| { |
| "codebase_version": "v2.1", |
| "robot_type": null, |
| "total_episodes": 51, |
| "total_frames": 38573, |
| "total_tasks": 1, |
| "total_videos": 663, |
| "total_chunks": 1, |
| "chunks_size": 1000, |
| "fps": 30, |
| "splits": { |
| "train": "0:51" |
| }, |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
| "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
| "features": { |
| "action": { |
| "dtype": "float32", |
| "shape": [ |
| 68 |
| ], |
| "names": [ |
| "ee_pos_rot_0", |
| "ee_pos_rot_1", |
| "ee_pos_rot_2", |
| "ee_pos_rot_3", |
| "ee_pos_rot_4", |
| "ee_pos_rot_5", |
| "ee_pos_rot_6", |
| "ee_pos_rot_7", |
| "ee_pos_rot_8", |
| "ee_pos_rot_9", |
| "ee_pos_rot_10", |
| "ee_pos_rot_11", |
| "joint_positions_0", |
| "joint_positions_1", |
| "joint_positions_2", |
| "joint_positions_3", |
| "joint_positions_4", |
| "joint_positions_5", |
| "joint_positions_6", |
| "joint_positions_7", |
| "joint_positions_8", |
| "joint_positions_9", |
| "joint_positions_10", |
| "joint_positions_11", |
| "joint_positions_12", |
| "joint_positions_13", |
| "joint_positions_14", |
| "joint_positions_15", |
| "joint_positions_16", |
| "joint_positions_17", |
| "joint_positions_18", |
| "joint_positions_19", |
| "joint_positions_20", |
| "joint_positions_21", |
| "joint_positions_22", |
| "joint_positions_23", |
| "joint_positions_24", |
| "joint_positions_25", |
| "joint_positions_26", |
| "joint_positions_27", |
| "joint_positions_28", |
| "joint_positions_29", |
| "joint_positions_30", |
| "joint_positions_31", |
| "joint_positions_32", |
| "joint_positions_33", |
| "joint_positions_34", |
| "joint_positions_35", |
| "joint_positions_36", |
| "joint_positions_37", |
| "joint_positions_38", |
| "joint_positions_39", |
| "joint_positions_40", |
| "joint_positions_41", |
| "joint_positions_42", |
| "joint_positions_43", |
| "joint_positions_44", |
| "joint_positions_45", |
| "joint_positions_46", |
| "joint_positions_47", |
| "joint_positions_48", |
| "joint_positions_49", |
| "joint_positions_50", |
| "joint_positions_51", |
| "joint_positions_52", |
| "joint_positions_53", |
| "joint_positions_54", |
| "joint_positions_55" |
| ] |
| }, |
| "observation.state": { |
| "dtype": "float32", |
| "shape": [ |
| 706 |
| ], |
| "names": [ |
| "ee_pos_rot_0", |
| "ee_pos_rot_1", |
| "ee_pos_rot_2", |
| "ee_pos_rot_3", |
| "ee_pos_rot_4", |
| "ee_pos_rot_5", |
| "ee_pos_rot_6", |
| "ee_pos_rot_7", |
| "ee_pos_rot_8", |
| "ee_pos_rot_9", |
| "ee_pos_rot_10", |
| "ee_pos_rot_11", |
| "joint_positions_0", |
| "joint_positions_1", |
| "joint_positions_2", |
| "joint_positions_3", |
| "joint_positions_4", |
| "joint_positions_5", |
| "joint_positions_6", |
| "joint_positions_7", |
| "joint_positions_8", |
| "joint_positions_9", |
| "joint_positions_10", |
| "joint_positions_11", |
| "joint_positions_12", |
| "joint_positions_13", |
| "joint_positions_14", |
| "joint_positions_15", |
| "joint_positions_16", |
| "joint_positions_17", |
| "joint_positions_18", |
| "joint_positions_19", |
| "joint_positions_20", |
| "joint_positions_21", |
| "joint_positions_22", |
| "joint_positions_23", |
| "joint_positions_24", |
| "joint_positions_25", |
| "joint_positions_26", |
| "joint_positions_27", |
| "joint_positions_28", |
| "joint_positions_29", |
| "joint_positions_30", |
| "joint_positions_31", |
| "joint_positions_32", |
| "joint_positions_33", |
| "joint_positions_34", |
| "joint_positions_35", |
| "joint_positions_36", |
| "joint_positions_37", |
| "joint_positions_38", |
| "joint_positions_39", |
| "joint_positions_40", |
