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Datasets:
chomeed
/
sim2real

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
< 1K
Tags:
LeRobot
Libraries:
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pandas
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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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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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** [More Information Needed]
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+ - **Paper:** [More Information Needed]
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+ - **License:** apache-2.0
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ "codebase_version": "v3.0",
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+ "robot_type": null,
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+ "total_episodes": 1,
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+ "total_frames": 929,
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+ "total_tasks": 1,
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+ "chunks_size": 1000,
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+ "data_files_size_in_mb": 100,
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+ "video_files_size_in_mb": 200,
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+ "fps": 20,
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+ "splits": {
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+ "train": "0:1"
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+ },
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+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+ "features": {
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+ "qpos": {
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+ "dtype": "float32",
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+ "shape": [
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+ 17
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+ ],
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+ "names": {
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+ "motors": [
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+ "left_yaw",
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+ "left_pitch",
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+ "left_elbow",
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+ "left_wrist_pitch",
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+ "left_wrist_yaw",
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+ "left_roll",
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+ "left_gripper",
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+ "right_yaw",
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+ "right_pitch",
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+ "right_elbow",
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+ "right_wrist_pitch",
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+ "right_wrist_yaw",
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+ "right_roll",
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+ "right_gripper",
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+ "base_linear_x",
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+ "base_linear_y",
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+ "base_angular_z"
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+ ]
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+ }
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+ },
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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 23
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+ ],
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+ "names": {
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+ "motors": [
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+ "left_x",
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+ "left_y",
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+ "left_z",
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+ "left_r6d_c1x",
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+ "left_r6d_c1y",
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+ "left_r6d_c1z",
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+ "left_r6d_c2x",
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+ "left_r6d_c2y",
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+ "left_r6d_c2z",
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+ "left_gripper",
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+ "right_x",
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+ "right_y",
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+ "right_z",
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+ "right_r6d_c1x",
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+ "right_r6d_c1y",
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+ "right_r6d_c1z",
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+ "right_r6d_c2x",
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+ "right_r6d_c2y",
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+ "right_r6d_c2z",
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+ "right_gripper",
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+ "base_linear_x",
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+ "base_linear_y",
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+ "base_angular_z"
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+ ]
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+ }
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+ },
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+ "observation.images.front": {
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+ "dtype": "video",
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+ "shape": [
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+ 240,
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+ 320,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "video.fps": 30.0,
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+ "video.height": 240,
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+ "video.width": 320,
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+ "video.channels": 3,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.wrist_left": {
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+ "dtype": "video",
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+ "shape": [
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+ 240,
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+ 320,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "video.fps": 30.0,
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+ "video.height": 240,
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+ "video.width": 320,
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+ "video.channels": 3,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.wrist_right": {
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+ "dtype": "video",
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+ "shape": [
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+ 240,
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+ 320,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channels"
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+ ],
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+ "info": {
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+ "video.fps": 30.0,
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+ "video.height": 240,
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+ "video.width": 320,
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+ "video.channels": 3,
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+ "video.codec": "av1",
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+ "video.pix_fmt": "yuv420p",
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 23
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+ ],
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+ "names": {
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+ "motors": [
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+ "left_x",
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+ "left_y",
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+ "left_z",
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+ "left_r6d_c1x",
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+ "left_r6d_c1y",
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+ "left_r6d_c1z",
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+ "left_r6d_c2x",
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+ "left_r6d_c2y",
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+ "left_r6d_c2z",
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+ "left_gripper",
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+ "right_x",
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+ "right_y",
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+ "right_z",
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+ "right_r6d_c1x",
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+ "right_r6d_c1y",
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+ "right_r6d_c1z",
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+ "right_r6d_c2x",
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+ "right_r6d_c2y",
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+ "right_r6d_c2z",
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+ "right_gripper",
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+ "cmd_vel_x",
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+ "cmd_vel_y",
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+ "cmd_vel_wz"
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+ ]
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+ }
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+ },
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+ "action_quat": {
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+ "dtype": "float32",
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+ "shape": [
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+ 19
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+ ],
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+ "names": {
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+ "motors": [
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+ "left_x",
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+ "left_y",
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+ "left_z",
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+ "left_qx",
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+ "left_qy",
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+ "left_qz",
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+ "left_qw",
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+ "left_gripper",
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+ "right_x",
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+ "right_y",
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+ "right_z",
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+ "right_qx",
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+ "right_qy",
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+ "right_qz",
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+ "right_qw",
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+ "right_gripper",
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+ "cmd_vel_x",
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+ "cmd_vel_y",
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+ "cmd_vel_wz"
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+ ]
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+ }
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+ },
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+ "timestamp": {
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+ "dtype": "float32",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "frame_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "episode_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ },
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+ "task_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null
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+ }
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+ }
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+ }
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+ ```
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+
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+
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+ ## Citation
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+
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+ **BibTeX:**
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+
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+ ```bibtex
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+ [More Information Needed]
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+ ```