Datasets:
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action
sequence | observation.state
sequence | timestamp
float32 0
18.4
| frame_index
int64 0
551
| episode_index
int64 0
129
| index
int64 0
57k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|
[
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2.98828125,
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129.55078125,
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[
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129.55078125,
176.572265625,
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44.47265625
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[
3.076171875,
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179.208984375,
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[
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129.55078125,
176.572265625,
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[
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2.98828125,
129.55078125,
176.572265625,
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[
3.076171875,
135.615234375,
179.208984375,
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43.857421875
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[
2.98828125,
129.55078125,
176.572265625,
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[
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[
3.251953125,
129.55078125,
176.572265625,
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[
3.076171875,
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[
2.98828125,
129.55078125,
176.572265625,
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[
3.076171875,
135.615234375,
179.208984375,
-71.455078125,
-0.087890625,
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[
3.076171875,
129.55078125,
176.572265625,
-71.279296875,
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44.47265625
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[
3.076171875,
135.615234375,
179.208984375,
-71.455078125,
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[
3.251953125,
129.55078125,
176.572265625,
-71.279296875,
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44.47265625
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[
2.98828125,
135.615234375,
179.208984375,
-71.455078125,
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43.681640625
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[
2.98828125,
129.55078125,
176.572265625,
-71.279296875,
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44.47265625
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[
2.900390625,
135.615234375,
179.208984375,
-71.455078125,
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43.2421875
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[
3.076171875,
129.55078125,
176.572265625,
-71.279296875,
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44.47265625
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[
2.8125,
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178.9453125,
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42.890625
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[
3.076171875,
129.55078125,
176.572265625,
-71.279296875,
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44.47265625
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[
2.548828125,
135.52734375,
178.06640625,
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42.802734375
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[
2.98828125,
129.55078125,
176.572265625,
-71.19140625,
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44.296875
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[
2.373046875,
135.52734375,
176.484375,
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42.71484375
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[
2.98828125,
129.55078125,
176.572265625,
-70.83984375,
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44.296875
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[
2.109375,
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42.71484375
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[
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129.55078125,
176.30859375,
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[
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135.52734375,
172.08984375,
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42.71484375
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[
2.63671875,
129.55078125,
175.25390625,
-67.32421875,
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43.9453125
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| 16
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[
1.845703125,
135.52734375,
169.541015625,
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42.71484375
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[
2.548828125,
129.55078125,
173.759765625,
-63.80859375,
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43.9453125
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| 17
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[
1.7578125,
135.52734375,
166.81640625,
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42.71484375
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[
2.63671875,
129.55078125,
172.79296875,
-60.029296875,
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43.9453125
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| 18
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[
1.7578125,
135.52734375,
164.1796875,
-47.041015625,
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42.71484375
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[
2.28515625,
129.55078125,
169.892578125,
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43.9453125
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| 19
| 0
| 19
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[
1.318359375,
135.52734375,
160.6640625,
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42.71484375
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[
2.28515625,
129.55078125,
168.486328125,
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43.9453125
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| 0
| 20
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[
1.142578125,
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158.5546875,
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42.71484375
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[
2.197265625,
129.55078125,
165.849609375,
-46.669921875,
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43.9453125