| "joint_positions_41", |
| "joint_positions_42", |
| "joint_positions_43", |
| "joint_positions_44", |
| "joint_positions_45", |
| "joint_positions_46", |
| "joint_positions_47", |
| "joint_positions_48", |
| "joint_positions_49", |
| "joint_positions_50", |
| "joint_positions_51", |
| "joint_positions_52", |
| "joint_positions_53", |
| "joint_positions_54", |
| "joint_positions_55", |
| "sharpa_joint_velocities_0", |
| "sharpa_joint_velocities_1", |
| "sharpa_joint_velocities_2", |
| "sharpa_joint_velocities_3", |
| "sharpa_joint_velocities_4", |
| "sharpa_joint_velocities_5", |
| "sharpa_joint_velocities_6", |
| "sharpa_joint_velocities_7", |
| "sharpa_joint_velocities_8", |
| "sharpa_joint_velocities_9", |
| "sharpa_joint_velocities_10", |
| "sharpa_joint_velocities_11", |
| "sharpa_joint_velocities_12", |
| "sharpa_joint_velocities_13", |
| "sharpa_joint_velocities_14", |
| "sharpa_joint_velocities_15", |
| "sharpa_joint_velocities_16", |
| "sharpa_joint_velocities_17", |
| "sharpa_joint_velocities_18", |
| "sharpa_joint_velocities_19", |
| "sharpa_joint_velocities_20", |
| "sharpa_joint_velocities_21", |
| "sharpa_joint_velocities_22", |
| "sharpa_joint_velocities_23", |
| "sharpa_joint_velocities_24", |
| "sharpa_joint_velocities_25", |
| "sharpa_joint_velocities_26", |
| "sharpa_joint_velocities_27", |
| "sharpa_joint_velocities_28", |
| "sharpa_joint_velocities_29", |
| "sharpa_joint_velocities_30", |
| "sharpa_joint_velocities_31", |
| "sharpa_joint_velocities_32", |
| "sharpa_joint_velocities_33", |
| "sharpa_joint_velocities_34", |
| "sharpa_joint_velocities_35", |
| "sharpa_joint_velocities_36", |
| "sharpa_joint_velocities_37", |
| "sharpa_joint_velocities_38", |
| "sharpa_joint_velocities_39", |
| "sharpa_joint_velocities_40", |
| "sharpa_joint_velocities_41", |
| "sharpa_joint_velocities_42", |
| "sharpa_joint_velocities_43", |
| "sharpa_joint_torques_0", |
| "sharpa_joint_torques_1", |
| "sharpa_joint_torques_2", |
| "sharpa_joint_torques_3", |
| "sharpa_joint_torques_4", |
| "sharpa_joint_torques_5", |
| "sharpa_joint_torques_6", |
| "sharpa_joint_torques_7", |
| "sharpa_joint_torques_8", |
| "sharpa_joint_torques_9", |
| "sharpa_joint_torques_10", |
| "sharpa_joint_torques_11", |
| "sharpa_joint_torques_12", |
| "sharpa_joint_torques_13", |
| "sharpa_joint_torques_14", |
| "sharpa_joint_torques_15", |
| "sharpa_joint_torques_16", |
| "sharpa_joint_torques_17", |
| "sharpa_joint_torques_18", |
| "sharpa_joint_torques_19", |
| "sharpa_joint_torques_20", |
| "sharpa_joint_torques_21", |
| "sharpa_joint_torques_22", |
| "sharpa_joint_torques_23", |
| "sharpa_joint_torques_24", |
| "sharpa_joint_torques_25", |
| "sharpa_joint_torques_26", |
| "sharpa_joint_torques_27", |
| "sharpa_joint_torques_28", |
| "sharpa_joint_torques_29", |
| "sharpa_joint_torques_30", |
| "sharpa_joint_torques_31", |
| "sharpa_joint_torques_32", |
| "sharpa_joint_torques_33", |
| "sharpa_joint_torques_34", |
| "sharpa_joint_torques_35", |
| "sharpa_joint_torques_36", |
| "sharpa_joint_torques_37", |
| "sharpa_joint_torques_38", |
| "sharpa_joint_torques_39", |
| "sharpa_joint_torques_40", |
| "sharpa_joint_torques_41", |
| "sharpa_joint_torques_42", |
| "sharpa_joint_torques_43", |
| "sharpa_left_tactile_force6d_thumb_0", |
| "sharpa_left_tactile_force6d_thumb_1", |
| "sharpa_left_tactile_force6d_thumb_2", |
| "sharpa_left_tactile_force6d_thumb_3", |
| "sharpa_left_tactile_force6d_thumb_4", |
| "sharpa_left_tactile_force6d_thumb_5", |
| "sharpa_left_tactile_contact_point_thumb_count", |
| "sharpa_left_tactile_contact_point_thumb_0_x", |
