step int64 0 269 | episode int64 0 0 | task large_stringclasses 1
value | obs_qpos_0 float64 -0 0 | obs_qvel_0 float64 -0.02 0.01 | act_qpos_0 float64 -0 0 | obs_qpos_1 float64 -0.14 0.35 | obs_qvel_1 float64 -0.29 0.34 | act_qpos_1 float64 -0.17 0.3 | obs_qpos_2 float64 -0 0 | obs_qvel_2 float64 -0.02 0.01 | act_qpos_2 float64 -0 0 | obs_qpos_3 float64 -1.96 -1.57 | obs_qvel_3 float64 -0.26 0.15 | act_qpos_3 float64 -1.93 -1.57 | obs_qpos_4 float64 -0 -0 | obs_qvel_4 float64 -0.04 0.01 | act_qpos_4 float64 -0 0 | obs_qpos_5 float64 1.59 2 | obs_qvel_5 float64 -0.27 0.13 | act_qpos_5 float64 1.6 2 | obs_qpos_6 float64 -0.79 -0.79 | obs_qvel_6 float64 -0 0 | act_qpos_6 float64 -0.79 -0.79 | obs_ee_x float64 0.49 0.68 | obs_mug_x float64 0.49 0.5 | obs_ee_y float64 -0 0 | obs_mug_y float64 -0 0 | obs_ee_z float64 0.29 0.49 | obs_mug_z float64 0.28 0.48 | obs_gripper float64 0 1 | act_gripper float64 0 0.04 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 | 0 | pick_mug | 0.000053 | 0.002016 | 0 | 0.304377 | 0.237735 | 0.3 | -0.000028 | -0.000888 | 0 | -1.574457 | -0.187506 | -1.57079 | -0.000676 | -0.036009 | 0 | 1.999562 | -0.062416 | 2 | -0.785305 | -0.000242 | -0.7853 | 0.676731 | 0.5 | -0.000075 | 0 | 0.377572 | 0.290291 | 1 | 0.04 |
1 | 0 | pick_mug | 0.000107 | 0.001179 | 0 | 0.314099 | 0.342861 | 0.3 | -0.000071 | -0.001899 | 0 | -1.581898 | -0.259701 | -1.57079 | -0.001832 | -0.029744 | 0 | 1.995614 | -0.158566 | 2 | -0.785313 | -0.000184 | -0.7853 | 0.674642 | 0.500009 | -0.000242 | 0.000021 | 0.367073 | 0.287837 | 1 | 0.04 |
2 | 0 | pick_mug | 0.000119 | -0.000329 | 0 | 0.325324 | 0.344686 | 0.3 | -0.000153 | -0.003058 | 0 | -1.59038 | -0.25979 | -1.57079 | -0.00238 | -0.00723 | 0 | 1.990917 | -0.11842 | 2 | -0.785312 | 0.000244 | -0.7853 | 0.671919 | 0.500006 | -0.000374 | -0.000007 | 0.354805 | 0.288744 | 1 | 0.04 |
3 | 0 | pick_mug | 0.000088 | -0.001437 | 0 | 0.335386 | 0.280012 | 0.3 | -0.000262 | -0.003599 | 0 | -1.597904 | -0.207192 | -1.57079 | -0.002455 | -0.000717 | 0 | 1.988664 | -0.030494 | 2 | -0.7853 | 0.000366 | -0.7853 | 0.669647 | 0.500023 | -0.000476 | 0.000008 | 0.343981 | 0.289041 | 1 | 0.04 |
4 | 0 | pick_mug | 0.000016 | -0.002687 | -0.000115 | 0.342364 | 0.168576 | 0.298749 | -0.000389 | -0.004134 | -0.000108 | -1.603721 | -0.146827 | -1.572069 | -0.002533 | -0.00364 | -0.000026 | 1.987643 | -0.029991 | 1.998523 | -0.785295 | 0.000017 | -0.7853 | 0.667926 | 0.500023 | -0.000613 | 0.000002 | 0.336179 | 0.289078 | 1 | 0.04 |
5 | 0 | pick_mug | -0.000089 | -0.003482 | -0.000207 | 0.345665 | 0.057182 | 0.297195 | -0.000527 | -0.004254 | -0.000194 | -1.607607 | -0.087226 | -1.573625 | -0.002616 | -0.000629 | -0.000046 | 1.986076 | -0.04764 | 1.996713 | -0.785298 | -0.000075 | -0.7853 | 0.666541 | 0.499982 | -0.000782 | 0.000018 | 0.331746 | 0.289076 | 1 | 0.04 |
6 | 0 | pick_mug | -0.000222 | -0.004314 | -0.000383 | 0.345403 | -0.044107 | 0.294242 | -0.000671 | -0.004349 | -0.000358 | -1.610217 | -0.054589 | -1.57647 | -0.002561 | 0.003558 | -0.000086 | 1.983463 | -0.081443 | 1.993357 | -0.785301 | 0.000035 | -0.7853 | 0.665295 | 0.500027 | -0.000953 | 0.000013 | 0.330259 | 0.289074 | 1 | 0.04 |
7 | 0 | pick_mug | -0.000365 | -0.004249 | -0.000474 | 0.342507 | -0.109093 | 0.291283 | -0.000808 | -0.003855 | -0.000444 | -1.611942 | -0.031893 | -1.579283 | -0.002412 | 0.004897 | -0.000107 | 1.980372 | -0.078743 | 1.99002 | -0.785299 | 0.000145 | -0.7853 | 0.664186 | 0.500024 | -0.001112 | 0.000011 | 0.330957 | 0.289071 | 1 | 0.04 |
8 | 0 | pick_mug | -0.000489 | -0.003336 | -0.000508 | 0.338079 | -0.142395 | 0.288186 | -0.000918 | -0.002763 | -0.000476 | -1.613182 | -0.022497 | -1.582204 | -0.002272 | 0.003364 | -0.000114 | 1.977578 | -0.069058 | 1.986541 | -0.785296 | 0.000073 | -0.7853 | 0.663273 | 0.499993 | -0.001245 | 0.000023 | 0.332984 | 0.289073 | 1 | 0.04 |
9 | 0 | pick_mug | -0.000576 | -0.002093 | -0.000529 | 0.332972 | -0.153306 | 0.284892 | -0.00099 | -0.00145 | -0.000496 | -1.614375 | -0.026322 | -1.585287 | -0.002193 | 0.001571 | -0.000119 | 1.974737 | -0.079565 | 1.982855 | -0.785297 | -0.000021 | -0.7853 | 0.66237 | 0.50002 | -0.001338 | 0.000012 | 0.335521 | 0.289074 | 1 | 0.04 |
10 | 0 | pick_mug | -0.000623 | -0.000848 | -0.000534 | 0.327756 | -0.150068 | 0.281382 | -0.00102 | -0.000203 | -0.000501 | -1.615904 | -0.040486 | -1.588552 | -0.002151 | 0.000926 | -0.00012 | 1.971293 | -0.100858 | 1.978939 | -0.785299 | -0.000004 | -0.7853 | 0.661252 | 0.500027 | -0.001384 | 0.000008 | 0.337936 | 0.289072 | 1 | 0.04 |
