5f_11.pos", "dg5f_12.pos", "dg5f_13.pos", "dg5f_14.pos", "dg5f_15.pos", "dg5f_16.pos", "dg5f_17.pos", "dg5f_18.pos", "dg5f_19.pos", "ur5e_0.pos", "ur5e_1.pos", "ur5e_2.pos", "ur5e_3.pos", "ur5e_4.pos", "ur5e_5.pos" ] }, "observation.state": { "dtype": "float32", "shape": [ 26 ], "names": [ "dg5f_0.pos", "dg5f_1.pos", "dg5f_2.pos", "dg5f_3.pos", "dg5f_4.pos", "dg5f_5.pos", "dg5f_6.pos", "dg5f_7.pos", "dg5f_8.pos", "dg5f_9.pos", "dg5f_10.pos", "dg5f_11.pos", "dg5f_12.pos", "dg5f_13.pos", "dg5f_14.pos", "dg5f_15.pos", "dg5f_16.pos", "dg5f_17.pos", "dg5f_18.pos", "dg5f_19.pos", "ur5e_0.pos", "ur5e_1.pos", "ur5e_2.pos", "ur5e_3.pos", "ur5e_4.pos", "ur5e_5.pos" ] }, "observation.images.realsense": { "dtype": "video", "shape": [ 480, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.preset": 12, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {} } }, "observation.images.gelsight1": { "dtype": "video", "shape": [ 375, 500, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 375, "video.width": 500, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.preset": 12, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {} } }, "observation.images.gelsight2": { "dtype": "video", "shape": [ 375, 500, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 375, "video.width": 500, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false, "video.g": 2, "video.crf": 30, "video.preset": 12, "video.fast_decode": 0, "video.video_backend": "pyav", "video.extra_options": {} } }, "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 } }, "total_episodes": 50, "total_frames": 29358, "total_tasks": 46, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "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", "robot_type": "dg5f_ur5e", "splits": { "train": "0:50" } }