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sequence | observation.state
sequence | timestamp
float32 | frame_index
int64 | episode_index
int64 | index
int64 | task_index
int64 |
|---|---|---|---|---|---|---|
[
7.20703125,
105.46875,
105.556640625,
37.705078125,
87.802734375,
0
] |
[
7.03125,
105.1171875,
109.16015625,
38.671875,
88.2421875,
0.2506265640258789
] | 0 | 0 | 0 | 0 | 0 |
[
7.20703125,
105.46875,
105.732421875,
37.705078125,
87.71484375,
0
] |
[
7.03125,
105.1171875,
109.16015625,
38.671875,
88.154296875,
0.2506265640258789
] | 0.033333 | 1 | 0 | 1 | 0 |
[
7.20703125,
105.380859375,
105.8203125,
37.705078125,
87.626953125,
0
] |
[
7.03125,
105.1171875,
109.16015625,
38.671875,
87.978515625,
0.2506265640258789
] | 0.066667 | 2 | 0 | 2 | 0 |
[
7.20703125,
105.29296875,
105.8203125,
37.705078125,
87.5390625,
0
] |
[
7.03125,
105.1171875,
109.16015625,
38.671875,
87.802734375,
0.2506265640258789
] | 0.1 | 3 | 0 | 3 | 0 |
[
7.03125,
105.205078125,
105.8203125,
37.705078125,
87.5390625,
0
] |
[
7.03125,
105.1171875,
109.16015625,
38.671875,
87.802734375,
0.2506265640258789
] | 0.133333 | 4 | 0 | 4 | 0 |
[
6.943359375,
105.205078125,
105.908203125,
37.705078125,
87.5390625,
0
] |
[
7.03125,
104.853515625,
109.16015625,
38.671875,
87.802734375,
0.2506265640258789
] | 0.166667 | 5 | 0 | 5 | 0 |
[
6.943359375,
105.1171875,
105.908203125,
37.705078125,
87.36328125,
0
] |
[
7.03125,
104.677734375,
109.16015625,
38.671875,
87.802734375,
0.2506265640258789
] | 0.2 | 6 | 0 | 6 | 0 |
[
6.943359375,
105.1171875,
105.99609375,
37.705078125,
86.66015625,
0
] |
[
7.03125,
104.501953125,
109.16015625,
38.671875,
87.802734375,
0.2506265640258789
] | 0.233333 | 7 | 0 | 7 | 0 |
[
7.03125,
105.1171875,
105.99609375,
37.79296875,
86.1328125,
0
] |
[
7.03125,
104.4140625,
109.16015625,
38.671875,
87.802734375,
0.2506265640258789
] | 0.266667 | 8 | 0 | 8 | 0 |
[
7.119140625,
104.94140625,
105.908203125,
37.880859375,
85.693359375,
0
] |
[
7.03125,
104.326171875,
109.16015625,
38.671875,
87.5390625,
0.2506265640258789
] | 0.3 | 9 | 0 | 9 | 0 |
[
7.119140625,
104.58984375,
105.380859375,
38.49609375,
84.990234375,
0
] |
[
7.03125,
104.23828125,
109.16015625,
38.671875,
87.01171875,
0.2506265640258789
] | 0.333333 | 10 | 0 | 10 | 0 |
[
7.20703125,
104.23828125,
104.94140625,
39.111328125,
84.638671875,
0
] |
[
7.03125,
104.23828125,
109.16015625,
38.671875,
86.484375,
0.2506265640258789
] | 0.366667 | 11 | 0 | 11 | 0 |
[
7.20703125,
104.0625,
104.58984375,
39.7265625,
84.638671875,
0
] |
[
7.03125,
104.150390625,
109.16015625,
38.671875,
85.95703125,
0.2506265640258789
] | 0.4 | 12 | 0 | 12 | 0 |
[
7.119140625,
103.7109375,
103.7109375,
40.95703125,
84.638671875,
0
] |
[
7.03125,
103.7109375,
108.896484375,
39.0234375,
85.4296875,
0.2506265640258789
] | 0.433333 | 13 | 0 | 13 | 0 |
[
7.119140625,
103.271484375,
102.3046875,
42.71484375,
84.55078125,
0
] |
[
7.03125,
103.359375,
108.720703125,
39.462890625,
85.166015625,
0.2506265640258789
] | 0.466667 | 14 | 0 | 14 | 0 |
[
7.119140625,
102.83203125,
100.634765625,
44.47265625,
84.375,
0
] |
[
7.03125,
102.919921875,
108.369140625,
40.166015625,
84.990234375,
0.2506265640258789
] | 0.5 | 15 | 0 | 15 | 0 |
[
7.119140625,
102.041015625,
98.4375,
46.7578125,
84.19921875,
0
] |
[
7.03125,
102.568359375,
107.490234375,
41.220703125,
84.814453125,
0.2506265640258789
] | 0.533333 | 16 | 0 | 16 | 0 |
[
7.119140625,
101.6015625,
96.767578125,
48.33984375,
84.0234375,
0
] |
[
7.03125,
102.12890625,
106.259765625,
42.5390625,
84.638671875,
0.2506265640258789
] | 0.566667 | 17 | 0 | 17 | 0 |
[
7.119140625,
101.07421875,
95.361328125,
49.39453125,
83.84765625,
0
] |
[
7.03125,
101.513671875,
104.765625,
44.208984375,
84.462890625,
0.2506265640258789
] | 0.6 | 18 | 0 | 18 | 0 |
[
7.119140625,
100.8984375,
94.74609375,
49.833984375,
83.84765625,
0
] |
[
7.03125,
100.8984375,
103.095703125,
45.966796875,
84.19921875,
0.2506265640258789
] | 0.633333 | 19 | 0 | 19 | 0 |
[
7.119140625,
100.810546875,
94.39453125,
49.833984375,
83.84765625,
0
] |
[
7.03125,
100.458984375,
101.513671875,
47.373046875,
84.111328125,
0.2506265640258789
] | 0.666667 | 20 | 0 | 20 | 0 |
[
7.119140625,
100.72265625,
94.306640625,
49.833984375,
