["size_categories:n<1K", "format:parquet", "modality:image", "modality:text", "library:datasets", "library:pandas", "library:mlcroissant", "library:polars", "region:us"]
[{"name": "image", "dtype": "image"}, {"name": "episode_idx", "dtype": "int64"}, {"name": "step_idx", "dtype": "int64"}, {"name": "timestamp", "dtype": "float32"}, {"name": "observation", "struct": [{"name": "image", "dtype": "image"}, {"name": "task", "dtype": "string"}]}, {"name": "action", "struct": [{"name": "pose", "struct": [{"name": "x", "dtype": "float64"}, {"name": "y", "dtype": "float64"}, {"name": "z", "dtype": "float64"}, {"name": "roll", "dtype": "float64"}, {"name": "pitch", "dtype": "float64"}, {"name": "yaw", "dtype": "float64"}]}, {"name": "grasp", "dtype": "float64"}]}, {"name": "state", "struct": [{"name": "joints", "list": {"list": "float64"}}, {"name": "pose", "struct": [{"name": "pose", "struct": [{"name": "x", "dtype": "float64"}, {"name": "y", "dtype": "float64"}, {"name": "z", "dtype": "float64"}, {"name": "roll", "dtype": "float64"}, {"name": "pitch", "dtype": "float64"}, {"name": "yaw", "dtype": "float64"}]}, {"name": "grasp", "dtype": "float64"}]}, {"name": "is_done", "dtype": "int64"}, {"name": "scene", "struct": [{"name": "image", "dtype": "image"}, {"name": "depth_image", "dtype": "image"}, {"name": "scene_objects", "list": [{"name": "object_name", "dtype": "string"}, {"name": "object_pose", "struct": [{"name": "x", "dtype": "float64"}, {"name": "y", "dtype": "float64"}, {"name": "z", "dtype": "float64"}, {"name": "roll", "dtype": "float64"}, {"name": "pitch", "dtype": "float64"}, {"name": "yaw", "dtype": "float64"}]}]}]}]}, {"name": "absolute_pose", "struct": [{"name": "pose", "struct": [{"name": "x", "dtype": "float64"}, {"name": "y", "dtype": "float64"}, {"name": "z", "dtype": "float64"}, {"name": "roll", "dtype": "float64"}, {"name": "pitch", "dtype": "float64"}, {"name": "yaw", "dtype": "float64"}]}, {"name": "grasp", "dtype": "float64"}]}, {"name": "detection_result", "dtype": "string"}, {"name": "camera_params", "struct": [{"name": "intrinsic", "struct": [{"name": "focal_length_x", "dtype": "float64"}, {"name": "focal_length_y", "dtype": "float64"}, {"name": "optical_center_x", "dtype": "float64"}, {"name": "optical_center_y", "dtype": "float64"}]}, {"name": "distortion", "struct": [{"name": "k1", "dtype": "float64"}, {"name": "k2", "dtype": "float64"}, {"name": "p1", "dtype": "float64"}, {"name": "p2", "dtype": "float64"}, {"name": "k3", "dtype": "float64"}]}, {"name": "extrinsic", "struct": [{"name": "rotation_matrix", "list": {"list": "float64"}}, {"name": "translation_vector", "list": "float64"}, {"name": "rotation_vector", "list": "float64"}]}, {"name": "depth_scale", "dtype": "float64"}]}, {"name": "info", "struct": [{"name": "action", "struct": [{"name": "pose", "struct": [{"name": "x", "struct": [{"name": "reference_frame", "dtype": "string"}, {"name": "unit", "dtype": "string"}, {"name": "bounds", "dtype": "string"}]}, {"name": "y", "struct": [{"name": "reference_frame", "dtype": "string"}, {"name": "unit", "dtype": "string"}, {"name": "bounds", "dtype": "string"}]}, {"name": "z", "struct": [{"name": "reference_frame", "dtype": "string"}, {"name": "unit", "dtype": "string"}, {"name": "bounds", "dtype": "string"}]}, {"name": "roll", "struct": [{"name": "reference_frame", "dtype": "string"}, {"name": "unit", "dtype": "string"}, {"name": "bounds", "dtype": "string"}]}, {"name": "pitch", "struct": [{"name": "reference_frame", "dtype": "string"}, {"name": "unit", "dtype": "string"}, {"name": "bounds", "dtype": "string"}]}, {"name": "yaw", "struct": [{"name": "reference_frame", "dtype": "string"}, {"name": "unit", "dtype": "string"}, {"name": "bounds", "dtype": "string"}]}]}, {"name": "grasp", "struct": [{"name": "reference_frame", "dtype": "string"}, {"name": "unit", "dtype": "string"}, {"name": "bounds", "list": "int64"}, {"name": "shape", "dtype": "string"}]}]}, {"name": "absolute_pose", "struct": [{"name": "pose", "struct": [{"name": "x", "struct": [{"name": "reference_frame", "dtype": "string"}, {"name": "unit", "dtype": "string"}, {"name": "bounds", "dtype": "string"}]}, {"name": "y", "struct": [{"name": "reference_frame", "dtype": "string"}, {"name": "unit", "dtype": "string"}, {"name": "bounds", "dtype": "string"}]}, {"name": "z", "struct": [{"name": "reference_frame", "dtype": "string"}, {"name": "unit", "dtype": "string"}, {"name": "bounds", "dtype": "string"}]}, {"name": "roll", "struct": [{"name": "reference_frame", "dtype": "string"}, {"name": "unit", "dtype": "string"}, {"name": "bounds", "dtype": "string"}]}, {"name": "pitch", "struct": [{"name": "reference_frame", "dtype": "string"}, {"name": "unit", "dtype": "string"}, {"name": "bounds", "dtype": "string"}]}, {"name": "yaw", "struct": [{"name": "reference_frame", "dtype": "string"}, {"name": "unit", "dtype": "string"}, {"name": "bounds", "dtype": "string"}]}]}, {"name": "grasp", "struct": [{"name": "reference_frame", "dtype": "string"}, {"name": "unit", "dtype": "string"}, {"name": "bounds", "list": "int64"}, {"name": "shape", "dtype": "string"}]}]}]}]