{ "codebase_version": "v2.1", "robot_type": null, "total_episodes": 51, "total_frames": 38573, "total_tasks": 1, "total_videos": 663, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": { "train": "0:51" }, "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": { "action": { "dtype": "float32", "shape": [ 68 ], "names": [ "ee_pos_rot_0", "ee_pos_rot_1", "ee_pos_rot_2", "ee_pos_rot_3", "ee_pos_rot_4", "ee_pos_rot_5", "ee_pos_rot_6", "ee_pos_rot_7", "ee_pos_rot_8", "ee_pos_rot_9", "ee_pos_rot_10", "ee_pos_rot_11", "joint_positions_0", "joint_positions_1", "joint_positions_2", "joint_positions_3", "joint_positions_4", "joint_positions_5", "joint_positions_6", "joint_positions_7", "joint_positions_8", "joint_positions_9", "joint_positions_10", "joint_positions_11", "joint_positions_12", "joint_positions_13", "joint_positions_14", "joint_positions_15", "joint_positions_16", "joint_positions_17", "joint_positions_18", "joint_positions_19", "joint_positions_20", "joint_positions_21", "joint_positions_22", "joint_positions_23", "joint_positions_24", "joint_positions_25", "joint_positions_26", "joint_positions_27", "joint_positions_28", "joint_positions_29", "joint_positions_30", "joint_positions_31", "joint_positions_32", "joint_positions_33", "joint_positions_34", "joint_positions_35", "joint_positions_36", "joint_positions_37", "joint_positions_38", "joint_positions_39", "joint_positions_40", "joint_positions_41", "joint_positions_42", "joint_positions_43", "joint_positions_44", "joint_positions_45", "joint_positions_46", "joint_positions_47", "joint_positions_48", "joint_positions_49", "joint_positions_50", "joint_positions_51", "joint_positions_52", "joint_positions_53", "joint_positions_54", "joint_positions_55" ] }, "observation.state": { "dtype": "float32", "shape": [ 706 ], "names": [ "ee_pos_rot_0", "ee_pos_rot_1", "ee_pos_rot_2", "ee_pos_rot_3", "ee_pos_rot_4", "ee_pos_rot_5", "ee_pos_rot_6", "ee_pos_rot_7", "ee_pos_rot_8", "ee_pos_rot_9", "ee_pos_rot_10", "ee_pos_rot_11", "joint_positions_0", "joint_positions_1", "joint_positions_2", "joint_positions_3", "joint_positions_4", "joint_positions_5", "joint_positions_6", "joint_positions_7", "joint_positions_8", "joint_positions_9", "joint_positions_10", "joint_positions_11", "joint_positions_12", "joint_positions_13", "joint_positions_14", "joint_positions_15", "joint_positions_16", "joint_positions_17", "joint_positions_18", "joint_positions_19", "joint_positions_20", "joint_positions_21", "joint_positions_22", "joint_positions_23", "joint_positions_24", "joint_positions_25", "joint_positions_26", "joint_positions_27", "joint_positions_28", "joint_positions_29", "joint_positions_30", "joint_positions_31", "joint_positions_32", "joint_positions_33", "joint_positions_34", "joint_positions_35", "joint_positions_36", "joint_positions_37", "joint_positions_38", "joint_positions_39", "joint_positions_40", "joint_positions_41", "joint_positions_42", "joint_positions_43", "joint_positions_44", "joint_positions_45", "joint_positions_46", "joint_positions_47", "joint_positions_48", "joint_positions_49", "joint_positions_50", "joint_positions_51", "joint_positions_52", "joint_positions_53", "joint_positions_54", "joint_positions_55", "sharpa_joint_velocities_0", "sharpa_joint_velocities_1", "sharpa_joint_velocities_2", "sharpa_joint_velocities_3", "sharpa_joint_velocities_4", "sharpa_joint_velocities_5", "sharpa_joint_velocities_6", "sharpa_joint_velocities_7", "sharpa_joint_velocities_8", "sharpa_joint_velocities_9", "sharpa_joint_velocities_10", "sharpa_joint_velocities_11", "sharpa_joint_velocities_12", "sharpa_joint_velocities_13", "sharpa_joint_velocities_14", "sharpa_joint_velocities_15", "sharpa_joint_velocities_16", "sharpa_joint_velocities_17", "sharpa_joint_velocities_18", "sharpa_joint_velocities_19", "sharpa_joint_velocities_20", "sharpa_joint_velocities_21", "sharpa_joint_velocities_22", "sharpa_joint_velocities_23", "sharpa_joint_velocities_24", "sharpa_joint_velocities_25", "sharpa_joint_velocities_26", "sharpa_joint_velocities_27", "sharpa_joint_velocities_28", "sharpa_joint_velocities_29", "sharpa_joint_velocities_30", "sharpa_joint_velocities_31", "sharpa_joint_velocities_32", "sharpa_joint_velocities_33", "sharpa_joint_velocities_34", "sharpa_joint_velocities_35", "sharpa_joint_velocities_36", "sharpa_joint_velocities_37", "sharpa_joint_velocities_38", "sharpa_joint_velocities_39", "sharpa_joint_velocities_40", "sharpa_joint_velocities_41", "sharpa_joint_velocities_42", "sharpa_joint_velocities_43", "sharpa_joint_torques_0", "sharpa_joint_torques_1", "sharpa_joint_torques_2", "sharpa_joint_torques_3", "sharpa_joint_torques_4", "sharpa_joint_torques_5", "sharpa_joint_torques_6", "sharpa_joint_torques_7", "sharpa_joint_torques_8", "sharpa_joint_torques_9", "sharpa_joint_torques_10", "sharpa_joint_torques_11", "sharpa_joint_torques_12", "sharpa_joint_torques_13", "sharpa_joint_torques_14", "sharpa_joint_torques_15", "sharpa_joint_torques_16", "sharpa_joint_torques_17", "sharpa_joint_torques_18", "sharpa_joint_torques_19", "sharpa_joint_torques_20", "sharpa_joint_torques_21", "sharpa_joint_torques_22", "sharpa_joint_torques_23", "sharpa_joint_torques_24", "sharpa_joint_torques_25", "sharpa_joint_torques_26", "sharpa_joint_torques_27", "sharpa_joint_torques_28", "sharpa_joint_torques_29", "sharpa_joint_torques_30", "sharpa_joint_torques_31", "sharpa_joint_torques_32", "sharpa_joint_torques_33", "sharpa_joint_torques_34", "sharpa_joint_torques_35", "sharpa_joint_torques_36", "sharpa_joint_torques_37", "sharpa_joint_torques_38", "sharpa_joint_torques_39", "sharpa_joint_torques_40", "sharpa_joint_torques_41", "sharpa_joint_torques_42", "sharpa_joint_torques_43", "sharpa_left_tactile_force6d_thumb_0", "sharpa_left_tactile_force6d_thumb_1", "sharpa_left_tactile_force6d_thumb_2", "sharpa_left_tactile_force6d_thumb_3", "sharpa_left_tactile_force6d_thumb_4", "sharpa_left_tactile_force6d_thumb_5", "sharpa_left_tactile_contact_point_thumb_count", "sharpa_left_tactile_contact_point_thumb_0_x", "sharpa_left_tactile_contact_point_thumb_0_y", "sharpa_left_tactile_contact_point_thumb_0_confidence", "sharpa_left_tactile_contact_point_thumb_1_x", "sharpa_left_tactile_contact_point_thumb_1_y", "sharpa_left_tactile_contact_point_thumb_1_confidence", "sharpa_left_tactile_contact_point_thumb_2_x", "sharpa_left_tactile_contact_point_thumb_2_y", "sharpa_left_tactile_contact_point_thumb_2_confidence", "sharpa_left_tactile_contact_point_thumb_3_x", "sharpa_left_tactile_contact_point_thumb_3_y", "sharpa_left_tactile_contact_point_thumb_3_confidence", "sharpa_left_tactile_contact_point_thumb_4_x", "sharpa_left_tactile_contact_point_thumb_4_y", "sharpa_left_tactile_contact_point_thumb_4_confidence", "sharpa_left_tactile_contact_point_thumb_5_x", "sharpa_left_tactile_contact_point_thumb_5_y", "sharpa_left_tactile_contact_point_thumb_5_confidence", "sharpa_left_tactile_contact_point_thumb_6_x", "sharpa_left_tactile_contact_point_thumb_6_y", "sharpa_left_tactile_contact_point_thumb_6_confidence", "sharpa_left_tactile_contact_point_thumb_7_x", "sharpa_left_tactile_contact_point_thumb_7_y", "sharpa_left_tactile_contact_point_thumb_7_confidence", "sharpa_left_tactile_contact_point_thumb_8_x", "sharpa_left_tactile_contact_point_thumb_8_y", "sharpa_left_tactile_contact_point_thumb_8_confidence", "sharpa_left_tactile_contact_point_thumb_9_x", "sharpa_left_tactile_contact_point_thumb_9_y", "sharpa_left_tactile_contact_point_thumb_9_confidence", "sharpa_left_tactile_contact_point_thumb_10_x", "sharpa_left_tactile_contact_point_thumb_10_y", "sharpa_left_tactile_contact_point_thumb_10_confidence", "sharpa_left_tactile_contact_point_thumb_11_x", "sharpa_left_tactile_contact_point_thumb_11_y", "sharpa_left_tactile_contact_point_thumb_11_confidence", "sharpa_left_tactile_contact_point_thumb_12_x", "sharpa_left_tactile_contact_point_thumb_12_y", "sharpa_left_tactile_contact_point_thumb_12_confidence", "sharpa_left_tactile_contact_point_thumb_13_x", "sharpa_left_tactile_contact_point_thumb_13_y", "sharpa_left_tactile_contact_point_thumb_13_confidence", "sharpa_left_tactile_contact_point_thumb_14_x", "sharpa_left_tactile_contact_point_thumb_14_y", "sharpa_left_tactile_contact_point_thumb_14_confidence", "sharpa_left_tactile_contact_point_thumb_15_x", "sharpa_left_tactile_contact_point_thumb_15_y", "sharpa_left_tactile_contact_point_thumb_15_confidence", "sharpa_left_tactile_force6d_index_0", "sharpa_left_tactile_force6d_index_1", "sharpa_left_tactile_force6d_index_2", "sharpa_left_tactile_force6d_index_3", "sharpa_left_tactile_force6d_index_4", "sharpa_left_tactile_force6d_index_5", "sharpa_left_tactile_contact_point_index_count", "sharpa_left_tactile_contact_point_index_0_x", "sharpa_left_tactile_contact_point_index_0_y", "sharpa_left_tactile_contact_point_index_0_confidence", "sharpa_left_tactile_contact_point_index_1_x", "sharpa_left_tactile_contact_point_index_1_y", "sharpa_left_tactile_contact_point_index_1_confidence", "sharpa_left_tactile_contact_point_index_2_x", "sharpa_left_tactile_contact_point_index_2_y", "sharpa_left_tactile_contact_point_index_2_confidence", "sharpa_left_tactile_contact_point_index_3_x", "sharpa_left_tactile_contact_point_index_3_y", "sharpa_left_tactile_contact_point_index_3_confidence", "sharpa_left_tactile_contact_point_index_4_x", "sharpa_left_tactile_contact_point_index_4_y", "sharpa_left_tactile_contact_point_index_4_confidence", "sharpa_left_tactile_contact_point_index_5_x", "sharpa_left_tactile_contact_point_index_5_y", "sharpa_left_tactile_contact_point_index_5_confidence", "sharpa_left_tactile_contact_point_index_6_x", "sharpa_left_tactile_contact_point_index_6_y", "sharpa_left_tactile_contact_point_index_6_confidence", "sharpa_left_tactile_contact_point_index_7_x", "sharpa_left_tactile_contact_point_index_7_y", "sharpa_left_tactile_contact_point_index_7_confidence", "sharpa_left_tactile_contact_point_index_8_x", "sharpa_left_tactile_contact_point_index_8_y", "sharpa_left_tactile_contact_point_index_8_confidence", "sharpa_left_tactile_contact_point_index_9_x", "sharpa_left_tactile_contact_point_index_9_y", "sharpa_left_tactile_contact_point_index_9_confidence", "sharpa_left_tactile_contact_point_index_10_x", "sharpa_left_tactile_contact_point_index_10_y", "sharpa_left_tactile_contact_point_index_10_confidence", "sharpa_left_tactile_contact_point_index_11_x", "sharpa_left_tactile_contact_point_index_11_y", "sharpa_left_tactile_contact_point_index_11_confidence", "sharpa_left_tactile_contact_point_index_12_x", "sharpa_left_tactile_contact_point_index_12_y", "sharpa_left_tactile_contact_point_index_12_confidence", "sharpa_left_tactile_contact_point_index_13_x", "sharpa_left_tactile_contact_point_index_13_y", "sharpa_left_tactile_contact_point_index_13_confidence", "sharpa_left_tactile_contact_point_index_14_x", "sharpa_left_tactile_contact_point_index_14_y", "sharpa_left_tactile_contact_point_index_14_confidence", "sharpa_left_tactile_contact_point_index_15_x", "sharpa_left_tactile_contact_point_index_15_y", "sharpa_left_tactile_contact_point_index_15_confidence", "sharpa_left_tactile_force6d_middle_0", "sharpa_left_tactile_force6d_middle_1", "sharpa_left_tactile_force6d_middle_2", "sharpa_left_tactile_force6d_middle_3", "sharpa_left_tactile_force6d_middle_4", "sharpa_left_tactile_force6d_middle_5", "sharpa_left_tactile_contact_point_middle_count", "sharpa_left_tactile_contact_point_middle_0_x", "sharpa_left_tactile_contact_point_middle_0_y", "sharpa_left_tactile_contact_point_middle_0_confidence", "sharpa_left_tactile_contact_point_middle_1_x", "sharpa_left_tactile_contact_point_middle_1_y", "sharpa_left_tactile_contact_point_middle_1_confidence", "sharpa_left_tactile_contact_point_middle_2_x", "sharpa_left_tactile_contact_point_middle_2_y", "sharpa_left_tactile_contact_point_middle_2_confidence", "sharpa_left_tactile_contact_point_middle_3_x", "sharpa_left_tactile_contact_point_middle_3_y", "sharpa_left_tactile_contact_point_middle_3_confidence", "sharpa_left_tactile_contact_point_middle_4_x", "sharpa_left_tactile_contact_point_middle_4_y", "sharpa_left_tactile_contact_point_middle_4_confidence", "sharpa_left_tactile_contact_point_middle_5_x", "sharpa_left_tactile_contact_point_middle_5_y", "sharpa_left_tactile_contact_point_middle_5_confidence", "sharpa_left_tactile_contact_point_middle_6_x", "sharpa_left_tactile_contact_point_middle_6_y", "sharpa_left_tactile_contact_point_middle_6_confidence", "sharpa_left_tactile_contact_point_middle_7_x", "sharpa_left_tactile_contact_point_middle_7_y", "sharpa_left_tactile_contact_point_middle_7_confidence", "sharpa_left_tactile_contact_point_middle_8_x", "sharpa_left_tactile_contact_point_middle_8_y", "sharpa_left_tactile_contact_point_middle_8_confidence", "sharpa_left_tactile_contact_point_middle_9_x", "sharpa_left_tactile_contact_point_middle_9_y", "sharpa_left_tactile_contact_point_middle_9_confidence", "sharpa_left_tactile_contact_point_middle_10_x", "sharpa_left_tactile_contact_point_middle_10_y", "sharpa_left_tactile_contact_point_middle_10_confidence", "sharpa_left_tactile_contact_point_middle_11_x", "sharpa_left_tactile_contact_point_middle_11_y", "sharpa_left_tactile_contact_point_middle_11_confidence", "sharpa_left_tactile_contact_point_middle_12_x", "sharpa_left_tactile_contact_point_middle_12_y", "sharpa_left_tactile_contact_point_middle_12_confidence", "sharpa_left_tactile_contact_point_middle_13_x", "sharpa_left_tactile_contact_point_middle_13_y", "sharpa_left_tactile_contact_point_middle_13_confidence", "sharpa_left_tactile_contact_point_middle_14_x", "sharpa_left_tactile_contact_point_middle_14_y", "sharpa_left_tactile_contact_point_middle_14_confidence", "sharpa_left_tactile_contact_point_middle_15_x", "sharpa_left_tactile_contact_point_middle_15_y", "sharpa_left_tactile_contact_point_middle_15_confidence", "sharpa_left_tactile_force6d_ring_0", "sharpa_left_tactile_force6d_ring_1", "sharpa_left_tactile_force6d_ring_2", "sharpa_left_tactile_force6d_ring_3", "sharpa_left_tactile_force6d_ring_4", "sharpa_left_tactile_force6d_ring_5", "sharpa_left_tactile_contact_point_ring_count", "sharpa_left_tactile_contact_point_ring_0_x", "sharpa_left_tactile_contact_point_ring_0_y", "sharpa_left_tactile_contact_point_ring_0_confidence", "sharpa_left_tactile_contact_point_ring_1_x", "sharpa_left_tactile_contact_point_ring_1_y", "sharpa_left_tactile_contact_point_ring_1_confidence", "sharpa_left_tactile_contact_point_ring_2_x", "sharpa_left_tactile_contact_point_ring_2_y", "sharpa_left_tactile_contact_point_ring_2_confidence", "sharpa_left_tactile_contact_point_ring_3_x", "sharpa_left_tactile_contact_point_ring_3_y", "sharpa_left_tactile_contact_point_ring_3_confidence", "sharpa_left_tactile_contact_point_ring_4_x", "sharpa_left_tactile_contact_point_ring_4_y", "sharpa_left_tactile_contact_point_ring_4_confidence", "sharpa_left_tactile_contact_point_ring_5_x", "sharpa_left_tactile_contact_point_ring_5_y", "sharpa_left_tactile_contact_point_ring_5_confidence", "sharpa_left_tactile_contact_point_ring_6_x", "sharpa_left_tactile_contact_point_ring_6_y", "sharpa_left_tactile_contact_point_ring_6_confidence", "sharpa_left_tactile_contact_point_ring_7_x", "sharpa_left_tactile_contact_point_ring_7_y", "sharpa_left_tactile_contact_point_ring_7_confidence", "sharpa_left_tactile_contact_point_ring_8_x", "sharpa_left_tactile_contact_point_ring_8_y", "sharpa_left_tactile_contact_point_ring_8_confidence", "sharpa_left_tactile_contact_point_ring_9_x", "sharpa_left_tactile_contact_point_ring_9_y", "sharpa_left_tactile_contact_point_ring_9_confidence", "sharpa_left_tactile_contact_point_ring_10_x", "sharpa_left_tactile_contact_point_ring_10_y", "sharpa_left_tactile_contact_point_ring_10_confidence", "sharpa_left_tactile_contact_point_ring_11_x", "sharpa_left_tactile_contact_point_ring_11_y", "sharpa_left_tactile_contact_point_ring_11_confidence", "sharpa_left_tactile_contact_point_ring_12_x", "sharpa_left_tactile_contact_point_ring_12_y", "sharpa_left_tactile_contact_point_ring_12_confidence", "sharpa_left_tactile_contact_point_ring_13_x", "sharpa_left_tactile_contact_point_ring_13_y", "sharpa_left_tactile_contact_point_ring_13_confidence", "sharpa_left_tactile_contact_point_ring_14_x", "sharpa_left_tactile_contact_point_ring_14_y", "sharpa_left_tactile_contact_point_ring_14_confidence", "sharpa_left_tactile_contact_point_ring_15_x", "sharpa_left_tactile_contact_point_ring_15_y", "sharpa_left_tactile_contact_point_ring_15_confidence", "sharpa_left_tactile_force6d_pinky_0", "sharpa_left_tactile_force6d_pinky_1", "sharpa_left_tactile_force6d_pinky_2", "sharpa_left_tactile_force6d_pinky_3", "sharpa_left_tactile_force6d_pinky_4", "sharpa_left_tactile_force6d_pinky_5", "sharpa_left_tactile_contact_point_pinky_count", "sharpa_left_tactile_contact_point_pinky_0_x", "sharpa_left_tactile_contact_point_pinky_0_y", "sharpa_left_tactile_contact_point_pinky_0_confidence", "sharpa_left_tactile_contact_point_pinky_1_x", "sharpa_left_tactile_contact_point_pinky_1_y", "sharpa_left_tactile_contact_point_pinky_1_confidence", "sharpa_left_tactile_contact_point_pinky_2_x", "sharpa_left_tactile_contact_point_pinky_2_y", "sharpa_left_tactile_contact_point_pinky_2_confidence", "sharpa_left_tactile_contact_