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observation.state
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float32
0
9.7
frame_index
int64
0
97
episode_index
int64
0
0
index
int64
0
97
task_index
int64
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[ 94.39453125, 134.82421875, 173.84765625, 18.369140625, 85.869140625, 76.2890625 ]
[ 94.130859375, 131.30859375, 166.9921875, 18.80859375, 85.78125, 84.19921875 ]
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0.1
1
0
1
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[ 94.39453125, 134.82421875, 173.84765625, 18.369140625, 85.693359375, 76.2890625 ]
[ 94.130859375, 131.30859375, 166.9921875, 18.80859375, 85.78125, 84.19921875 ]
0.2
2
0
2
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[ 94.39453125, 134.82421875, 173.84765625, 18.369140625, 85.78125, 76.376953125 ]
[ 94.130859375, 131.30859375, 166.9921875, 18.80859375, 85.78125, 84.19921875 ]
0.3
3
0
3
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[ 94.39453125, 134.82421875, 173.84765625, 18.45703125, 86.044921875, 76.2890625 ]
[ 94.130859375, 131.30859375, 166.9921875, 18.80859375, 85.78125, 84.19921875 ]
0.4
4
0
4
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[ 93.8671875, 134.82421875, 173.3203125, 19.3359375, 86.044921875, 76.2890625 ]
[ 94.130859375, 131.30859375, 166.9921875, 18.80859375, 85.78125, 84.19921875 ]
0.5
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0
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0.6
6
0
6
0
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0.7
7
0
7
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[ 93.427734375, 134.736328125, 164.091796875, 34.27734375, 87.978515625, 76.2890625 ]
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0.8
8
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0.9
9
0
9
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1
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1.1
11
0
11
0
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1.2
12
0
12
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[ 94.21875, 131.396484375, 147.83203125, 52.119140625, 90.263671875, 76.2890625 ]
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1.3
13
0
13
0
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1.4
14
0
14
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1.5
15
0
15
0
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[ 95.361328125, 126.03515625, 143.701171875, 54.404296875, 86.8359375, 84.19921875 ]
1.6
16
0
16
0
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1.7
17
0
17
0
[ 96.328125, 118.65234375, 137.8125, 52.734375, 84.19921875, 76.2890625 ]
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1.8
18
0
18
0
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1.9
19
0
19
0
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[ 96.85546875, 115.48828125, 141.591796875, 52.998046875, 84.19921875, 84.19921875 ]
2
20
0
20
0
[ 97.734375, 110.21484375, 133.2421875, 50.361328125, 82.705078125, 76.2890625 ]
[ 96.943359375, 113.115234375, 140.009765625, 52.822265625, 83.84765625, 84.19921875 ]
2.1
21
0
21
0
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2.2
22
0
22
0
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[ 97.03125, 106.875, 135, 50.361328125, 83.935546875, 84.19921875 ]
