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action
sequence
observation.state
sequence
timestamp
float32
0
37.6
frame_index
int64
0
751
episode_index
int64
0
4
index
int64
0
2.98k
task_index
int64
0
0
[ -4.306640625, 190.283203125, 176.1328125, 49.658203125, 3.603515625, -0.5957447290420532 ]
[ -4.921875, 190.01953125, 177.890625, 47.4609375, 3.8671875, -0.5709624886512756 ]
0
0
0
0
0
[ -4.130859375, 190.283203125, 175.517578125, 51.064453125, 3.69140625, -0.5957447290420532 ]
[ -4.921875, 190.107421875, 177.802734375, 47.98828125, 3.8671875, -0.5709624886512756 ]
0.05
1
0
1
0
[ -3.955078125, 190.37109375, 174.7265625, 52.470703125, 4.21875, -0.5957447290420532 ]
[ -4.482421875, 190.107421875, 177.71484375, 49.74609375, 3.8671875, -0.5709624886512756 ]
0.1
2
0
2
0
[ -3.8671875, 190.458984375, 173.935546875, 53.61328125, 4.833984375, -0.5957447290420532 ]
[ -4.306640625, 190.107421875, 177.626953125, 51.064453125, 3.8671875, -0.5709624886512756 ]
0.15
3
0
3
0
[ -3.33984375, 190.458984375, 173.583984375, 53.7890625, 6.591796875, -0.5957447290420532 ]
[ -4.21875, 190.107421875, 177.275390625, 52.3828125, 4.130859375, -0.5709624886512756 ]
0.2
4
0
4
0
[ -3.076171875, 190.458984375, 173.14453125, 53.876953125, 8.173828125, -0.5957447290420532 ]
[ -3.955078125, 190.107421875, 176.66015625, 53.173828125, 4.74609375, -0.5709624886512756 ]
0.25
5
0
5
0
[ -3.076171875, 190.283203125, 172.44140625, 53.876953125, 9.140625, -0.5957447290420532 ]
[ -3.515625, 190.107421875, 176.220703125, 53.61328125, 6.240234375, -0.5709624886512756 ]
0.3
6
0
6
0
[ -2.98828125, 189.66796875, 171.298828125, 53.876953125, 9.66796875, -0.5957447290420532 ]
[ -3.33984375, 190.107421875, 175.60546875, 53.701171875, 7.55859375, -0.5709624886512756 ]
0.35
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0
7
0
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0.4
8
0
8
0
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0.45
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9
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0.5
10
0
10
0
[ -0.087890625, 189.404296875, 166.376953125, 55.8984375, 15.029296875, -0.5957447290420532 ]
[ -2.021484375, 189.84375, 171.650390625, 54.052734375, 11.513671875, -0.5709624886512756 ]
0.55
11
0
11
0
[ 1.23046875, 189.404296875, 164.970703125, 57.744140625, 16.611328125, -0.5957447290420532 ]
[ -1.23046875, 189.84375, 170.33203125, 54.755859375, 13.0078125, -0.5709624886512756 ]
0.6
12
0
12
0
[ 2.373046875, 189.404296875, 163.30078125, 59.765625, 18.369140625, -0.5957447290420532 ]
[ -0.3515625, 189.84375, 169.1015625, 55.986328125, 14.4140625, -0.5709624886512756 ]
0.65
13
0
13
0
[ 3.8671875, 189.404296875, 161.89453125, 61.5234375, 20.21484375, -0.5957447290420532 ]
[ 0.966796875, 189.84375, 167.6953125, 57.65625, 15.99609375, -0.5709624886512756 ]
0.7
14
0
14
0
[ 5.361328125, 189.404296875, 160.576171875, 63.017578125, 21.796875, -0.5957447290420532 ]
[ 1.93359375, 189.84375, 166.11328125, 59.326171875, 17.578125, -0.5709624886512756 ]
0.75
15
0
15
0
[ 6.767578125, 189.404296875, 159.169921875, 64.248046875, 23.642578125, -0.5957447290420532 ]
[ 3.33984375, 189.84375, 164.70703125, 61.083984375, 19.3359375, -0.5709624886512756 ]
0.8
16
0
16
0
[ 8.349609375, 189.404296875, 158.115234375, 65.56640625, 25.927734375, -0.5957447290420532 ]
