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timestamp
float64
0
9.96
frame_index
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308
episode_index
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index
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joint_names
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joint_velocities
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action
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observation.state
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observation.images.right_arm_camera_sensor_image_compressed
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observation.images.left_arm_camera_sensor_image_compressed
stringclasses
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observation.images.base_camera_sensor_image_compressed
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action.left_arm_wrist_2_joint
float64
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action.left_arm_3f_finger_c_joint_1
float64
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action.right_arm_3f_palm_finger_b_joint
float64
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action.left_arm_3f_finger_a_joint_3
float64
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action.right_arm_wrist_3_joint
float64
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action.left_arm_elbow_joint
float64
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action.right_arm_3f_finger_b_joint_2
float64
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action.left_arm_shoulder_lift_joint
float64
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action.right_arm_3f_finger_c_joint_2
float64
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action.left_arm_3f_palm_finger_c_joint
float64
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action.right_arm_3f_finger_a_joint_2
float64
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action.right_arm_3f_finger_b_joint_1
float64
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action.right_arm_3f_finger_b_joint_3
float64
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action.right_arm_3f_finger_a_joint_1
float64
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action.right_arm_3f_finger_c_joint_1
float64
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0.25
action.right_arm_3f_finger_a_joint_3
float64
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action.left_arm_3f_finger_b_joint_3
float64
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action.right_arm_shoulder_lift_joint
float64
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action.right_arm_shoulder_pan_joint
float64
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action.right_arm_wrist_2_joint
float64
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action.right_arm_elbow_joint
float64
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action.left_arm_3f_finger_c_joint_3
float64
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-0.05
action.left_arm_shoulder_pan_joint
float64
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action.left_arm_3f_finger_c_joint_2
float64
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action.right_arm_3f_finger_c_joint_3
float64
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action.right_arm_3f_palm_finger_c_joint
float64
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action.left_arm_3f_finger_b_joint_2
float64
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action.left_arm_3f_finger_b_joint_1
float64
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action.left_arm_3f_palm_finger_b_joint
float64
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action.left_arm_3f_finger_a_joint_2
float64
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action.left_arm_3f_finger_a_joint_1
float64
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action.left_arm_wrist_1_joint
float64
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action.right_arm_wrist_1_joint
float64
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action.left_arm_wrist_3_joint
float64
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observation.state.left_arm_wrist_2_joint
float64
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observation.state.left_arm_3f_finger_c_joint_1
float64
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observation.state.right_arm_3f_palm_finger_b_joint
float64
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observation.state.left_arm_3f_finger_a_joint_3
float64
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observation.state.right_arm_wrist_3_joint
float64
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observation.state.left_arm_elbow_joint
float64
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observation.state.right_arm_3f_finger_b_joint_2
float64
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observation.state.left_arm_shoulder_lift_joint
float64
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observation.state.right_arm_3f_finger_c_joint_2
float64
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observation.state.left_arm_3f_palm_finger_c_joint
float64
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observation.state.right_arm_3f_finger_a_joint_2
float64
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observation.state.right_arm_3f_finger_b_joint_1
float64
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observation.state.right_arm_3f_finger_b_joint_3
float64
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observation.state.right_arm_3f_finger_a_joint_1
float64
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0.25
observation.state.right_arm_3f_finger_c_joint_1
float64
0.25
0.25
observation.state.right_arm_3f_finger_a_joint_3
float64
-0.05
-0.05
observation.state.left_arm_3f_finger_b_joint_3
float64
-0.05
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observation.state.right_arm_shoulder_lift_joint
float64
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0.01
observation.state.right_arm_shoulder_pan_joint
float64
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observation.state.right_arm_wrist_2_joint
float64
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2.48
observation.state.right_arm_elbow_joint
float64
0
0
observation.state.left_arm_3f_finger_c_joint_3
float64
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-0.05
observation.state.left_arm_shoulder_pan_joint
float64
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observation.state.left_arm_3f_finger_c_joint_2
float64
0
0
observation.state.right_arm_3f_finger_c_joint_3
float64
-0.05
-0.05
observation.state.right_arm_3f_palm_finger_c_joint
float64
0
0
observation.state.left_arm_3f_finger_b_joint_2
float64
0
0
observation.state.left_arm_3f_finger_b_joint_1
float64
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observation.state.left_arm_3f_palm_finger_b_joint
float64
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observation.state.left_arm_3f_finger_a_joint_2
float64
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0
observation.state.left_arm_3f_finger_a_joint_1
float64
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observation.state.left_arm_wrist_1_joint
float64
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observation.state.right_arm_wrist_1_joint
float64
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observation.state.left_arm_wrist_3_joint
float64
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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[ 4.0111, 0.2484, 0, -0.0523, 0.0001, -0.0001, 0, -3.4885, 0.0001, 0.0001, 0.0001, 0.239, -0.0523, 0.2483, 0.254, -0.0523, -0.0523, 0.01, -1.4376, 2.4832, 0.0001, -0.0523, -1.3973, 0, -0.0523, 0, 0.0001, 0.252, 0.0001, 0, 0.2389, -1.2165, -1.8196, 0 ]
videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
[ -0.0022, -0.0016, 0.0007, 0.0001, -0.0082, -0.0049, -0.0008, -0.0091, -0.0016, -0.0053, 0.0013, 0.001, -0.0003, -0.0041, 0.0009, 0.0004, -0.0002, 0.0128, 0, 0.0034, 0.0087, -0.0001, -0.0001, -0.0006, -0.0006, 0.0101, -0.0007, -0.0024, -0.0001, 0.0005, 0, -0.0016, 0.0049, 0.0046 ]
[ 4.0111, 0.2484, 0, -0.0523, 0.0001, -0.0001, 0, -3.4885, 0.0001, 0.0001, 0.0001, 0.239, -0.0523, 0.2483, 0.254, -0.0523, -0.0523, 0.01, -1.4376, 2.4832, 0.0001, -0.0523, -1.3973, 0, -0.0523, 0, 0.0001, 0.252, 0.0001, 0, 0.2389, -1.2165, -1.8196, 0 ]
[ 4.0111, 0.2484, 0, -0.0523, 0.0001, -0.0001, 0, -3.4885, 0.0001, 0.0001, 0.0001, 0.239, -0.0523, 0.2483, 0.254, -0.0523, -0.0523, 0.01, -1.4376, 2.4832, 0.0001, -0.0523, -1.3973, 0, -0.0523, 0, 0.0001, 0.252, 0.0001, 0, 0.2389, -1.2165, -1.8196, 0 ]
videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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[ "left_arm_wrist_2_joint", "left_arm_3f_finger_c_joint_1", "right_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_3", "right_arm_wrist_3_joint", "left_arm_elbow_joint", "right_arm_3f_finger_b_joint_2", "left_arm_shoulder_lift_joint", "right_arm_3f_finger_c_joint_2", "left_arm_3f_palm_finger_c_joint", "right_arm_3f_finger_a_joint_2", "right_arm_3f_finger_b_joint_1", "right_arm_3f_finger_b_joint_3", "right_arm_3f_finger_a_joint_1", "right_arm_3f_finger_c_joint_1", "right_arm_3f_finger_a_joint_3", "left_arm_3f_finger_b_joint_3", "right_arm_shoulder_lift_joint", "right_arm_shoulder_pan_joint", "right_arm_wrist_2_joint", "right_arm_elbow_joint", "left_arm_3f_finger_c_joint_3", "left_arm_shoulder_pan_joint", "left_arm_3f_finger_c_joint_2", "right_arm_3f_finger_c_joint_3", "right_arm_3f_palm_finger_c_joint", "left_arm_3f_finger_b_joint_2", "left_arm_3f_finger_b_joint_1", "left_arm_3f_palm_finger_b_joint", "left_arm_3f_finger_a_joint_2", "left_arm_3f_finger_a_joint_1", "left_arm_wrist_1_joint", "right_arm_wrist_1_joint", "left_arm_wrist_3_joint" ]
[ -0.0022, -0.0016, 0.0007, 0.0001, -0.0082, -0.0049, -0.0008, -0.0091, -0.0016, -0.0053, 0.0013, 0.001, -0.0003, -0.0041, 0.0009, 0.0004, -0.0002, 0.0128, 0, 0.0034, 0.0087, -0.0001, -0.0001, -0.0006, -0.0006, 0.0101, -0.0007, -0.0024, -0.0001, 0.0005, 0, -0.0016, 0.0049, 0.0046 ]
[ 4.0111, 0.2484, 0, -0.0523, 0.0001, -0.0001, 0, -3.4885, 0.0001, 0.0001, 0.0001, 0.239, -0.0523, 0.2483, 0.254, -0.0523, -0.0523, 0.01, -1.4376, 2.4832, 0.0001, -0.0523, -1.3973, 0, -0.0523, 0, 0.0001, 0.252, 0.0001, 0, 0.2389, -1.2165, -1.8196, 0 ]
[ 4.0111, 0.2484, 0, -0.0523, 0.0001, -0.0001, 0, -3.4885, 0.0001, 0.0001, 0.0001, 0.239, -0.0523, 0.2483, 0.254, -0.0523, -0.0523, 0.01, -1.4376, 2.4832, 0.0001, -0.0523, -1.3973, 0, -0.0523, 0, 0.0001, 0.252, 0.0001, 0, 0.2389, -1.2165, -1.8196, 0 ]
videos/chunk-000/observation.images.right_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.left_arm_camera_sensor_image_compressed/episode_000000.mp4
videos/chunk-000/observation.images.base_camera_sensor_image_compressed/episode_000000.mp4
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End of preview. Expand in Data Studio

