Hugging Face's logo

Datasets:
drwahl
/
so101_block_stack_sim

Tasks:
Robotics
Modalities:
Video
Tags:
LeRobot
so101
pi0.5
DOI:
License:
Dataset card Data Studio Files
xet
 Community
drwahl commited on
Commit
d66401c
·
verified ·
1 Parent(s): ade83c3

oracle demonstrations, 360 episodes

Browse files
Files changed (9) hide show
  1. data/chunk-000/file-000.parquet +3 -0
  2. meta/episodes/chunk-000/file-000.parquet +3 -0
  3. meta/eval_layouts.jsonl +150 -0
  4. meta/info.json +139 -0
  5. meta/stats.json +632 -0
  6. meta/tasks.parquet +3 -0
  7. meta/train_layouts.jsonl +0 -0
  8. videos/observation.images.top/chunk-000/file-000.mp4 +3 -0
  9. videos/observation.images.wrist/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:999b76ddaa6e1b2ab8a572a3bfa53f17f7e145b1cdce98f5f97810b01032a38c
3
+ size 3528355
meta/episodes/chunk-000/file-000.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e7922f25dfb91e328bdcbe25dd0cd5406f946e60ce41145e33e5a9d0809f9fe6
3
+ size 486512
meta/eval_layouts.jsonl ADDED
@@ -0,0 +1,150 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"index": 0, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.17428207397460938, 0.0005970001220703125, 0.756], [0.2454385757446289, 0.06834030151367188, 0.756], [0.21057510375976562, -0.06582832336425781, 0.756]], "yaws": [0.9063452482223511, 1.3550809621810913, 0.5677836537361145], "max_yaw": 1.5707963267948966}
2
+ {"index": 1, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.24106073379516602, 0.06911306828260422, 0.756], [0.2483963966369629, -0.1045023500919342, 0.756], [0.18750667572021484, -0.013670198619365692, 0.756]], "yaws": [0.917260468006134, 0.9912054538726807, 1.5193934440612793], "max_yaw": 1.5707963267948966}
3
+ {"index": 2, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.1809549331665039, -0.05604410171508789, 0.756], [0.24480438232421875, -0.11267805099487305, 0.756], [0.23748111724853516, 0.006827831268310547, 0.756]], "yaws": [0.6582853198051453, 1.189394235610962, 1.5277982950210571], "max_yaw": 1.5707963267948966}
4
+ {"index": 3, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.24730157852172852, 0.07405614852905273, 0.756], [0.1756143569946289, 0.07814311981201172, 0.756], [0.20888948440551758, 0.014556884765625, 0.756]], "yaws": [0.8590018153190613, 1.3804688453674316, 0.046180251985788345], "max_yaw": 1.5707963267948966}
5
+ {"index": 4, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.22903919219970703, 0.103660948574543, 0.756], [0.21544170379638672, -0.11173876374959946, 0.756], [0.18537521362304688, 0.03664473444223404, 0.756]], "yaws": [0.80270916223526, 0.3004774749279022, 0.28525277972221375], "max_yaw": 1.5707963267948966}
6
+ {"index": 5, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.20398187637329102, 0.0023250579833984375, 0.756], [0.24992036819458008, 0.09260940551757812, 0.756], [0.18499040603637695, -0.07202863693237305, 0.756]], "yaws": [1.2210990190505981, 0.16688019037246704, 0.0037773372605443], "max_yaw": 1.5707963267948966}
7
+ {"index": 6, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.17209148406982422, -0.10624027252197266, 0.756], [0.2460322380065918, -0.06432437896728516, 0.756], [0.17063283920288086, 0.09636688232421875, 0.756]], "yaws": [0.5640307664871216, 0.6553260684013367, 0.027876783162355423], "max_yaw": 1.5707963267948966}
8
+ {"index": 7, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.22961492836475372, 0.11799293011426926, 0.756], [0.23379316926002502, -0.0576646588742733, 0.756], [0.17947722971439362, 0.04166398197412491, 0.756]], "yaws": [0.43090760707855225, 0.4264543652534485, 0.2513333261013031], "max_yaw": 1.5707963267948966}
9
+ {"index": 8, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.22594356536865234, 0.06709718704223633, 0.756], [0.23848819732666016, -0.0940713882446289, 0.756], [0.22570037841796875, -0.015284538269042969, 0.756]], "yaws": [0.12689891457557678, 1.4890427589416504, 1.5187896490097046], "max_yaw": 1.5707963267948966}
10
+ {"index": 9, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.18384690582752228, -0.07970333099365234, 0.756], [0.2021588832139969, 0.09751462936401367, 0.756], [0.19579042494297028, 0.014529705047607422, 0.756]], "yaws": [0.6680329442024231, 0.4452967345714569, 0.32134363055229187], "max_yaw": 1.5707963267948966}
11
+ {"index": 10, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.23539867997169495, 0.038710348308086395, 0.756], [0.21126744151115417, -0.09518600255250931, 0.756], [0.17215844988822937, -0.005165942013263702, 0.756]], "yaws": [0.2581962049007416, 0.25834521651268005, 0.8640007972717285], "max_yaw": 1.5707963267948966}
12
+ {"index": 11, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.17969585955142975, 0.023334026336669922, 0.756], [0.223463237285614, -0.08895206451416016, 0.756], [0.2423706352710724, 0.1117253303527832, 0.756]], "yaws": [0.9271491765975952, 0.15544600784778595, 1.1973626613616943], "max_yaw": 1.5707963267948966}
13
+ {"index": 12, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.24596750736236572, 0.10007762908935547, 0.756], [0.21241624653339386, 0.023809432983398438, 0.756], [0.19507507979869843, -0.07920265197753906, 0.756]], "yaws": [1.5349633693695068, 0.49680301547050476, 0.6080267429351807], "max_yaw": 1.5707963267948966}
14
+ {"index": 13, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.17699003219604492, -0.03731583058834076, 0.756], [0.23501348495483398, 0.11033681780099869, 0.756], [0.23892879486083984, 0.02635190635919571, 0.756]], "yaws": [0.18509113788604736, 0.5576111078262329, 1.4508209228515625], "max_yaw": 1.5707963267948966}
15
+ {"index": 14, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.22719806432724, 0.0056781768798828125, 0.756], [0.17546385526657104, -0.0676579475402832, 0.756], [0.1946701854467392, 0.09505605697631836, 0.756]], "yaws": [0.28814804553985596, 1.1293278932571411, 0.9236352443695068], "max_yaw": 1.5707963267948966}
16
+ {"index": 15, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.1952972412109375, -0.03822612762451172, 0.756], [0.1847529411315918, 0.11152315139770508, 0.756], [0.1729412078857422, -0.11197805404663086, 0.756]], "yaws": [0.7628434896469116, 1.3770376443862915, 0.6421303749084473], "max_yaw": 1.5707963267948966}
17
+ {"index": 16, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.17467117309570312, -0.05561399459838867, 0.756], [0.21341323852539062, 0.10935163497924805, 0.756], [0.23170852661132812, -0.10104751586914062, 0.756]], "yaws": [0.3843853771686554, 0.15611985325813293, 0.7192266583442688], "max_yaw": 1.5707963267948966}
18
+ {"index": 17, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.19799470901489258, 0.011930465698242188, 0.756], [0.17657804489135742, -0.08005428314208984, 0.756], [0.2091522216796875, 0.09599924087524414, 0.756]], "yaws": [1.558058738708496, 0.32700586318969727, 1.3035787343978882], "max_yaw": 1.5707963267948966}
19
+ {"index": 18, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.24693822860717773, -0.09968185424804688, 0.756], [0.23379230499267578, -0.011052131652832031, 0.756], [0.1896677017211914, 0.06908893585205078, 0.756]], "yaws": [0.5392270684242249, 0.8075678944587708, 0.41446006298065186], "max_yaw": 1.5707963267948966}
20
+ {"index": 19, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.20322227478027344, -0.08621883392333984, 0.756], [0.2311553955078125, -0.01904153823852539, 0.756], [0.23337841033935547, 0.08975791931152344, 0.756]], "yaws": [0.29956313967704773, 0.9430531859397888, 0.16266195476055145], "max_yaw": 1.5707963267948966}
21
+ {"index": 20, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.2490401268005371, -0.06925678253173828, 0.756], [0.19985485076904297, 0.11645746231079102, 0.756], [0.1971912384033203, 0.038777828216552734, 0.756]], "yaws": [0.765436589717865, 0.4745466411113739, 0.08633988350629807], "max_yaw": 1.5707963267948966}
22
+ {"index": 21, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.17934106290340424, 0.02272319793701172, 0.756], [0.24945028126239777, -0.037316322326660156, 0.756], [0.22155281901359558, 0.08031368255615234, 0.756]], "yaws": [0.45058754086494446, 0.6931068301200867, 1.094559907913208], "max_yaw": 1.5707963267948966}
23
+ {"index": 22, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.19957447052001953, 0.11336088180541992, 0.756], [0.19102859497070312, -0.10867071151733398, 0.756], [0.2395939826965332, 0.012631416320800781, 0.756]], "yaws": [1.2493020296096802, 1.284084677696228, 1.190605640411377], "max_yaw": 1.5707963267948966}
24
+ {"index": 23, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.22678470611572266, 0.09869665652513504, 0.756], [0.23732662200927734, -0.1019621267914772, 0.756], [0.1960620880126953, 0.0024849995970726013, 0.756]], "yaws": [1.3339322805404663, 1.2626104354858398, 0.1691581904888153], "max_yaw": 1.5707963267948966}
25
+ {"index": 24, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.24680805206298828, -0.030903339385986328, 0.756], [0.1716756820678711, -0.05627250671386719, 0.756], [0.2249593734741211, 0.0770115852355957, 0.756]], "yaws": [1.5168169736862183, 0.8980208039283752, 0.07137198746204376], "max_yaw": 1.5707963267948966}
26
+ {"index": 25, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.21952438354492188, 0.1128392219543457, 0.756], [0.2171335220336914, -0.015610694885253906, 0.756], [0.20005512237548828, -0.10162925720214844, 0.756]], "yaws": [1.4019804000854492, 0.3498968183994293, 0.04447226598858833], "max_yaw": 1.5707963267948966}
27
+ {"index": 26, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.18328571319580078, 0.06185895949602127, 0.756], [0.17424583435058594, -0.029969163239002228, 0.756], [0.2189922332763672, -0.10905734449625015, 0.756]], "yaws": [0.0887143611907959, 0.8479088544845581, 0.05293721333146095], "max_yaw": 1.5707963267948966}
28
+ {"index": 27, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.2357501983642578, -0.10043907165527344, 0.756], [0.2428145408630371, 0.08788108825683594, 0.756], [0.2186431884765625, -0.013428688049316406, 0.756]], "yaws": [0.6024982929229736, 1.1115385293960571, 1.5295755863189697], "max_yaw": 1.5707963267948966}
29
+ {"index": 28, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.18341539800167084, -0.04905509948730469, 0.756], [0.22970673441886902, 0.04668855667114258, 0.756], [0.19421285390853882, 0.1142277717590332, 0.756]], "yaws": [0.4038645923137665, 0.017688073217868805, 1.3835817575454712], "max_yaw": 1.5707963267948966}
30
+ {"index": 29, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.1969008445739746, -0.10295526683330536, 0.756], [0.2295699119567871, 0.0024014413356781006, 0.756], [0.18636703491210938, 0.09602240473031998, 0.756]], "yaws": [0.8078715205192566, 0.4018264412879944, 0.05650008097290993], "max_yaw": 1.5707963267948966}
31
+ {"index": 30, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.17522239685058594, -0.07400655746459961, 0.756], [0.19583368301391602, -0.0017390251159667969, 0.756], [0.24178266525268555, -0.11652898788452148, 0.756]], "yaws": [1.3625856637954712, 0.5899637341499329, 1.5324748754501343], "max_yaw": 1.5707963267948966}
32
+ {"index": 31, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.24720780551433563, -0.11677932739257812, 0.756], [0.2458217591047287, 0.05292367935180664, 0.756], [0.18716564774513245, 0.11685609817504883, 0.756]], "yaws": [0.7754083275794983, 0.31604519486427307, 0.807569682598114], "max_yaw": 1.5707963267948966}
33
+ {"index": 32, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.1792302131652832, -0.008653514087200165, 0.756], [0.19916391372680664, -0.10182464122772217, 0.756], [0.2433156967163086, -0.04110033065080643, 0.756]], "yaws": [1.0053883790969849, 0.12742911279201508, 0.02749442867934704], "max_yaw": 1.5707963267948966}
34
+ {"index": 33, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.23523330688476562, -0.11016654968261719, 0.756], [0.23052597045898438, 0.08418846130371094, 0.756], [0.24907875061035156, -0.013629913330078125, 0.756]], "yaws": [0.1871589571237564, 0.33740150928497314, 0.7666107416152954], "max_yaw": 1.5707963267948966}
35
+ {"index": 34, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.17488574981689453, -0.06264591217041016, 0.756], [0.24763202667236328, -0.061228275299072266, 0.756], [0.17821025848388672, 0.03280782699584961, 0.756]], "yaws": [0.8001902103424072, 1.3758023977279663, 1.0114041566848755], "max_yaw": 1.5707963267948966}
36
+ {"index": 35, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.2131763994693756, -0.001546323299407959, 0.756], [0.21260738372802734, 0.09479162842035294, 0.756], [0.21236786246299744, -0.0793193131685257, 0.756]], "yaws": [1.0330231189727783, 0.2837662100791931, 0.6330464482307434], "max_yaw": 1.5707963267948966}
37
+ {"index": 36, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.23954921960830688, -0.08546590805053711, 0.756], [0.17388007044792175, -0.11624860763549805, 0.756], [0.2417348027229309, 0.11606073379516602, 0.756]], "yaws": [1.350730299949646, 1.4526797533035278, 1.3421952724456787], "max_yaw": 1.5707963267948966}
38
+ {"index": 37, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.17695331573486328, 0.10355138778686523, 0.756], [0.1880664825439453, -0.03198862075805664, 0.756], [0.2158203125, -0.10167455673217773, 0.756]], "yaws": [0.0423898845911026, 0.710831880569458, 1.5244725942611694], "max_yaw": 1.5707963267948966}
39
+ {"index": 38, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.24198521673679352, -0.032259970903396606, 0.756], [0.21017438173294067, 0.06619877368211746, 0.756], [0.2017209529876709, -0.10731393098831177, 0.756]], "yaws": [1.2370153665542603, 0.4386894106864929, 0.31201857328414917], "max_yaw": 1.5707963267948966}
40
+ {"index": 39, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.2053241729736328, 0.004685401916503906, 0.756], [0.23850202560424805, 0.11820840835571289, 0.756], [0.20096445083618164, -0.08402442932128906, 0.756]], "yaws": [0.0729484036564827, 0.45230811834335327, 1.1026268005371094], "max_yaw": 1.5707963267948966}
41
+ {"index": 40, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.20923233032226562, 0.109771728515625, 0.756], [0.1942434310913086, -0.012524604797363281, 0.756], [0.17040348052978516, -0.08926010131835938, 0.756]], "yaws": [0.3630259335041046, 0.16821804642677307, 0.38092926144599915], "max_yaw": 1.5707963267948966}
42
+ {"index": 41, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.23901128768920898, -0.0590132400393486, 0.756], [0.19835948944091797, 0.010144747793674469, 0.756], [0.22806835174560547, 0.11522572487592697, 0.756]], "yaws": [0.6267150640487671, 0.6199228763580322, 0.26722681522369385], "max_yaw": 1.5707963267948966}
43
+ {"index": 42, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.2144179344177246, 0.10720443725585938, 0.756], [0.21384763717651367, 0.031081199645996094, 0.756], [0.21490097045898438, -0.11641645431518555, 0.756]], "yaws": [1.5690571069717407, 1.345339059829712, 0.6379621028900146], "max_yaw": 1.5707963267948966}
44
+ {"index": 43, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.17194461822509766, -0.0899496078491211, 0.756], [0.19928979873657227, 0.07378959655761719, 0.756], [0.2252964973449707, 0.0016965866088867188, 0.756]], "yaws": [1.5266108512878418, 1.2000458240509033, 1.1133908033370972], "max_yaw": 1.5707963267948966}
45
+ {"index": 44, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.22950315475463867, 0.09263027459383011, 0.756], [0.18124055862426758, -0.0019904375076293945, 0.756], [0.21590232849121094, -0.1192360520362854, 0.756]], "yaws": [0.36588871479034424, 0.8989900946617126, 0.12444230169057846], "max_yaw": 1.5707963267948966}
46
+ {"index": 45, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.23384255170822144, -0.032115936279296875, 0.756], [0.1796998679637909, 0.05320310592651367, 0.756], [0.17103809118270874, -0.07451534271240234, 0.756]], "yaws": [0.20196178555488586, 0.2637682259082794, 0.29876935482025146], "max_yaw": 1.5707963267948966}
47
+ {"index": 46, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.23752975463867188, -0.008785247802734375, 0.756], [0.20947647094726562, 0.07201194763183594, 0.756], [0.18356084823608398, -0.09513378143310547, 0.756]], "yaws": [0.18878957629203796, 0.6487021446228027, 0.937768816947937], "max_yaw": 1.5707963267948966}
48
+ {"index": 47, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.21760082244873047, 0.0906982421875, 0.756], [0.18649005889892578, -0.08543062210083008, 0.756], [0.1892871856689453, -0.010516643524169922, 0.756]], "yaws": [1.148443341255188, 0.34183260798454285, 1.5364333391189575], "max_yaw": 1.5707963267948966}
49
+ {"index": 48, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.21232891082763672, -0.002052716910839081, 0.756], [0.18927955627441406, 0.09041129797697067, 0.756], [0.17514705657958984, -0.10030020773410797, 0.756]], "yaws": [1.5603187084197998, 1.2703642845153809, 0.3957539498806], "max_yaw": 1.5707963267948966}
50
+ {"index": 49, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.20642328262329102, -0.051616668701171875, 0.756], [0.1820381134748459, 0.04145240783691406, 0.756], [0.2473268061876297, -0.11680889129638672, 0.756]], "yaws": [0.23650187253952026, 0.6232438683509827, 0.8577051162719727], "max_yaw": 1.5707963267948966}
51
+ {"index": 50, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.22283363342285156, 0.02215576171875, 0.756], [0.2193164825439453, 0.09971904754638672, 0.756], [0.21132946014404297, -0.08794784545898438, 0.756]], "yaws": [0.7156988382339478, 1.2194889783859253, 0.1019984632730484], "max_yaw": 1.5707963267948966}
52
+ {"index": 51, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.20565319061279297, -0.0827341079711914, 0.756], [0.21338272094726562, 0.012310504913330078, 0.756], [0.21271133422851562, 0.11027145385742188, 0.756]], "yaws": [0.03188509866595268, 0.5273033976554871, 1.1513168811798096], "max_yaw": 1.5707963267948966}
53
+ {"index": 52, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.22619135677814484, 0.023387908935546875, 0.756], [0.2497694194316864, -0.07616615295410156, 0.756], [0.20062655210494995, 0.11840534210205078, 0.756]], "yaws": [0.6131452918052673, 1.1886930465698242, 0.7254350185394287], "max_yaw": 1.5707963267948966}
54
+ {"index": 53, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.22223424911499023, 0.09519243240356445, 0.756], [0.2357945442199707, -0.010069847106933594, 0.756], [0.17556285858154297, 0.04114818572998047, 0.756]], "yaws": [0.10885065793991089, 0.8671372532844543, 0.9558268785476685], "max_yaw": 1.5707963267948966}
55
+ {"index": 54, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.2419123649597168, 0.10527972131967545, 0.756], [0.20042705535888672, 0.03911527246236801, 0.756], [0.24422407150268555, -0.08745183050632477, 0.756]], "yaws": [0.42951440811157227, 0.15758734941482544, 1.2621984481811523], "max_yaw": 1.5707963267948966}
56
+ {"index": 55, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.20096588134765625, -0.10084724426269531, 0.756], [0.24529790878295898, -0.04438495635986328, 0.756], [0.18568754196166992, -0.0046215057373046875, 0.756]], "yaws": [0.8166399598121643, 1.421632170677185, 0.7944187521934509], "max_yaw": 1.5707963267948966}
57
+ {"index": 56, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.2487468719482422, 0.10441923141479492, 0.756], [0.21957778930664062, -0.06351852416992188, 0.756], [0.2210674285888672, 0.019176483154296875, 0.756]], "yaws": [0.04606568068265915, 1.02942955493927, 1.1203116178512573], "max_yaw": 1.5707963267948966}
58
+ {"index": 57, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.24248409271240234, 0.012361280620098114, 0.756], [0.20997142791748047, -0.1016351729631424, 0.756], [0.19153118133544922, 0.06559381633996964, 0.756]], "yaws": [1.5233653783798218, 1.051404595375061, 0.8951049447059631], "max_yaw": 1.5707963267948966}
59
+ {"index": 58, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.21921205520629883, -0.1006326675415039, 0.756], [0.18440961837768555, 0.03649425506591797, 0.756], [0.17004013061523438, 0.1092061996459961, 0.756]], "yaws": [0.22711744904518127, 1.2504682540893555, 0.23950797319412231], "max_yaw": 1.5707963267948966}
60
+ {"index": 59, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.21322911977767944, 0.11495447158813477, 0.756], [0.1978294998407364, -0.11533784866333008, 0.756], [0.19342070817947388, 0.007385730743408203, 0.756]], "yaws": [1.5414972305297852, 1.296582818031311, 0.6113885641098022], "max_yaw": 1.5707963267948966}
61
+ {"index": 60, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.17547988891601562, 0.11864116042852402, 0.756], [0.1777459681034088, -0.025839097797870636, 0.756], [0.2482084333896637, -0.029399320483207703, 0.756]], "yaws": [0.23694367706775665, 1.3991118669509888, 0.13121816515922546], "max_yaw": 1.5707963267948966}
62
+ {"index": 61, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.22317123413085938, -0.028444290161132812, 0.756], [0.17650508880615234, -0.09823322296142578, 0.756], [0.18956279754638672, 0.060301780700683594, 0.756]], "yaws": [0.4683440625667572, 0.5794734954833984, 1.559126853942871], "max_yaw": 1.5707963267948966}
63
+ {"index": 62, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.20083656907081604, -0.08834123611450195, 0.756], [0.17615145444869995, 0.044289588928222656, 0.756], [0.24162310361862183, 0.099700927734375, 0.756]], "yaws": [0.10167521983385086, 0.30389145016670227, 1.4291408061981201], "max_yaw": 1.5707963267948966}
64
+ {"index": 63, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.2297368049621582, -0.023007020354270935, 0.756], [0.1719651222229004, -0.11133047938346863, 0.756], [0.23363399505615234, 0.11368537694215775, 0.756]], "yaws": [0.5749413967132568, 0.8403182625770569, 0.6710258722305298], "max_yaw": 1.5707963267948966}
65
+ {"index": 64, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.2456674575805664, -0.03230571746826172, 0.756], [0.17862701416015625, 0.09786128997802734, 0.756], [0.1835308074951172, 0.025989532470703125, 0.756]], "yaws": [0.9335474371910095, 1.4764889478683472, 0.24777211248874664], "max_yaw": 1.5707963267948966}
66
+ {"index": 65, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.24991941452026367, -0.07947301864624023, 0.756], [0.2168254852294922, -0.017606735229492188, 0.756], [0.21820449829101562, 0.10257625579833984, 0.756]], "yaws": [0.014150253497064114, 1.4960097074508667, 1.440527319908142], "max_yaw": 1.5707963267948966}
67
+ {"index": 66, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.17525148391723633, -0.07479290664196014, 0.756], [0.21927690505981445, 0.03534860163927078, 0.756], [0.22093486785888672, 0.11303126066923141, 0.756]], "yaws": [0.974159300327301, 0.9954391717910767, 0.18102607131004333], "max_yaw": 1.5707963267948966}
68
+ {"index": 67, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.17197799682617188, 0.10683250427246094, 0.756], [0.24527692794799805, 0.0524444580078125, 0.756], [0.17249393463134766, -0.06531047821044922, 0.756]], "yaws": [0.7910524010658264, 0.420358270406723, 0.49740028381347656], "max_yaw": 1.5707963267948966}
69
+ {"index": 68, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.2082819938659668, -0.015209674835205078, 0.756], [0.2004566192626953, -0.1019277572631836, 0.756], [0.21088600158691406, 0.09474706649780273, 0.756]], "yaws": [1.2078441381454468, 0.6545519828796387, 0.10716917365789413], "max_yaw": 1.5707963267948966}
70
+ {"index": 69, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.19721493124961853, -0.03479725867509842, 0.756], [0.17548532783985138, 0.08187975734472275, 0.756], [0.18492484092712402, -0.11497631669044495, 0.756]], "yaws": [0.6719609498977661, 1.4500795602798462, 0.7854572534561157], "max_yaw": 1.5707963267948966}
71
+ {"index": 70, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.17371368408203125, -0.05253267288208008, 0.756], [0.18052291870117188, 0.07272577285766602, 0.756], [0.24584150314331055, -0.08370685577392578, 0.756]], "yaws": [0.631064236164093, 0.46197235584259033, 1.3656715154647827], "max_yaw": 1.5707963267948966}
72
+ {"index": 71, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.2021198272705078, -0.08547687530517578, 0.756], [0.1701803207397461, 0.09719085693359375, 0.756], [0.21583271026611328, -0.0159759521484375, 0.756]], "yaws": [0.43848055601119995, 1.077488660812378, 0.9049702882766724], "max_yaw": 1.5707963267948966}
73
+ {"index": 72, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.2254657745361328, 0.11938285827636719, 0.756], [0.18407344818115234, 0.02369976043701172, 0.756], [0.24711227416992188, -0.060683250427246094, 0.756]], "yaws": [1.1600948572158813, 0.5681892037391663, 1.518254280090332], "max_yaw": 1.5707963267948966}
74
+ {"index": 73, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.18581683933734894, 0.02542591094970703, 0.756], [0.20412129163742065, 0.10473012924194336, 0.756], [0.2306710183620453, -0.07411003112792969, 0.756]], "yaws": [0.23314528167247772, 1.3362056016921997, 1.326521396636963], "max_yaw": 1.5707963267948966}
75
+ {"index": 74, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.2270965576171875, 0.010636329650878906, 0.756], [0.2142333984375, -0.11726665496826172, 0.756], [0.20157241821289062, 0.07679557800292969, 0.756]], "yaws": [1.4044640064239502, 1.2165409326553345, 1.2191375494003296], "max_yaw": 1.5707963267948966}
76
+ {"index": 75, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.20731401443481445, -0.11495156586170197, 0.756], [0.21364450454711914, -0.03424721211194992, 0.756], [0.1882944107055664, 0.03311581164598465, 0.756]], "yaws": [1.4644359350204468, 1.3996120691299438, 0.3608477711677551], "max_yaw": 1.5707963267948966}
77
+ {"index": 76, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.19664382934570312, 0.06430578231811523, 0.756], [0.21527528762817383, -0.020533084869384766, 0.756], [0.1950550079345703, -0.10744476318359375, 0.756]], "yaws": [0.29090383648872375, 0.04541224241256714, 0.8313176035881042], "max_yaw": 1.5707963267948966}
78
+ {"index": 77, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.19260740280151367, 0.0380706787109375, 0.756], [0.2253861427307129, 0.1103048324584961, 0.756], [0.1708841323852539, -0.10233402252197266, 0.756]], "yaws": [0.3041521906852722, 0.6107865571975708, 0.32755351066589355], "max_yaw": 1.5707963267948966}
79
+ {"index": 78, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.24753475189208984, -0.11740255355834961, 0.756], [0.2240896224975586, 0.07920646667480469, 0.756], [0.18803119659423828, -0.009219646453857422, 0.756]], "yaws": [0.09585306793451309, 1.1034703254699707, 0.5979862213134766], "max_yaw": 1.5707963267948966}
80
+ {"index": 79, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.24130916595458984, -0.038271255791187286, 0.756], [0.23912334442138672, -0.11202653497457504, 0.756], [0.1847858428955078, 0.08238915354013443, 0.756]], "yaws": [1.0790748596191406, 1.0299838781356812, 0.9524071216583252], "max_yaw": 1.5707963267948966}
81
+ {"index": 80, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.1786327362060547, 0.07312297821044922, 0.756], [0.21131277084350586, -0.019682884216308594, 0.756], [0.24052143096923828, -0.11759281158447266, 0.756]], "yaws": [0.09680501371622086, 1.0869485139846802, 1.3095370531082153], "max_yaw": 1.5707963267948966}
82
+ {"index": 81, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.24942302703857422, 0.054329872131347656, 0.756], [0.17599773406982422, 0.026449203491210938, 0.756], [0.1710224151611328, -0.11395788192749023, 0.756]], "yaws": [1.553188443183899, 0.24327245354652405, 0.48211002349853516], "max_yaw": 1.5707963267948966}
83
+ {"index": 82, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.19062328338623047, -0.08331355452537537, 0.756], [0.17418384552001953, 0.009718380868434906, 0.756], [0.23171234130859375, 0.05666150897741318, 0.756]], "yaws": [0.42115727066993713, 1.520386815071106, 1.3366212844848633], "max_yaw": 1.5707963267948966}
84
+ {"index": 83, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.19827523827552795, -0.092559814453125, 0.756], [0.19484509527683258, 0.11867046356201172, 0.756], [0.17950144410133362, -0.02327251434326172, 0.756]], "yaws": [1.125604271888733, 0.458509624004364, 1.2742549180984497], "max_yaw": 1.5707963267948966}
85
+ {"index": 84, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.174981489777565, -0.11462879180908203, 0.756], [0.1764301061630249, -0.03759193420410156, 0.756], [0.22163763642311096, 0.06379985809326172, 0.756]], "yaws": [1.4271588325500488, 0.08226519823074341, 0.7322872877120972], "max_yaw": 1.5707963267948966}
86
+ {"index": 85, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.18128538131713867, 0.06673332303762436, 0.756], [0.2426905632019043, -0.10941188037395477, 0.756], [0.2105884552001953, -0.025086529552936554, 0.756]], "yaws": [0.12723147869110107, 1.2208157777786255, 1.3818750381469727], "max_yaw": 1.5707963267948966}
87
+ {"index": 86, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.18716466426849365, -0.11386585235595703, 0.756], [0.21968501806259155, 0.08354568481445312, 0.756], [0.18524043262004852, -0.0338134765625, 0.756]], "yaws": [1.4542618989944458, 0.05524853616952896, 1.3523266315460205], "max_yaw": 1.5707963267948966}
88
+ {"index": 87, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.17384719848632812, -0.04317665100097656, 0.756], [0.18340301513671875, -0.11633920669555664, 0.756], [0.17090415954589844, 0.0598149299621582, 0.756]], "yaws": [1.5108901262283325, 0.41597801446914673, 0.5762624144554138], "max_yaw": 1.5707963267948966}
89
+ {"index": 88, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.1965651512145996, 0.020383723080158234, 0.756], [0.17152690887451172, -0.10721059888601303, 0.756], [0.2212214469909668, 0.10240594297647476, 0.756]], "yaws": [0.028981994837522507, 1.5598070621490479, 1.5633705854415894], "max_yaw": 1.5707963267948966}
90
+ {"index": 89, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.24614477157592773, -0.07415962219238281, 0.756], [0.17326593399047852, -0.0792398452758789, 0.756], [0.20353412628173828, 0.005694389343261719, 0.756]], "yaws": [0.8881453275680542, 0.646958589553833, 0.4365980625152588], "max_yaw": 1.5707963267948966}
91
+ {"index": 90, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.18549156188964844, 0.026967525482177734, 0.756], [0.23655223846435547, 0.10456180572509766, 0.756], [0.2444009780883789, -0.08215045928955078, 0.756]], "yaws": [1.037968397140503, 1.1764049530029297, 1.5556849241256714], "max_yaw": 1.5707963267948966}
92
+ {"index": 91, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.18690204620361328, 0.050498493015766144, 0.756], [0.20229552686214447, -0.03002559393644333, 0.756], [0.23091350495815277, -0.09971552342176437, 0.756]], "yaws": [1.1339690685272217, 1.2022150754928589, 0.05009415000677109], "max_yaw": 1.5707963267948966}
93
+ {"index": 92, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.23988103866577148, 0.030935287475585938, 0.756], [0.19320058822631836, -0.11373710632324219, 0.756], [0.23465681076049805, -0.04868888854980469, 0.756]], "yaws": [0.950203537940979, 0.3795803487300873, 0.27505770325660706], "max_yaw": 1.5707963267948966}
94
+ {"index": 93, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.17149066925048828, -0.11031150817871094, 0.756], [0.22875738143920898, 0.017475605010986328, 0.756], [0.17308902740478516, -0.03581809997558594, 0.756]], "yaws": [0.5972570180892944, 1.086524486541748, 1.182823657989502], "max_yaw": 1.5707963267948966}
95
+ {"index": 94, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.20960892736911774, 0.1189037635922432, 0.756], [0.22281785309314728, -0.01237284392118454, 0.756], [0.2472386658191681, -0.11449258029460907, 0.756]], "yaws": [1.366637110710144, 0.7790747284889221, 0.6439478397369385], "max_yaw": 1.5707963267948966}
96
+ {"index": 95, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.17925643920898438, 0.11867380142211914, 0.756], [0.21549224853515625, -0.03211212158203125, 0.756], [0.1830310821533203, 0.037732601165771484, 0.756]], "yaws": [1.2909064292907715, 1.4390957355499268, 1.246372938156128], "max_yaw": 1.5707963267948966}
97
+ {"index": 96, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.24809837341308594, -0.07871437072753906, 0.756], [0.17427539825439453, -0.015758514404296875, 0.756], [0.20737171173095703, 0.07093620300292969, 0.756]], "yaws": [0.08245030790567398, 0.3803706467151642, 0.954038143157959], "max_yaw": 1.5707963267948966}
98
+ {"index": 97, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.240020751953125, 0.09467881172895432, 0.756], [0.17022705078125, 0.012599922716617584, 0.756], [0.2306046485900879, -0.057816773653030396, 0.756]], "yaws": [1.4892083406448364, 0.6201763153076172, 1.4640995264053345], "max_yaw": 1.5707963267948966}
99
+ {"index": 98, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.17949390411376953, 0.10495471954345703, 0.756], [0.24560260772705078, -0.013462543487548828, 0.756], [0.17869949340820312, 0.024388790130615234, 0.756]], "yaws": [1.2630902528762817, 0.1337624490261078, 0.7621921896934509], "max_yaw": 1.5707963267948966}
100
+ {"index": 99, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.24522018432617188, 0.09914398193359375, 0.756], [0.2315845489501953, -0.11133289337158203, 0.756], [0.17761707305908203, 0.07418251037597656, 0.756]], "yaws": [0.297170490026474, 0.7716656923294067, 1.5645180940628052], "max_yaw": 1.5707963267948966}
101
+ {"index": 100, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.22951221466064453, 0.01475650817155838, 0.756], [0.18248462677001953, -0.058655232191085815, 0.756], [0.1819314956665039, 0.08012794703245163, 0.756]], "yaws": [0.3610428273677826, 0.7920400500297546, 1.36966073513031], "max_yaw": 1.5707963267948966}
102
+ {"index": 101, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.18210315704345703, -0.02596426010131836, 0.756], [0.202178955078125, 0.08536481857299805, 0.756], [0.24323415756225586, -0.0778498649597168, 0.756]], "yaws": [1.5280898809432983, 1.198946237564087, 0.9268996715545654], "max_yaw": 1.5707963267948966}
103
+ {"index": 102, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.17663288116455078, -0.02192211151123047, 0.756], [0.24766159057617188, 0.07055377960205078, 0.756], [0.17402362823486328, 0.0702829360961914, 0.756]], "yaws": [0.7015158534049988, 0.6947988867759705, 0.39237967133522034], "max_yaw": 1.5707963267948966}
104
+ {"index": 103, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.17383766174316406, -0.11139059066772461, 0.756], [0.21342945098876953, 0.08396387100219727, 0.756], [0.17797183990478516, 0.008359432220458984, 0.756]], "yaws": [0.18051104247570038, 0.8278753161430359, 1.3108006715774536], "max_yaw": 1.5707963267948966}
105
+ {"index": 104, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.24284982681274414, 0.11843729019165039, 0.756], [0.19916391372680664, -0.019941329956054688, 0.756], [0.2064208984375, -0.10738468170166016, 0.756]], "yaws": [1.2310833930969238, 0.5921340584754944, 0.38035914301872253], "max_yaw": 1.5707963267948966}
106
+ {"index": 105, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.231964111328125, -0.11961841583251953, 0.756], [0.22821569442749023, 0.04988288879394531, 0.756], [0.2395005226135254, -0.03160381317138672, 0.756]], "yaws": [0.5950999855995178, 1.0220035314559937, 1.5009223222732544], "max_yaw": 1.5707963267948966}
107
+ {"index": 106, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.1783895492553711, -0.04033327102661133, 0.756], [0.24137115478515625, -0.11683177947998047, 0.756], [0.21840286254882812, 0.06425189971923828, 0.756]], "yaws": [0.6394438147544861, 0.19249872863292694, 1.5451043844223022], "max_yaw": 1.5707963267948966}
108
+ {"index": 107, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.1940150409936905, -0.11502313613891602, 0.756], [0.17328524589538574, 0.02233409881591797, 0.756], [0.23848411440849304, 0.09760570526123047, 0.756]], "yaws": [1.1882086992263794, 1.383818507194519, 1.383742332458496], "max_yaw": 1.5707963267948966}
109
+ {"index": 108, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.2384500503540039, -0.11755847930908203, 0.756], [0.2449173927307129, 0.10501670837402344, 0.756], [0.2087850570678711, -0.027579307556152344, 0.756]], "yaws": [0.8771092295646667, 1.2308121919631958, 0.4713430404663086], "max_yaw": 1.5707963267948966}
110
+ {"index": 109, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.2245936393737793, -0.015999794006347656, 0.756], [0.24518060684204102, 0.0632176399230957, 0.756], [0.17389678955078125, 0.08782005310058594, 0.756]], "yaws": [1.4231575727462769, 0.8748438358306885, 1.3322933912277222], "max_yaw": 1.5707963267948966}
111
+ {"index": 110, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.17485138773918152, -0.03946733474731445, 0.756], [0.2066728174686432, 0.05176973342895508, 0.756], [0.23795297741889954, -0.09301519393920898, 0.756]], "yaws": [0.14958620071411133, 0.26312747597694397, 0.2793807089328766], "max_yaw": 1.5707963267948966}
112
+ {"index": 111, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.20137110352516174, 0.07873725891113281, 0.756], [0.18381807208061218, -0.05755043029785156, 0.756], [0.2463659644126892, 0.006901741027832031, 0.756]], "yaws": [0.5146538615226746, 0.7831030488014221, 1.2411704063415527], "max_yaw": 1.5707963267948966}
113
+ {"index": 112, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.1747797131538391, -0.009349822998046875, 0.756], [0.24382758140563965, 0.020845413208007812, 0.756], [0.2268696427345276, 0.10295963287353516, 0.756]], "yaws": [0.1228519082069397, 0.3991664946079254, 0.38818031549453735], "max_yaw": 1.5707963267948966}
114
+ {"index": 113, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.18393182754516602, 0.0035643577575683594, 0.756], [0.20839881896972656, 0.07081747055053711, 0.756], [0.2235269546508789, -0.09293794631958008, 0.756]], "yaws": [0.46669134497642517, 1.300472378730774, 1.1381019353866577], "max_yaw": 1.5707963267948966}
115
+ {"index": 114, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.1858816146850586, 0.065948486328125, 0.756], [0.24664783477783203, -0.1157689094543457, 0.756], [0.22703933715820312, -0.00043010711669921875, 0.756]], "yaws": [1.182893991470337, 0.0018016766989603639, 0.33308136463165283], "max_yaw": 1.5707963267948966}
116
+ {"index": 115, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.2172795683145523, -0.03426218032836914, 0.756], [0.1772879958152771, 0.03939390182495117, 0.756], [0.17146088182926178, -0.10954761505126953, 0.756]], "yaws": [1.4948678016662598, 0.3109597861766815, 0.5093138217926025], "max_yaw": 1.5707963267948966}
117
+ {"index": 116, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.17781925201416016, 0.11280106753110886, 0.756], [0.19958877563476562, 0.025357402861118317, 0.756], [0.236358642578125, -0.0797785222530365, 0.756]], "yaws": [0.3809714913368225, 0.05306596681475639, 1.2432849407196045], "max_yaw": 1.5707963267948966}
118
+ {"index": 117, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.20842266082763672, 0.10853290557861328, 0.756], [0.1845407485961914, 0.034305572509765625, 0.756], [0.24913644790649414, -0.04546356201171875, 0.756]], "yaws": [1.3917567729949951, 0.9615939855575562, 0.40807193517684937], "max_yaw": 1.5707963267948966}
119
+ {"index": 118, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.2388324737548828, 0.08886384963989258, 0.756], [0.24821758270263672, -0.10890960693359375, 0.756], [0.1867694854736328, 0.024479389190673828, 0.756]], "yaws": [1.323175072669983, 0.7510566115379333, 1.3182449340820312], "max_yaw": 1.5707963267948966}
120
+ {"index": 119, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.20626163482666016, 0.020675070583820343, 0.756], [0.20322608947753906, -0.10346048325300217, 0.756], [0.20177268981933594, 0.10337043553590775, 0.756]], "yaws": [0.0798565074801445, 0.7393730282783508, 1.4317888021469116], "max_yaw": 1.5707963267948966}
121
+ {"index": 120, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.2210240364074707, 0.00351715087890625, 0.756], [0.23177194595336914, 0.11950349807739258, 0.756], [0.20067834854125977, -0.07903289794921875, 0.756]], "yaws": [0.7314229011535645, 1.144957423210144, 0.6192000508308411], "max_yaw": 1.5707963267948966}
122
+ {"index": 121, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.19116783142089844, 0.10509395599365234, 0.756], [0.230377197265625, -0.10505485534667969, 0.756], [0.24351263046264648, 0.02232980728149414, 0.756]], "yaws": [0.9300115704536438, 0.6608461141586304, 0.3764870762825012], "max_yaw": 1.5707963267948966}
123
+ {"index": 122, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.1826801300048828, 0.11216061562299728, 0.756], [0.22164678573608398, -0.1111978143453598, 0.756], [0.2019953727722168, 0.038043372333049774, 0.756]], "yaws": [0.24100416898727417, 1.1495208740234375, 1.3565094470977783], "max_yaw": 1.5707963267948966}
124
+ {"index": 123, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.21312427520751953, 0.0049076080322265625, 0.756], [0.17344379425048828, -0.08898305892944336, 0.756], [0.19832992553710938, 0.09929847717285156, 0.756]], "yaws": [0.4165671169757843, 0.5672052502632141, 1.0248018503189087], "max_yaw": 1.5707963267948966}
125
+ {"index": 124, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.22669029235839844, 0.07472038269042969, 0.756], [0.2113189697265625, -0.08477210998535156, 0.756], [0.18446636199951172, 0.0021543502807617188, 0.756]], "yaws": [0.4607033133506775, 0.22694864869117737, 1.3103110790252686], "max_yaw": 1.5707963267948966}
126
+ {"index": 125, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.17170441150665283, -0.0030569955706596375, 0.756], [0.19372667372226715, 0.09883414953947067, 0.756], [0.24068310856819153, -0.057298146188259125, 0.756]], "yaws": [0.35297179222106934, 0.6742925047874451, 1.1779102087020874], "max_yaw": 1.5707963267948966}
127
+ {"index": 126, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.17718848586082458, -0.10843086242675781, 0.756], [0.23994746804237366, -0.010207653045654297, 0.756], [0.19058537483215332, 0.07157421112060547, 0.756]], "yaws": [0.43736374378204346, 0.6715041995048523, 0.10311976820230484], "max_yaw": 1.5707963267948966}
128
+ {"index": 127, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.2418375015258789, -0.02459239959716797, 0.756], [0.17110252380371094, -0.044981956481933594, 0.756], [0.2381725311279297, 0.09763050079345703, 0.756]], "yaws": [0.7696669101715088, 0.4822070598602295, 0.6424287557601929], "max_yaw": 1.5707963267948966}
129
+ {"index": 128, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.2090306282043457, 0.10779144614934921, 0.756], [0.2201094627380371, -0.038112521171569824, 0.756], [0.1777324676513672, -0.10924385488033295, 0.756]], "yaws": [0.36044564843177795, 0.2638718783855438, 1.324304461479187], "max_yaw": 1.5707963267948966}
130
+ {"index": 129, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.23370981216430664, 0.01944589614868164, 0.756], [0.1727004051208496, -0.058846473693847656, 0.756], [0.17811870574951172, 0.09242486953735352, 0.756]], "yaws": [0.7741029262542725, 1.0224096775054932, 1.0314791202545166], "max_yaw": 1.5707963267948966}
131
+ {"index": 130, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.17396783828735352, -0.11630630493164062, 0.756], [0.23930740356445312, -0.08918190002441406, 0.756], [0.23705148696899414, 0.07539749145507812, 0.756]], "yaws": [0.5494472980499268, 0.19042402505874634, 0.5309751629829407], "max_yaw": 1.5707963267948966}
132
+ {"index": 131, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.2379446029663086, 0.017339639365673065, 0.756], [0.21269512176513672, 0.0889730229973793, 0.756], [0.1922140121459961, -0.08027137815952301, 0.756]], "yaws": [1.0036180019378662, 1.1143547296524048, 0.1982903629541397], "max_yaw": 1.5707963267948966}
133
+ {"index": 132, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.2185955047607422, -0.09628438949584961, 0.756], [0.23412036895751953, 0.030251026153564453, 0.756], [0.18080806732177734, 0.09773540496826172, 0.756]], "yaws": [1.2845338582992554, 0.7776496410369873, 0.5776000022888184], "max_yaw": 1.5707963267948966}
134
+ {"index": 133, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.2343883514404297, -0.07347488403320312, 0.756], [0.17903947830200195, 0.044249534606933594, 0.756], [0.17479753494262695, -0.033260345458984375, 0.756]], "yaws": [0.35414835810661316, 1.1650817394256592, 0.2525782585144043], "max_yaw": 1.5707963267948966}
135
+ {"index": 134, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.19210433959960938, -0.09337997436523438, 0.756], [0.21524620056152344, 0.021276473999023438, 0.756], [0.23189163208007812, 0.09181070327758789, 0.756]], "yaws": [1.1106466054916382, 0.18236136436462402, 0.7516862154006958], "max_yaw": 1.5707963267948966}
136
+ {"index": 135, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.2487168312072754, -0.02259206771850586, 0.756], [0.2246081382036209, -0.10414791107177734, 0.756], [0.23886948823928833, 0.05483245849609375, 0.756]], "yaws": [1.5659092664718628, 0.7420438528060913, 0.10498566180467606], "max_yaw": 1.5707963267948966}
137
+ {"index": 136, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.21162191033363342, -0.0951375961303711, 0.756], [0.2027459293603897, -0.0020742416381835938, 0.756], [0.2454749345779419, 0.11682796478271484, 0.756]], "yaws": [0.4773116111755371, 0.10983117669820786, 1.0768089294433594], "max_yaw": 1.5707963267948966}
138
+ {"index": 137, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.23263835906982422, 0.0529937744140625, 0.756], [0.20027732849121094, 0.11716508865356445, 0.756], [0.23487091064453125, -0.06366825103759766, 0.756]], "yaws": [1.4528210163116455, 0.6761704087257385, 0.8780083656311035], "max_yaw": 1.5707963267948966}
139
+ {"index": 138, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.2449197769165039, 0.099516861140728, 0.756], [0.1988077163696289, -0.08694976568222046, 0.756], [0.1757831573486328, 0.020535968244075775, 0.756]], "yaws": [1.3079551458358765, 1.3607778549194336, 0.5453148484230042], "max_yaw": 1.5707963267948966}
140
+ {"index": 139, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.24710345268249512, 0.10876941680908203, 0.756], [0.18876847624778748, 0.04587364196777344, 0.756], [0.22896666824817657, -0.03300285339355469, 0.756]], "yaws": [0.006822420284152031, 0.325007826089859, 0.16727198660373688], "max_yaw": 1.5707963267948966}
141
+ {"index": 140, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.2443704605102539, 0.06512928009033203, 0.756], [0.17399883270263672, 0.05906105041503906, 0.756], [0.18395519256591797, -0.10153007507324219, 0.756]], "yaws": [0.9765110015869141, 1.370104193687439, 1.5665150880813599], "max_yaw": 1.5707963267948966}
142
+ {"index": 141, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.2377152442932129, 0.10500097274780273, 0.756], [0.18310308456420898, -0.025323867797851562, 0.756], [0.23763704299926758, -0.10240697860717773, 0.756]], "yaws": [0.4100096523761749, 1.3731523752212524, 0.23901167511940002], "max_yaw": 1.5707963267948966}