[ 4.658203125, 189.84375, 163.30078125, 62.666015625, 21.09375, -0.5709624886512756 ]
0.85
17
0
17
0
[ 9.66796875, 189.404296875, 156.97265625, 66.884765625, 28.212890625, -0.5957447290420532 ]
[ 6.15234375, 189.84375, 161.982421875, 63.984375, 22.8515625, -0.5709624886512756 ]
0.9
18
0
18
0
[ 10.72265625, 189.404296875, 155.830078125, 68.203125, 30.76171875, -0.5957447290420532 ]
[ 7.55859375, 189.84375, 160.751953125, 65.302734375, 25.224609375, -0.5709624886512756 ]
0.95
19
0
19
0
[ 11.77734375, 189.404296875, 154.86328125, 69.2578125, 33.22265625, -0.5957447290420532 ]
[ 9.052734375, 189.84375, 159.609375, 66.62109375, 27.158203125, -0.5709624886512756 ]
1
20
0
20
0
[ 12.65625, 189.404296875, 153.80859375, 70.400390625, 36.03515625, -0.5957447290420532 ]
[ 10.01953125, 189.84375, 158.466796875, 67.8515625, 29.70703125, -0.5709624886512756 ]
1.05
21
0
21
0
[ 13.359375, 189.404296875, 153.544921875, 71.279296875, 39.0234375, -0.5957447290420532 ]
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1.1
22
0
22
0
[ 14.150390625, 189.4921875, 153.45703125, 72.421875, 42.099609375, -0.5957447290420532 ]
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1.15
23
0
23
0
[ 14.501953125, 189.580078125, 153.45703125, 73.65234375, 44.82421875, -0.5957447290420532 ]
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1.2
24
0
24
0
[ 14.58984375, 189.84375, 153.45703125, 74.443359375, 47.724609375, -0.5957447290420532 ]
[ 13.7109375, 190.1953125, 156.09375, 72.333984375, 40.78125, -0.5709624886512756 ]
1.25
25
0
25
0
[ 14.58984375, 190.107421875, 153.369140625, 75.146484375, 50.9765625, -0.5957447290420532 ]
[ 14.0625, 189.84375, 156.09375, 73.4765625, 43.59375, -0.5709624886512756 ]
1.3
26
0
26
0
[ 14.58984375, 190.107421875, 153.369140625, 75.673828125, 54.84375, -0.5957447290420532 ]
[ 14.150390625, 189.84375, 156.09375, 74.35546875, 46.669921875, -0.5709624886512756 ]
1.35
27
0
27
0
[ 14.58984375, 189.66796875, 153.369140625, 76.552734375, 58.447265625, -0.5957447290420532 ]
[ 14.150390625, 189.931640625, 156.09375, 75.05859375, 49.658203125, -0.5709624886512756 ]
1.4
28
0
28
0
[ 14.677734375, 189.66796875, 153.369140625, 77.34375, 60.908203125, -0.5957447290420532 ]
[ 14.150390625, 190.01953125, 156.09375, 75.673828125, 53.0859375, -0.5709624886512756 ]
1.45
29
0
29
0
[ 14.677734375, 189.66796875, 153.193359375, 78.134765625, 62.40234375, -0.5957447290420532 ]
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1.5
30
0
30
0
[ 14.677734375, 189.4921875, 152.40234375, 79.27734375, 63.193359375, -0.5106382966041565 ]
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1.55
31
0
31
0
[ 14.765625, 189.4921875, 151.611328125, 80.419921875, 63.80859375, -0.5106382966041565 ]
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1.6
32
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32
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[ 14.765625, 189.4921875, 150.99609375, 81.298828125, 65.21484375, -0.5106382966041565 ]
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1.65
33
0
33
0
[ 14.765625, 189.4921875, 150.64453125, 82.177734375, 67.412109375, -0.5106382966041565 ]
[ 14.501953125, 190.01953125, 153.984375, 80.33203125, 63.369140625, -0.5709624886512756 ]
1.7
34
0
34
0
[ 14.853515625, 189.4921875, 150.380859375, 82.705078125, 69.345703125, -0.5106382966041565 ]