Episode_0002__10_seconds_

LeRobot v2.1 format dataset for robot manipulation.

Dataset Structure

  • Episodes: 2 episodes of robot manipulation
  • Total Frames: 359 frames
  • Cameras: 3 camera views per episode
    • observation.images.base_camera_sensor_image_raw
    • observation.images.arm1_camera_sensor_image_raw
    • observation.images.arm2_camera_sensor_image_raw
  • Robot: Bimanual manipulator with 34 joints
  • Format: LeRobot v2.1

Usage with LeRobot

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

dataset = LeRobotDataset("Sraghvi/shrugmaster-test")

Dataset Format

This dataset follows the LeRobot v2.1 format:

  • data/chunk-000/: Parquet files containing episode data
  • videos/chunk-000/: MP4 video files for each camera view
  • meta/: Metadata files
    • info.json: Dataset configuration and feature descriptions
    • episodes.jsonl: Episode metadata
    • tasks.jsonl: Task descriptions
    • episodes_stats.jsonl: Dataset statistics

Dataset Details

  • Total Episodes: 2
  • Total Frames: 359
  • Average Episode Length: 180 frames
  • FPS: ~9 (calculated from real data)
  • Robot Type: Bimanual arm with 34 joints
  • Camera Resolution: 1280x720
  • Video Codec: H.264

Features

  • Action: Robot action commands with individual joint columns
  • Observation State: Robot state observations with individual joint columns
  • Isaac Commands: Simulation commands
  • Timestamp: Frame timestamps
  • Episode/Frame/Task Indices: Data organization
  • Joint Names: Names of all robot joints
  • Joint Velocities: Velocity data for all joints
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