size_categories:n<1K format:parquet modality:image modality:text library:datasets library:pandas library:mlcroissant library:polars region:us
---
dataset_info:
  features:
  - 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
  splits:
  - name: train
    num_bytes: 71679685.0
    num_examples: 20
  download_size: 29094227
  dataset_size: 71679685.0
configs:
- config_name: default
  data_files:
  - split: train
    path: data/train-*
---