[ 14.501953125, 190.01953125, 153.369140625, 81.2109375, 64.6875, -0.5709624886512756 ]
1.75
35
0
35
0
[ 15.46875, 189.404296875, 149.94140625, 82.79296875, 70.83984375, -0.5106382966041565 ]
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1.8
36
0
36
0
[ 16.34765625, 189.404296875, 149.58984375, 82.79296875, 72.158203125, -0.5106382966041565 ]
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1.85
37
0
37
0
[ 16.69921875, 189.140625, 149.0625, 82.96875, 73.30078125, -0.5106382966041565 ]
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1.9
38
0
38
0
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1.95
39
0
39
0
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[ 16.435546875, 189.404296875, 151.259765625, 82.96875, 72.685546875, -0.5709624886512756 ]
2
40
0
40
0
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2.05
41
0
41
0
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[ 17.490234375, 186.240234375, 148.88671875, 84.111328125, 75.41015625, -0.5709624886512756 ]
2.1
42
0
42
0
[ 18.28125, 176.66015625, 141.15234375, 84.375, 79.8046875, -0.42553189396858215 ]
[ 17.841796875, 183.955078125, 147.3046875, 84.287109375, 76.201171875, -0.5709624886512756 ]
2.15
43
0
43
0
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[ 18.017578125, 181.142578125, 145.458984375, 84.287109375, 77.255859375, -0.5709624886512756 ]
2.2
44
0
44
0
[ 18.193359375, 171.9140625, 138.427734375, 83.583984375, 84.375, -0.42553189396858215 ]
[ 17.9296875, 178.154296875, 143.876953125, 84.287109375, 79.27734375, -0.5709624886512756 ]
2.25
45
0
45
0
[ 18.193359375, 170.595703125, 137.4609375, 83.49609375, 85.869140625, -0.42553189396858215 ]
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2.3
46
0
46
0
[ 18.193359375, 170.244140625, 136.845703125, 83.49609375, 86.66015625, -0.42553189396858215 ]
[ 17.9296875, 173.408203125, 141.064453125, 84.19921875, 83.3203125, -0.5709624886512756 ]
2.35
47
0
47
0
[ 18.193359375, 170.419921875, 136.7578125, 82.705078125, 86.30859375, -0.42553189396858215 ]
[ 17.9296875, 171.298828125, 140.009765625, 84.19921875, 84.90234375, -0.5709624886512756 ]
2.4
48
0
48
0
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[ 17.9296875, 170.771484375, 139.5703125, 84.0234375, 85.517578125, -0.5709624886512756 ]
2.45
49
0
49
0
[ 18.017578125, 170.5078125, 136.7578125, 80.419921875, 86.044921875, -0.3404255211353302 ]
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2.5
50
0
50
0
[ 18.017578125, 170.5078125, 137.109375, 78.486328125, 86.044921875, -0.25531914830207825 ]
[ 17.9296875, 170.68359375, 139.5703125, 82.353515625, 85.693359375, -0.5709624886512756 ]
2.55
51
0
51
0
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2.6
52
0
52
0
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2.65
53
0
53
0
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2.7
54
0
54
0
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2.75
55
0
55
0
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[ 17.9296875, 170.68359375, 139.5703125, 76.201171875, 85.78125, -0.5709624886512756 ]
2.8
56
0
56
0
[ 19.86328125, 170.5078125, 139.130859375, 70.224609375, 86.484375, -0.25531914830207825 ]
[ 18.28125, 170.595703125, 139.5703125, 74.8828125, 85.95703125, -0.5709624886512756 ]
2.85
57
0
57
0