83.935546875,
0
] |
[
7.03125,
100.1953125,
100.37109375,
48.33984375,
84.0234375,
0.2506265640258789
] | 0.7 | 21 | 0 | 21 | 0 |
[
7.119140625,
100.634765625,
94.21875,
49.833984375,
84.111328125,
0
] |
[
7.03125,
100.01953125,
99.4921875,
49.04296875,
84.0234375,
0.2506265640258789
] | 0.733333 | 22 | 0 | 22 | 0 |
[
7.03125,
100.37109375,
93.955078125,
49.833984375,
84.111328125,
0
] |
[
7.03125,
100.01953125,
98.876953125,
49.39453125,
84.0234375,
0.2506265640258789
] | 0.766667 | 23 | 0 | 23 | 0 |
[
6.943359375,
99.931640625,
93.603515625,
49.833984375,
84.111328125,
0
] |
[
7.03125,
99.931640625,
98.4375,
49.5703125,
84.0234375,
0.2506265640258789
] | 0.8 | 24 | 0 | 24 | 0 |
[
6.943359375,
99.4921875,
93.251953125,
49.833984375,
84.111328125,
0
] |
[
7.03125,
99.755859375,
97.998046875,
49.74609375,
84.0234375,
0.2506265640258789
] | 0.833333 | 25 | 0 | 25 | 0 |
[
6.943359375,
99.052734375,
92.900390625,
49.833984375,
84.111328125,
0
] |
[
7.03125,
99.31640625,
97.55859375,
49.74609375,
84.0234375,
0.2506265640258789
] | 0.866667 | 26 | 0 | 26 | 0 |
[
6.943359375,
98.701171875,
92.8125,
49.833984375,
84.111328125,
0
] |
[
7.03125,
98.7890625,
97.119140625,
49.74609375,
84.0234375,
0.2506265640258789
] | 0.9 | 27 | 0 | 27 | 0 |
[
6.943359375,
98.4375,
92.63671875,
49.833984375,
84.111328125,
0
] |
[
7.03125,
98.4375,
96.767578125,
49.74609375,
84.0234375,
0.2506265640258789
] | 0.933333 | 28 | 0 | 28 | 0 |
[
6.943359375,
98.0859375,
92.4609375,
49.833984375,
84.111328125,
0
] |
[
7.03125,
97.998046875,
96.591796875,
49.74609375,
84.0234375,
0.2506265640258789
] | 0.966667 | 29 | 0 | 29 | 0 |
[
6.943359375,
97.734375,
92.373046875,
49.833984375,
84.111328125,
0
] |
[
7.03125,
97.734375,
96.416015625,
49.74609375,
84.0234375,
0.2506265640258789
] | 1 | 30 | 0 | 30 | 0 |
[
7.03125,
97.3828125,
92.28515625,
49.833984375,
84.111328125,
0
] |
[
7.03125,
97.3828125,
96.416015625,
49.74609375,
84.0234375,
0.2506265640258789
] | 1.033333 | 31 | 0 | 31 | 0 |
[
7.03125,
97.03125,
92.28515625,
49.833984375,
84.111328125,
0
] |
[
7.03125,
97.119140625,
96.416015625,
49.74609375,
84.0234375,
0.2506265640258789
] | 1.066667 | 32 | 0 | 32 | 0 |
[
7.03125,
96.591796875,
92.28515625,
49.833984375,
84.111328125,
0
] |
[
7.03125,
96.767578125,
96.416015625,
49.74609375,
84.0234375,
0.2506265640258789
] | 1.1 | 33 | 0 | 33 | 0 |
[
7.119140625,
96.240234375,
92.197265625,
49.833984375,
84.0234375,
0
] |
[
7.03125,
96.328125,
96.416015625,
49.74609375,
84.0234375,
0.2506265640258789
] | 1.133333 | 34 | 0 | 34 | 0 |
[
7.119140625,
95.80078125,
92.109375,
49.833984375,
84.0234375,
0
] |
[
7.03125,
95.888671875,
96.416015625,
49.74609375,
84.0234375,
0.2506265640258789
] | 1.166667 | 35 | 0 | 35 | 0 |
[
7.119140625,
95.2734375,
91.7578125,
49.921875,
83.935546875,
0
] |
[
7.03125,
95.44921875,
96.416015625,
49.74609375,
84.0234375,
0.2506265640258789
] | 1.2 | 36 | 0 | 36 | 0 |
[
7.119140625,
94.5703125,
91.23046875,
50.09765625,
83.84765625,
0
] |
[
7.03125,
95.09765625,
96.416015625,
49.74609375,
84.0234375,
0.2506265640258789
] | 1.233333 | 37 | 0 | 37 | 0 |
[
7.119140625,
93.69140625,
90.3515625,
50.80078125,
83.759765625,
0
] |
[
7.03125,
94.658203125,
96.328125,
49.74609375,
84.0234375,
0.2506265640258789
] | 1.266667 | 38 | 0 | 38 | 0 |
[
7.03125,
92.724609375,
89.12109375,
51.943359375,
83.759765625,
0
] |
[
7.03125,
93.955078125,
95.888671875,
49.833984375,
84.0234375,
0.2506265640258789
] | 1.3 | 39 | 0 | 39 | 0 |
[
6.943359375,
91.7578125,
87.978515625,
52.91015625,
83.759765625,
0
] |
[
7.03125,
93.076171875,
95.185546875,
50.2734375,
84.0234375,
0.2506265640258789
] | 1.333333 | 40 | 0 | 40 | 0 |
[
6.943359375,
90.966796875,
86.748046875,
53.876953125,
83.759765625,
0
] |
[
7.03125,
92.109375,
94.130859375,
50.9765625,
84.0234375,
0.2506265640258789
] | 1.366667 | 41 | 0 | 41 | 0 |
[
6.943359375,
90.17578125,
85.693359375,
54.66796875,
83.671875,
0
] |
[
7.03125,
91.142578125,
93.076171875,
51.85546875,
84.0234375,
0.2506265640258789
] | 1.4 | 42 | 0 | 42 | 0 |
[
6.943359375,
89.82421875,
85.166015625,
54.931640625,
83.583984375,
0
] |
[
7.03125,
90.263671875,
91.845703125,
52.822265625,
84.0234375,
0.2506265640258789
] | 1.433333 | 43 | 0 | 43 | 0 |