2.3
23
0
23
0
[ 96.328125, 101.689453125, 124.541015625, 49.306640625, 83.408203125, 76.2890625 ]
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2.4
24
0
24
0
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2.5
25
0
25
0
[ 96.15234375, 97.119140625, 120.322265625, 48.779296875, 83.49609375, 76.376953125 ]
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2.6
26
0
26
0
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2.7
27
0
27
0
[ 95.712890625, 93.1640625, 117.59765625, 48.076171875, 83.759765625, 76.2890625 ]
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2.8
28
0
28
0
[ 95.625, 91.7578125, 116.015625, 47.900390625, 83.935546875, 76.2890625 ]
[ 96.328125, 92.373046875, 123.310546875, 49.21875, 84.111328125, 84.19921875 ]
2.9
29
0
29
0
[ 95.2734375, 90.17578125, 113.994140625, 47.900390625, 84.111328125, 76.376953125 ]
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3
30
0
30
0
[ 95.185546875, 88.505859375, 111.62109375, 48.1640625, 84.287109375, 76.376953125 ]
[ 96.064453125, 90.087890625, 120.9375, 49.306640625, 84.111328125, 84.19921875 ]
3.1
31
0
31
0
[ 94.921875, 86.8359375, 109.16015625, 48.33984375, 84.462890625, 76.2890625 ]
[ 95.888671875, 88.330078125, 118.125, 49.21875, 84.55078125, 84.19921875 ]
3.2
32
0
32
0
[ 94.658203125, 85.25390625, 106.611328125, 48.69140625, 84.462890625, 76.2890625 ]
[ 95.44921875, 85.078125, 113.73046875, 49.306640625, 84.55078125, 84.19921875 ]
3.3
33
0
33
0
[ 94.04296875, 83.583984375, 104.150390625, 49.04296875, 84.90234375, 76.2890625 ]
[ 95.44921875, 84.814453125, 113.02734375, 49.21875, 84.55078125, 84.19921875 ]
3.4
34
0
34
0
[ 92.98828125, 82.08984375, 101.953125, 49.04296875, 85.95703125, 76.2890625 ]
[ 94.04296875, 81.826171875, 108.984375, 49.306640625, 86.044921875, 84.19921875 ]
3.5
35
0
35
0
[ 92.109375, 80.419921875, 99.931640625, 49.04296875, 86.8359375, 76.2890625 ]
[ 93.1640625, 79.892578125, 106.435546875, 49.21875, 86.220703125, 84.19921875 ]
3.6
36
0
36
0
[ 91.40625, 78.57421875, 97.91015625, 49.04296875, 87.626953125, 76.376953125 ]
[ 92.900390625, 79.716796875, 106.171875, 49.21875, 87.802734375, 84.19921875 ]
3.7
37
0
37
0
[ 90.703125, 76.025390625, 94.833984375, 49.04296875, 88.41796875, 76.2890625 ]
[ 92.109375, 77.607421875, 105.380859375, 49.482421875, 88.41796875, 84.19921875 ]
3.8
38
0
38
0
[ 90.439453125, 74.35546875, 92.548828125, 49.04296875, 89.208984375, 76.2890625 ]
[ 91.669921875, 75.673828125, 102.392578125, 50.2734375, 88.76953125, 84.19921875 ]
3.9
39
0
39
0
[ 90.439453125, 72.158203125, 89.736328125, 49.306640625, 89.6484375, 76.2890625 ]
[ 91.318359375, 74.00390625, 97.91015625, 50.185546875, 89.6484375, 84.19921875 ]
4
40
0
40
0
[ 90.615234375, 70.13671875, 86.572265625, 50.185546875, 89.736328125, 76.376953125 ]
[ 91.142578125, 71.015625, 94.74609375, 50.2734375, 89.736328125, 84.19921875 ]
4.1
41
0
41
0
[ 90.703125, 68.466796875, 84.375, 50.712890625, 89.736328125, 76.2890625 ]
[ 91.142578125, 70.224609375, 94.21875, 50.44921875, 89.736328125, 84.19921875 ]
4.2
42
0
42
0
[ 91.0546875, 67.060546875, 82.705078125, 50.9765625, 89.736328125, 76.2890625 ]
[ 91.142578125, 66.796875, 88.2421875, 51.591796875, 89.912109375, 84.19921875 ]
4.3
43
0
43
0
[ 91.23046875, 65.654296875, 80.244140625, 51.6796875, 89.6484375, 76.2890625 ]