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| 21
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| 21
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[
0.791015625,
135.439453125,
156.97265625,
-33.857421875,
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42.71484375
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[
1.845703125,
129.55078125,
162.94921875,
-43.06640625,
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| 22
| 0
| 22
| 0
|
[
0.263671875,
135.3515625,
155.390625,
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0,
42.626953125
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[
1.58203125,
129.55078125,
160.400390625,
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| 23
| 0
| 23
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[
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153.720703125,
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0.087890625,
42.626953125
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[
1.23046875,
129.55078125,
158.466796875,
-35.5078125,
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43.9453125
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| 24
| 0
| 24
| 0
|
[
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135.263671875,
152.138671875,
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0.087890625,
42.626953125
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[
0.615234375,
129.55078125,
157.32421875,
-31.728515625,
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43.9453125
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| 25
| 0
| 25
| 0
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[
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135.263671875,
150.380859375,
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0.263671875,
42.71484375
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[
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129.55078125,
156.26953125,
-27.7734375,
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43.9453125
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| 26
| 0
| 26
| 0
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[
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135.263671875,
148.798828125,
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0.439453125,
42.626953125
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[
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129.55078125,
154.951171875,
-24.169921875,
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43.9453125
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| 27
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| 27
| 0
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[
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135.263671875,
147.12890625,
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0.966796875,
42.626953125
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[
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129.55078125,
153.45703125,
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43.9453125
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| 28
| 0
| 28
| 0
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[
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135.263671875,
145.283203125,
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1.7578125,
42.626953125
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[
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129.55078125,
151.69921875,
-16.69921875,
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43.9453125
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| 29
| 0
| 29
| 0
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[
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143.26171875,
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42.626953125
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[
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129.55078125,
149.677734375,
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43.9453125
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| 30
| 0
| 30
| 0
|
[
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135.263671875,
141.064453125,
0.244140625,
4.306640625,
42.626953125
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[
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129.55078125,
147.568359375,
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0,
43.9453125
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| 31
| 0
| 31
| 0
|
[
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135.263671875,
138.779296875,
4.0234375,
5.80078125,
42.71484375
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[
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129.55078125,
145.546875,
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0.17578125,
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| 32
| 0
| 32
| 0
|
[
-5.44921875,
134.736328125,
136.7578125,
7.626953125,
7.119140625,
42.71484375
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[
-5.009765625,
129.55078125,
143.4375,
-1.58203125,
0.966796875,
43.9453125
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| 33
| 0
| 33
| 0
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[
-5.888671875,
134.560546875,
135.3515625,
11.318359375,
7.998046875,
42.71484375
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[
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129.55078125,
141.15234375,
2.109375,
2.021484375,
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| 34
| 0
| 34
| 0
|
[
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134.560546875,
134.033203125,
14.833984375,
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42.71484375
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[
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129.55078125,
139.306640625,
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3.427734375,
43.9453125
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| 35
| 0
| 35
| 0
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[
-6.85546875,
134.560546875,
132.5390625,
18.61328125,
9.84375,
42.71484375
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[
-5.712890625,
129.55078125,
137.63671875,
9.31640625,
4.5703125,
43.9453125
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| 36
| 0
| 36
| 0
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[
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134.560546875,
130.869140625,
22.216796875,
10.986328125,
42.71484375
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[
-6.15234375,
129.55078125,
136.40625,
13.095703125,
5.712890625,
43.9453125
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| 37
| 0
| 37
| 0
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[
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134.47265625,
129.111328125,
25.8203125,
11.953125,
42.71484375
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[
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129.55078125,
135.263671875,
16.611328125,
6.767578125,
43.9453125
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| 38
| 0
| 38
| 0
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[
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134.208984375,
127.529296875,
29.423828125,
12.65625,
42.71484375
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[
-6.767578125,
129.55078125,
133.9453125,
20.302734375,
7.91015625,
43.9453125
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| 39
| 0
| 39
| 0
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[
-7.822265625,
133.857421875,
125.859375,
33.02734375,
13.359375,
42.71484375
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[
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129.55078125,
132.275390625,
23.818359375,
8.876953125,
43.9453125
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| 40
| 0
| 40
| 0
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[
-8.0859375,
133.59375,
124.27734375,
36.54296875,
13.88671875,
42.890625
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[
-7.20703125,
129.55078125,
130.341796875,
27.421875,
9.755859375,
43.9453125
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| 41
| 0
| 41
| 0
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[
-8.525390625,
132.890625,
122.51953125,
39.7265625,
14.501953125,
42.978515625
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[
-7.3828125,
129.55078125,
128.3203125,
30.76171875,
10.458984375,
43.9453125
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| 42
| 0
| 42
| 0
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[
-9.31640625,
131.923828125,
120.673828125,
42.275390625,
15.1171875,
43.2421875
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[
-7.646484375,
129.55078125,
126.474609375,
34.189453125,
11.07421875,
43.9453125
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| 43
| 0
| 43
| 0
|
[
-10.283203125,
130.78125,
119.00390625,
44.384765625,
15.99609375,
43.41796875
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[
-8.0859375,
129.462890625,
124.892578125,
37.529296875,
11.689453125,
43.9453125
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| 44
| 0
| 44
| 0
|
[
-11.07421875,
130.166015625,
117.421875,
46.494140625,
16.611328125,
43.41796875
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[
-9.052734375,
129.375,
123.310546875,
40.341796875,
12.392578125,
43.9453125
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| 45
| 0
| 45
| 0
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[
-12.216796875,
128.935546875,
116.103515625,
47.8125,
17.314453125,
43.505859375
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[
-10.1953125,
129.19921875,
121.640625,
42.802734375,
13.095703125,
43.9453125
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| 46
| 0
| 46
| 0
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[
-13.18359375,
128.14453125,
114.9609375,
48.515625,
18.017578125,
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[
-10.8984375,
128.84765625,
119.970703125,
45,
13.7109375,
43.9453125
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| 47
| 0
| 47
| 0
|
[
-14.4140625,
126.9140625,
113.90625,
48.8671875,
18.45703125,
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[
-11.77734375,
128.3203125,
118.564453125,
46.669921875,
14.4140625,
43.9453125
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| 48
| 0
| 48
| 0
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[
-15.380859375,
125.068359375,
112.412109375,
49.833984375,
18.80859375,
44.12109375
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[
-13.095703125,
127.705078125,
117.421875,
47.900390625,
15.029296875,
43.9453125
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| 49
| 0
| 49
| 0
|
[
-15.732421875,
123.3984375,
110.7421875,
50.712890625,
19.248046875,
44.296875
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[
-14.326171875,
126.9140625,
116.54296875,
48.8671875,
15.556640625,
43.9453125
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| 50
| 0
| 50
| 0
|
[
-16.083984375,
121.640625,
108.720703125,
51.767578125,
19.423828125,
44.384765625
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[
-14.94140625,
125.419921875,
115.3125,
49.74609375,
16.083984375,
43.9453125
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| 51
| 0
| 51
| 0
|
[
-16.435546875,
120.05859375,
106.69921875,
52.91015625,
19.775390625,
44.560546875
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[
-15.46875,
123.486328125,
113.291015625,
50.625,
16.435546875,
44.033203125
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| 52
| 0
| 52
| 0
|
[
-16.69921875,
118.388671875,
104.853515625,
53.7890625,
20.126953125,
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[
-15.556640625,
121.81640625,
111.005859375,
51.50390625,
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| 53
| 0
| 53
| 0
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[
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116.89453125,
102.919921875,
54.580078125,
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[
-15.8203125,
120.146484375,
108.896484375,
52.470703125,
17.05078125,
44.033203125
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| 54
| 0
| 54
| 0
|
[
-17.05078125,
115.400390625,
101.162109375,
55.1953125,
20.7421875,
45
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[
-16.34765625,
118.388671875,
106.962890625,
53.349609375,
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44.033203125
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| 55
| 0
| 55
| 0
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[
-17.578125,
113.818359375,
99.31640625,
55.8984375,
21.005859375,
45
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[
-16.5234375,
116.71875,
105.1171875,
54.228515625,
17.666015625,
44.033203125
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| 56
| 0
| 56
| 0
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[
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112.32421875,
97.646484375,
56.25,
21.357421875,
45
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[
-16.611328125,
115.048828125,
103.447265625,
54.931640625,
17.841796875,
44.033203125
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| 57
| 0
| 57
| 0
|
[
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111.181640625,
96.240234375,
56.337890625,
21.796875,
45
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[
-17.138671875,
113.5546875,
101.953125,
55.546875,
18.10546875,
44.033203125
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| 58
| 0
| 58
| 0
|
[
-18.984375,
109.775390625,
94.658203125,
56.42578125,
21.97265625,
45
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[
-18.017578125,
112.236328125,
100.283203125,
55.986328125,
18.45703125,
44.033203125
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| 59
| 0
| 59
| 0
|
[
-19.51171875,
108.369140625,
93.1640625,
56.513671875,
22.236328125,
45
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[
-18.28125,
110.7421875,
98.7890625,
56.162109375,
18.720703125,
44.033203125
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| 60
| 0
| 60
| 0
|
[
-20.21484375,
106.611328125,
91.58203125,
56.513671875,
22.412109375,
45
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[
-18.896484375,
109.423828125,
97.3828125,
56.25,
18.80859375,
44.033203125
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| 61
| 0
| 61
| 0
|
[
-21.005859375,
105.029296875,
89.912109375,
56.77734375,
22.412109375,
45
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[
-19.423828125,
107.9296875,
95.9765625,
56.337890625,
18.80859375,
44.033203125
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| 62
| 0
| 62
| 0
|
[
-21.796875,
103.53515625,
88.154296875,
57.3046875,
22.67578125,
45
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[
-20.126953125,
106.34765625,
94.04296875,
56.337890625,
18.80859375,
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| 63
| 0
| 63
| 0
|
[
-22.587890625,
101.953125,
86.30859375,
58.095703125,
23.02734375,
45
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[
-20.830078125,
104.58984375,
92.28515625,
56.513671875,
18.80859375,
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| 64
| 0
| 64
| 0
|
[
-23.203125,
100.634765625,
84.7265625,
58.88671875,
23.291015625,
45
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[
-21.62109375,
103.095703125,
90.439453125,
56.953125,
18.896484375,
44.033203125
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| 65
| 0
| 65
| 0
|
[
-23.73046875,
99.4921875,
83.232421875,
59.326171875,
23.73046875,
45
] |
[
-22.32421875,
101.513671875,
88.76953125,
57.568359375,
19.072265625,
44.033203125
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| 66
| 0
| 66
| 0
|
[
-24.521484375,
98.349609375,
82.001953125,
59.501953125,
23.90625,
45
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[
-23.02734375,
100.1953125,
87.275390625,
58.18359375,
19.599609375,
44.033203125
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| 67
| 0
| 67
| 0
|
[
-24.873046875,
97.470703125,
80.595703125,
59.58984375,
24.2578125,
44.912109375
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[
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98.96484375,
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58.623046875,
20.126953125,
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| 68
| 0
| 68
| 0
|
[
-25.13671875,
96.328125,
79.1015625,
59.94140625,
24.873046875,
44.82421875
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[
-24.169921875,
97.822265625,
84.7265625,
58.974609375,
20.56640625,
44.033203125
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| 69
| 0
| 69
| 0
|
[
-25.13671875,
95.009765625,
77.16796875,
60.64453125,
25.83984375,
44.82421875
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[
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96.85546875,
83.3203125,
59.326171875,
21.005859375,
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| 70
| 0
| 70
| 0
|
[
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93.603515625,
75.05859375,
61.5234375,
27.0703125,
44.736328125
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[
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95.80078125,
81.650390625,
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| 71
| 0
| 71
| 0
|
[
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92.4609375,
72.861328125,
62.40234375,
28.125,
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[
-24.609375,
94.482421875,
79.62890625,
60.1171875,
22.236328125,
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| 72
| 0
| 72
| 0
|
[
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70.83984375,
62.578125,
29.1796875,
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[
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77.255859375,
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23.115234375,
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| 73
| 0
| 73
| 0
|
[
-25.224609375,
90.3515625,
68.994140625,
62.490234375,
30.322265625,
44.6484375
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[
-24.609375,
91.845703125,
75.05859375,
61.34765625,
24.169921875,
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| 74
| 0
| 74
| 0
|
[
-25.224609375,
89.560546875,
67.32421875,
62.314453125,
31.376953125,
44.560546875
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[
-24.697265625,
90.703125,
73.037109375,
61.787109375,
25.13671875,
44.033203125
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| 75
| 0
| 75
| 0
|
[
-25.224609375,
88.505859375,
65.302734375,
62.314453125,
32.34375,
44.47265625
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[
-24.697265625,
89.736328125,
71.103515625,
62.05078125,
26.19140625,
44.033203125
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| 76
| 0
| 76
| 0
|
[
-25.224609375,
87.451171875,
63.28125,
62.2265625,
32.87109375,
44.47265625
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[
-24.609375,
88.76953125,
69.521484375,
62.314453125,
27.0703125,
44.033203125
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| 77
| 0
| 77
| 0
|
[
-25.400390625,
86.572265625,
61.435546875,
62.2265625,
33.134765625,
44.296875
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[
-24.697265625,
87.71484375,
67.67578125,
62.40234375,
27.94921875,
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| 78
| 0
| 78
| 0
|
[
-25.751953125,
85.341796875,
59.765625,
62.2265625,
33.134765625,
44.296875
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[
-24.697265625,
86.923828125,
65.654296875,
62.40234375,
28.564453125,
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| 79
| 0
| 79
| 0
|
[