[
6.943359375,
89.208984375,
84.111328125,
55.810546875,
83.408203125,
0
] |
[
7.03125,
89.560546875,
90.966796875,
53.61328125,
84.0234375,
0.2506265640258789
] | 1.466667 | 44 | 0 | 44 | 0 |
[
6.943359375,
88.41796875,
82.79296875,
56.865234375,
83.3203125,
0
] |
[
7.03125,
89.12109375,
90.087890625,
54.228515625,
84.0234375,
0.2506265640258789
] | 1.5 | 45 | 0 | 45 | 0 |
[
6.943359375,
87.5390625,
81.123046875,
58.359375,
83.232421875,
0
] |
[
7.03125,
88.59375,
89.12109375,
54.931640625,
83.935546875,
0.2506265640258789
] | 1.533333 | 46 | 0 | 46 | 0 |
[
6.943359375,
86.8359375,
79.892578125,
59.4140625,
83.14453125,
0
] |
[
7.03125,
87.802734375,
87.890625,
55.810546875,
83.759765625,
0.2506265640258789
] | 1.566667 | 47 | 0 | 47 | 0 |
[
6.943359375,
86.30859375,
78.92578125,
60.205078125,
82.880859375,
0
] |
[
7.03125,
87.01171875,
86.572265625,
56.77734375,
83.583984375,
0.2506265640258789
] | 1.6 | 48 | 0 | 48 | 0 |
[
6.943359375,
85.869140625,
78.22265625,
60.732421875,
82.880859375,
0
] |
[
7.03125,
86.220703125,
85.25390625,
57.83203125,
83.408203125,
0.2506265640258789
] | 1.633333 | 49 | 0 | 49 | 0 |
[
6.943359375,
85.693359375,
77.958984375,
60.908203125,
82.880859375,
0
] |
[
7.03125,
85.517578125,
84.19921875,
58.88671875,
83.14453125,
0.2506265640258789
] | 1.666667 | 50 | 0 | 50 | 0 |
[
6.943359375,
85.517578125,
77.87109375,
60.99609375,
82.880859375,
0
] |
[
7.03125,
85.078125,
83.232421875,
59.677734375,
83.14453125,
0.2506265640258789
] | 1.7 | 51 | 0 | 51 | 0 |
[
6.943359375,
85.25390625,
77.87109375,
60.99609375,
82.880859375,
0
] |
[
7.03125,
84.7265625,
82.6171875,
60.205078125,
83.14453125,
0.2506265640258789
] | 1.733333 | 52 | 0 | 52 | 0 |
[
6.943359375,
84.90234375,
77.6953125,
60.99609375,
82.6171875,
0
] |
[
7.03125,
84.55078125,
82.177734375,
60.556640625,
83.14453125,
0.2506265640258789
] | 1.766667 | 53 | 0 | 53 | 0 |
[
6.943359375,
84.462890625,
77.607421875,
60.99609375,
82.353515625,
0
] |
[
7.03125,
84.287109375,
81.826171875,
60.8203125,
83.14453125,
0.2506265640258789
] | 1.8 | 54 | 0 | 54 | 0 |
[
7.03125,
83.84765625,
77.51953125,
60.99609375,
82.353515625,
0
] |
[
7.03125,
84.0234375,
81.474609375,
60.8203125,
83.14453125,
0.2506265640258789
] | 1.833333 | 55 | 0 | 55 | 0 |
[
7.03125,
83.232421875,
77.431640625,
60.99609375,
82.265625,
0
] |
[
7.03125,
83.671875,
81.38671875,
60.8203125,
83.14453125,
0.2506265640258789
] | 1.866667 | 56 | 0 | 56 | 0 |
[
7.03125,
82.529296875,
77.16796875,
60.99609375,
82.177734375,
0
] |
[
7.03125,
83.14453125,
81.38671875,
60.8203125,
83.14453125,
0.2506265640258789
] | 1.9 | 57 | 0 | 57 | 0 |
[
7.03125,
81.9140625,
76.81640625,
60.99609375,
82.001953125,
0
] |
[
7.03125,
82.529296875,
81.2109375,
60.8203125,
82.96875,
0.2506265640258789
] | 1.933333 | 58 | 0 | 58 | 0 |
[
7.03125,
81.38671875,
76.552734375,
60.99609375,
82.001953125,
0
] |
[
7.03125,
81.73828125,
80.947265625,
60.8203125,
82.6171875,
0.2506265640258789
] | 1.966667 | 59 | 0 | 59 | 0 |
[
6.943359375,
81.03515625,
76.376953125,
60.99609375,
82.08984375,
0
] |
[
7.03125,
81.03515625,
80.68359375,
60.8203125,
82.44140625,
0.2506265640258789
] | 2 | 60 | 0 | 60 | 0 |
[
6.85546875,
80.771484375,
76.201171875,
60.99609375,
82.265625,
0
] |
[
7.03125,
80.595703125,
80.33203125,
60.8203125,
82.353515625,
0.2506265640258789
] | 2.033333 | 61 | 0 | 61 | 0 |
[
6.85546875,
80.419921875,
76.201171875,
60.732421875,
82.265625,
0
] |
[
7.03125,
80.15625,
80.068359375,
60.8203125,
82.44140625,
0.2506265640258789
] | 2.066667 | 62 | 0 | 62 | 0 |
[
6.767578125,
80.068359375,
76.025390625,
60.556640625,
82.265625,
0
] |
[
7.03125,
79.8046875,
79.892578125,
60.8203125,
82.44140625,
0.2506265640258789
] | 2.1 | 63 | 0 | 63 | 0 |
[
6.6796875,
79.541015625,
75.673828125,
60.46875,
82.265625,
0
] |
[
7.03125,
79.541015625,
79.8046875,
60.8203125,
82.44140625,
0.2506265640258789
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[
6.6796875,
78.837890625,
75.41015625,
60.29296875,
82.265625,
0
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[
7.03125,
79.1015625,
79.8046875,
60.8203125,
82.44140625,
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[
6.6796875,
78.22265625,
75.05859375,
60.29296875,
