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Datasets:
younghyopark
/
pick_tblock_mp_original_controller

Tasks:
Robotics
Modalities:
Tabular
Time-series
Formats:
parquet
Size:
100K - 1M
Tags:
LeRobot
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License:
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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": "v2.1",
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+ "robot_type": "DualPanda",
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+ "total_episodes": 1000,
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+ "total_frames": 173000,
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+ "total_tasks": 1,
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+ "total_videos": 0,
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+ "total_chunks": 1,
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+ "chunks_size": 1000,
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+ "fps": 50,
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+ "splits": {
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+ "train": "0:1000"
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+ },
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+ "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
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+ "video_path": null,
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+ "features": {
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+ "observation.joint": {
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+ "dtype": "float32",
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+ "shape": [
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+ 16
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+ ],
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+ "names": [
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+ "l_robot/joint1",
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+ "l_robot/joint2",
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+ "l_robot/joint3",
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+ "l_robot/joint4",
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+ "l_robot/joint5",
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+ "l_robot/joint6",
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+ "l_robot/joint7",
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+ "l_robot/right_driver_joint",
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+ "l_robot/right_coupler_joint",
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+ "l_robot/right_spring_link_joint",
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+ "l_robot/right_follower_joint",
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+ "l_robot/left_driver_joint",
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+ "l_robot/left_coupler_joint",
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+ "l_robot/left_spring_link_joint",
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+ "l_robot/left_follower_joint",
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+ "r_robot/joint1",
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+ "r_robot/joint2",
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+ "r_robot/joint3",
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+ "r_robot/joint4",
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+ "r_robot/joint5",
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+ "r_robot/joint6",
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+ "r_robot/joint7",
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+ "r_robot/right_driver_joint",
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+ "r_robot/right_coupler_joint",
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+ "r_robot/right_spring_link_joint",
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+ "r_robot/right_follower_joint",
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+ "r_robot/left_driver_joint",
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+ "r_robot/left_coupler_joint",
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+ "r_robot/left_spring_link_joint",
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+ "r_robot/left_follower_joint"
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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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+ 30
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+ ],
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+ "names": [
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+ "l_robot/joint1",
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+ "l_robot/joint2",
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+ "l_robot/joint3",
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+ "l_robot/joint4",
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+ "l_robot/joint5",
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+ "l_robot/joint6",
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+ "l_robot/joint7",
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+ "l_robot/right_driver_joint",
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+ "l_robot/right_coupler_joint",
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+ "l_robot/right_spring_link_joint",
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+ "l_robot/right_follower_joint",
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+ "l_robot/left_driver_joint",
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+ "l_robot/left_coupler_joint",
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+ "l_robot/left_spring_link_joint",
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+ "l_robot/left_follower_joint",
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+ "r_robot/joint1",
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+ "r_robot/joint2",
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+ "r_robot/joint3",
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+ "r_robot/joint4",
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+ "r_robot/joint5",
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+ "r_robot/joint6",
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+ "r_robot/joint7",
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+ "r_robot/right_driver_joint",
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+ "r_robot/right_coupler_joint",
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+ "r_robot/right_spring_link_joint",
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+ "r_robot/right_follower_joint",
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+ "r_robot/left_driver_joint",
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+ "r_robot/left_coupler_joint",
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+ "r_robot/left_spring_link_joint",
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+ "r_robot/left_follower_joint"
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+ ]
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+ },
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+ "observation.environment_state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 7
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+ ],
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+ "names": [
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+ "tblock_px",
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+ "tblock_py",
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+ "tblock_pz",
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+ "tblock_qw",
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+ "tblock_qx",
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+ "tblock_qy",
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+ "tblock_qz"
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+ ]
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+ },
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+ "observation.qvel": {
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+ "dtype": "float32",
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+ "shape": [
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+ 30
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+ ],
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+ "names": [
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+ "l_robot/joint1",
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+ "l_robot/joint2",
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+ "l_robot/joint3",
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+ "l_robot/joint4",
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+ "l_robot/joint5",
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+ "l_robot/joint6",
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+ "l_robot/joint7",
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+ "l_robot/right_driver_joint",
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+ "l_robot/right_coupler_joint",
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+ "l_robot/right_spring_link_joint",
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+ "l_robot/right_follower_joint",
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+ "l_robot/left_driver_joint",
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+ "l_robot/left_coupler_joint",
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+ "l_robot/left_spring_link_joint",
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+ "l_robot/left_follower_joint",
