---
dataset_info:
  features:
  - name: episode_idx
    dtype: int32
  - name: step_idx
    dtype: int32
  - name: image
    dtype: image
  - 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
          dtype: string
    - name: relative_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
          dtype: string
    - name: state
      struct:
      - name: end_effector_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: observation
    struct:
    - name: image
      dtype: image
    - name: task
      dtype: string
  - name: action
    struct:
    - name: pose
      struct:
      - name: x
        dtype: float32
      - name: 'y'
        dtype: float32
      - name: z
        dtype: float32
      - name: roll
        dtype: float32
      - name: pitch
        dtype: float32
      - name: yaw
        dtype: float32
    - name: grasp
      dtype: float32
  - name: supervision
    dtype: float32
  - name: relative_action
    struct:
    - name: pose
      struct:
      - name: x
        dtype: float32
      - name: 'y'
        dtype: float32
      - name: z
        dtype: float32
      - name: roll
        dtype: float32
      - name: pitch
        dtype: float32
      - name: yaw
        dtype: float32
    - name: grasp
      dtype: float32
  - name: state
    struct:
    - name: end_effector_pose
      struct:
      - name: x
        dtype: float32
      - name: 'y'
        dtype: float32
      - name: z
        dtype: float32
      - name: roll
        dtype: float32
      - name: pitch
        dtype: float32
      - name: yaw
        dtype: float32
    - name: is_first
      dtype: int32
    - name: is_last
      dtype: int32
    - name: is_terminal
      dtype: int32
    - name: image
      struct:
      - name: array
        list:
          list:
            list: int32
      - name: base64
        dtype: string
      - name: pil
        dtype: image
      - name: size
        list: int32
      - name: url
        dtype: string
      - name: encoding
        dtype: string
  splits:
  - name: default
    num_bytes: 104426842851.25
    num_examples: 17058
  - name: all
    num_bytes: 209714586519.75
    num_examples: 34222
  download_size: 101883554825
  dataset_size: 314141429371
configs:
- config_name: default
  data_files:
  - split: all
    path: data/all-*
  - split: default
    path: data/default-*
license: mit
task_categories:
- robotics
size_categories:
- 100K<n<1M
---

**PLEASE NOTE** There is a bug in the calculation of grasp values. The state and original (relative) actions were summed instead of just using action "open_gripper" value.

See the info field for units, action types, bounds. The action is an absolute action calculated by summing the original action (now relative action) and end effector pose (originally state).

This dataset was processed from jxu124/OpenX-Embodiment.