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0
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[
7.03125,
78.662109375,
79.8046875,
60.8203125,
82.44140625,
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[
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77.87109375,
74.970703125,
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[
7.03125,
78.046875,
79.541015625,
60.8203125,
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[
6.6796875,
77.783203125,
74.970703125,
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[
7.03125,
77.34375,
79.1015625,
60.8203125,
82.44140625,
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[
6.6796875,
77.6953125,
74.970703125,
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[
7.03125,
76.81640625,
78.92578125,
60.8203125,
82.44140625,
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[
6.591796875,
77.6953125,
74.970703125,
59.677734375,
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0
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[
7.03125,
76.640625,
78.75,
60.64453125,
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[
6.591796875,
77.6953125,
74.794921875,
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0
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[
7.03125,
76.46484375,
78.662109375,
60.46875,
82.44140625,
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[
6.591796875,
77.431640625,
74.443359375,
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0
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[
7.03125,
76.46484375,
78.57421875,
60.46875,
82.44140625,
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[
6.591796875,
76.9921875,
74.00390625,
59.58984375,
82.001953125,
0
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[
7.03125,
76.46484375,
78.57421875,
60.29296875,
82.44140625,
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[
6.591796875,
76.728515625,
73.828125,
59.58984375,
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0
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[
7.03125,
76.376953125,
78.310546875,
60.205078125,
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[
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76.552734375,
73.65234375,
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0
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[
7.03125,
76.025390625,
77.783203125,
60.1171875,
82.44140625,
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[
6.591796875,
76.376953125,
73.564453125,
59.58984375,
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0
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[
7.03125,
75.76171875,
77.51953125,
60.1171875,
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[
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76.201171875,
73.4765625,
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[
7.03125,
75.498046875,
77.431640625,
60.1171875,
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[
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73.212890625,
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[
7.03125,
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77.34375,
60.1171875,
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[
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75.76171875,
73.037109375,
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[
7.03125,
75.05859375,
77.34375,
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[
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73.037109375,
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0
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[
7.03125,
74.8828125,
77.34375,
60.1171875,
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[
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73.037109375,
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7.03125,
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77.34375,
60.1171875,
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[
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73.037109375,
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[
7.03125,
74.619140625,
77.34375,
60.1171875,
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[