[ 19.775390625, 170.595703125, 139.21875, 70.3125, 86.484375, -0.25531914830207825 ]
[ 19.072265625, 170.595703125, 139.5703125, 72.94921875, 86.1328125, -0.5709624886512756 ]
2.9
58
0
58
0
[ 19.6875, 170.595703125, 139.21875, 70.48828125, 85.95703125, -0.25531914830207825 ]
[ 19.3359375, 170.595703125, 139.5703125, 71.89453125, 86.220703125, -0.5709624886512756 ]
2.95
59
0
59
0
[ 19.599609375, 170.68359375, 139.21875, 72.0703125, 85.25390625, -0.25531914830207825 ]
[ 19.3359375, 170.595703125, 139.5703125, 71.630859375, 86.220703125, -0.5709624886512756 ]
3
60
0
60
0
[ 19.3359375, 171.5625, 138.603515625, 74.443359375, 84.375, -0.25531914830207825 ]
[ 19.3359375, 170.595703125, 139.5703125, 71.630859375, 85.95703125, -0.5709624886512756 ]
3.05
61
0
61
0
[ 18.193359375, 173.49609375, 138.8671875, 75.5859375, 84.7265625, -0.25531914830207825 ]
[ 19.248046875, 170.771484375, 139.5703125, 72.509765625, 85.341796875, -0.5709624886512756 ]
3.1
62
0
62
0
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[ 19.248046875, 171.474609375, 139.5703125, 74.267578125, 85.078125, -0.5709624886512756 ]
3.15
63
0
63
0
[ 18.28125, 177.802734375, 140.80078125, 76.201171875, 84.375, -0.25531914830207825 ]
[ 18.6328125, 172.880859375, 139.658203125, 75.146484375, 84.7265625, -0.5709624886512756 ]
3.2
64
0
64
0
[ 18.6328125, 179.560546875, 141.85546875, 76.728515625, 84.990234375, -0.25531914830207825 ]
[ 18.28125, 175.078125, 140.2734375, 75.673828125, 84.638671875, -0.5709624886512756 ]
3.25
65
0
65
0
[ 20.0390625, 181.40625, 142.998046875, 77.34375, 85.25390625, -0.25531914830207825 ]
[ 18.45703125, 177.626953125, 141.50390625, 76.2890625, 84.638671875, -0.5709624886512756 ]
3.3
66
0
66
0
[ 21.09375, 182.28515625, 143.525390625, 78.134765625, 87.275390625, -0.3404255211353302 ]
[ 18.544921875, 178.9453125, 142.294921875, 76.81640625, 84.814453125, -0.5709624886512756 ]
3.35
67
0
67
0
[ 21.884765625, 182.373046875, 143.26171875, 79.716796875, 90.087890625, -0.3404255211353302 ]
[ 19.86328125, 180.615234375, 143.525390625, 77.51953125, 85.4296875, -0.5709624886512756 ]
3.4
68
0
68
0
[ 23.02734375, 182.28515625, 143.0859375, 80.859375, 92.28515625, -0.3404255211353302 ]
[ 20.7421875, 181.0546875, 143.61328125, 78.22265625, 86.8359375, -0.5709624886512756 ]
3.45
69
0
69
0
[ 24.345703125, 182.28515625, 142.998046875, 81.826171875, 93.603515625, -0.42553189396858215 ]
[ 21.4453125, 181.93359375, 143.61328125, 79.541015625, 89.296875, -0.5709624886512756 ]
3.5
70
0
70
0
[ 25.224609375, 182.28515625, 142.998046875, 82.353515625, 94.306640625, -0.42553189396858215 ]
[ 22.587890625, 182.548828125, 143.61328125, 80.68359375, 91.142578125, -0.5709624886512756 ]
3.55
71
0
71
0
[ 25.83984375, 182.109375, 142.998046875, 82.353515625, 94.921875, -0.42553189396858215 ]
[ 23.73046875, 182.63671875, 143.61328125, 81.5625, 92.63671875, -0.5709624886512756 ]
3.6
72
0
72
0
[ 26.54296875, 181.318359375, 142.822265625, 82.177734375, 95.537109375, -0.42553189396858215 ]
[ 24.697265625, 182.548828125, 143.61328125, 82.001953125, 93.603515625, -0.5709624886512756 ]
3.65
73
0
73
0
[ 26.806640625, 179.912109375, 142.03125, 82.001953125, 96.240234375, -0.42553189396858215 ]
[ 25.400390625, 182.4609375, 143.61328125, 82.001953125, 94.39453125, -0.5709624886512756 ]
3.7
74
0
74
0