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58.359375,
62.314453125,
33.310546875,
44.296875
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[
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63.6328125,
62.40234375,
29.00390625,
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| 80
| 0
| 80
| 0
|
[
-26.71875,
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57.041015625,
62.314453125,
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[
-25.3125,
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62.490234375,
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| 81
| 0
| 81
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[
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62.40234375,
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[
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60.29296875,
62.490234375,
29.53125,
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| 82
| 0
| 82
| 0
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[
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80.771484375,
54.228515625,
62.490234375,
33.310546875,
44.208984375
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[
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59.0625,
62.490234375,
29.619140625,
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| 83
| 0
| 83
| 0
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[
-28.4765625,
79.541015625,
52.998046875,
62.666015625,
33.310546875,
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[
-26.982421875,
81.298828125,
58.0078125,
62.490234375,
29.619140625,
44.033203125
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| 84
| 0
| 84
| 0
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[
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78.486328125,
51.767578125,
62.666015625,
33.3984375,
44.208984375
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[
-27.59765625,
80.068359375,
56.953125,
62.578125,
29.619140625,
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| 85
| 0
| 85
| 0
|
[
-29.091796875,
77.51953125,
50.537109375,
63.017578125,
33.3984375,
44.208984375
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[
-28.125,
78.75,
55.634765625,
62.578125,
29.619140625,
44.033203125
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| 86
| 0
| 86
| 0
|
[
-29.267578125,
76.201171875,
48.8671875,
63.896484375,
33.3984375,
44.208984375
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[
-28.4765625,
77.6953125,
54.31640625,
62.666015625,
29.619140625,
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| 87
| 0
| 87
| 0
|
[
-29.443359375,
74.794921875,
47.373046875,
64.599609375,
33.3984375,
44.296875
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[
-28.740234375,
76.552734375,
52.998046875,
62.9296875,
29.619140625,
44.033203125
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| 88
| 0
| 88
| 0
|
[
-29.619140625,
73.740234375,
45.966796875,
65.390625,
33.3984375,
44.296875
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[
-28.828125,
75.41015625,
51.50390625,
63.369140625,
29.619140625,
44.033203125
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| 89
| 0
| 89
| 0
|
[
-29.70703125,
72.24609375,
44.560546875,
66.005859375,
33.3984375,
44.296875
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[
-28.916015625,
74.1796875,
49.74609375,
63.984375,
29.619140625,
44.033203125
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| 90
| 0
| 90
| 0
|
[
-29.794921875,
70.576171875,
42.978515625,
66.97265625,
33.486328125,
44.296875
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[
-29.00390625,
72.861328125,
48.251953125,
64.599609375,
29.619140625,
44.033203125
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| 91
| 0
| 91
| 0
|
[
-29.794921875,
68.994140625,
41.66015625,
67.763671875,
33.662109375,
44.296875
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[
-29.00390625,
71.455078125,
46.7578125,
65.390625,
29.619140625,
44.033203125
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| 92
| 0
| 92
| 0
|
[
-29.70703125,
67.5,
40.4296875,
68.5546875,
33.92578125,
44.296875
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[
-29.00390625,
69.873046875,
45.087890625,
66.181640625,
29.619140625,
44.033203125
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| 93
| 0
| 93
| 0
|
[
-29.70703125,
66.181640625,
39.375,
69.43359375,
34.1015625,
44.296875
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[
-29.00390625,
68.203125,
43.59375,
66.796875,
29.619140625,
44.033203125
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| 94
| 0
| 94
| 0
|
[
-29.70703125,
65.0390625,
38.3203125,
70.400390625,
34.27734375,
44.296875
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[
-29.1796875,
66.62109375,
42.5390625,
67.412109375,
29.619140625,
44.033203125
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| 95
| 0
| 95
| 0
|
[
-29.70703125,
63.80859375,
37.353515625,
71.015625,
34.365234375,
44.296875
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[
-29.00390625,
65.302734375,
41.923828125,
68.02734375,
29.619140625,
44.033203125
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| 96
| 0
| 96
| 0
|
[
-29.70703125,
62.490234375,
36.03515625,
71.71875,
34.453125,
44.296875
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[
-29.00390625,
64.16015625,
41.1328125,
68.73046875,
29.70703125,
44.033203125
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| 97
| 0
| 97
| 0
|
[
-29.70703125,
61.34765625,
34.8046875,
72.59765625,
34.541015625,
44.296875
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[
-29.00390625,
62.841796875,
39.90234375,
69.345703125,
29.970703125,
44.033203125
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| 98
| 0
| 98
| 0
|
[
-29.70703125,
60.205078125,
33.134765625,
73.564453125,
34.541015625,
44.296875
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[
-29.00390625,
61.5234375,
38.583984375,
69.873046875,
30.234375,
43.9453125
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| 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": 130,
"total_frames": 57045,
"total_tasks": 1,
"total_videos": 260,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:130"
},
"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.front": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.above": {
"dtype": "video",
"shape": [
720,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 720,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"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
}
}
}
Citation
BibTeX:
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