{ "codebase_version": "v3.0", "robot_type": "dexmate_vega1_and_sharpa_wave", "total_episodes": 5464, "total_frames": 5473459, "total_tasks": 5370, "chunks_size": 1000, "data_files_size_in_mb": 100, "video_files_size_in_mb": 200, "fps": 30, "splits": { "train": "0:5464" }, "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": [ 58 ], "names": [ "left_arm_q_0", "left_arm_q_1", "left_arm_q_2", "left_arm_q_3", "left_arm_q_4", "left_arm_q_5", "left_arm_q_6", "left_hand_q_0", "left_hand_q_1", "left_hand_q_2", "left_hand_q_3", "left_hand_q_4", "left_hand_q_5", "left_hand_q_6", "left_hand_q_7", "left_hand_q_8", "left_hand_q_9", "left_hand_q_10", "left_hand_q_11", "left_hand_q_12", "left_hand_q_13", "left_hand_q_14", "left_hand_q_15", "left_hand_q_16", "left_hand_q_17", "left_hand_q_18", "left_hand_q_19", "left_hand_q_20", "left_hand_q_21", "right_arm_q_0", "right_arm_q_1", "right_arm_q_2", "right_arm_q_3", "right_arm_q_4", "right_arm_q_5", "right_arm_q_6", "right_hand_q_0", "right_hand_q_1", "right_hand_q_2", "right_hand_q_3", "right_hand_q_4", "right_hand_q_5", "right_hand_q_6", "right_hand_q_7", "right_hand_q_8", "right_hand_q_9", "right_hand_q_10", "right_hand_q_11", "right_hand_q_12", "right_hand_q_13", "right_hand_q_14", "right_hand_q_15", "right_hand_q_16", "right_hand_q_17", "right_hand_q_18", "right_hand_q_19", "right_hand_q_20", "right_hand_q_21" ] }, "action": { "dtype": "float32", "shape": [ 58 ], "names": [ "left_arm_target_dof_0", "left_arm_target_dof_1", "left_arm_target_dof_2", "left_arm_target_dof_3", "left_arm_target_dof_4", "left_arm_target_dof_5", "left_arm_target_dof_6", "left_hand_target_q_0", "left_hand_target_q_1", "left_hand_target_q_2", "left_hand_target_q_3", "left_hand_target_q_4", "left_hand_target_q_5", "left_hand_target_q_6", "left_hand_target_q_7", "left_hand_target_q_8", "left_hand_target_q_9", "left_hand_target_q_10", "left_hand_target_q_11", "left_hand_target_q_12", "left_hand_target_q_13", "left_hand_target_q_14", "left_hand_target_q_15", "left_hand_target_q_16", "left_hand_target_q_17", "left_hand_target_q_18", "left_hand_target_q_19", "left_hand_target_q_20", "left_hand_target_q_21", "right_arm_target_dof_0", "right_arm_target_dof_1", "right_arm_target_dof_2", "right_arm_target_dof_3", "right_arm_target_dof_4", "right_arm_target_dof_5", "right_arm_target_dof_6", "right_hand_target_q_0", "right_hand_target_q_1", "right_hand_target_q_2", "right_hand_target_q_3", "right_hand_target_q_4", "right_hand_target_q_5", "right_hand_target_q_6", "right_hand_target_q_7", "right_hand_target_q_8", "right_hand_target_q_9", "right_hand_target_q_10", "right_hand_target_q_11", "right_hand_target_q_12", "right_hand_target_q_13", "right_hand_target_q_14", "right_hand_target_q_15", "right_hand_target_q_16", "right_hand_target_q_17", "right_hand_target_q_18", "right_hand_target_q_19", "right_hand_target_q_20", "right_hand_target_q_21" ] }, "observation.tactile_force": { "dtype": "float32", "shape": [ 60 ], "names": [ "left_thumb_f6_0", "left_thumb_f6_1", "left_thumb_f6_2", "left_thumb_f6_3", "left_thumb_f6_4", "left_thumb_f6_5", "left_index_f6_0", "left_index_f6_1", "left_index_f6_2", "left_index_f6_3", "left_index_f6_4", "left_index_f6_5", "left_middle_f6_0", "left_middle_f6_1", "left_middle_f6_2", "left_middle_f6_3", "left_middle_f6_4", "left_middle_f6_5", "left_ring_f6_0", "left_ring_f6_1", "left_ring_f6_2", "left_ring_f6_3", "left_ring_f6_4", "left_ring_f6_5", "left_pinky_f6_0", "left_pinky_f6_1", "left_pinky_f6_2", "left_pinky_f6_3", "left_pinky_f6_4", "left_pinky_f6_5", "right_thumb_f6_0", "right_thumb_f6_1", "right_thumb_f6_2", "right_thumb_f6_3", "right_thumb_f6_4", "right_thumb_f6_5", "right_index_f6_0", "right_index_f6_1", "right_index_f6_2", "right_index_f6_3", "right_index_f6_4", "right_index_f6_5", "right_middle_f6_0", "right_middle_f6_1", "right_middle_f6_2", "right_middle_f6_3", "right_middle_f6_4", "right_middle_f6_5", "right_ring_f6_0", "right_ring_f6_1", "right_ring_f6_2", "right_ring_f6_3", "right_ring_f6_4", "right_ring_f6_5", "right_pinky_f6_0", "right_pinky_f6_1", "right_pinky_f6_2", "right_pinky_f6_3", "right_pinky_f6_4", "right_pinky_f6_5" ] }, "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.images.head_left": { "dtype": "video", "shape": [ 360, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 360, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.left_wrist": { "dtype": "video", "shape": [ 360, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 360, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.right_wrist": { "dtype": "video", "shape": [ 360, 640, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 360, "video.width": 640, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_left_raw_thumb": { "dtype": "video", "shape": [ 240, 320, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 320, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_left_raw_index": { "dtype": "video", "shape": [ 240, 320, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 320, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_left_raw_middle": { "dtype": "video", "shape": [ 240, 320, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 320, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_left_raw_ring": { "dtype": "video", "shape": [ 240, 320, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 320, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_left_raw_pinky": { "dtype": "video", "shape": [ 240, 320, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 320, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_left_deform_thumb": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_left_deform_index": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_left_deform_middle": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_left_deform_ring": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_left_deform_pinky": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_right_raw_thumb": { "dtype": "video", "shape": [ 240, 320, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 320, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_right_raw_index": { "dtype": "video", "shape": [ 240, 320, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 320, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_right_raw_middle": { "dtype": "video", "shape": [ 240, 320, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 320, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_right_raw_ring": { "dtype": "video", "shape": [ 240, 320, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 320, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_right_raw_pinky": { "dtype": "video", "shape": [ 240, 320, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 320, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_right_deform_thumb": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_right_deform_index": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_right_deform_middle": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_right_deform_ring": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.tactile_right_deform_pinky": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuvj420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } } } }