{ "codebase_version": "v2.1", "robot_type": "panda", "fps": 30.0, "total_episodes": 5, "total_frames": 8234, "total_tasks": 1, "total_videos": 30, "total_chunks": 1, "chunks_size": 1000, "splits": { "train": "0:5" }, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": { "observation.state": { "dtype": "float32", "shape": [ 18 ], "names": { "motors": [ "left_panda_joint1", "left_panda_joint2", "left_panda_joint3", "left_panda_joint4", "left_panda_joint5", "left_panda_joint6", "left_panda_joint7", "left_panda_finger_joint1", "left_panda_finger_joint2", "right_panda_joint1", "right_panda_joint2", "right_panda_joint3", "right_panda_joint4", "right_panda_joint5", "right_panda_joint6", "right_panda_joint7", "right_panda_finger_joint1", "right_panda_finger_joint2" ] } }, "action": { "dtype": "float32", "shape": [ 18 ], "names": { "motors": [ "left_panda_joint1", "left_panda_joint2", "left_panda_joint3", "left_panda_joint4", "left_panda_joint5", "left_panda_joint6", "left_panda_joint7", "left_panda_finger_joint1", "left_panda_finger_joint2", "right_panda_joint1", "right_panda_joint2", "right_panda_joint3", "right_panda_joint4", "right_panda_joint5", "right_panda_joint6", "right_panda_joint7", "right_panda_finger_joint1", "right_panda_finger_joint2" ] } }, "observation.images.front_cam": { "dtype": "video", "shape": [ 960, 1280, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.fps": 30.0, "video.height": 960, "video.width": 1280, "video.channels": 3, "video.codec": "avc1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.left_cam": { "dtype": "video", "shape": [ 960, 1280, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.fps": 30.0, "video.height": 960, "video.width": 1280, "video.channels": 3, "video.codec": "avc1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.top_cam": { "dtype": "video", "shape": [ 960, 1280, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.fps": 30.0, "video.height": 960, "video.width": 1280, "video.channels": 3, "video.codec": "avc1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.wrist_cam_l": { "dtype": "video", "shape": [ 960, 1280, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.fps": 30.0, "video.height": 960, "video.width": 1280, "video.channels": 3, "video.codec": "avc1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.wrist_cam_r": { "dtype": "video", "shape": [ 960, 1280, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.fps": 30.0, "video.height": 960, "video.width": 1280, "video.channels": 3, "video.codec": "avc1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "observation.images.right_cam_45": { "dtype": "video", "shape": [ 960, 1280, 3 ], "names": [ "height", "width", "channel" ], "info": { "video.fps": 30.0, "video.height": 960, "video.width": 1280, "video.channels": 3, "video.codec": "avc1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "has_audio": false } }, "timestamp": { "dtype": "float32", "shape": [ 1 ] }, "frame_index": { "dtype": "int64", "shape": [ 1 ] }, "episode_index": { "dtype": "int64", "shape": [ 1 ] }, "index": { "dtype": "int64", "shape": [ 1 ] }, "task_index": { "dtype": "int64", "shape": [ 1 ] }, "next.done": { "dtype": "bool", "shape": [ 1 ] }, "next.success": { "dtype": "bool", "shape": [ 1 ] }, "observation.masks.top_cam": { "dtype": "struct", "shape": [ 1 ], "fields": { "instance_segmentation": { "dtype": "string", "format": "mkv", "packed": true, "frame_index_source": "row_position", "codec": "ffv1" }, "label_map": { "dtype": "map" } } }, "observation.depths.top_cam": { "dtype": "float32", "shape": [ 467, 640 ], "names": [ "height", "width" ], "units": "m", "info": { "format": "npz", "depth_min_cm": 10.0, "depth_max_cm": 1000.0, "packed": true, "frame_index_source": "row_position", "array_key": "depth" } }, "observation.object_poses": { "dtype": "list", "shape": [ 3 ], "fields": { "object_id": { "dtype": "string" }, "present": { "dtype": "bool", "meaning": "object_exists_in_this_episode", "comment": "False for an optional object the episode never featured; every pose field is then null." }, "position": { "dtype": "float32", "shape": [ 3 ], "units": "m", "frame": "right_handed_world", "nullable": true }, "orientation": { "dtype": "float32", "shape": [ 4 ], "format": "quaternion_xyzw", "frame": "right_handed_world", "nullable": true }, "velocity_linear": { "dtype": "float32", "shape": [ 3 ], "units": "m/s", "method": "finite_difference", "nullable": true }, "dirty_fraction": { "dtype": "float32", "range": [ 0.0, 1.0 ], "meaning": "remaining_dirty_fraction", "nullable": true } } }, "observation.ee_pose": { "dtype": "list", "shape": [ 2 ], "fields": { "ee_id": { "dtype": "string" }, "position": { "dtype": "float32", "shape": [ 3 ], "units": "m", "frame": "robot_base", "semantic": "canonical_gripper_tcp_position" }, "orientation": { "dtype": "float32", "shape": [ 4 ], "format": "quaternion_xyzw", "frame": "robot_base", "semantic": "canonical_gripper_tcp_orientation" }, "velocity_linear": { "dtype": "float32", "shape": [ 3 ], "units": "m/s", "method": "finite_difference" } } }, "observation.ee_pose_world": { "dtype": "list", "shape": [ 2 ], "fields": { "ee_id": { "dtype": "string" }, "position": { "dtype": "float32", "shape": [ 3 ], "units": "m", "frame": "right_handed_world", "semantic": "canonical_gripper_tcp_position" }, "orientation": { "dtype": "float32", "shape": [ 4 ], "format": "quaternion_xyzw", "frame": "right_handed_world", "semantic": "canonical_gripper_tcp_orientation" }, "velocity_linear": { "dtype": "float32", "shape": [ 3 ], "units": "m/s", "frame": "right_handed_world", "method": "finite_difference" } }, "derivation": "world_T_ee = world_T_robot_base @ base_T_ee, where world_T_robot_base is the XRSC robot actor pose per frame (LH UE cm/deg converted to RH m / quaternion_xyzw, matching observation.object_poses), and base_T_ee is the FK-derived per-arm pose from observation.ee_pose." }, "gripper_open_scale_state": { "dtype": "float32", "shape": [ 2 ], "names": [ "left_gripper_open_scale", "right_gripper_open_scale" ], "range": [ 0.0, 1.0 ], "source": "observation.state finger joints" }, "gripper_open_scale_action": { "dtype": "float32", "shape": [ 2 ], "names": [ "left_gripper_open_scale", "right_gripper_open_scale" ], "range": [ 0.0, 1.0 ], "alignment": "next_frame_target", "source": "action finger joints" }, "gripper_mode_state": { "dtype": "int32", "shape": [ 2 ], "names": [ "left_gripper_mode", "right_gripper_mode" ], "annotation": "annotations/gripper_mode_annotation.jsonl" }, "gripper_mode_action": { "dtype": "int32", "shape": [ 2 ], "names": [ "left_gripper_mode", "right_gripper_mode" ], "alignment": "next_frame_target", "annotation": "annotations/gripper_mode_annotation.jsonl" }, "gripper_activity_state": { "dtype": "int32", "shape": [ 2 ], "names": [ "left_gripper_activity", "right_gripper_activity" ], "annotation": "annotations/gripper_activity_annotation.jsonl", "meaning": "previous_frame_to_current_frame" }, "gripper_activity_action": { "dtype": "int32", "shape": [ 2 ], "names": [ "left_gripper_activity", "right_gripper_activity" ], "annotation": "annotations/gripper_activity_annotation.jsonl", "meaning": "current_frame_to_next_frame" }, "action.end_effector": { "dtype": "float32", "shape": [ 