[ 91.142578125, 66.708984375, 87.978515625, 51.591796875, 90, 84.19921875 ]
4.4
44
0
44
0
[ 91.23046875, 64.248046875, 77.607421875, 52.55859375, 89.6484375, 76.2890625 ]
[ 91.318359375, 64.86328125, 85.341796875, 52.470703125, 89.912109375, 84.19921875 ]
4.5
45
0
45
0
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[ 91.318359375, 64.248046875, 84.814453125, 52.998046875, 89.912109375, 84.19921875 ]
4.6
46
0
46
0
[ 91.40625, 62.2265625, 73.125, 53.7890625, 89.6484375, 76.2890625 ]
[ 91.23046875, 62.841796875, 80.595703125, 54.052734375, 89.912109375, 84.19921875 ]
4.7
47
0
47
0
[ 91.494140625, 61.083984375, 71.103515625, 54.228515625, 89.560546875, 76.2890625 ]
[ 91.494140625, 61.435546875, 79.27734375, 54.31640625, 89.912109375, 84.19921875 ]
4.8
48
0
48
0
[ 91.58203125, 60.46875, 69.9609375, 54.4921875, 89.47265625, 76.2890625 ]
[ 91.58203125, 60.732421875, 78.046875, 54.84375, 89.912109375, 84.19921875 ]
4.9
49
0
49
0
[ 91.669921875, 59.853515625, 69.43359375, 54.404296875, 89.384765625, 76.2890625 ]
[ 91.58203125, 60.1171875, 75.9375, 55.1953125, 89.912109375, 84.19921875 ]
5
50
0
50
0
[ 91.93359375, 59.765625, 69.697265625, 54.66796875, 88.76953125, 76.2890625 ]
[ 91.845703125, 59.501953125, 75.322265625, 55.283203125, 90, 84.19921875 ]
5.1
51
0
51
0
[ 92.197265625, 60.205078125, 70.400390625, 55.986328125, 88.330078125, 76.2890625 ]
[ 91.93359375, 59.501953125, 75.322265625, 55.546875, 90, 84.19921875 ]
5.2
52
0
52
0
[ 92.021484375, 60.556640625, 70.400390625, 56.513671875, 88.06640625, 76.2890625 ]
[ 92.021484375, 59.501953125, 75.234375, 56.162109375, 89.912109375, 84.19921875 ]
5.3
53
0
53
0
[ 92.021484375, 60.908203125, 70.400390625, 56.6015625, 87.890625, 76.2890625 ]
[ 91.93359375, 59.501953125, 75.234375, 56.25, 89.912109375, 84.19921875 ]
5.4
54
0
54
0
[ 92.109375, 60.908203125, 70.400390625, 56.513671875, 87.802734375, 76.2890625 ]
[ 92.021484375, 59.501953125, 75.234375, 56.25, 89.912109375, 84.19921875 ]
5.5
55
0
55
0
[ 92.021484375, 62.666015625, 71.015625, 55.986328125, 87.802734375, 76.2890625 ]
[ 92.021484375, 59.501953125, 75.234375, 56.25, 89.912109375, 84.19921875 ]
5.6
56
0
56
0
[ 92.109375, 63.017578125, 71.54296875, 56.513671875, 87.099609375, 76.2890625 ]
[ 92.021484375, 59.765625, 75.234375, 56.337890625, 89.912109375, 84.19921875 ]
5.7
57
0
57
0
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[ 92.021484375, 60.205078125, 75.234375, 56.42578125, 89.912109375, 84.19921875 ]
5.8
58
0
58
0
[ 91.669921875, 66.708984375, 74.53125, 56.07421875, 86.8359375, 76.2890625 ]
[ 91.93359375, 60.99609375, 75.41015625, 56.6015625, 89.82421875, 84.19921875 ]
5.9
59
0
59
0
[ 91.669921875, 70.13671875, 79.365234375, 53.7890625, 86.923828125, 76.2890625 ]
[ 91.93359375, 63.193359375, 77.431640625, 56.6015625, 89.296875, 84.19921875 ]
6
60
0
60
0
[ 91.669921875, 73.212890625, 84.638671875, 51.064453125, 87.01171875, 76.2890625 ]
[ 91.845703125, 67.67578125, 84.19921875, 54.31640625, 87.71484375, 84.19921875 ]
6.1
61
0
61
0
[ 91.142578125, 75.76171875, 88.2421875, 50.009765625, 87.01171875, 76.2890625 ]
[ 91.7578125, 70.6640625, 88.76953125, 52.20703125, 87.451171875, 84.19921875 ]
6.2
62
0
62
0
[ 90.966796875, 79.27734375, 92.8125, 47.98828125, 87.099609375, 76.2890625 ]
[ 91.669921875, 72.685546875, 91.23046875, 51.6796875, 87.451171875, 84.19921875 ]
