Search is not available for this dataset
action
sequence | observation.state
sequence | timestamp
float32 0
6
| frame_index
int64 0
180
| episode_index
int64 0
6
| index
int64 0
1.04k
| task_index
int64 0
0
|
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[
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[
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[
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[
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[
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34.8046875
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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[
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145.546875,
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[
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[
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[
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[
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[
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[
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[
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[
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| 28
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[
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[
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130.869140625,
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| 29
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| 29
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[
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34.716796875
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[
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| 30
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[
15.8203125,
65.21484375,
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34.716796875
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[
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69.169921875,
123.310546875,
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| 31
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| 31
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[
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115.048828125,
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34.716796875
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[
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65.91796875,
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34.189453125
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| 32
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| 32
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[
15.46875,
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34.716796875
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[
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62.578125,
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| 33
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| 33
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[
15.46875,
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109.51171875,
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[
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59.0625,
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| 34
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[
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34.716796875
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[
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| 35
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[
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[
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54.052734375,
109.16015625,
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| 36
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[
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34.716796875
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[
14.853515625,
52.998046875,
107.666015625,
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34.189453125
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| 37
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[
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[
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105.99609375,
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| 38
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| 38
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[
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53.26171875,
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34.716796875
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[
14.23828125,
52.20703125,
101.25,
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| 39
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[
13.88671875,
52.91015625,
92.724609375,
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34.8046875
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[
14.23828125,
52.119140625,
100.1953125,
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34.189453125
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| 40
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[
13.88671875,
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87.802734375,