143
+ {"index": 142, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.24317073822021484, -0.10710906982421875, 0.756], [0.20938825607299805, 0.1083230972290039, 0.756], [0.20301246643066406, -0.041229248046875, 0.756]], "yaws": [0.5173167586326599, 1.30246102809906, 0.3122328221797943], "max_yaw": 1.5707963267948966}
144
+ {"index": 143, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.2112579345703125, 0.06831789016723633, 0.756], [0.24123668670654297, -0.09297513961791992, 0.756], [0.20772171020507812, -0.030038833618164062, 0.756]], "yaws": [0.7751595973968506, 1.523722767829895, 0.07241416722536087], "max_yaw": 1.5707963267948966}
145
+ {"index": 144, "held": 0, "target": 1, "prompt": "stack the red block on the green block", "positions": [[0.2459697723388672, -0.10062980651855469, 0.756], [0.18096160888671875, 0.0736398696899414, 0.756], [0.21105575561523438, -0.02292156219482422, 0.756]], "yaws": [0.1287674754858017, 0.03031233139336109, 0.5058816075325012], "max_yaw": 1.5707963267948966}
146
+ {"index": 145, "held": 0, "target": 2, "prompt": "stack the red block on the blue block", "positions": [[0.17239809036254883, 0.07055950164794922, 0.756], [0.19094371795654297, -0.0066394805908203125, 0.756], [0.2337932586669922, -0.10979938507080078, 0.756]], "yaws": [0.7143468260765076, 0.7502903938293457, 0.7597010135650635], "max_yaw": 1.5707963267948966}
147
+ {"index": 146, "held": 1, "target": 0, "prompt": "stack the green block on the red block", "positions": [[0.22699546813964844, 0.11034297943115234, 0.756], [0.24213218688964844, -0.06947517395019531, 0.756], [0.18176984786987305, -0.11141777038574219, 0.756]], "yaws": [1.4731032848358154, 1.3640176057815552, 0.8673069477081299], "max_yaw": 1.5707963267948966}
148
+ {"index": 147, "held": 1, "target": 2, "prompt": "stack the green block on the blue block", "positions": [[0.1795797348022461, -0.06827148795127869, 0.756], [0.24338054656982422, -0.008530452847480774, 0.756], [0.17784500122070312, 0.0656835213303566, 0.756]], "yaws": [0.5987540483474731, 1.5620378255844116, 0.7372807264328003], "max_yaw": 1.5707963267948966}
149
+ {"index": 148, "held": 2, "target": 0, "prompt": "stack the blue block on the red block", "positions": [[0.21414566040039062, -0.011775970458984375, 0.756], [0.2473125457763672, 0.07843303680419922, 0.756], [0.2486858367919922, -0.1080470085144043, 0.756]], "yaws": [0.8766822218894958, 1.4130476713180542, 0.9451419711112976], "max_yaw": 1.5707963267948966}
150
+ {"index": 149, "held": 2, "target": 1, "prompt": "stack the blue block on the green block", "positions": [[0.2210606038570404, 0.11895465850830078, 0.756], [0.23569059371948242, -0.0780034065246582, 0.756], [0.19479723274707794, 0.0322418212890625, 0.756]], "yaws": [0.6051134467124939, 1.5397424697875977, 0.010448625311255455], "max_yaw": 1.5707963267948966}
meta/info.json ADDED
@@ -0,0 +1,139 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "codebase_version": "v3.0",
3
+ "fps": 10,
4
+ "features": {
5
+ "observation.state": {
6
+ "dtype": "float32",
7
+ "shape": [
8
+ 6
9
+ ],
10
+ "names": [
11
+ "shoulder_pan",
12
+ "shoulder_lift",
13
+ "elbow_flex",
14
+ "wrist_flex",
15
+ "wrist_roll",
16
+ "gripper"
17
+ ]
18
+ },
19
+ "action": {
20
+ "dtype": "float32",
21
+ "shape": [
22
+ 6
23
+ ],
24
+ "names": [
25
+ "shoulder_pan",
26
+ "shoulder_lift",
27
+ "elbow_flex",
28
+ "wrist_flex",
29
+ "wrist_roll",
30
+ "gripper"
31
+ ]
32
+ },
33
+ "observation.images.wrist": {
34
+ "dtype": "video",
35
+ "shape": [
36
+ 480,
37
+ 480,
38
+ 3
39
+ ],
40
+ "names": [
41
+ "height",
42
+ "width",
43
+ "channel"
44
+ ],
45
+ "info": {
46
+ "video.height": 480,
47
+ "video.width": 480,
48
+ "video.codec": "h264",
49
+ "video.pix_fmt": "yuv420p",
50
+ "video.fps": 10,
51
+ "video.channels": 3,
52
+ "has_audio": false,
53
+ "video.g": 2,
54
+ "video.crf": 30,
55
+ "video.preset": null,
56
+ "video.fast_decode": 0,
57
+ "video.video_backend": "pyav",
58
+ "video.extra_options": {},
59
+ "is_depth_map": false
60
+ }
61
+ },
62
+ "observation.images.top": {
63
+ "dtype": "video",
64
+ "shape": [
65
+ 480,
66
+ 480,
67
+ 3
68
+ ],
69
+ "names": [
70
+ "height",
71
+ "width",
72
+ "channel"
73
+ ],
74
+ "info": {
75
+ "video.height": 480,
76
+ "video.width": 480,
77
+ "video.codec": "h264",
78
+ "video.pix_fmt": "yuv420p",
79
+ "video.fps": 10,
80
+ "video.channels": 3,
81
+ "has_audio": false,
82
+ "video.g": 2,
83
+ "video.crf": 30,
84
+ "video.preset": null,
85
+ "video.fast_decode": 0,
86
+ "video.video_backend": "pyav",
87
+ "video.extra_options": {},
88
+ "is_depth_map": false
89
+ }
90
+ },
91
+ "timestamp": {
92
+ "dtype": "float32",
93
+ "shape": [
94
+ 1
95
+ ],
96
+ "names": null
97
+ },
98
+ "frame_index": {
99
+ "dtype": "int64",
100
+ "shape": [
101
+ 1
102
+ ],
103
+ "names": null
104
+ },
105
+ "episode_index": {
106
+ "dtype": "int64",
107
+ "shape": [
108
+ 1
109
+ ],
110
+ "names": null
111
+ },
112
+ "index": {
113
+ "dtype": "int64",
114
+ "shape": [
115
+ 1
116
+ ],
117
+ "names": null
118
+ },
119
+ "task_index": {
120
+ "dtype": "int64",
121
+ "shape": [
122
+ 1
123
+ ],
124
+ "names": null
125
+ }
126
+ },
127
+ "total_episodes": 360,
128
+ "total_frames": 44178,
129
+ "total_tasks": 6,
130
+ "chunks_size": 1000,
131
+ "data_files_size_in_mb": 100,
132
+ "video_files_size_in_mb": 200,
133
+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
134
+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
135
+ "robot_type": "so101",
136
+ "splits": {
137
+ "train": "0:360"
138
+ }
139
+ }
meta/stats.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "index": {
3
+ "min": [
4
+ 0.0
5
+ ],
6
+ "max": [
7
+ 44177.0
8
+ ],
9
+ "mean": [
10
+ 22088.5
11
+ ],
12
+ "std": [
13
+ 12753.090092862465
14
+ ],
15
+ "count": [
16
+ 44178
17
+ ],
18
+ "q01": [
19
+ 22028.596672151398
20
+ ],
21
+ "q10": [
22
+ 22039.370704664638
23
+ ],
24
+ "q50": [
25
+ 22088.27549380689
26
+ ],
27
+ "q90": [
28
+ 22137.629295335362
29
+ ],
30
+ "q99": [
31
+ 22148.403327848602
32
+ ]
33
+ },
34
+ "timestamp": {
35
+ "min": [
36
+ 0.0
37
+ ],
38
+ "max": [
39
+ 12.6
40
+ ],
41
+ "mean": [
42
+ 6.089911268051979
43
+ ],
44
+ "std": [
45
+ 3.5494035420578163
46
+ ],
47
+ "count": [
48
+ 44178
49
+ ],
50
+ "q01": [
51
+ 0.09957848310141874
52
+ ],
53
+ "q10": [
54
+ 1.1769817344478244
55
+ ],
56
+ "q50": [
57
+ 6.067467005749083
58
+ ],
59
+ "q90": [
60
+ 11.002840801656115
61
+ ],
62
+ "q99": [
63
+ 12.080244053002515
64
+ ]
65
+ },
66
+ "observation.images.top": {
67
+ "min": [
68
+ [
69
+ [
70
+ 0.14901961386203766
71
+ ]
72
+ ],
73
+ [
74
+ [
75
+ 0.14901961386203766
76
+ ]
77
+ ],
78
+ [
79
+ [
80
+ 0.14901961386203766
81
+ ]
82
+ ]
83
+ ],
84
+ "max": [
85
+ [
86
+ [
87
+ 0.8549019694328308
88
+ ]
89
+ ],
90
+ [
91
+ [
92
+ 0.7607843279838562
93
+ ]
94
+ ],
95
+ [
96
+ [
97
+ 0.8549019694328308
98
+ ]
99
+ ]
100
+ ],
101
+ "mean": [
102
+ [
103
+ [
104
+ 0.5695421513583924
105
+ ]
106
+ ],
107
+ [
108
+ [
109
+ 0.4907175809972816
110
+ ]
111
+ ],
112
+ [
113
+ [
114
+ 0.40496534870730516
115
+ ]
116
+ ]
117
+ ],
118
+ "std": [
119
+ [
120
+ [
121
+ 0.16230369102644726
122
+ ]
123
+ ],
124
+ [
125
+ [
126
+ 0.13439381655331584
127
+ ]
128
+ ],
129
+ [
130
+ [
131
+ 0.11350748433155508
132
+ ]
133
+ ]
134
+ ],
135
+ "count": [
136
+ 36000
137
+ ],
138
+ "q01": [
139
+ [
140
+ [
141
+ 0.14901961386203766
142
+ ]
143
+ ],
144
+ [
145
+ [
146
+ 0.14901961386203766
147
+ ]
148
+ ],
149
+ [
150
+ [
151
+ 0.14901961386203766
152
+ ]
153
+ ]
154
+ ],
155
+ "q10": [
156
+ [
157
+ [
158
+ 0.24067114454868052
159
+ ]
160
+ ],
161
+ [
162
+ [
163
+ 0.24256171498449522
164
+ ]
165
+ ],
166
+ [
167
+ [
168
+ 0.24238482015762328
169
+ ]
170
+ ]
171
+ ],
172
+ "q50": [
173
+ [
174
+ [
175