point_pinky_3_x", "sharpa_left_tactile_contact_point_pinky_3_y", "sharpa_left_tactile_contact_point_pinky_3_confidence", "sharpa_left_tactile_contact_point_pinky_4_x", "sharpa_left_tactile_contact_point_pinky_4_y", "sharpa_left_tactile_contact_point_pinky_4_confidence", "sharpa_left_tactile_contact_point_pinky_5_x", "sharpa_left_tactile_contact_point_pinky_5_y", "sharpa_left_tactile_contact_point_pinky_5_confidence", "sharpa_left_tactile_contact_point_pinky_6_x", "sharpa_left_tactile_contact_point_pinky_6_y", "sharpa_left_tactile_contact_point_pinky_6_confidence", "sharpa_left_tactile_contact_point_pinky_7_x", "sharpa_left_tactile_contact_point_pinky_7_y", "sharpa_left_tactile_contact_point_pinky_7_confidence", "sharpa_left_tactile_contact_point_pinky_8_x", "sharpa_left_tactile_contact_point_pinky_8_y", "sharpa_left_tactile_contact_point_pinky_8_confidence", "sharpa_left_tactile_contact_point_pinky_9_x", "sharpa_left_tactile_contact_point_pinky_9_y", "sharpa_left_tactile_contact_point_pinky_9_confidence", "sharpa_left_tactile_contact_point_pinky_10_x", "sharpa_left_tactile_contact_point_pinky_10_y", "sharpa_left_tactile_contact_point_pinky_10_confidence", "sharpa_left_tactile_contact_point_pinky_11_x", "sharpa_left_tactile_contact_point_pinky_11_y", "sharpa_left_tactile_contact_point_pinky_11_confidence", "sharpa_left_tactile_contact_point_pinky_12_x", "sharpa_left_tactile_contact_point_pinky_12_y", "sharpa_left_tactile_contact_point_pinky_12_confidence", "sharpa_left_tactile_contact_point_pinky_13_x", "sharpa_left_tactile_contact_point_pinky_13_y", "sharpa_left_tactile_contact_point_pinky_13_confidence", "sharpa_left_tactile_contact_point_pinky_14_x", "sharpa_left_tactile_contact_point_pinky_14_y", "sharpa_left_tactile_contact_point_pinky_14_confidence", "sharpa_left_tactile_contact_point_pinky_15_x", "sharpa_left_tactile_contact_point_pinky_15_y", "sharpa_left_tactile_contact_point_pinky_15_confidence", "sharpa_right_tactile_force6d_thumb_0", "sharpa_right_tactile_force6d_thumb_1", "sharpa_right_tactile_force6d_thumb_2", "sharpa_right_tactile_force6d_thumb_3", "sharpa_right_tactile_force6d_thumb_4", "sharpa_right_tactile_force6d_thumb_5", "sharpa_right_tactile_contact_point_thumb_count", "sharpa_right_tactile_contact_point_thumb_0_x", "sharpa_right_tactile_contact_point_thumb_0_y", "sharpa_right_tactile_contact_point_thumb_0_confidence", "sharpa_right_tactile_contact_point_thumb_1_x", "sharpa_right_tactile_contact_point_thumb_1_y", "sharpa_right_tactile_contact_point_thumb_1_confidence", "sharpa_right_tactile_contact_point_thumb_2_x", "sharpa_right_tactile_contact_point_thumb_2_y", "sharpa_right_tactile_contact_point_thumb_2_confidence", "sharpa_right_tactile_contact_point_thumb_3_x", "sharpa_right_tactile_contact_point_thumb_3_y", "sharpa_right_tactile_contact_point_thumb_3_confidence", "sharpa_right_tactile_contact_point_thumb_4_x", "sharpa_right_tactile_contact_point_thumb_4_y", "sharpa_right_tactile_contact_point_thumb_4_confidence", "sharpa_right_tactile_contact_point_thumb_5_x", "sharpa_right_tactile_contact_point_thumb_5_y", "sharpa_right_tactile_contact_point_thumb_5_confidence", "sharpa_right_tactile_contact_point_thumb_6_x", "sharpa_right_tactile_contact_point_thumb_6_y", "sharpa_right_tactile_contact_point_thumb_6_confidence", "sharpa_right_tactile_contact_point_thumb_7_x", "sharpa_right_tactile_contact_point_thumb_7_y", "sharpa_right_tactile_contact_point_thumb_7_confidence", "sharpa_right_tactile_contact_point_thumb_8_x", "sharpa_right_tactile_contact_point_thumb_8_y", "sharpa_right_tactile_contact_point_thumb_8_confidence", "sharpa_right_tactile_contact_point_thumb_9_x", "sharpa_right_tactile_contact_point_thumb_9_y", "sharpa_right_tactile_contact_point_thumb_9_confidence", "sharpa_right_tactile_contact_point_thumb_10_x", "sharpa_right_tactile_contact_point_thumb_10_y", "sharpa_right_tactile_contact_point_thumb_10_confidence", "sharpa_right_tactile_contact_point_thumb_11_x", "sharpa_right_tactile_contact_point_thumb_11_y", "sharpa_right_tactile_contact_point_thumb_11_confidence", "sharpa_right_tactile_contact_point_thumb_12_x", "sharpa_right_tactile_contact_point_thumb_12_y", "sharpa_right_tactile_contact_point_thumb_12_confidence", "sharpa_right_tactile_contact_point_thumb_13_x", "sharpa_right_tactile_contact_point_thumb_13_y", "sharpa_right_tactile_contact_point_thumb_13_confidence", "sharpa_right_tactile_contact_point_thumb_14_x", "sharpa_right_tactile_contact_point_thumb_14_y", "sharpa_right_tactile_contact_point_thumb_14_confidence", "sharpa_right_tactile_contact_point_thumb_15_x", "sharpa_right_tactile_contact_point_thumb_15_y", "sharpa_right_tactile_contact_point_thumb_15_confidence", "sharpa_right_tactile_force6d_index_0", "sharpa_right_tactile_force6d_index_1", "sharpa_right_tactile_force6d_index_2", "sharpa_right_tactile_force6d_index_3", "sharpa_right_tactile_force6d_index_4", "sharpa_right_tactile_force6d_index_5", "sharpa_right_tactile_contact_point_index_count", "sharpa_right_tactile_contact_point_index_0_x", "sharpa_right_tactile_contact_point_index_0_y", "sharpa_right_tactile_contact_point_index_0_confidence", "sharpa_right_tactile_contact_point_index_1_x", "sharpa_right_tactile_contact_point_index_1_y", "sharpa_right_tactile_contact_point_index_1_confidence", "sharpa_right_tactile_contact_point_index_2_x", "sharpa_right_tactile_contact_point_index_2_y", "sharpa_right_tactile_contact_point_index_2_confidence", "sharpa_right_tactile_contact_point_index_3_x", "sharpa_right_tactile_contact_point_index_3_y", "sharpa_right_tactile_contact_point_index_3_confidence", "sharpa_right_tactile_contact_point_index_4_x", "sharpa_right_tactile_contact_point_index_4_y", "sharpa_right_tactile_contact_point_index_4_confidence", "sharpa_right_tactile_contact_point_index_5_x", "sharpa_right_tactile_contact_point_index_5_y", "sharpa_right_tactile_contact_point_index_5_confidence", "sharpa_right_tactile_contact_point_index_6_x", "sharpa_right_tactile_contact_point_index_6_y", "sharpa_right_tactile_contact_point_index_6_confidence", "sharpa_right_tactile_contact_point_index_7_x", "sharpa_right_tactile_contact_point_index_7_y", "sharpa_right_tactile_contact_point_index_7_confidence", "sharpa_right_tactile_contact_point_index_8_x", "sharpa_right_tactile_contact_point_index_8_y", "sharpa_right_tactile_contact_point_index_8_confidence", "sharpa_right_tactile_contact_point_index_9_x", "sharpa_right_tactile_contact_point_index_9_y", "sharpa_right_tactile_contact_point_index_9_confidence", "sharpa_right_tactile_contact_point_index_10_x", "sharpa_right_tactile_contact_point_index_10_y", "sharpa_right_tactile_contact_point_index_10_confidence", "sharpa_right_tactile_contact_point_index_11_x", "sharpa_right_tactile_contact_point_index_11_y", "sharpa_right_tactile_contact_point_index_11_confidence", "sharpa_right_tactile_contact_point_index_12_x", "sharpa_right_tactile_contact_point_index_12_y", "sharpa_right_tactile_contact_point_index_12_confidence", "sharpa_right_tactile_contact_point_index_13_x", "sharpa_right_tactile_contact_point_index_13_y", "sharpa_right_tactile_contact_point_index_13_confidence", "sharpa_right_tactile_contact_point_index_14_x", "sharpa_right_tactile_contact_point_index_14_y", "sharpa_right_tactile_contact_point_index_14_confidence", "sharpa_right_tactile_contact_point_index_15_x", "sharpa_right_tactile_contact_point_index_15_y", "sharpa_right_tactile_contact_point_index_15_confidence", "sharpa_right_tactile_force6d_middle_0", "sharpa_right_tactile_force6d_middle_1", "sharpa_right_tactile_force6d_middle_2", "sharpa_right_tactile_force6d_middle_3", "sharpa_right_tactile_force6d_middle_4", "sharpa_right_tactile_force6d_middle_5", "sharpa_right_tactile_contact_point_middle_count", "sharpa_right_tactile_contact_point_middle_0_x", "sharpa_right_tactile_contact_point_middle_0_y", "sharpa_right_tactile_contact_point_middle_0_confidence", "sharpa_right_tactile_contact_point_middle_1_x", "sharpa_right_tactile_contact_point_middle_1_y", "sharpa_right_tactile_contact_point_middle_1_confidence", "sharpa_right_tactile_contact_point_middle_2_x", "sharpa_right_tactile_contact_point_middle_2_y", "sharpa_right_tactile_contact_point_middle_2_confidence", "sharpa_right_tactile_contact_point_middle_3_x", "sharpa_right_tactile_contact_point_middle_3_y", "sharpa_right_tactile_contact_point_middle_3_confidence", "sharpa_right_tactile_contact_point_middle_4_x", "sharpa_right_tactile_contact_point_middle_4_y", "sharpa_right_tactile_contact_point_middle_4_confidence", "sharpa_right_tactile_contact_point_middle_5_x", "sharpa_right_tactile_contact_point_middle_5_y", "sharpa_right_tactile