[ 26.806640625, 177.978515625, 140.9765625, 81.650390625, 96.50390625, -0.42553189396858215 ]
[ 26.015625, 181.669921875, 143.61328125, 82.001953125, 95.09765625, -0.5709624886512756 ]
3.75
75
0
75
0
[ 26.806640625, 175.60546875, 139.5703125, 81.5625, 96.50390625, -0.42553189396858215 ]
[ 26.279296875, 180.52734375, 143.525390625, 82.001953125, 95.625, -0.5709624886512756 ]
3.8
76
0
76
0
[ 26.89453125, 173.3203125, 138.33984375, 81.5625, 96.6796875, -0.42553189396858215 ]
[ 26.455078125, 178.59375, 142.998046875, 82.001953125, 95.80078125, -0.5709624886512756 ]
3.85
77
0
77
0
[ 26.89453125, 171.38671875, 137.28515625, 81.5625, 97.646484375, -0.42553189396858215 ]
[ 26.54296875, 176.396484375, 141.85546875, 82.001953125, 96.15234375, -0.5709624886512756 ]
3.9
78
0
78
0
[ 26.89453125, 169.892578125, 136.40625, 81.474609375, 98.61328125, -0.42553189396858215 ]
[ 26.630859375, 174.55078125, 140.888671875, 82.001953125, 96.50390625, -0.5709624886512756 ]
3.95
79
0
79
0
[ 26.89453125, 168.75, 135.791015625, 81.38671875, 99.404296875, -0.42553189396858215 ]
[ 26.630859375, 172.353515625, 139.74609375, 82.001953125, 97.294921875, -0.5709624886512756 ]
4
80
0
80
0
[ 27.24609375, 168.134765625, 135.615234375, 81.2109375, 99.404296875, -0.42553189396858215 ]
[ 26.630859375, 170.68359375, 138.955078125, 82.001953125, 98.0859375, -0.5709624886512756 ]
4.05
81
0
81
0
[ 28.037109375, 168.134765625, 135.615234375, 80.595703125, 99.404296875, -0.42553189396858215 ]
[ 26.630859375, 169.013671875, 138.427734375, 82.001953125, 98.525390625, -0.5709624886512756 ]
4.1
82
0
82
0
[ 28.564453125, 168.046875, 135.52734375, 80.595703125, 99.580078125, -0.42553189396858215 ]
[ 27.158203125, 168.57421875, 138.33984375, 81.826171875, 98.701171875, -0.5709624886512756 ]
4.15
83
0
83
0
[ 29.35546875, 167.958984375, 135.52734375, 80.595703125, 100.1953125, -0.42553189396858215 ]
[ 27.685546875, 168.486328125, 138.33984375, 81.5625, 98.701171875, -0.5709624886512756 ]
4.2
84
0
84
0
[ 30.05859375, 167.958984375, 135.52734375, 80.595703125, 100.634765625, -0.42553189396858215 ]
[ 28.30078125, 168.3984375, 138.33984375, 81.474609375, 99.228515625, -0.5709624886512756 ]
4.25
85
0
85
0
[ 30.498046875, 167.783203125, 135.263671875, 80.595703125, 100.986328125, -0.42553189396858215 ]
[ 29.00390625, 168.3984375, 138.33984375, 81.474609375, 99.66796875, -0.5709624886512756 ]
4.3
86
0
86
0
[ 30.5859375, 167.783203125, 135.3515625, 80.068359375, 100.986328125, -0.42553189396858215 ]
[ 29.619140625, 168.310546875, 138.1640625, 81.474609375, 100.1953125, -0.5709624886512756 ]
4.35
87
0
87
0
[ 30.673828125, 167.783203125, 135.615234375, 79.189453125, 100.986328125, -0.42553189396858215 ]
[ 30.05859375, 168.046875, 137.98828125, 81.2109375, 100.283203125, -0.5709624886512756 ]
4.4
88
0
88
0
[ 30.673828125, 167.6953125, 135.703125, 78.486328125, 100.986328125, -0.42553189396858215 ]
[ 30.234375, 168.046875, 137.98828125, 80.68359375, 100.37109375, -0.5709624886512756 ]
4.45
89
0
89
0
[ 30.673828125, 167.6953125, 135.791015625, 77.783203125, 100.986328125, -0.3404255211353302 ]
[ 30.322265625, 168.046875, 137.98828125, 79.98046875, 100.458984375, -0.5709624886512756 ]
4.5
90
0
90
0
[ 30.673828125, 167.431640625, 135.615234375, 77.6953125, 100.986328125, -0.3404255211353302 ]
[ 30.41015625, 168.046875, 137.98828125, 79.27734375, 100.458984375, -0.5709624886512756 ]