11 | 0 | pick_mug | -0.000634 | 0.000141 | -0.000535 | 0.322763 | -0.139665 | 0.27764 | -0.001015 | 0.000754 | -0.000503 | -1.618018 | -0.059856 | -1.592011 | -0.002123 | 0.000462 | -0.00012 | 1.967193 | -0.117246 | 1.974776 | -0.7853 | 0.000042 | -0.7853 | 0.659836 | 0.49999 | -0.001385 | 0.000028 | 0.339869 | 0.289073 | 1 | 0.04 |
12 | 0 | pick_mug | -0.000619 | 0.000817 | -0.000513 | 0.317745 | -0.142601 | 0.272374 | -0.000988 | 0.001337 | -0.000483 | -1.62123 | -0.094533 | -1.596837 | -0.002119 | -0.000705 | -0.000115 | 1.961736 | -0.169949 | 1.968941 | -0.785301 | 0.000044 | -0.7853 | 0.657865 | 0.50002 | -0.001359 | 0.000005 | 0.341162 | 0.289073 | 1 | 0.04 |
13 | 0 | pick_mug | -0.000578 | 0.001612 | -0.000446 | 0.313174 | -0.123106 | 0.268764 | -0.000938 | 0.002036 | -0.00042 | -1.6248 | -0.098479 | -1.600123 | -0.002122 | 0.000033 | -0.000099 | 1.956364 | -0.127243 | 1.964952 | -0.785299 | 0.000108 | -0.7853 | 0.655758 | 0.500023 | -0.001303 | 0.000006 | 0.341975 | 0.289072 | 1 | 0.04 |
14 | 0 | pick_mug | -0.000514 | 0.002224 | -0.000356 | 0.308665 | -0.128069 | 0.263353 | -0.000873 | 0.002515 | -0.000336 | -1.629018 | -0.11898 | -1.605027 | -0.002122 | -0.000857 | -0.000078 | 1.951207 | -0.151524 | 1.958982 | -0.785299 | 0.000022 | -0.7853 | 0.653554 | 0.49999 | -0.001221 | 0.000023 | 0.342451 | 0.289072 | 1 | 0.04 |
15 | 0 | pick_mug | -0.000435 | 0.0026 | -0.000294 | 0.304404 | -0.117233 | 0.259548 | -0.00079 | 0.002901 | -0.000277 | -1.63319 | -0.11181 | -1.60845 | -0.002136 | -0.000306 | -0.000063 | 1.946184 | -0.124515 | 1.954796 | -0.7853 | 0.000043 | -0.7853 | 0.651351 | 0.50002 | -0.001121 | 0.000007 | 0.342784 | 0.289073 | 1 | 0.04 |
16 | 0 | pick_mug | -0.000346 | 0.002869 | -0.000183 | 0.299857 | -0.133134 | 0.253734 | -0.000703 | 0.003087 | -0.000173 | -1.637795 | -0.127932 | -1.613675 | -0.002131 | -0.000297 | -0.000036 | 1.940667 | -0.169033 | 1.948395 | -0.785301 | 0.00003 | -0.7853 | 0.648964 | 0.500023 | -0.001009 | 0.000004 | 0.343053 | 0.28907 | 1 | 0.04 |
17 | 0 | pick_mug | -0.000253 | 0.002919 | -0.000107 | 0.294867 | -0.145166 | 0.248141 | -0.00061 | 0.003206 | -0.000101 | -1.642726 | -0.134905 | -1.618692 | -0.002122 | 0.000193 | -0.000017 | 1.933991 | -0.188046 | 1.942233 | -0.785301 | 0.000084 | -0.7853 | 0.646223 | 0.499985 | -0.00089 | 0.000016 | 0.343344 | 0.289074 | 1 | 0.04 |
18 | 0 | pick_mug | -0.000162 | 0.002795 | -0.000043 | 0.289563 | -0.153298 | 0.24254 | -0.000516 | 0.003133 | -0.00004 | -1.647787 | -0.136614 | -1.623701 | -0.002097 | 0.000459 | -0.000002 | 1.92738 | -0.172563 | 1.936063 | -0.7853 | 0.000093 | -0.7853 | 0.643432 | 0.500028 | -0.00077 | 0.00001 | 0.343777 | 0.289074 | 1 | 0.04 |
19 | 0 | pick_mug | -0.000077 | 0.002513 | 0.000008 | 0.284026 | -0.159893 | 0.236883 | -0.000428 | 0.002868 | 0.000008 | -1.652842 | -0.135049 | -1.628734 | -0.002079 | -0.000041 | 0.000011 | 1.921271 | -0.161135 | 1.929839 | -0.7853 | 0.000049 | -0.7853 | 0.640736 | 0.500022 | -0.000659 | 0.000007 | 0.344405 | 0.289072 | 1 | 0.04 |
20 | 0 | pick_mug | -0.000001 | 0.002289 | 0.000079 | 0.278264 | -0.166647 | 0.231093 | -0.000348 | 0.002617 | 0.000076 | -1.657865 | -0.134187 | -1.633869 | -0.00207 | -0.000031 | 0.000029 | 1.915186 | -0.167681 | 1.923469 | -0.7853 | 0.000045 | -0.7853 | 0.638051 | 0.499989 | -0.000561 | 0.000022 | 0.345195 | 0.289074 | 1 | 0.04 |
21 | 0 | pick_mug | 0.000067 | 0.002033 | 0.000135 | 0.272261 | -0.173613 | 0.225087 | -0.000277 | 0.002377 | 0.00013 | -1.662939 | -0.136456 | -1.639193 | -0.002053 | 0.000293 | 0.000043 | 1.908699 | -0.181229 | 1.916851 | -0.785301 | 0.00007 | -0.7853 | 0.635262 | 0.500026 | -0.000473 | 0.000012 | 0.346082 | 0.289075 | 1 | 0.04 |
22 | 0 | pick_mug | 0.000128 | 0.001893 | 0.000201 | 0.266016 | -0.180297 | 0.218827 | -0.000213 | 0.00224 | 0.000193 | -1.668164 | -0.141432 | -1.644748 | -0.002026 | 0.000403 | 0.00006 | 1.901778 | -0.19177 | 1.909936 | -0.7853 | 0.000092 | -0.7853 | 0.632329 | 0.500028 | -0.000392 | 0.000009 | 0.347015 | 0.289071 | 1 | 0.04 |
23 | 0 | pick_mug | 0.000188 | 0.001895 | 0.000274 | 0.259548 | -0.186363 | 0.21233 | -0.00015 | 0.002246 | 0.000263 | -1.673594 | -0.147349 | -1.650509 | -0.002002 | 0.00019 | 0.000079 | 1.894563 | -0.198292 | 1.902746 | -0.7853 | 0.000091 | -0.7853 | 0.629265 | 0.499993 | -0.000314 | 0.000028 | 0.347965 | 0.289072 | 1 | 0.04 |
24 | 0 | pick_mug | 0.000249 | 0.00202 | 0.000366 | 0.252494 | -0.20718 | 0.204269 | -0.000088 | 0.002365 | 0.000352 | -1.679678 | -0.168785 | -1.657659 | -0.001987 | -0.000336 | 0.000104 | 1.88616 | -0.249441 | 1.893803 | -0.7853 | 0.000076 | -0.7853 | 0.625783 | 0.50002 | -0.000239 | 0.000009 | 0.348883 | 0.289073 | 1 | 0.04 |
25 | 0 | pick_mug | 0.000313 | 0.002057 | 0.000404 | 0.245377 | -0.201597 | 0.197978 | -0.000018 | 0.002527 | 0.000389 | -1.685735 | -0.162022 | -1.663244 | -0.001972 | 0.000387 | 0.000113 | 1.877881 | -0.205251 | 1.886803 | -0.785299 | 0.000129 | -0.7853 | 0.622264 | 0.500022 | -0.000158 | 0.000004 | 0.349852 | 0.289071 | 1 | 0.04 |
26 | 0 | pick_mug | 0.000367 | 0.001623 | 0.000407 | 0.237923 | -0.2171 | 0.189722 | 0.000046 | 0.00213 | 0.000393 | -1.692194 | -0.177188 | -1.670572 | -0.001961 | -0.000865 | 0.000114 | 1.869751 | -0.233963 | 1.877596 | -0.7853 | 0.000032 | -0.7853 | 0.618693 | 0.499988 | -0.000087 | 0.000019 | 0.350856 | 0.289074 | 1 | 0.04 |
27 | 0 | pick_mug | 0.000409 | 0.00121 | 0.000412 | 0.230488 | -0.210704 | 0.18317 | 0.000099 | 0.001729 | 0.000398 | -1.698489 | -0.16772 | -1.676383 | -0.001972 | -0.000457 | 0.000115 | 1.861667 | -0.207702 | 1.870275 | -0.7853 | 0.000097 | -0.7853 | 0.615126 | 0.500022 | -0.000034 | 0.000004 | 0.351918 | 0.289073 | 1 | 0.04 |
28 | 0 | pick_mug | 0.000434 | 0.000685 | 0.000422 | 0.222688 | -0.227556 | 0.174529 | 0.000132 | 0.001143 | 0.000408 | -1.705191 | -0.184544 | -1.684045 | -0.00197 | -0.000754 | 0.000118 | 1.853043 | -0.254684 | 1.860597 | -0.785301 | 0.000076 | -0.7853 | 0.611361 | 0.500022 | -0.000002 | 0.000003 | 0.352977 | 0.289071 | 1 | 0.04 |
29 | 0 | pick_mug | 0.000442 | 0.000193 | 0.000407 | 0.214533 | -0.235266 | 0.166366 | 0.000149 | 0.000671 | 0.000394 | -1.712191 | -0.191023 | -1.691267 | -0.001977 | -0.000615 | 0.000113 | 1.843342 | -0.268312 | 1.85144 | -0.785301 | 0.000135 | -0.7853 | 0.607245 | 0.499989 | 0.000008 | 0.000025 | 0.354031 | 0.289072 | 1 | 0.04 |
30 | 0 | pick_mug | 0.000437 | -0.000125 | 0.000397 | 0.206263 | -0.236668 | 0.158359 | 0.000154 | 0.000338 | 0.000385 | -1.719274 | -0.191721 | -1.698329 | -0.001973 | -0.000451 | 0.00011 | 1.83395 | -0.245812 | 1.842451 | -0.785299 | 0.000144 | -0.7853 | 0.603135 | 0.500024 | 0.000004 | 0.000011 | 0.355131 | 0.289075 | 1 | 0.04 |
31 | 0 | pick_mug | 0.000427 | -0.000181 | 0.000405 | 0.197964 | -0.237511 | 0.150312 | 0.000152 | 0.00024 | 0.000393 | -1.726342 | -0.190558 | -1.705419 | -0.001974 | -0.000796 | 0.000112 | 1.82515 | -0.235399 | 1.833397 | -0.785298 | 0.000095 | -0.7853 | 0.599145 | 0.500029 | -0.000007 | 0.000007 | 0.35629 | 0.289072 | 1 | 0.04 |
32 | 0 | pick_mug | 0.000418 | -0.000048 | 0.000422 | 0.189609 | -0.239643 | 0.142174 | 0.00015 | 0.000361 | 0.000411 | -1.733395 | -0.190677 | -1.712587 | -0.001981 | -0.000761 | 0.000117 | 1.816287 | -0.245215 | 1.824218 | -0.785299 | 0.000082 | -0.7853 | 0.595138 | 0.49999 | -0.000019 | 0.000025 | 0.357479 | 0.289074 | 1 | 0.04 |
33 | 0 | pick_mug | 0.000413 | 0.000049 | 0.00042 | 0.181185 | -0.241548 | 0.133991 | 0.000154 | 0.000506 | 0.000409 | -1.740474 | -0.192037 | -1.719776 | -0.00198 | -0.000492 | 0.000116 | 1.807069 | -0.254234 | 1.814977 | -0.785299 | 0.000101 | -0.7853 | 0.591033 | 0.500025 | -0.000025 | 0.000008 | 0.358668 | 0.289075 | 1 | 0.04 |
34 | 0 | pick_mug | 0.000411 | 0.000147 | 0.00042 | 0.172731 | -0.24195 | 0.125831 | 0.000162 | 0.000633 | 0.000409 | -1.74758 | -0.192815 | -1.72692 | -0.001974 | -0.000463 | 0.000116 | 1.797755 | -0.252565 | 1.805754 | -0.785299 | 0.000111 | -0.7853 | 0.58688 | 0.500025 | -0.000026 | 0.000006 | 0.359849 | 0.289071 | 1 | 0.04 |
35 | 0 | pick_mug | 0.000411 | 0.000208 | 0.000416 | 0.164296 | -0.241108 | 0.117726 | 0.000173 | 0.000709 | 0.000406 | -1.754672 | -0.192122 | -1.733985 | -0.001973 | -0.000715 | 0.000115 | 1.7886 | -0.246803 | 1.796592 | -0.785298 | 0.000096 | -0.7853 | 0.582748 | 0.499987 | -0.000024 | 0.000022 | 0.361027 | 0.289073 | 1 | 0.04 |
36 | 0 | pick_mug | 0.000413 | 0.000242 | 0.000416 | 0.155903 | -0.239868 | 0.109678 | 0.000186 | 0.000739 | 0.000406 | -1.761712 | -0.19058 | -1.740976 | -0.001978 | -0.000816 | 0.000114 | 1.779595 | -0.244064 | 1.787488 | -0.785298 | 0.000087 | -0.7853 | 0.578651 | 0.500022 | -0.000021 | 0.000005 | 0.362204 | 0.289073 | 1 | 0.04 |
37 | 0 | pick_mug | 0.000415 | 0.000261 | 0.000418 | 0.147565 | -0.238308 | 0.101706 | 0.0002 | 0.000747 | 0.000408 | -1.76868 | -0.188652 | -1.747876 | -0.001981 | -0.000686 | 0.000115 | 1.770649 | -0.243157 | 1.778462 | -0.785298 | 0.000092 | -0.7853 | 0.574575 | 0.500023 | -0.000017 | 0.000004 | 0.363378 | 0.289071 | 1 | 0.04 |
38 | 0 | pick_mug | 0.000422 | 0.000423 | 0.000431 | 0.139657 | -0.221712 | 0.095121 | 0.000218 | 0.000901 | 0.000421 | -1.775163 | -0.171927 | -1.753553 | -0.001975 | -0.000122 | 0.000118 | 1.762696 | -0.1971 | 1.771006 | -0.785297 | 0.000109 | -0.7853 | 0.570818 | 0.499989 | -0.000006 | 0.000027 | 0.364568 | 0.289072 | 1 | 0.04 |
39 | 0 | pick_mug | 0.000433 | 0.000548 | 0.000464 | 0.131669 | -0.231713 | 0.086551 | 0.000237 | 0.000961 | 0.000455 | -1.781808 | -0.182811 | -1.760911 | -0.001965 | -0.000835 | 0.000129 | 1.754403 | -0.248281 | 1.761299 | -0.785299 | 0.000031 | -0.7853 | 0.566989 | 0.500023 | 0.000008 | 0.000009 | 0.365708 | 0.289074 | 1 | 0.04 |
40 | 0 | pick_mug | 0.000451 | 0.00086 | 0.000511 | 0.123523 | -0.234259 | 0.078627 | 0.000263 | 0.001279 | 0.000501 | -1.788586 | -0.185492 | -1.767687 | -0.001964 | -0.000363 | 0.000144 | 1.744861 | -0.26623 | 1.752318 | -0.785299 | 0.000123 | -0.7853 | 0.562815 | 0.500027 | 0.000027 | 0.000005 | 0.366802 | 0.289071 | 1 | 0.04 |
41 | 0 | pick_mug | 0.000482 | 0.00121 | 0.000543 | 0.115786 | -0.21644 | 0.072285 | 0.000304 | 0.001702 | 0.000534 | -1.794932 | -0.168686 | -1.773086 | -0.00194 | 0.000436 | 0.000154 | 1.736602 | -0.194731 | 1.74513 | -0.785296 | 0.000144 | -0.7853 | 0.558989 | 0.499987 | 0.000066 | 0.000025 | 0.367913 | 0.289072 | 1 | 0.04 |
42 | 0 | pick_mug | 0.00052 | 0.001434 | 0.000596 | 0.108073 | -0.22302 | 0.064138 | 0.000352 | 0.0019 | 0.000586 | -1.80133 | -0.174952 | -1.779995 | -0.001919 | -0.000742 | 0.000171 | 1.728889 | -0.223982 | 1.735894 | -0.785297 | -0.000004 | -0.7853 | 0.555319 | 0.500022 | 0.000113 | 0.000007 | 0.369011 | 0.289073 | 1 | 0.04 |
43 | 0 | pick_mug | 0.000568 | 0.001702 | 0.000647 | 0.100619 | -0.21026 | 0.057877 | 0.000411 | 0.002202 | 0.000636 | -1.807357 | -0.160764 | -1.785291 | -0.00192 | -0.000212 | 0.000188 | 1.721062 | -0.203738 | 1.728787 | -0.785298 | 0.00008 | -0.7853 | 0.551688 | 0.500027 | 0.000166 | 0.000007 | 0.370113 | 0.289072 | 1 | 0.04 |
44 | 0 | pick_mug | 0.000621 | 0.001752 | 0.000688 | 0.09346 | -0.203287 | 0.051257 | 0.000474 | 0.00226 | 0.000678 | -1.813118 | -0.155358 | -1.790871 | -0.001895 | 0.000213 | 0.000202 | 1.71384 | -0.192575 | 1.72127 | -0.785297 | 0.000071 | -0.7853 | 0.548274 | 0.499992 | 0.000229 | 0.000025 | 0.371191 | 0.289072 | 1 | 0.04 |
45 | 0 | pick_mug | 0.000659 | 0.001149 | 0.000662 | 0.086097 | -0.214596 | 0.043293 | 0.000528 | 0.001686 | 0.000652 | -1.819156 | -0.16746 | -1.797554 | -0.001889 | -0.001144 | 0.000192 | 1.705658 | -0.245345 | 1.712226 | -0.7853 | 0.000015 | -0.7853 | 0.544596 | 0.500021 | 0.000276 | 0.000009 | 0.37221 | 0.289073 | 1 | 0.04 |
46 | 0 | pick_mug | 0.000571 | -0.00433 | -0.000067 | 0.078895 | -0.203419 | 0.037199 | 0.000505 | -0.003144 | -0.000072 | -1.824994 | -0.157092 | -1.802702 | -0.002034 | -0.006518 | -0.000064 | 1.697426 | -0.2072 | 1.705262 | -0.785306 | -0.000071 | -0.7853 | 0.540906 | 0.500027 | 0.000195 | 0.000006 | 0.373216 | 0.289071 | 1 | 0.04 |
47 | 0 | pick_mug | 0.000249 | -0.012465 | -0.000994 | 0.07197 | -0.19659 | 0.030771 | 0.000257 | -0.011766 | -0.000994 | -1.830617 | -0.151662 | -1.808132 | -0.002347 | -0.010932 | -0.000393 | 1.690424 | -0.180771 | 1.6979 | -0.785313 | 0.000021 | -0.7853 | 0.537555 | 0.499989 | -0.000156 | 0.000026 | 0.374214 | 0.289072 | 1 | 0.04 |
48 | 0 | pick_mug | -0.00025 | -0.016582 | -0.001381 | 0.065242 | -0.191761 | 0.024473 | -0.000238 | -0.017637 | -0.001379 | -1.836041 | -0.146414 | -1.813398 | -0.002639 | -0.007146 | -0.000531 | 1.683705 | -0.185467 | 1.690711 | -0.785309 | 0.000413 | -0.7853 | 0.534335 | 0.500024 | -0.000737 | 0.000007 | 0.375197 | 0.289073 | 1 | 0.04 |
49 | 0 | pick_mug | -0.000813 | -0.017021 | -0.001635 | 0.058671 | -0.187487 | 0.018341 | -0.000841 | -0.018896 | -0.001633 | -1.841301 | -0.14264 | -1.8185 | -0.002779 | -0.002932 | -0.000622 | 1.676761 | -0.191717 | 1.683715 | -0.785297 | 0.000403 | -0.7853 | 0.53111 | 0.500027 | -0.001382 | 0.000005 | 0.376151 | 0.289071 | 1 | 0.04 |