+ 0.6630009420829398
176
+ ]
177
+ ],
178
+ [
179
+ [
180
+ 0.5608784883349136
181
+ ]
182
+ ],
183
+ [
184
+ [
185
+ 0.4518598227878915
186
+ ]
187
+ ]
188
+ ],
189
+ "q90": [
190
+ [
191
+ [
192
+ 0.6902390804205144
193
+ ]
194
+ ],
195
+ [
196
+ [
197
+ 0.5843551670752664
198
+ ]
199
+ ],
200
+ [
201
+ [
202
+ 0.454925058948188
203
+ ]
204
+ ]
205
+ ],
206
+ "q99": [
207
+ [
208
+ [
209
+ 0.690269240798757
210
+ ]
211
+ ],
212
+ [
213
+ [
214
+ 0.584381652016962
215
+ ]
216
+ ],
217
+ [
218
+ [
219
+ 0.4627824381408991
220
+ ]
221
+ ]
222
+ ]
223
+ },
224
+ "episode_index": {
225
+ "min": [
226
+ 0.0
227
+ ],
228
+ "max": [
229
+ 359.0
230
+ ],
231
+ "mean": [
232
+ 179.09466250169766
233
+ ],
234
+ "std": [
235
+ 103.93761668212544
236
+ ],
237
+ "count": [
238
+ 44178
239
+ ],
240
+ "q01": [
241
+ 179.09466250169766
242
+ ],
243
+ "q10": [
244
+ 179.09466250169766
245
+ ],
246
+ "q50": [
247
+ 179.09466250169766
248
+ ],
249
+ "q90": [
250
+ 179.09466250169774
251
+ ],
252
+ "q99": [
253
+ 179.09466250169774
254
+ ]
255
+ },
256
+ "observation.images.wrist": {
257
+ "min": [
258
+ [
259
+ [
260
+ 0.14901961386203766
261
+ ]
262
+ ],
263
+ [
264
+ [
265
+ 0.14901961386203766
266
+ ]
267
+ ],
268
+ [
269
+ [
270
+ 0.14901961386203766
271
+ ]
272
+ ]
273
+ ],
274
+ "max": [
275
+ [
276
+ [
277
+ 0.8627451062202454
278
+ ]
279
+ ],
280
+ [
281
+ [
282
+ 0.7607843279838562
283
+ ]
284
+ ],
285
+ [
286
+ [
287
+ 0.8666666746139526
288
+ ]
289
+ ]
290
+ ],
291
+ "mean": [
292
+ [
293
+ [
294
+ 0.609047240681118
295
+ ]
296
+ ],
297
+ [
298
+ [
299
+ 0.5179798858033284
300
+ ]
301
+ ],
302
+ [
303
+ [
304
+ 0.41454381653004224
305
+ ]
306
+ ]
307
+ ],
308
+ "std": [
309
+ [
310
+ [
311
+ 0.16245294537387145
312
+ ]
313
+ ],
314
+ [
315
+ [
316
+ 0.13129868065610356
317
+ ]
318
+ ],
319
+ [
320
+ [
321
+ 0.13410762659105108
322
+ ]
323
+ ]
324
+ ],
325
+ "count": [
326
+ 36000
327
+ ],
328
+ "q01": [
329
+ [
330
+ [
331
+ 0.14915047123326625
332
+ ]
333
+ ],
334
+ [
335
+ [
336
+ 0.1491497970188231
337
+ ]
338
+ ],
339
+ [
340
+ [
341
+ 0.14915036441723
342
+ ]
343
+ ]
344
+ ],
345
+ "q10": [
346
+ [
347
+ [
348
+ 0.2708529211045664
349
+ ]
350
+ ],
351
+ [
352
+ [
353
+ 0.30424408097624894
354
+ ]
355
+ ],
356
+ [
357
+ [
358
+ 0.2744289102127743
359
+ ]
360
+ ]
361
+ ],
362
+ "q50": [
363
+ [
364
+ [
365
+ 0.6847703173212566
366
+ ]
367
+ ],
368
+ [
369
+ [
370
+ 0.578941768714274
371
+ ]
372
+ ],
373
+ [
374
+ [
375
+ 0.45191691280706486
376
+ ]
377
+ ]
378
+ ],
379
+ "q90": [
380
+ [
381
+ [
382
+ 0.6902446989901249
383
+ ]
384
+ ],
385
+ [
386
+ [
387
+ 0.5843594038105648
388
+ ]
389
+ ],
390
+ [
391
+ [
392
+ 0.45492226199370406
393
+ ]
394
+ ]
395
+ ],
396
+ "q99": [
397
+ [
398
+ [
399
+ 0.7486995370651592
400
+ ]
401
+ ],
402
+ [
403
+ [
404
+ 0.6464500829584843
405
+ ]
406
+ ],
407
+ [
408
+ [
409
+ 0.6542678848396939
410
+ ]
411
+ ]
412
+ ]
413
+ },
414
+ "action": {
415
+ "min": [
416
+ -0.818749725818634,
417
+ -0.8164123296737671,
418
+ -1.1288089752197266,
419
+ 1.0080538988113403,
420
+ -1.5892270803451538,
421
+ 0.09000000357627869
422
+ ],
423
+ "max": [
424
+ 0.7328158020973206,
425
+ 0.5058645009994507,
426
+ 0.9703946113586426,
427
+ 1.6577719449996948,
428
+ 1.1837127208709717,
429
+ 0.6000000238418579
430
+ ],
431
+ "mean": [
432
+ -0.07215557796356306,
433
+ -0.018866353323232877,
434
+ -0.0034942343974302234,
435
+ 1.441758006812492,
436
+ -0.19536000498062409,
437
+ 0.37069741602413814
438
+ ],
439
+ "std": [
440
+ 0.37162561622323453,
441
+ 0.2466788720472713,
442
+ 0.4763111950115435,
443
+ 0.17175195633349816,
444
+ 0.4553246467292643,
445
+ 0.24606954443977724
446
+ ],
447
+ "count": [
448
+ 44178
449
+ ],
450
+ "q01": [
451
+ -0.41813190149155044,
452
+ -0.3110213709346067,
453
+ -1.1105995078123614,
454
+ 1.073390566413316,
455
+ -0.4807278573876351,
456
+ 0.09000000357627869
457
+ ],
458
+ "q10": [
459
+ -0.38753517206346144,
460
+ -0.2607571697144792,
461
+ -0.7465703193513686,
462
+ 1.1265280089273262,
463
+ -0.44074276017452196,
464
+ 0.09000000357627869
465
+ ],
466
+ "q50": [
467
+ -0.08950230641893024,
468
+ 0.00193522176655653,
469
+ 0.05537372530779422,
470
+ 1.525491534949107,
471
+ -0.1837175624394852,
472
+ 0.5787168100678634
473
+ ],
474
+ "q90": [
475
+ 0.2543046826289446,
476
+ 0.21942248491343,
477
+ 0.552711081164814,
478
+ 1.609386647807111,
479
+ 0.06157916874742486,
480
+ 0.5999796634945341
481
+ ],
482
+ "q99": [
483
+ 0.2653284133656912,
484
+ 0.3576576591675573,
485
+ 0.5796554738933646,
486
+ 1.6365506315459428,
487
+ 0.13303221054819878,
488
+ 0.5999979878071253
489
+ ]
490
+ },
491
+ "observation.state": {
492
+ "min": [
493
+ -0.8187497854232788,
494
+ -0.8200159072875977,
495
+ -1.131700038909912,
496
+ 0.9867430329322815,
497
+ -1.5892305374145508,
498
+ 0.10944273322820663
499
+ ],
500
+ "max": [
501
+ 0.7393239736557007,
502
+ 0.5085560083389282,
503
+ 0.9800355434417725,
504
+ 1.659687876701355,
505
+ 1.211787223815918,
506
+ 0.600014328956604
507
+ ],
508
+ "mean": [
509
+ -0.06961233511080654,
510
+ -0.01445415506982464,
511
+ -0.014523693245129787,
512
+ 1.4462237976968064,
513
+ -0.18237902802252054,
514
+ 0.3815110634576093
515
+ ],
516
+ "std": [
517
+ 0.3698448790664821,
518
+ 0.24787864086990025,
519
+ 0.48624510544437044,
520
+ 0.17248921512700655,
521
+ 0.45071946419236886,
522
+ 0.23262791034528507
523
+ ],
524
+ "count": [
525
+ 44178
526
+ ],
527
+ "q01": [
528
+ -0.4198328978450566,
529
+ -0.3096319129393646,
530
+ -1.1247521416265827,
531
+ 1.0706550344839196,
532
+ -0.4825849765061911,
533
+ 0.11421234733630405
534
+ ],
535
+ "q10": [
536
+ -0.38972475787244737,
537
+ -0.2591262130239704,
538
+ -0.7827051239321507,
539
+ 1.1383235604239321,
540
+ -0.4438975581213729,
541
+ 0.11580180239801294
542
+ ],
543
+ "q50": [
544
+ -0.08610526578380878,
545
+ 0.0038452462874948717,
546
+ 0.04981883739500927,
547
+ 1.5266948711649146,
548
+ -0.17302913453713276,
549
+ 0.5669420770432252
550
+ ],
551
+ "q90": [
552
+ 0.25997616192829043,
553
+ 0.2299857962272597,
554
+ 0.5504025098645738,
555
+ 1.618278633707476,
556
+ 0.08175286321458848,
557
+ 0.5999885181154695
558
+ ],
559
+ "q99": [
560
+ 0.2730618522532151,
561
+ 0.3645447302740695,
562
+ 0.5804714477882352,
563
+ 1.638345773337144,
564
+ 0.1511016713099509,
565
+ 0.6000078546064584
566
+ ]
567
+ },
568
+ "task_index": {
569
+ "min": [
570
+ 0.0
571
+ ],
572
+ "max": [
573
+ 5.0
574
+ ],
575
+ "mean": [
576
+ 2.492960296980396
577
+ ],
578
+ "std": [
579
+ 1.70949307612201
580
+ ],
581
+ "count": [
582
+ 44178
583
+ ],
584
+ "q01": [
585
+ 2.492960296980396
586
+ ],
587
+ "q10": [
588
+ 2.4929602969803977
589
+ ],
590
+ "q50": [
591
+ 2.492960296980409
592
+ ],
593
+ "q90": [
594
+ 2.492960296980428
595
+ ],
596
+ "q99": [
597
+ 2.4929602969804323
598
+ ]
599
+ },
600
+ "frame_index": {
601
+ "min": [
602
+ 0.0
603
+ ],
604
+ "max": [
605
+ 126.0
606
+ ],
607
+ "mean": [
608
+ 60.899112680519714
609
+ ],
610
+ "std": [
611
+ 35.49403542057814
612
+ ],
613
+ "count": [
614
+ 44178
615
+ ],
616
+ "q01": [
617
+ 0.9957848318994651
618
+ ],
619
+ "q10": [
620
+ 11.769817345204352
621
+ ],
622
+ "q50": [
623
+ 60.670665141020244
624
+ ],
625
+ "q90": [
626
+ 110.02840801583487
627
+ ],
628
+ "q99": [
629
+ 120.80244052913984
630
+ ]
631
+ }
632
+ }
meta/tasks.parquet ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cb7131b854e5136bdd5739757ad6c6927021eba384d26b8e8f2a775e4feba1db
3
+ size 2263
meta/train_layouts.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
videos/observation.images.top/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1776cfc6812bfa4018d8576b16ff6a67a53813e323cf7b4b330e38b7535f3cc1
3
+ size 128630916
videos/observation.images.wrist/chunk-000/file-000.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0a02b0b4503d8d1ba0d8ddf502bedff504d359f355d96b021ae2ff2b8244b734
3
+ size 77766283