4.55
91
0
91
0
[ 30.673828125, 166.2890625, 135.17578125, 77.6953125, 100.986328125, -0.3404255211353302 ]
[ 30.41015625, 167.958984375, 137.98828125, 78.837890625, 100.458984375, -0.5709624886512756 ]
4.6
92
0
92
0
[ 30.673828125, 165.234375, 134.560546875, 77.6953125, 100.986328125, -0.3404255211353302 ]
[ 30.41015625, 167.51953125, 137.900390625, 78.75, 100.458984375, -0.5709624886512756 ]
4.65
93
0
93
0
[ 30.5859375, 164.53125, 134.12109375, 77.6953125, 100.986328125, -0.25531914830207825 ]
[ 30.41015625, 166.376953125, 137.63671875, 78.662109375, 100.458984375, -0.5709624886512756 ]
4.7
94
0
94
0
[ 30.5859375, 164.1796875, 134.033203125, 77.6953125, 100.986328125, 0.5957447290420532 ]
[ 30.41015625, 165.5859375, 137.28515625, 78.662109375, 100.458984375, -0.5709624886512756 ]
4.75
95
0
95
0
[ 30.498046875, 164.091796875, 134.12109375, 77.16796875, 100.986328125, 2.5531914234161377 ]
[ 30.41015625, 164.8828125, 136.845703125, 78.662109375, 100.458984375, -0.48939642310142517 ]
4.8
96
0
96
0
[ 30.05859375, 164.091796875, 134.47265625, 76.46484375, 100.986328125, 5.446808338165283 ]
[ 30.41015625, 164.53125, 136.845703125, 78.486328125, 100.458984375, 0.32626426219940186 ]
4.85
97
0
97
0
[ 29.70703125, 164.091796875, 134.6484375, 75.849609375, 100.986328125, 9.021276473999023 ]
[ 30.322265625, 164.35546875, 136.845703125, 77.87109375, 100.458984375, 2.120717763900757 ]
4.9
98
0
98
0
[ 29.619140625, 164.00390625, 134.736328125, 75.673828125, 100.986328125, 12.425532341003418 ]
[ 30.146484375, 164.267578125, 136.845703125, 77.255859375, 100.458984375, 4.649265766143799 ]
4.95
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "so101",
    "total_episodes": 1,
    "total_frames": 613,
    "total_tasks": 1,
    "total_videos": 3,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 20,
    "splits": {
        "train": "0:1"
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    "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": {
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
            ]
        },
        "observation.state": {
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            "names": [
                "main_shoulder_pan",
                "main_shoulder_lift",
                "main_elbow_flex",
                "main_wrist_flex",
                "main_wrist_roll",
                "main_gripper"
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        },
        "observation.images.wrist": {
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        "observation.images.laptop": {
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            "names": [
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            "info": {
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        "timestamp": {
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        "frame_index": {
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        "episode_index": {
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        "task_index": {
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            "shape": [
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            "names": null
        }
    }
}

Citation

BibTeX:

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