50 | 0 | pick_mug | -0.001385 | -0.016852 | -0.002122 | 0.052237 | -0.183611 | 0.012307 | -0.001445 | -0.018355 | -0.002119 | -1.846459 | -0.140323 | -1.823531 | -0.002896 | -0.004672 | -0.000798 | 1.669785 | -0.188903 | 1.676807 | -0.785294 | 0.000099 | -0.7853 | 0.527901 | 0.499992 | -0.002022 | 0.000026 | 0.37707 | 0.289072 | 1 | 0.04 |
51 | 0 | pick_mug | -0.001859 | -0.012545 | -0.002101 | 0.046005 | -0.177045 | 0.006612 | -0.001976 | -0.014184 | -0.002098 | -1.851449 | -0.134936 | -1.828232 | -0.002992 | -0.002221 | -0.000788 | 1.663182 | -0.173739 | 1.670308 | -0.78529 | 0.000219 | -0.7853 | 0.524815 | 0.500025 | -0.002571 | 0.00001 | 0.377962 | 0.289073 | 1 | 0.04 |
52 | 0 | pick_mug | -0.002152 | -0.006258 | -0.001936 | 0.040022 | -0.169743 | 0.001183 | -0.002323 | -0.00726 | -0.001934 | -1.85621 | -0.128259 | -1.832694 | -0.002971 | 0.001583 | -0.000725 | 1.657097 | -0.160723 | 1.664114 | -0.785285 | 0.000161 | -0.7853 | 0.521912 | 0.500025 | -0.002907 | 0.00001 | 0.378834 | 0.289071 | 1 | 0.04 |
53 | 0 | pick_mug | -0.002239 | -0.000024 | -0.001745 | 0.034294 | -0.162529 | -0.00399 | -0.002434 | 0.000053 | -0.001742 | -1.860727 | -0.121619 | -1.836935 | -0.002864 | 0.003067 | -0.000651 | 1.651348 | -0.154179 | 1.658209 | -0.785284 | -0.000048 | -0.7853 | 0.519159 | 0.499992 | -0.002993 | 0.000025 | 0.379685 | 0.289072 | 1 | 0.04 |
54 | 0 | pick_mug | -0.002151 | 0.004613 | -0.001591 | 0.02915 | -0.141647 | -0.007685 | -0.002334 | 0.00574 | -0.001588 | -1.864659 | -0.102549 | -1.839962 | -0.00275 | 0.002798 | -0.000591 | 1.646682 | -0.107592 | 1.653985 | -0.785288 | -0.000131 | -0.7853 | 0.516802 | 0.50002 | -0.002875 | 0.000007 | 0.380515 | 0.289073 | 1 | 0.04 |
55 | 0 | pick_mug | -0.001944 | 0.007563 | -0.00138 | 0.024136 | -0.145139 | -0.013056 | -0.002093 | 0.009168 | -0.001377 | -1.868584 | -0.108498 | -1.844358 | -0.002645 | 0.002194 | -0.000509 | 1.641871 | -0.149881 | 1.647839 | -0.785293 | -0.000141 | -0.7853 | 0.514473 | 0.500026 | -0.002621 | 0.000001 | 0.381273 | 0.28907 | 1 | 0.04 |
56 | 0 | pick_mug | -0.001677 | 0.008522 | -0.001239 | 0.019439 | -0.130798 | -0.016623 | -0.001777 | 0.010383 | -0.001235 | -1.872212 | -0.096778 | -1.847278 | -0.002559 | 0.00225 | -0.000454 | 1.636824 | -0.126912 | 1.643751 | -0.785296 | -0.000027 | -0.7853 | 0.512142 | 0.499983 | -0.002301 | 0.000015 | 0.38198 | 0.289073 | 1 | 0.04 |
57 | 0 | pick_mug | -0.001404 | 0.008145 | -0.001092 | 0.015133 | -0.120499 | -0.020363 | -0.001455 | 0.009819 | -0.001088 | -1.875575 | -0.090306 | -1.850339 | -0.002471 | 0.001932 | -0.000397 | 1.632688 | -0.103617 | 1.639458 | -0.785298 | -0.000031 | -0.7853 | 0.510104 | 0.500025 | -0.001973 | 0.000007 | 0.382627 | 0.289074 | 1 | 0.04 |
58 | 0 | pick_mug | -0.001155 | 0.007132 | -0.000938 | 0.011082 | -0.114651 | -0.024094 | -0.001168 | 0.008406 | -0.000934 | -1.878772 | -0.086463 | -1.853391 | -0.002404 | 0.001168 | -0.000336 | 1.628817 | -0.107683 | 1.63517 | -0.7853 | -0.00003 | -0.7853 | 0.508193 | 0.500025 | -0.001681 | 0.000005 | 0.383218 | 0.289071 | 1 | 0.04 |
59 | 0 | pick_mug | -0.000925 | 0.006757 | -0.000675 | 0.007201 | -0.11023 | -0.027674 | -0.000921 | 0.007503 | -0.000669 | -1.881849 | -0.083719 | -1.856309 | -0.002331 | 0.002051 | -0.000232 | 1.624736 | -0.113632 | 1.631059 | -0.785299 | 0.000064 | -0.7853 | 0.506275 | 0.49999 | -0.00142 | 0.00002 | 0.383763 | 0.289073 | 1 | 0.04 |
60 | 0 | pick_mug | -0.000698 | 0.006829 | -0.000401 | 0.003486 | -0.105305 | -0.031049 | -0.000689 | 0.007343 | -0.000394 | -1.884811 | -0.080458 | -1.859056 | -0.002227 | 0.002815 | -0.000124 | 1.620713 | -0.106738 | 1.62718 | -0.785297 | 0.00006 | -0.7853 | 0.504401 | 0.500024 | -0.001165 | 0.000008 | 0.384273 | 0.289074 | 1 | 0.04 |
61 | 0 | pick_mug | -0.000481 | 0.006391 | -0.000234 | -0.000043 | -0.099778 | -0.034209 | -0.000463 | 0.006983 | -0.000226 | -1.887626 | -0.075971 | -1.861634 | -0.002135 | 0.001733 | -0.000058 | 1.617057 | -0.094913 | 1.62354 | -0.785297 | -0.00003 | -0.7853 | 0.502653 | 0.500026 | -0.000921 | 0.000005 | 0.384758 | 0.289071 | 1 | 0.04 |
62 | 0 | pick_mug | -0.000294 | 0.005199 | -0.000167 | -0.003021 | -0.079525 | -0.035852 | -0.000258 | 0.005858 | -0.00016 | -1.889887 | -0.056971 | -1.862977 | -0.002097 | 0.00046 | -0.000031 | 1.614695 | -0.042498 | 1.621643 | -0.785298 | -0.000034 | -0.7853 | 0.501339 | 0.499989 | -0.000714 | 0.000026 | 0.385235 | 0.289072 | 1 | 0.04 |