6.3
63
0
63
0
[ 90.87890625, 82.529296875, 97.55859375, 46.40625, 87.099609375, 76.2890625 ]
[ 91.494140625, 76.2890625, 95.80078125, 49.658203125, 87.275390625, 84.19921875 ]
6.4
64
0
64
0
[ 90.87890625, 85.78125, 102.392578125, 44.12109375, 87.099609375, 76.2890625 ]
[ 91.40625, 80.5078125, 102.12890625, 46.845703125, 87.1875, 84.19921875 ]
6.5
65
0
65
0
[ 90.87890625, 89.033203125, 107.138671875, 41.8359375, 87.1875, 76.2890625 ]
[ 91.40625, 82.96875, 105.556640625, 45.87890625, 87.275390625, 84.19921875 ]
6.6
66
0
66
0
[ 90.966796875, 91.494140625, 110.7421875, 40.693359375, 87.1875, 76.2890625 ]
[ 91.318359375, 87.451171875, 111.4453125, 42.890625, 87.1875, 84.19921875 ]
6.7
67
0
67
0
[ 91.0546875, 94.04296875, 114.2578125, 39.90234375, 87.099609375, 76.2890625 ]
[ 91.40625, 89.12109375, 113.291015625, 42.451171875, 87.275390625, 84.19921875 ]
6.8
68
0
68
0
[ 91.23046875, 97.3828125, 119.794921875, 36.5625, 87.1875, 76.2890625 ]
[ 91.40625, 91.845703125, 117.24609375, 41.220703125, 87.275390625, 84.19921875 ]
6.9
69
0
69
0
[ 91.40625, 100.37109375, 125.419921875, 34.1015625, 87.1875, 76.2890625 ]
[ 91.23046875, 95.09765625, 123.046875, 38.759765625, 87.275390625, 84.19921875 ]
7
70
0
70
0
[ 91.40625, 103.095703125, 129.462890625, 33.134765625, 87.1875, 76.2890625 ]
[ 91.40625, 98.26171875, 128.408203125, 36.38671875, 87.1875, 84.19921875 ]
7.1
71
0
71
0
[ 91.318359375, 106.083984375, 134.208984375, 31.025390625, 87.36328125, 76.2890625 ]
[ 91.40625, 101.25, 131.923828125, 34.892578125, 87.1875, 84.19921875 ]
7.2
72
0
72
0
[ 91.494140625, 109.51171875, 139.921875, 28.388671875, 87.36328125, 76.2890625 ]
[ 91.318359375, 105.556640625, 138.603515625, 31.728515625, 87.1875, 84.19921875 ]
7.3
73
0
73
0
[ 91.58203125, 112.8515625, 144.931640625, 26.89453125, 87.36328125, 76.2890625 ]
[ 91.494140625, 107.9296875, 142.03125, 30.234375, 87.36328125, 84.19921875 ]
7.4
74
0
74
0
[ 91.58203125, 115.927734375, 148.88671875, 26.455078125, 87.36328125, 76.2890625 ]
[ 91.58203125, 111.97265625, 146.865234375, 27.7734375, 87.275390625, 84.19921875 ]
7.5
75
0
75
0
[ 91.142578125, 117.94921875, 151.171875, 26.630859375, 87.36328125, 76.2890625 ]
[ 91.58203125, 115.13671875, 150.1171875, 26.630859375, 87.36328125, 84.19921875 ]
7.6
76
0
76
0
[ 90.87890625, 119.00390625, 152.75390625, 26.54296875, 87.451171875, 76.2890625 ]
[ 91.23046875, 117.333984375, 151.962890625, 26.455078125, 87.36328125, 84.19921875 ]
7.7
77
0
77
0
[ 90.966796875, 121.640625, 155.126953125, 26.54296875, 87.71484375, 76.2890625 ]
[ 90.966796875, 118.65234375, 153.10546875, 26.3671875, 87.451171875, 84.19921875 ]
7.8
78
0
78
0
[ 91.142578125, 123.3984375, 156.796875, 27.24609375, 88.2421875, 76.2890625 ]
[ 90.966796875, 121.2890625, 155.302734375, 26.19140625, 87.451171875, 84.19921875 ]
7.9
79
0
79
0
[ 90.87890625, 124.716796875, 158.291015625, 27.685546875, 88.857421875, 76.2890625 ]
[ 91.142578125, 123.134765625, 156.62109375, 26.19140625, 87.802734375, 84.19921875 ]
8
80
0
80
0
[ 89.82421875, 125.5078125, 158.818359375, 28.388671875, 89.033203125, 76.2890625 ]
[ 90.87890625, 124.716796875, 157.939453125, 26.19140625, 88.330078125, 84.19921875 ]
8.1
81
0
81
0
[ 88.76953125, 126.826171875, 158.994140625, 28.916015625, 89.296875, 76.2890625 ]
