---
dataset_info:
  features:
  - name: image
    dtype: image
  - 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: supervision
    dtype: float64
  - name: episode_idx
    dtype: int64
  - name: step_idx
    dtype: int64
  - name: absolute_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: end_effector_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: is_first
      dtype: int64
    - name: is_last
      dtype: int64
    - name: is_terminal
      dtype: int64
    - name: language_embedding
      list: float64
  - name: timestamp
    dtype: float64
  - name: metadata
    struct:
    - name: num_depth_cams
      dtype: int64
    - name: num_episodes
      dtype: string
    - name: num_rgb_cams
      dtype: int64
    - name: num_wrist_cams
      dtype: int64
    - name: action_space
      dtype: string
    - name: control_frequency
      dtype: string
    - name: data_collect_method
      dtype: string
    - name: dataset
      dtype: string
    - name: description
      dtype: string
    - name: file_size_gb
      dtype: float64
    - name: gripper
      dtype: string
    - name: has_camera_calibration
      dtype: string
    - name: has_proprioception
      dtype: string
    - name: has_suboptimal
      dtype: string
    - name: language_annotations
      dtype: string
    - name: registered_dataset_name
      dtype: string
    - name: robot
      dtype: string
    - name: robot_morphology
      dtype: string
    - name: scene_type
      dtype: string
  splits:
  - name: shard_0
    num_bytes: 239742191.0
    num_examples: 314
  download_size: 238436886
  dataset_size: 239742191.0
configs:
- config_name: default
  data_files:
  - split: shard_0
    path: data/shard_0-*
---