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34.8046875
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[
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51.50390625,
95.537109375,
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| 41
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| 41
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[
13.974609375,
49.21875,
84.0234375,
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34.716796875
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[
13.359375,
50.537109375,
90.087890625,
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34.27734375
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| 42
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| 42
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[
14.0625,
47.28515625,
80.947265625,
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34.716796875
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[
13.18359375,
49.130859375,
86.220703125,
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| 43
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| 43
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[
14.23828125,
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78.92578125,
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34.716796875
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[
13.53515625,
45.615234375,
81.03515625,
-21.97265625,
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34.189453125
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| 44
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| 44
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[
14.326171875,
44.12109375,
76.81640625,
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34.716796875
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[
13.623046875,
45.17578125,
80.419921875,
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34.189453125
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| 45
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| 45
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[
14.501953125,
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75.498046875,
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34.716796875
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[
13.7109375,
43.505859375,
78.3984375,
-21.97265625,
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34.189453125
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| 46
| 0
| 46
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[
14.853515625,
41.923828125,
74.35546875,
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34.716796875
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[
13.798828125,
42.099609375,
76.9921875,
-22.060546875,
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34.189453125
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| 47
| 0
| 47
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[
15.029296875,
41.748046875,
73.828125,
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34.716796875
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[
13.974609375,
40.693359375,
75.76171875,
-22.412109375,
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| 48
| 0
| 48
| 0
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[
15.556640625,
41.396484375,
73.388671875,
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34.716796875
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[
14.326171875,
39.990234375,
75.322265625,
-22.32421875,
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34.189453125
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| 49
| 0
| 49
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[
15.99609375,
41.30859375,
73.388671875,
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34.716796875
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[
14.58984375,
39.7265625,
75.41015625,
-22.236328125,
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34.189453125
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| 50
| 0
| 50
| 0
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[
16.5234375,
41.30859375,
73.388671875,
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34.716796875
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[
14.853515625,
39.7265625,
75.234375,
-22.236328125,
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34.189453125
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| 51
| 0
| 51
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[
16.962890625,
41.396484375,
73.4765625,
-25.13671875,
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34.8046875
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[
15.380859375,
39.7265625,
75.234375,
-22.32421875,
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34.189453125
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| 52
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| 52
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[
17.40234375,
41.484375,
73.4765625,
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34.8046875
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[
15.556640625,
39.7265625,
75.322265625,
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34.189453125
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| 53
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[
17.666015625,
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34.716796875
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[
16.259765625,
39.7265625,
75.322265625,
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| 54
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| 54
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[
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70.224609375,
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34.716796875
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[
16.611328125,
39.7265625,
75.234375,
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34.189453125
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| 55
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| 55
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[
18.984375,
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68.466796875,
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34.716796875
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[
17.138671875,
39.638671875,
74.00390625,
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| 56
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| 56
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[
19.423828125,
38.759765625,
67.1484375,
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34.716796875
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[
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-82.6171875,
34.189453125
] | 1.9
| 57
| 0
| 57
| 0
|
[
19.599609375,
37.6171875,
66.181640625,
-23.291015625,
-83.408203125,
34.62890625
] |
[
18.193359375,
37.529296875,
68.818359375,
-22.236328125,
-82.6171875,
34.189453125
] | 1.933333
| 58
| 0
| 58
| 0
|
[
19.775390625,
36.826171875,
65.126953125,
-23.37890625,
-83.49609375,
34.541015625
] |
[
18.6328125,
36.5625,
67.8515625,
-22.236328125,
-82.6171875,
34.189453125
] | 1.966667
| 59
| 0
| 59
| 0
|
[
19.775390625,
35.771484375,
63.80859375,
-23.291015625,
-83.583984375,
34.27734375
] |
[
18.984375,
35.33203125,
67.763671875,
-22.1484375,
-82.6171875,
34.189453125
] | 2
| 60
| 0
| 60
| 0
|
[
19.775390625,
34.716796875,
62.40234375,
-23.203125,
-83.583984375,
34.013671875
] |
[
18.984375,
34.013671875,
66.97265625,
-22.1484375,
-82.6171875,
34.189453125
] | 2.033333
| 61
| 0
| 61
| 0
|
[
19.775390625,
33.75,
60.8203125,
-22.67578125,
-83.671875,
33.75
] |
[
18.984375,
33.046875,
65.478515625,
-22.1484375,
-82.6171875,
34.189453125
] | 2.066667
| 62
| 0
| 62
| 0
|
[
19.6875,
32.783203125,
59.677734375,
-21.97265625,
-83.759765625,
33.22265625
] |
[
18.984375,
32.16796875,
63.193359375,
-21.708984375,
-82.6171875,
33.3984375
] | 2.1
| 63
| 0
| 63
| 0
|
[
19.6875,
32.51953125,
59.326171875,
-21.97265625,
-83.759765625,
33.134765625
] |
[
18.984375,
31.2890625,
61.435546875,
-21.005859375,
-82.6171875,
33.310546875
] | 2.133333
| 64
| 0
| 64
| 0
|
[
19.599609375,
32.51953125,
59.150390625,
-21.97265625,
-83.759765625,
33.134765625
] |
[
18.984375,
31.025390625,
61.171875,
-20.478515625,
-82.6171875,
33.310546875
] | 2.166667
| 65
| 0
| 65
| 0
|
[
19.51171875,
32.431640625,
58.53515625,
-21.884765625,
-83.759765625,
32.783203125
] |
[
18.984375,
30.849609375,
61.259765625,
-20.302734375,
-82.6171875,
33.310546875
] | 2.2
| 66
| 0
| 66
| 0
|
[
19.51171875,
31.904296875,
57.392578125,
-21.533203125,
-83.759765625,
32.34375
] |
[
18.984375,
30.76171875,
61.171875,
-20.302734375,
-82.6171875,
32.431640625
] | 2.233333
| 67
| 0
| 67
| 0
|
[
19.423828125,
31.376953125,
55.458984375,
-19.951171875,
-83.759765625,
32.34375
] |
[
18.984375,
30.234375,
60.205078125,
-20.390625,
-82.6171875,
32.34375
] | 2.266667
| 68
| 0
| 68
| 0
|
[
19.248046875,
30.322265625,
53.0859375,
-18.193359375,
-83.759765625,
32.255859375
] |
[
18.984375,
29.8828125,
58.271484375,
-19.3359375,
-82.6171875,
32.34375
] | 2.3
| 69
| 0
| 69
| 0
|
[
18.984375,
29.1796875,
50.2734375,
-16.875,
-83.759765625,
31.904296875
] |
[
18.984375,
29.267578125,
56.42578125,
-17.75390625,
-82.6171875,
32.34375
] | 2.333333
| 70
| 0
| 70
| 0
|
[
18.896484375,
27.7734375,
47.8125,
-15.732421875,
-83.759765625,
28.388671875
] |
[
18.720703125,
28.212890625,
53.26171875,
-16.34765625,
-82.6171875,
31.46484375
] | 2.366667
| 71
| 0
| 71
| 0
|
[
18.896484375,
26.279296875,
45.087890625,
-14.501953125,
-83.759765625,
26.015625
] |
[
18.45703125,
26.71875,
50.09765625,
-14.765625,
-82.6171875,
29.794921875
] | 2.4
| 72
| 0
| 72
| 0
|
[
18.896484375,
25.3125,
43.154296875,
-13.271484375,
-83.759765625,
22.5
] |
[
18.10546875,
25.3125,
47.724609375,
-13.798828125,
-82.6171875,
27.421875
] | 2.433333
| 73
| 0
| 73
| 0
|
[
18.720703125,
25.048828125,
42.01171875,
-11.953125,
-83.84765625,
18.193359375
] |
[
18.10546875,
24.169921875,
46.142578125,
-12.919921875,
-82.6171875,
24.521484375
] | 2.466667
| 74
| 0
| 74
| 0
|
[
18.544921875,
24.9609375,
41.748046875,
-10.8984375,
-83.759765625,
14.94140625
] |
[
18.10546875,
23.818359375,
45.439453125,
-11.25,
-82.6171875,
20.830078125
] | 2.5
| 75
| 0
| 75
| 0
|
[
18.45703125,
24.9609375,
41.748046875,
-10.37109375,
-83.759765625,
13.271484375
] |
[
18.10546875,
23.115234375,
44.560546875,
-9.66796875,
-82.6171875,
16.611328125
] | 2.533333
| 76
| 0
| 76
| 0
|
[
18.369140625,
24.9609375,
41.66015625,
-9.755859375,
-83.759765625,
13.18359375
] |
[
17.9296875,
22.67578125,
43.76953125,
-9.31640625,
-82.6171875,
13.88671875
] | 2.566667
| 77
| 0
| 77
| 0
|
[
18.28125,
24.9609375,
41.66015625,
-9.052734375,
-83.759765625,
7.998046875
] |
[
17.9296875,
22.67578125,
43.76953125,
-8.876953125,
-82.6171875,
13.447265625
] | 2.6
| 78
| 0
| 78
| 0
|
[
18.28125,
24.9609375,
41.66015625,
-8.7890625,
-83.14453125,
-4.21875
] |
[
18.017578125,
22.67578125,
43.76953125,
-8.701171875,
-82.6171875,
11.07421875
] | 2.633333
| 79
| 0
| 79
| 0
|
[
18.10546875,
25.048828125,
41.572265625,
-8.61328125,
-83.056640625,
-8.173828125
] |
[
18.017578125,
22.67578125,
43.76953125,
-8.26171875,
-82.265625,
5.712890625
] | 2.666667
| 80
| 0
| 80
| 0
|
[
18.017578125,
25.048828125,
40.95703125,
-7.822265625,
-82.96875,
-8.173828125
] |
[
17.841796875,
22.763671875,
43.59375,
-7.734375,
-82.529296875,
4.39453125
] | 2.7
| 81
| 0
| 81
| 0
|
[
17.9296875,
25.048828125,
40.78125,
-7.3828125,
-82.96875,
-8.173828125
] |
[
17.9296875,
22.763671875,
42.802734375,
-7.294921875,
-82.353515625,
4.39453125
] | 2.733333
| 82
| 0
| 82
| 0
|
[
17.9296875,
25.224609375,
40.78125,
-5.2734375,
-82.79296875,
-8.173828125
] |
[
17.75390625,
22.763671875,
42.71484375,
-6.767578125,
-82.44140625,
4.39453125
] | 2.766667
| 83
| 0
| 83
| 0
|
[
17.75390625,
26.455078125,
40.60546875,
-1.93359375,
-82.705078125,
-8.173828125
] |
[
17.578125,
22.763671875,
42.626953125,
-6.064453125,
-82.265625,
4.39453125
] | 2.8
| 84
| 0
| 84
| 0
|
[
17.666015625,
27.509765625,
39.90234375,
0.52734375,
-82.353515625,
-8.173828125
] |
[
17.490234375,
22.763671875,
42.5390625,
-4.5703125,
-82.353515625,
4.39453125
] | 2.833333
| 85
| 0
| 85
| 0
|
[
17.666015625,
27.94921875,
38.49609375,
3.69140625,
-81.5625,
-8.173828125
] |
[
17.490234375,
23.115234375,
41.220703125,
-1.93359375,
-82.353515625,
4.39453125
] | 2.866667
| 86
| 0
| 86
| 0
|
[
17.490234375,
29.53125,
38.14453125,
6.943359375,
-81.2109375,
-8.173828125
] |
[
17.490234375,
23.203125,
40.166015625,
0.791015625,
-82.08984375,
4.39453125
] | 2.9
| 87
| 0
| 87
| 0
|
[
17.138671875,
31.46484375,
38.14453125,
10.37109375,
-80.859375,
-8.173828125
] |
[
17.490234375,
24.08203125,
40.078125,
3.076171875,
-82.001953125,
4.39453125
] | 2.933333
| 88
| 0
| 88
| 0
|
[
16.875,
33.57421875,
38.14453125,
13.88671875,
-79.365234375,
-8.173828125
] |
[
17.490234375,
25.927734375,
40.166015625,
7.119140625,
-81.5625,
4.39453125
] | 2.966667
| 89
| 0
| 89
| 0
|
[
16.34765625,
35.859375,
38.14453125,
17.9296875,
-78.310546875,
-8.173828125
] |
[
17.05078125,
27.59765625,
40.341796875,
10.810546875,
-81.03515625,
4.39453125
] | 3
| 90
| 0
| 90
| 0
|
[
16.259765625,
38.49609375,
38.14453125,
22.587890625,
-78.046875,
-8.173828125
] |
[
16.69921875,
29.1796875,
40.341796875,
14.853515625,
-80.244140625,
4.39453125
] | 3.033333
| 91
| 0
| 91
| 0
|
[
15.908203125,
41.1328125,
38.14453125,
26.71875,
-77.255859375,
-8.173828125
] |
[
16.34765625,
31.2890625,
40.4296875,
19.248046875,
-79.453125,
4.39453125
] | 3.066667
| 92
| 0
| 92
| 0
|
[
15.46875,
43.9453125,
38.14453125,
30.498046875,
-75.76171875,
-8.173828125
] |
[
15.908203125,
33.837890625,
40.4296875,
23.994140625,
-78.837890625,
4.39453125
] | 3.1
| 93
| 0
| 93
| 0
|
[
15.380859375,
46.142578125,
38.14453125,
33.57421875,
-74.8828125,
-8.173828125
] |
[
15.64453125,
36.474609375,
40.4296875,
28.4765625,
-77.87109375,
4.39453125
] | 3.133333
| 94
| 0
| 94
| 0
|
[
14.765625,
48.779296875,
38.14453125,
37.79296875,
-74.35546875,
-8.173828125
] |
[
15.380859375,
39.375,
40.341796875,
31.9921875,
-76.552734375,
4.39453125
] | 3.166667
| 95
| 0
| 95
| 0
|
[
14.4140625,
50.44921875,
38.3203125,
41.220703125,
-74.1796875,
-8.173828125
] |
[
14.853515625,
42.099609375,
40.341796875,
35.15625,
-75.5859375,
4.39453125
] | 3.2
| 96
| 0
| 96
| 0
|
[
13.88671875,
52.646484375,
38.84765625,
44.384765625,
-74.1796875,
-8.173828125
] |
[
14.501953125,
44.384765625,
40.341796875,
38.583984375,
-74.970703125,
4.39453125
] | 3.233333
| 97
| 0
| 97
| 0
|
[
13.359375,
54.84375,
40.25390625,
46.23046875,
-74.1796875,
-8.173828125
] |
[
13.88671875,
46.7578125,
40.341796875,
42.099609375,
-74.619140625,
4.39453125
] | 3.266667
| 98
| 0
| 98
| 0
|
[
13.095703125,
58.18359375,
43.857421875,
46.23046875,
-74.1796875,
-8.173828125
] |
[
13.359375,
48.8671875,
41.044921875,
45.263671875,
-74.53125,
4.39453125
] | 3.3
| 99
| 0
| 99
| 0
|
End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "koch",
"total_episodes": 7,
"total_frames": 1042,
"total_tasks": 1,
"total_videos": 7,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:7"
},
"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": {
"action": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.state": {
"dtype": "float32",
"shape": [
6
],
"names": [
"main_shoulder_pan",
"main_shoulder_lift",
"main_elbow_flex",
"main_wrist_flex",
"main_wrist_roll",
"main_gripper"
]
},
"observation.images.realsense": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 480,
"video.width": 640,
"video.channels": 3,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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