{
  "notice": "Illustrative training-data manifest for product demonstration only. This file contains no image, depth, or robot-log payloads.",
  "dataset": {
    "name": "Pick & Place — Rigid Objects v3",
    "provider": "RbRouter example dataset",
    "skill": "pick_and_place",
    "robot": {
      "model": "Franka Panda",
      "arm": "7-DoF",
      "end_effector": "parallel gripper"
    },
    "task": "Pick the red block and place it in the tray.",
    "environment": "Fixed table and camera, randomized block position",
    "control_frequency_hz": 20,
    "episode_count": 10240,
    "modalities": ["front_rgb", "wrist_rgb", "depth", "joint_position", "joint_velocity", "gripper_state", "force_torque", "action_trajectory"],
    "annotations": ["object_pose", "grasp_event", "contact_event", "release_event", "success", "failure", "recovery"],
    "formats": ["LeRobot", "RLDS", "MCAP"],
    "coverage": {
      "normal_success_episodes": 6000,
      "position_variations": 1500,
      "lighting_variations": 1000,
      "object_size_variations": 700,
      "grasp_failure_episodes": 500,
      "recovery_episodes": 300
    }
  },
  "episode_example": {
    "episode_id": "pick_place_000184",
    "duration_sec": 8,
    "result": {
      "success": true,
      "completion_time_sec": 6.2,
      "object_dropped": false,
      "collision": false,
      "human_intervention": false
    },
    "timesteps": [
      {
        "timestamp_sec": 2.1,
        "task": "pick red block and place it in tray",
        "observation": {
          "front_rgb": "frames/front/0042.jpg",
          "wrist_rgb": "frames/wrist/0042.jpg",
          "depth": "depth/0042.npy",
          "joint_position": [0.21, -0.48, 0.37, -1.42, 0.18, 1.13, 0.76],
          "joint_velocity": [0.03, -0.01, 0.04, 0.02, 0, -0.03, 0.01],
          "gripper_width_m": 0.031,
          "force_torque": {"fx": 0.3, "fy": -0.1, "fz": 4.2, "tx": 0.02, "ty": 0.01, "tz": -0.03}
        },
        "action": {
          "delta_position_m": [0.001, 0, 0.012],
          "delta_rotation_rad": [0, 0, 0],
          "gripper": "close"
        }
      },
      {
        "timestamp_sec": 2.43,
        "event": "object_slip",
        "failure": {"type": "object_slip", "time_sec": 2.43},
        "recovery": {"action": "regrasp", "success": true}
      }
    ]
  }
}