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+ "r_robot/joint1",
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+ "r_robot/joint2",
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+ "r_robot/joint3",
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+ "r_robot/joint4",
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+ "r_robot/joint5",
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+ "r_robot/joint6",
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+ "r_robot/joint7",
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+ "r_robot/right_driver_joint",
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+ "r_robot/right_coupler_joint",
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+ "r_robot/right_spring_link_joint",
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+ "r_robot/right_follower_joint",
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+ "r_robot/left_driver_joint",
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+ "r_robot/left_coupler_joint",
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+ "r_robot/left_spring_link_joint",
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+ "r_robot/left_follower_joint"
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+ ]
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+ },
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+ "observation.env_qvel": {
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+ "dtype": "float32",
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+ "shape": [
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+ 6
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+ ],
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+ "names": [
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+ "tblock_vx",
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+ "tblock_vy",
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+ "tblock_vz",
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+ "tblock_wx",
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+ "tblock_wy",
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+ "tblock_wz"
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+ ]
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+ },
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+ "observation.ee_pose": {
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+ "dtype": "float32",
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+ "shape": [
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+ 16
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+ ],
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+ "names": [
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+ "l_robot/hand_x",
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+ "l_robot/hand_y",
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+ "l_robot/hand_z",
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+ "l_robot/hand_qw",
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+ "l_robot/hand_qx",
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+ "l_robot/hand_qy",
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+ "l_robot/hand_qz",
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+ "l_robot/gripper",
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+ "r_robot/hand_x",
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+ "r_robot/hand_y",
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+ "r_robot/hand_z",
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+ "r_robot/hand_qw",
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+ "r_robot/hand_qx",
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+ "r_robot/hand_qy",
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+ "r_robot/hand_qz",
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+ "r_robot/gripper"
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+ ]
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+ },
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+ "action.ctrl": {
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+ "dtype": "float32",
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+ "shape": [
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+ 16
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+ ],
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+ "names": [
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+ "l_robot/actuator1",
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+ "l_robot/actuator2",
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+ "l_robot/actuator3",
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+ "l_robot/actuator4",
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+ "l_robot/actuator5",
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+ "l_robot/actuator6",
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+ "l_robot/actuator7",
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+ "l_robot/fingers_actuator",
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+ "r_robot/actuator1",
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+ "r_robot/actuator2",
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+ "r_robot/actuator3",
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+ "r_robot/actuator4",
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+ "r_robot/actuator5",
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+ "r_robot/actuator6",
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+ "r_robot/actuator7",
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+ "r_robot/fingers_actuator"
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+ ]
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+ },
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+ "action.joint": {
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+ "dtype": "float32",
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+ "shape": [
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+ 16
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+ ],
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+ "names": [
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+ "l_robot/actuator1",
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+ "l_robot/actuator2",
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+ "l_robot/actuator3",
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+ "l_robot/actuator4",
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+ "l_robot/actuator5",
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+ "l_robot/actuator6",
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+ "l_robot/actuator7",
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+ "l_robot/fingers_actuator",
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+ "r_robot/actuator1",
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+ "r_robot/actuator2",
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+ "r_robot/actuator3",
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+ "r_robot/actuator4",
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+ "r_robot/actuator5",
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+ "r_robot/actuator6",
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+ "r_robot/actuator7",
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+ "r_robot/fingers_actuator"
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+ ]
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+ },
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+ "action.ee_pose": {
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+ "dtype": "float32",
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+ "shape": [
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+ 16
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+ ],
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+ "names": [
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+ "l_robot/hand_x",
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+ "l_robot/hand_y",
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+ "l_robot/hand_z",
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+ "l_robot/hand_qw",
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+ "l_robot/hand_qx",
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+ "l_robot/hand_qy",
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+ "l_robot/hand_qz",
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+ "l_robot/gripper",
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+ "r_robot/hand_x",
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+ "r_robot/hand_y",
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+ "r_robot/hand_z",
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+ "r_robot/hand_qw",
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+ "r_robot/hand_qx",
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+ "r_robot/hand_qy",
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+ "r_robot/hand_qz",
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+ "r_robot/gripper"
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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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+ "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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+ "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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+ "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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+ ```