63 | 0 | pick_mug | -0.000143 | 0.00413 | -0.000045 | -0.005835 | -0.081478 | -0.038988 | -0.000099 | 0.004494 | -0.000037 | -1.892075 | -0.060416 | -1.86554 | -0.002071 | 0.000233 | 0.000018 | 1.612406 | -0.078598 | 1.618021 | -0.7853 | -0.000021 | -0.7853 | 0.500121 | 0.500027 | -0.000551 | 0.000004 | 0.385663 | 0.289072 | 1 | 0.04 |
64 | 0 | pick_mug | -0.000034 | 0.002795 | -0.00002 | -0.008335 | -0.067833 | -0.040478 | 0.00002 | 0.00308 | -0.000011 | -1.893952 | -0.048919 | -1.866759 | -0.002057 | 0.000393 | 0.000028 | 1.609869 | -0.060653 | 1.616298 | -0.7853 | 0.000057 | -0.7853 | 0.498913 | 0.500025 | -0.000431 | 0.000006 | 0.386056 | 0.289071 | 1 | 0.04 |
65 | 0 | pick_mug | 0.000032 | 0.001517 | -0.000008 | -0.010425 | -0.056493 | -0.041985 | 0.000091 | 0.001625 | 0 | -1.895534 | -0.041454 | -1.867993 | -0.002042 | 0.00005 | 0.000032 | 1.608178 | -0.036379 | 1.614552 | -0.785298 | 0.000028 | -0.7853 | 0.497991 | 0.499993 | -0.000357 | 0.000025 | 0.38639 | 0.289072 | 1 | 0.04 |
66 | 0 | pick_mug | 0.000061 | 0.000493 | -0.000004 | -0.012209 | -0.04891 | -0.043426 | 0.00012 | 0.000426 | 0.000004 | -1.896912 | -0.036436 | -1.869173 | -0.002049 | -0.000653 | 0.000034 | 1.606877 | -0.035555 | 1.612883 | -0.785299 | 0.000002 | -0.7853 | 0.497239 | 0.500026 | -0.000327 | 0.000007 | 0.386669 | 0.289073 | 1 | 0.04 |
67 | 0 | pick_mug | 0.000063 | -0.0002 | -0.000005 | -0.013782 | -0.043502 | -0.044736 | 0.000118 | -0.00039 | 0.000004 | -1.898148 | -0.033274 | -1.870243 | -0.002067 | -0.000597 | 0.000034 | 1.60545 | -0.041216 | 1.611366 | -0.785298 | 0.000035 | -0.7853 | 0.496511 | 0.500025 | -0.000331 | 0.000008 | 0.386896 | 0.28907 | 1 | 0.04 |
68 | 0 | pick_mug | 0.000052 | -0.00047 | -0.000005 | -0.014867 | -0.025692 | -0.044736 | 0.000099 | -0.000686 | 0.000004 | -1.898947 | -0.018298 | -1.870243 | -0.002074 | 0.000079 | 0.000034 | 1.604835 | 0.001323 | 1.611366 | -0.785297 | 0.00006 | -0.7853 | 0.496075 | 0.499996 | -0.000347 | 0.000022 | 0.387086 | 0.289071 | 1 | 0.04 |
69 | 0 | pick_mug | 0.000035 | -0.000526 | -0.000005 | -0.015449 | -0.012574 | -0.044736 | 0.000076 | -0.000724 | 0.000004 | -1.899345 | -0.008058 | -1.870243 | -0.002071 | 0.000011 | 0.000034 | 1.605302 | 0.019682 | 1.611366 | -0.785296 | -0.000022 | -0.7853 | 0.496029 | 0.500027 | -0.000366 | 0.000004 | 0.387225 | 0.289072 | 1 | 0.04 |
70 | 0 | pick_mug | 0.000019 | -0.000468 | -0.000005 | -0.015716 | -0.005401 | -0.044736 | 0.000054 | -0.00063 | 0.000004 | -1.899508 | -0.003299 | -1.870243 | -0.002076 | -0.000238 | 0.000034 | 1.605748 | 0.006478 | 1.611366 | -0.785297 | -0.000033 | -0.7853 | 0.496073 | 0.500027 | -0.000385 | 0.000003 | 0.387306 | 0.28907 | 1 | 0.04 |
71 | 0 | pick_mug | 0.000006 | -0.000362 | -0.000005 | -0.015821 | -0.001761 | -0.044736 | 0.000037 | -0.000481 | 0.000004 | -1.899595 | -0.002628 | -1.870243 | -0.00208 | -0.000013 | 0.000034 | 1.605712 | -0.005802 | 1.611366 | -0.785297 | 0.000016 | -0.7853 | 0.496041 | 0.499991 | -0.000402 | 0.000022 | 0.387324 | 0.289072 | 1 | 0.04 |
72 | 0 | pick_mug | -0.000004 | -0.00023 | -0.000005 | -0.015839 | 0.000375 | -0.044736 | 0.000024 | -0.000302 | 0.000004 | -1.899686 | -0.002993 | -1.870243 | -0.002078 | 0.000103 | 0.000034 | 1.605519 | -0.004616 | 1.611366 | -0.785297 | 0.000024 | -0.7853 | 0.495973 | 0.500023 | -0.000413 | 0.000005 | 0.387291 | 0.289072 | 1 | 0.04 |
73 | 0 | pick_mug | -0.000009 | -0.000105 | -0.000005 | -0.015805 | 0.0015 | -0.044736 | 0.000018 | -0.000133 | 0.000004 | -1.899778 | -0.002655 | -1.870243 | -0.002077 | -0.000089 | 0.000034 | 1.605464 | 0.000573 | 1.611366 | -0.785296 | -0.000003 | -0.7853 | 0.495936 | 0.500027 | -0.000419 | 0.000003 | 0.387235 | 0.28907 | 1 | 0.04 |
74 | 0 | pick_mug | -0.00001 | -0.000017 | -0.000005 | -0.015752 | 0.001645 | -0.044736 | 0.000016 | -0.000016 | 0.000004 | -1.899849 | -0.001783 | -1.870243 | -0.002082 | -0.000172 | 0.000034 | 1.605515 | 0.001768 | 1.611366 | -0.785297 | -0.000012 | -0.7853 | 0.49593 | 0.499992 | -0.000422 | 0.000026 | 0.38718 | 0.289071 | 1 | 0.04 |
75 | 0 | pick_mug | -0.00001 | 0.000029 | -0.000005 | -0.015706 | 0.001169 | -0.044736 | 0.000016 | 0.000044 | 0.000004 | -1.899892 | -0.001013 | -1.870243 | -0.002086 | -0.00002 | 0.000034 | 1.605547 | 0.00022 | 1.611366 | -0.785297 | -0.000003 | -0.7853 | 0.495929 | 0.500026 | -0.000422 | 0.000006 | 0.387139 | 0.289073 | 1 | 0.04 |