_contact_point_middle_5_confidence", "sharpa_right_tactile_contact_point_middle_6_x", "sharpa_right_tactile_contact_point_middle_6_y", "sharpa_right_tactile_contact_point_middle_6_confidence", "sharpa_right_tactile_contact_point_middle_7_x", "sharpa_right_tactile_contact_point_middle_7_y", "sharpa_right_tactile_contact_point_middle_7_confidence", "sharpa_right_tactile_contact_point_middle_8_x", "sharpa_right_tactile_contact_point_middle_8_y", "sharpa_right_tactile_contact_point_middle_8_confidence", "sharpa_right_tactile_contact_point_middle_9_x", "sharpa_right_tactile_contact_point_middle_9_y", "sharpa_right_tactile_contact_point_middle_9_confidence", "sharpa_right_tactile_contact_point_middle_10_x", "sharpa_right_tactile_contact_point_middle_10_y", "sharpa_right_tactile_contact_point_middle_10_confidence", "sharpa_right_tactile_contact_point_middle_11_x", "sharpa_right_tactile_contact_point_middle_11_y", "sharpa_right_tactile_contact_point_middle_11_confidence", "sharpa_right_tactile_contact_point_middle_12_x", "sharpa_right_tactile_contact_point_middle_12_y", "sharpa_right_tactile_contact_point_middle_12_confidence", "sharpa_right_tactile_contact_point_middle_13_x", "sharpa_right_tactile_contact_point_middle_13_y", "sharpa_right_tactile_contact_point_middle_13_confidence", "sharpa_right_tactile_contact_point_middle_14_x", "sharpa_right_tactile_contact_point_middle_14_y", "sharpa_right_tactile_contact_point_middle_14_confidence", "sharpa_right_tactile_contact_point_middle_15_x", "sharpa_right_tactile_contact_point_middle_15_y", "sharpa_right_tactile_contact_point_middle_15_confidence", "sharpa_right_tactile_force6d_ring_0", "sharpa_right_tactile_force6d_ring_1", "sharpa_right_tactile_force6d_ring_2", "sharpa_right_tactile_force6d_ring_3", "sharpa_right_tactile_force6d_ring_4", "sharpa_right_tactile_force6d_ring_5", "sharpa_right_tactile_contact_point_ring_count", "sharpa_right_tactile_contact_point_ring_0_x", "sharpa_right_tactile_contact_point_ring_0_y", "sharpa_right_tactile_contact_point_ring_0_confidence", "sharpa_right_tactile_contact_point_ring_1_x", "sharpa_right_tactile_contact_point_ring_1_y", "sharpa_right_tactile_contact_point_ring_1_confidence", "sharpa_right_tactile_contact_point_ring_2_x", "sharpa_right_tactile_contact_point_ring_2_y", "sharpa_right_tactile_contact_point_ring_2_confidence", "sharpa_right_tactile_contact_point_ring_3_x", "sharpa_right_tactile_contact_point_ring_3_y", "sharpa_right_tactile_contact_point_ring_3_confidence", "sharpa_right_tactile_contact_point_ring_4_x", "sharpa_right_tactile_contact_point_ring_4_y", "sharpa_right_tactile_contact_point_ring_4_confidence", "sharpa_right_tactile_contact_point_ring_5_x", "sharpa_right_tactile_contact_point_ring_5_y", "sharpa_right_tactile_contact_point_ring_5_confidence", "sharpa_right_tactile_contact_point_ring_6_x", "sharpa_right_tactile_contact_point_ring_6_y", "sharpa_right_tactile_contact_point_ring_6_confidence", "sharpa_right_tactile_contact_point_ring_7_x", "sharpa_right_tactile_contact_point_ring_7_y", "sharpa_right_tactile_contact_point_ring_7_confidence", "sharpa_right_tactile_contact_point_ring_8_x", "sharpa_right_tactile_contact_point_ring_8_y", "sharpa_right_tactile_contact_point_ring_8_confidence", "sharpa_right_tactile_contact_point_ring_9_x", "sharpa_right_tactile_contact_point_ring_9_y", "sharpa_right_tactile_contact_point_ring_9_confidence", "sharpa_right_tactile_contact_point_ring_10_x", "sharpa_right_tactile_contact_point_ring_10_y", "sharpa_right_tactile_contact_point_ring_10_confidence", "sharpa_right_tactile_contact_point_ring_11_x", "sharpa_right_tactile_contact_point_ring_11_y", "sharpa_right_tactile_contact_point_ring_11_confidence", "sharpa_right_tactile_contact_point_ring_12_x", "sharpa_right_tactile_contact_point_ring_12_y", "sharpa_right_tactile_contact_point_ring_12_confidence", "sharpa_right_tactile_contact_point_ring_13_x", "sharpa_right_tactile_contact_point_ring_13_y", "sharpa_right_tactile_contact_point_ring_13_confidence", "sharpa_right_tactile_contact_point_ring_14_x", "sharpa_right_tactile_contact_point_ring_14_y", "sharpa_right_tactile_contact_point_ring_14_confidence", "sharpa_right_tactile_contact_point_ring_15_x", "sharpa_right_tactile_contact_point_ring_15_y", "sharpa_right_tactile_contact_point_ring_15_confidence", "sharpa_right_tactile_force6d_pinky_0", "sharpa_right_tactile_force6d_pinky_1", "sharpa_right_tactile_force6d_pinky_2", "sharpa_right_tactile_force6d_pinky_3", "sharpa_right_tactile_force6d_pinky_4", "sharpa_right_tactile_force6d_pinky_5", "sharpa_right_tactile_contact_point_pinky_count", "sharpa_right_tactile_contact_point_pinky_0_x", "sharpa_right_tactile_contact_point_pinky_0_y", "sharpa_right_tactile_contact_point_pinky_0_confidence", "sharpa_right_tactile_contact_point_pinky_1_x", "sharpa_right_tactile_contact_point_pinky_1_y", "sharpa_right_tactile_contact_point_pinky_1_confidence", "sharpa_right_tactile_contact_point_pinky_2_x", "sharpa_right_tactile_contact_point_pinky_2_y", "sharpa_right_tactile_contact_point_pinky_2_confidence", "sharpa_right_tactile_contact_point_pinky_3_x", "sharpa_right_tactile_contact_point_pinky_3_y", "sharpa_right_tactile_contact_point_pinky_3_confidence", "sharpa_right_tactile_contact_point_pinky_4_x", "sharpa_right_tactile_contact_point_pinky_4_y", "sharpa_right_tactile_contact_point_pinky_4_confidence", "sharpa_right_tactile_contact_point_pinky_5_x", "sharpa_right_tactile_contact_point_pinky_5_y", "sharpa_right_tactile_contact_point_pinky_5_confidence", "sharpa_right_tactile_contact_point_pinky_6_x", "sharpa_right_tactile_contact_point_pinky_6_y", "sharpa_right_tactile_contact_point_pinky_6_confidence", "sharpa_right_tactile_contact_point_pinky_7_x", "sharpa_right_tactile_contact_point_pinky_7_y", "sharpa_right_tactile_contact_point_pinky_7_confidence", "sharpa_right_tactile_contact_point_pinky_8_x", "sharpa_right_tactile_contact_point_pinky_8_y", "sharpa_right_tactile_contact_point_pinky_8_confidence", "sharpa_right_tactile_contact_point_pinky_9_x", "sharpa_right_tactile_contact_point_pinky_9_y", "sharpa_right_tactile_contact_point_pinky_9_confidence", "sharpa_right_tactile_contact_point_pinky_10_x", "sharpa_right_tactile_contact_point_pinky_10_y", "sharpa_right_tactile_contact_point_pinky_10_confidence", "sharpa_right_tactile_contact_point_pinky_11_x", "sharpa_right_tactile_contact_point_pinky_11_y", "sharpa_right_tactile_contact_point_pinky_11_confidence", "sharpa_right_tactile_contact_point_pinky_12_x", "sharpa_right_tactile_contact_point_pinky_12_y", "sharpa_right_tactile_contact_point_pinky_12_confidence", "sharpa_right_tactile_contact_point_pinky_13_x", "sharpa_right_tactile_contact_point_pinky_13_y", "sharpa_right_tactile_contact_point_pinky_13_confidence", "sharpa_right_tactile_contact_point_pinky_14_x", "sharpa_right_tactile_contact_point_pinky_14_y", "sharpa_right_tactile_contact_point_pinky_14_confidence", "sharpa_right_tactile_contact_point_pinky_15_x", "sharpa_right_tactile_contact_point_pinky_15_y", "sharpa_right_tactile_contact_point_pinky_15_confidence" ] }, "observation.images.top": { "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": 30, "video.channels": 3, "has_audio": false } }, "observation.images.wrist_l": { "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": 30, "video.channels": 3, "has_audio": false } }, "observation.images.wrist_r": { "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": 30, "video.channels": 3, "has_audio": false } }, "observation.images.sharpa_left_thumb_tactile_deform": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.sharpa_left_index_tactile_deform": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.sharpa_left_middle_tactile_deform": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.sharpa_left_ring_tactile_deform": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.sharpa_left_pinky_tactile_deform": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.sharpa_right_thumb_tactile_deform": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.sharpa_right_index_tactile_deform": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.sharpa_right_middle_tactile_deform": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.sharpa_right_ring_tactile_deform": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "observation.images.sharpa_right_pinky_tactile_deform": { "dtype": "video", "shape": [ 240, 240, 3 ], "names": [ "height", "width", "channels" ], "info": { "video.height": 240, "video.width": 240, "video.codec": "h264", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false } }, "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 } } }