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75.41015625,
72.861328125,
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[
7.03125,
74.619140625,
77.34375,
60.1171875,
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[
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75.05859375,
72.685546875,
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[
7.03125,
74.53125,
77.34375,
60.1171875,
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[
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7.03125,
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60.1171875,
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[
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72.509765625,
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[
7.03125,
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76.904296875,
60.1171875,
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[
7.119140625,
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72.509765625,
59.0625,
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0
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[
7.03125,
73.65234375,
76.552734375,
60.1171875,
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[
7.03125,
73.4765625,
72.509765625,
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0
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[
7.03125,
73.212890625,
76.2890625,
60.1171875,
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[
6.85546875,
73.125,
72.421875,
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81.03515625,
0
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[
7.03125,
72.7734375,
76.11328125,
59.94140625,
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[
6.767578125,
72.685546875,
72.333984375,
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[
7.03125,
72.421875,
75.9375,
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[
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[
7.03125,
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75.9375,
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[
6.6796875,
72.24609375,
73.4765625,
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[
7.03125,
71.71875,
75.9375,
59.23828125,
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[
6.591796875,
72.421875,
74.794921875,
54.84375,
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[
7.03125,
71.3671875,
75.9375,
58.7109375,
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[
6.50390625,
72.7734375,
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[
7.03125,
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[
6.328125,
73.125,
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[
7.03125,
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56.953125,
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[
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[
7.03125,
71.015625,
76.640625,
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[
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78.837890625,
50.625,
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[
7.03125,
71.015625,
77.51953125,
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[
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73.828125,
78.92578125,
50.2734375,
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[
6.767578125,
71.015625,
78.57421875,
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[
5.537109375,
73.4765625,
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[
6.416015625,
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79.189453125,
52.470703125,
80.859375,
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End of preview. Expand
in Data Studio
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v2.1",
"robot_type": "so100",
"total_episodes": 2,
"total_frames": 1790,
"total_tasks": 1,
"total_videos": 2,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:2"
},
"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.blue": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"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": {
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"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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