76 | 0 | pick_mug | -0.000009 | 0.000048 | -0.000005 | -0.015679 | 0.000571 | -0.044736 | 0.000018 | 0.000067 | 0.000004 | -1.899916 | -0.000518 | -1.870243 | -0.002084 | 0.000107 | 0.000034 | 1.605536 | -0.000595 | 1.611366 | -0.785297 | 0.000002 | -0.7853 | 0.495922 | 0.500026 | -0.00042 | 0.000005 | 0.387115 | 0.28907 | 1 | 0.04 |
77 | 0 | pick_mug | -0.000007 | 0.00005 | -0.000005 | -0.015669 | 0.000126 | -0.044736 | 0.00002 | 0.000069 | 0.000004 | -1.899926 | -0.000173 | -1.870243 | -0.00208 | 0.000076 | 0.000034 | 1.605522 | -0.000158 | 1.611366 | -0.785297 | -0.000001 | -0.7853 | 0.495916 | 0.499994 | -0.000418 | 0.000022 | 0.387104 | 0.289073 | 1 | 0.04 |
78 | 0 | pick_mug | -0.000006 | 0.000042 | -0.000005 | -0.01567 | -0.000135 | -0.044736 | 0.000022 | 0.000057 | 0.000004 | -1.899927 | 0.000084 | -1.870243 | -0.002079 | 0.000003 | 0.000034 | 1.605527 | 0.000311 | 1.611366 | -0.785297 | -0.000002 | -0.7853 | 0.495917 | 0.500024 | -0.000416 | 0.000007 | 0.387104 | 0.289073 | 1 | 0.04 |
79 | 0 | pick_mug | -0.000005 | 0.000027 | -0.000005 | -0.015677 | -0.00026 | -0.044736 | 0.000024 | 0.000036 | 0.000004 | -1.899922 | 0.000222 | -1.870243 | -0.00208 | -0.000009 | 0.000034 | 1.605537 | 0.000258 | 1.611366 | -0.785297 | -0.000001 | -0.7853 | 0.49592 | 0.500026 | -0.000414 | 0.000004 | 0.38711 | 0.289071 | 1 | 0.04 |
80 | 0 | pick_mug | -0.000004 | 0.000013 | -0.000005 | -0.015686 | -0.000282 | -0.044736 | 0.000025 | 0.000017 | 0.000004 | -1.899914 | 0.000236 | -1.870243 | -0.00208 | 0.000013 | 0.000034 | 1.605541 | 0.000024 | 1.611366 | -0.785297 | 0 | -0.7853 | 0.495922 | 0.499989 | -0.000414 | 0.000022 | 0.387117 | 0.289072 | 1 | 0.04 |
81 | 0 | pick_mug | -0.000004 | 0.000002 | -0.000005 | -0.015694 | -0.000231 | -0.044736 | 0.000025 | 0.000003 | 0.000004 | -1.899907 | 0.000176 | -1.870243 | -0.002079 | 0.000016 | 0.000034 | 1.60554 | -0.00006 | 1.611366 | -0.785297 | 0 | -0.7853 | 0.495924 | 0.500023 | -0.000413 | 0.000007 | 0.387124 | 0.289073 | 1 | 0.04 |
82 | 0 | pick_mug | -0.000004 | -0.000004 | -0.000005 | -0.0157 | -0.000145 | -0.044736 | 0.000025 | -0.000005 | 0.000004 | -1.899903 | 0.000102 | -1.870243 | -0.002079 | -0.000001 | 0.000034 | 1.605539 | -0.000018 | 1.611366 | -0.785297 | 0 | -0.7853 | 0.495924 | 0.500026 | -0.000413 | 0.000004 | 0.387129 | 0.289071 | 1 | 0.04 |
83 | 0 | pick_mug | -0.000004 | -0.000006 | -0.000005 | -0.015703 | -0.000063 | -0.044736 | 0.000025 | -0.000009 | 0.000004 | -1.899901 | 0.000041 | -1.870243 | -0.002079 | -0.000011 | 0.000034 | 1.605539 | 0.000011 | 1.611366 | -0.785297 | 0 | -0.7853 | 0.495925 | 0.499989 | -0.000413 | 0.00002 | 0.387132 | 0.289073 | 1 | 0.04 |
84 | 0 | pick_mug | -0.000004 | -0.000007 | -0.000005 | -0.015704 | -0.000004 | -0.044736 | 0.000024 | -0.000009 | 0.000004 | -1.8999 | -0.000001 | -1.870243 | -0.002079 | -0.000008 | 0.000034 | 1.605539 | -0.000005 | 1.611366 | -0.785297 | 0 | -0.7853 | 0.495925 | 0.500026 | -0.000414 | 0.000009 | 0.387133 | 0.289074 | 1 | 0.04 |
85 | 0 | pick_mug | -0.000004 | -0.000006 | -0.000005 | -0.015704 | 0.000029 | -0.044736 | 0.000024 | -0.000007 | 0.000004 | -1.899901 | -0.000026 | -1.870243 | -0.002079 | -0.000002 | 0.000034 | 1.605538 | -0.000022 | 1.611366 | -0.785297 | 0 | -0.7853 | 0.495924 | 0.500027 | -0.000414 | 0.000007 | 0.387132 | 0.289071 | 1 | 0.04 |
86 | 0 | pick_mug | -0.000005 | -0.000004 | -0.000005 | -0.015702 | 0.00004 | -0.044736 | 0.000024 | -0.000005 | 0.000004 | -1.899902 | -0.000035 | -1.870243 | -0.002079 | -0.000001 | 0.000034 | 1.605538 | -0.000017 | 1.611366 | -0.785297 | 0 | -0.7853 | 0.495924 | 0.499992 | -0.000414 | 0.000024 | 0.387131 | 0.289073 | 1 | 0.04 |
87 | 0 | pick_mug | -0.000005 | -0.000002 | -0.000005 | -0.015701 | 0.000038 | -0.044736 | 0.000024 | -0.000002 | 0.000004 | -1.899903 | -0.000031 | -1.870243 | -0.00208 | -0.000001 | 0.000034 | 1.605537 | -0.000004 | 1.611366 | -0.785297 | -0 | -0.7853 | 0.495924 | 0.500026 | -0.000414 | 0.000006 | 0.38713 | 0.289074 | 1 | 0.04 |
88 | 0 | pick_mug | -0.000005 | -0 | -0.000005 | -0.0157 | 0.000028 | -0.044736 | 0.000024 | -0.000001 | 0.000004 | -1.899904 | -0.000022 | -1.870243 | -0.00208 | -0.000001 | 0.000034 | 1.605537 | 0.000002 | 1.611366 | -0.785297 | -0 | -0.7853 | 0.495924 | 0.500027 | -0.000414 | 0.000003 | 0.387129 | 0.289071 | 1 | 0.04 |
