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README.md
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| 1 |
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---
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| 2 |
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license: apache-2.0
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| 3 |
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task_categories:
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| 4 |
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- robotics
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| 5 |
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tags:
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- LeRobot
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configs:
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- config_name: default
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data_files: data/*/*.parquet
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---
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| 12 |
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This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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| 13 |
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| 14 |
+
## Dataset Description
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| 15 |
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| 16 |
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| 17 |
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- **Homepage:** [More Information Needed]
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| 19 |
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- **Paper:** [More Information Needed]
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| 20 |
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- **License:** apache-2.0
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| 21 |
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## Dataset Structure
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| 23 |
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[meta/info.json](meta/info.json):
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```json
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| 26 |
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{
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"codebase_version": "v2.1",
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"robot_type": "dual_arm_robot",
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| 29 |
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"total_episodes": 1,
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| 30 |
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"total_frames": 7553,
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"total_tasks": 1,
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"total_videos": 0,
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| 33 |
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"total_chunks": 1,
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| 34 |
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"chunks_size": 1000,
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"fps": 30,
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"splits": {
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| 37 |
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"train": "0:1"
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},
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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| 40 |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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| 41 |
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"features": {
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| 42 |
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"observation.state": {
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| 43 |
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"dtype": "float32",
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| 44 |
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"shape": [
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14
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| 46 |
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],
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"names": [
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| 48 |
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"arm1_shoulder_pan_joint",
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| 49 |
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"arm1_shoulder_lift_joint",
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| 50 |
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"arm1_elbow_joint",
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| 51 |
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"arm1_wrist_1_joint",
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| 52 |
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"arm1_wrist_2_joint",
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| 53 |
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"arm1_wrist_3_joint",
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| 54 |
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"arm1_robotiq_85_left_knuckle_joint",
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| 55 |
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"arm2_shoulder_pan_joint",
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| 56 |
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"arm2_shoulder_lift_joint",
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| 57 |
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"arm2_elbow_joint",
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| 58 |
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"arm2_wrist_1_joint",
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| 59 |
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"arm2_wrist_2_joint",
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| 60 |
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"arm2_wrist_3_joint",
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| 61 |
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"arm2_robotiq_85_left_knuckle_joint"
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| 62 |
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]
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| 63 |
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},
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| 64 |
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"action": {
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| 65 |
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"dtype": "float32",
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| 66 |
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"shape": [
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| 67 |
+
14
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| 68 |
+
],
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| 69 |
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"names": [
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| 70 |
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"arm1_shoulder_pan_joint",
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| 71 |
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"arm1_shoulder_lift_joint",
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| 72 |
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"arm1_elbow_joint",
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| 73 |
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"arm1_wrist_1_joint",
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| 74 |
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"arm1_wrist_2_joint",
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| 75 |
+
"arm1_wrist_3_joint",
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| 76 |
+
"arm1_robotiq_85_left_knuckle_joint",
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| 77 |
+
"arm2_shoulder_pan_joint",
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| 78 |
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"arm2_shoulder_lift_joint",
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| 79 |
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"arm2_elbow_joint",
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| 80 |
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"arm2_wrist_1_joint",
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| 81 |
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"arm2_wrist_2_joint",
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| 82 |
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"arm2_wrist_3_joint",
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| 83 |
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"arm2_robotiq_85_left_knuckle_joint"
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| 84 |
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]
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| 85 |
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},
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| 86 |
+
"observation.velocity": {
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| 87 |
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"dtype": "float32",
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| 88 |
+
"shape": [
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| 89 |
+
14
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| 90 |
+
],
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| 91 |
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"names": [
|
| 92 |
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"arm1_shoulder_pan_joint_vel",
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| 93 |
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"arm1_shoulder_lift_joint_vel",
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| 94 |
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"arm1_elbow_joint_vel",
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| 95 |
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"arm1_wrist_1_joint_vel",
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| 96 |
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"arm1_wrist_2_joint_vel",
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| 97 |
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"arm1_wrist_3_joint_vel",
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| 98 |
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"arm1_robotiq_85_left_knuckle_joint_vel",
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| 99 |
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"arm2_shoulder_pan_joint_vel",
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| 100 |
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"arm2_shoulder_lift_joint_vel",
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| 101 |
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"arm2_elbow_joint_vel",
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| 102 |
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"arm2_wrist_1_joint_vel",
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| 103 |
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"arm2_wrist_2_joint_vel",
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| 104 |
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"arm2_wrist_3_joint_vel",
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| 105 |
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"arm2_robotiq_85_left_knuckle_joint_vel"
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| 106 |
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]
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| 107 |
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},
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| 108 |
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"observation.effort": {
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| 109 |
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"dtype": "float32",
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| 110 |
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"shape": [
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| 111 |
+
14
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| 112 |
+
],
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| 113 |
+
"names": [
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| 114 |
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"arm1_shoulder_pan_joint_effort",
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| 115 |
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"arm1_shoulder_lift_joint_effort",
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| 116 |
+
"arm1_elbow_joint_effort",
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| 117 |
+
"arm1_wrist_1_joint_effort",
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| 118 |
+
"arm1_wrist_2_joint_effort",
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| 119 |
+
"arm1_wrist_3_joint_effort",
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| 120 |
+
"arm1_robotiq_85_left_knuckle_joint_effort",
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| 121 |
+
"arm2_shoulder_pan_joint_effort",
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| 122 |
+
"arm2_shoulder_lift_joint_effort",
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| 123 |
+
"arm2_elbow_joint_effort",
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| 124 |
+
"arm2_wrist_1_joint_effort",
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| 125 |
+
"arm2_wrist_2_joint_effort",
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| 126 |
+
"arm2_wrist_3_joint_effort",
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| 127 |
+
"arm2_robotiq_85_left_knuckle_joint_effort"
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| 128 |
+
]
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| 129 |
+
},
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| 130 |
+
"timestamp": {
|
| 131 |
+
"dtype": "float32",
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| 132 |
+
"shape": [
|
| 133 |
+
1
|
| 134 |
+
],
|
| 135 |
+
"names": null
|
| 136 |
+
},
|
| 137 |
+
"frame_index": {
|
| 138 |
+
"dtype": "int64",
|
| 139 |
+
"shape": [
|
| 140 |
+
1
|
| 141 |
+
],
|
| 142 |
+
"names": null
|
| 143 |
+
},
|
| 144 |
+
"episode_index": {
|
| 145 |
+
"dtype": "int64",
|
| 146 |
+
"shape": [
|
| 147 |
+
1
|
| 148 |
+
],
|
| 149 |
+
"names": null
|
| 150 |
+
},
|
| 151 |
+
"index": {
|
| 152 |
+
"dtype": "int64",
|
| 153 |
+
"shape": [
|
| 154 |
+
1
|
| 155 |
+
],
|
| 156 |
+
"names": null
|
| 157 |
+
},
|
| 158 |
+
"task_index": {
|
| 159 |
+
"dtype": "int64",
|
| 160 |
+
"shape": [
|
| 161 |
+
1
|
| 162 |
+
],
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| 163 |
+
"names": null
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| 164 |
+
}
|
| 165 |
+
}
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| 166 |
+
}
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| 167 |
+
```
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| 168 |
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| 169 |
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| 170 |
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## Citation
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| 171 |
+
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| 172 |
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**BibTeX:**
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| 173 |
+
|
| 174 |
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```bibtex
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| 175 |
+
[More Information Needed]
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| 176 |
+
```
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