| 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-* | |