89 | 0 | pick_mug | -0.000005 | 0 | -0.000005 | -0.015699 | 0.000016 | -0.044736 | 0.000024 | 0.000001 | 0.000004 | -1.899904 | -0.000011 | -1.870243 | -0.00208 | 0.000001 | 0.000034 | 1.605537 | 0.000002 | 1.611366 | -0.785297 | -0 | -0.7853 | 0.495924 | 0.499993 | -0.000414 | 0.000025 | 0.387129 | 0.289071 | 1 | 0.04 |
90 | 0 | pick_mug | -0.000005 | 0.000001 | -0.000005 | -0.015699 | 0.000005 | -0.044736 | 0.000024 | 0.000001 | 0.000004 | -1.899904 | -0.000003 | -1.870243 | -0.00208 | 0.000001 | 0.000034 | 1.605537 | 0.000002 | 1.611366 | -0.785297 | -0 | -0.7853 | 0.495924 | 0.500025 | -0.000414 | 0.000007 | 0.387128 | 0.289073 | 1 | 0.04 |
91 | 0 | pick_mug | -0.000005 | 0.000001 | -0.000005 | -0.015699 | -0.000002 | -0.044736 | 0.000024 | 0.000001 | 0.000004 | -1.899904 | 0.000002 | -1.870243 | -0.002079 | 0.000001 | 0.000034 | 1.605537 | 0.000002 | 1.611366 | -0.785297 | -0 | -0.7853 | 0.495924 | 0.500026 | -0.000414 | 0.000004 | 0.387128 | 0.28907 | 1 | 0.04 |
92 | 0 | pick_mug | -0.000005 | 0.000001 | -0.000005 | -0.015699 | -0.000005 | -0.044736 | 0.000024 | 0.000001 | 0.000004 | -1.899904 | 0.000005 | -1.870243 | -0.002079 | 0 | 0.000034 | 1.605537 | 0.000002 | 1.611366 | -0.785297 | -0 | -0.7853 | 0.495924 | 0.499992 | -0.000414 | 0.000022 | 0.387128 | 0.289072 | 1 | 0.04 |
93 | 0 | pick_mug | -0.000005 | 0.000001 | -0.000005 | -0.015699 | -0.000006 | -0.044736 | 0.000024 | 0.000001 | 0.000004 | -1.899904 | 0.000005 | -1.870243 | -0.002079 | 0 | 0.000034 | 1.605538 | 0.000001 | 1.611366 | -0.785297 | -0 | -0.7853 | 0.495924 | 0.500023 | -0.000414 | 0.000006 | 0.387129 | 0.289073 | 1 | 0.04 |
94 | 0 | pick_mug | -0.000005 | 0 | -0.000005 | -0.0157 | -0.000005 | -0.044736 | 0.000024 | 0 | 0.000004 | -1.899904 | 0.000004 | -1.870243 | -0.002079 | 0 | 0.000034 | 1.605538 | 0 | 1.611366 | -0.785297 | 0 | -0.7853 | 0.495924 | 0.500026 | -0.000414 | 0.000001 | 0.387129 | 0.28907 | 1 | 0.04 |
95 | 0 | pick_mug | -0.000005 | 0 | -0.000005 | -0.0157 | -0.000003 | -0.044736 | 0.000024 | 0 | 0.000004 | -1.899904 | 0.000002 | -1.870243 | -0.002079 | -0 | 0.000034 | 1.605538 | -0 | 1.611366 | -0.785297 | 0 | -0.7853 | 0.495924 | 0.49999 | -0.000414 | 0.000023 | 0.387129 | 0.289072 | 1 | 0.04 |
96 | 0 | pick_mug | -0.000005 | -0 | -0.000005 | -0.0157 | -0.000002 | -0.044736 | 0.000024 | -0 | 0.000004 | -1.899904 | 0.000001 | -1.870243 | -0.002079 | -0 | 0.000034 | 1.605538 | -0 | 1.611366 | -0.785297 | 0 | -0.7853 | 0.495924 | 0.500024 | -0.000414 | 0.000007 | 0.387129 | 0.289072 | 1 | 0.04 |
97 | 0 | pick_mug | -0.000005 | -0 | -0.000005 | -0.0157 | -0 | -0.044736 | 0.000024 | -0 | 0.000004 | -1.899904 | 0 | -1.870243 | -0.002079 | -0 | 0.000034 | 1.605538 | -0 | 1.611366 | -0.785297 | 0 | -0.7853 | 0.495924 | 0.500027 | -0.000414 | 0.000005 | 0.387129 | 0.28907 | 1 | 0.04 |
98 | 0 | pick_mug | -0.000005 | -0 | -0.000005 | -0.0157 | 0.000001 | -0.044736 | 0.000024 | -0 | 0.000004 | -1.899904 | -0 | -1.870243 | -0.002079 | -0 | 0.000034 | 1.605538 | -0 | 1.611366 | -0.785297 | 0 | -0.7853 | 0.495924 | 0.499992 | -0.000414 | 0.000025 | 0.387129 | 0.289072 | 1 | 0.04 |
99 | 0 | pick_mug | -0.000005 | -0 | -0.000005 | -0.0157 | 0.000001 | -0.044736 | 0.000024 | -0 | 0.000004 | -1.899904 | -0.000001 | -1.870243 | -0.002079 | -0 | 0.000034 | 1.605538 | -0 | 1.611366 | -0.785297 | 0 | -0.7853 | 0.495924 | 0.500026 | -0.000414 | 0.000007 | 0.387129 | 0.289073 | 1 | 0.04 |
End of preview. Expand in Data Studio
Flexa Pick Mug V5
Robot training dataset generated from a single iPhone 15 Pro LiDAR recording of a human picking up a mug.
Pipeline
iPhone .r3d recording -> GroundingDINO (object detection) -> HaMeR (3D hand mesh) -> LiDAR depth fusion -> Spatial trajectory retargeting (V5 hybrid) -> IK solve -> LeRobot HDF5
Results
- 18.1cm clean mug lift in MuJoCo Franka Panda simulation
- 0 table collisions
- 93.7% hand pose coverage (282/301 frames)
Data Format
- Observations (14-dim): qpos_arm[7] + ee_pos[3] + mug_pos[3] + gripper[1]
- Actions (8-dim): target_qpos[7] + target_gripper[1]
- Episodes: 1 (270 steps @ 30fps)
Usage
import h5py
with h5py.File("data/data.hdf5", "r") as f:
ep = f["episode_0"]
obs = ep["observations/qpos_arm"][:]
actions = ep["actions/target_qpos"][:]
Source
- Recording: iPhone 15 Pro, Record3D app
- Robot: Franka Emika Panda 7-DoF
- Simulator: MuJoCo
- Pipeline: FlexaTechnologies-pipeline
License
CC-BY-4.0
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