[ 90.263671875, 125.5078125, 158.291015625, 26.103515625, 88.59375, 84.19921875 ]
8.2
82
0
82
0
[ 87.802734375, 127.880859375, 158.994140625, 29.619140625, 90.615234375, 76.2890625 ]
[ 89.296875, 126.650390625, 158.90625, 26.19140625, 88.681640625, 84.19921875 ]
8.3
83
0
83
0
[ 88.76953125, 128.759765625, 161.015625, 28.4765625, 91.142578125, 76.2890625 ]
[ 88.681640625, 127.705078125, 159.2578125, 26.54296875, 89.82421875, 84.19921875 ]
8.4
84
0
84
0
[ 89.912109375, 133.41796875, 165.322265625, 25.6640625, 91.494140625, 76.2890625 ]
[ 88.857421875, 128.84765625, 160.400390625, 26.630859375, 90.52734375, 84.19921875 ]
8.5
85
0
85
0
[ 89.82421875, 133.41796875, 166.11328125, 25.3125, 91.494140625, 76.2890625 ]
[ 89.736328125, 131.1328125, 162.861328125, 24.9609375, 90.966796875, 84.19921875 ]
8.6
86
0
86
0
[ 89.736328125, 133.857421875, 167.607421875, 24.697265625, 91.58203125, 76.2890625 ]
[ 89.82421875, 131.1328125, 162.861328125, 24.873046875, 91.0546875, 84.19921875 ]
8.7
87
0
87
0
[ 89.736328125, 134.560546875, 169.013671875, 24.609375, 91.7578125, 76.2890625 ]
[ 89.82421875, 131.220703125, 163.65234375, 24.43359375, 91.142578125, 84.19921875 ]
8.8
88
0
88
0
[ 89.736328125, 134.6484375, 171.123046875, 22.763671875, 92.28515625, 76.2890625 ]
[ 89.82421875, 131.220703125, 163.740234375, 23.203125, 91.23046875, 84.19921875 ]
8.9
89
0
89
0
[ 89.82421875, 134.736328125, 173.408203125, 20.126953125, 92.28515625, 76.2890625 ]
[ 89.82421875, 131.220703125, 164.70703125, 22.412109375, 91.494140625, 84.19921875 ]
9
90
0
90
0
[ 89.82421875, 134.912109375, 173.671875, 19.775390625, 92.197265625, 76.2890625 ]
[ 89.82421875, 131.220703125, 166.2890625, 19.51171875, 91.7578125, 84.19921875 ]
9.1
91
0
91
0
[ 90.087890625, 134.912109375, 173.671875, 19.775390625, 92.197265625, 76.2890625 ]
[ 89.82421875, 131.220703125, 166.2890625, 19.51171875, 91.7578125, 84.19921875 ]
9.2
92
0
92
0
[ 90.087890625, 134.912109375, 173.671875, 19.775390625, 92.021484375, 76.2890625 ]
[ 90.087890625, 131.220703125, 166.2890625, 19.423828125, 91.7578125, 84.19921875 ]
9.3
93
0
93
0
[ 90.17578125, 134.912109375, 173.671875, 19.775390625, 92.109375, 76.2890625 ]
[ 90.17578125, 131.220703125, 166.2890625, 19.51171875, 91.7578125, 84.19921875 ]
9.4
94
0
94
0
[ 90.17578125, 134.912109375, 173.671875, 19.775390625, 92.109375, 76.2890625 ]
[ 90.17578125, 131.220703125, 166.376953125, 19.51171875, 91.7578125, 84.19921875 ]
9.5
95
0
95
0
[ 90.17578125, 134.912109375, 173.671875, 19.6875, 91.93359375, 76.2890625 ]
[ 90.17578125, 131.220703125, 166.2890625, 19.423828125, 91.7578125, 84.19921875 ]
9.6
96
0
96
0
[ 90.17578125, 134.912109375, 173.671875, 19.599609375, 91.93359375, 76.2890625 ]
[ 90.17578125, 131.220703125, 166.376953125, 19.423828125, 91.7578125, 84.19921875 ]
9.7
97
0
97
0

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "koch",
    "total_episodes": 1,
    "total_frames": 98,
    "total_tasks": 1,
    "total_videos": 1,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 10,
    "splits": {
        "train": "0:1"
    },
    "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.on_follow_arm": {
            "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": 10,
                "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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