28 ], "names": [ "left_ee_pos_0", "left_ee_pos_1", "left_ee_pos_2", "right_ee_pos_0", "right_ee_pos_1", "right_ee_pos_2", "left_ee_quat_0", "left_ee_quat_1", "left_ee_quat_2", "left_ee_quat_3", "right_ee_quat_0", "right_ee_quat_1", "right_ee_quat_2", "right_ee_quat_3", "left_ee_pos_delta_0", "left_ee_pos_delta_1", "left_ee_pos_delta_2", "right_ee_pos_delta_0", "right_ee_pos_delta_1", "right_ee_pos_delta_2", "left_ee_rot_delta_0", "left_ee_rot_delta_1", "left_ee_rot_delta_2", "right_ee_rot_delta_0", "right_ee_rot_delta_1", "right_ee_rot_delta_2", "left_ee_gripper", "right_ee_gripper" ], "source": "forward_kinematics_of_achieved_joints", "alignment": "next_frame_target", "fields": { "end_effector_position": { "start": 0, "end": 6, "units": "m", "frame": "robot_base" }, "end_effector_rotation": { "start": 6, "end": 14, "format": "quaternion_xyzw", "frame": "robot_base" }, "end_effector_position_delta": { "start": 14, "end": 20, "units": "m", "frame": "robot_base", "meaning": "p[t+1] - p[t]" }, "end_effector_rotation_delta": { "start": 20, "end": 26, "format": "axis_angle", "frame": "end_effector_local", "meaning": "conj(q[t]) (x) q[t+1]" }, "gripper": { "start": 26, "end": 28, "range": [ 0.0, 1.0 ] } }, "note": "Cartesian TCP action derived by forward kinematics of the achieved joints (no commanded/target stream exists in the source recordings). Teacher-forced to frame t+1 with the last frame repeated, matching the joint-space `action`. Both absolute and delta variants are provided; meta/modality.json slices this flat vector." }, "state.end_effector": { "dtype": "float32", "shape": [ 16 ], "names": [ "left_ee_pos_0", "left_ee_pos_1", "left_ee_pos_2", "right_ee_pos_0", "right_ee_pos_1", "right_ee_pos_2", "left_ee_quat_0", "left_ee_quat_1", "left_ee_quat_2", "left_ee_quat_3", "right_ee_quat_0", "right_ee_quat_1", "right_ee_quat_2", "right_ee_quat_3", "left_ee_gripper", "right_ee_gripper" ], "source": "forward_kinematics_of_achieved_joints", "fields": { "end_effector_position": { "start": 0, "end": 6, "units": "m", "frame": "robot_base" }, "end_effector_rotation": { "start": 6, "end": 14, "format": "quaternion_xyzw", "frame": "robot_base" }, "gripper": { "start": 14, "end": 16, "range": [ 0.0, 1.0 ] } } } }, "ee_pose": { "source_robot": "panda", "source_base_link": "panda_link0", "source_link": "panda_ee", "canonical_link": "gripper_tcp", "canonical_definition": "gripper grasp center / TCP between fingers", "base_frame": "per_arm_robot_base", "orientation_axes": { "x": "gripper lateral axis", "y": "finger closing axis", "z": "approach axis from palm toward fingertips" }, "panda_hand_link": "panda_hand", "panda_hand_to_tcp_translation_m": [ 0.0, 0.0, 0.103 ], "panda_hand_to_tcp_rotation_rpy_xyz_rad": [ 0.0, 0.0, 0.0 ], "panda_tcp_from_source_translation_m": [ 0.0, 0.0, 0.0 ], "panda_tcp_from_source_rotation_rpy_xyz_rad": [ 0.0, 0.0, 0.0 ], "legacy_note": "Older datasets may have described this as Panda panda_ee; numerically this URDF link is the Panda TCP." }, "gripper_semantics": { "open_width_m": 0.04, "mode_open_threshold": 0.5, "mode_open_scale": 0.9, "mode_method": "grasp_aware_hysteresis: per-arm forward latch over open_scale + activity. scale>=mode_open_scale -> open; scale<=mode_open_threshold -> closed; else closing->closed, opening->open, holding->latch. A grasp on a thick object stays closed regardless of aperture.", "activity_epsilon": 0.02, "mode_indices": { "open": 0, "closed": 1, "unknown": 2 }, "activity_indices": { "opening": 0, "closing": 1, "holding": 2, "unknown": 3 } } }