| "sharpa_left_tactile_contact_point_thumb_0_y", |
| "sharpa_left_tactile_contact_point_thumb_0_confidence", |
| "sharpa_left_tactile_contact_point_thumb_1_x", |
| "sharpa_left_tactile_contact_point_thumb_1_y", |
| "sharpa_left_tactile_contact_point_thumb_1_confidence", |
| "sharpa_left_tactile_contact_point_thumb_2_x", |
| "sharpa_left_tactile_contact_point_thumb_2_y", |
| "sharpa_left_tactile_contact_point_thumb_2_confidence", |
| "sharpa_left_tactile_contact_point_thumb_3_x", |
| "sharpa_left_tactile_contact_point_thumb_3_y", |
| "sharpa_left_tactile_contact_point_thumb_3_confidence", |
| "sharpa_left_tactile_contact_point_thumb_4_x", |
| "sharpa_left_tactile_contact_point_thumb_4_y", |
| "sharpa_left_tactile_contact_point_thumb_4_confidence", |
| "sharpa_left_tactile_contact_point_thumb_5_x", |
| "sharpa_left_tactile_contact_point_thumb_5_y", |
| "sharpa_left_tactile_contact_point_thumb_5_confidence", |
| "sharpa_left_tactile_contact_point_thumb_6_x", |
| "sharpa_left_tactile_contact_point_thumb_6_y", |
| "sharpa_left_tactile_contact_point_thumb_6_confidence", |
| "sharpa_left_tactile_contact_point_thumb_7_x", |
| "sharpa_left_tactile_contact_point_thumb_7_y", |
| "sharpa_left_tactile_contact_point_thumb_7_confidence", |
| "sharpa_left_tactile_contact_point_thumb_8_x", |
| "sharpa_left_tactile_contact_point_thumb_8_y", |
| "sharpa_left_tactile_contact_point_thumb_8_confidence", |
| "sharpa_left_tactile_contact_point_thumb_9_x", |
| "sharpa_left_tactile_contact_point_thumb_9_y", |
| "sharpa_left_tactile_contact_point_thumb_9_confidence", |
| "sharpa_left_tactile_contact_point_thumb_10_x", |
| "sharpa_left_tactile_contact_point_thumb_10_y", |
| "sharpa_left_tactile_contact_point_thumb_10_confidence", |
| "sharpa_left_tactile_contact_point_thumb_11_x", |
| "sharpa_left_tactile_contact_point_thumb_11_y", |
| "sharpa_left_tactile_contact_point_thumb_11_confidence", |
| "sharpa_left_tactile_contact_point_thumb_12_x", |
| "sharpa_left_tactile_contact_point_thumb_12_y", |
| "sharpa_left_tactile_contact_point_thumb_12_confidence", |
| "sharpa_left_tactile_contact_point_thumb_13_x", |
| "sharpa_left_tactile_contact_point_thumb_13_y", |
| "sharpa_left_tactile_contact_point_thumb_13_confidence", |
| "sharpa_left_tactile_contact_point_thumb_14_x", |
| "sharpa_left_tactile_contact_point_thumb_14_y", |
| "sharpa_left_tactile_contact_point_thumb_14_confidence", |
| "sharpa_left_tactile_contact_point_thumb_15_x", |
| "sharpa_left_tactile_contact_point_thumb_15_y", |
| "sharpa_left_tactile_contact_point_thumb_15_confidence", |
| "sharpa_left_tactile_force6d_index_0", |
| "sharpa_left_tactile_force6d_index_1", |
| "sharpa_left_tactile_force6d_index_2", |
| "sharpa_left_tactile_force6d_index_3", |
| "sharpa_left_tactile_force6d_index_4", |
| "sharpa_left_tactile_force6d_index_5", |
| "sharpa_left_tactile_contact_point_index_count", |
| "sharpa_left_tactile_contact_point_index_0_x", |
| "sharpa_left_tactile_contact_point_index_0_y", |
| "sharpa_left_tactile_contact_point_index_0_confidence", |
| "sharpa_left_tactile_contact_point_index_1_x", |
| "sharpa_left_tactile_contact_point_index_1_y", |
| "sharpa_left_tactile_contact_point_index_1_confidence", |
| "sharpa_left_tactile_contact_point_index_2_x", |
| "sharpa_left_tactile_contact_point_index_2_y", |
| "sharpa_left_tactile_contact_point_index_2_confidence", |
| "sharpa_left_tactile_contact_point_index_3_x", |
| "sharpa_left_tactile_contact_point_index_3_y", |
| "sharpa_left_tactile_contact_point_index_3_confidence", |
| "sharpa_left_tactile_contact_point_index_4_x", |
| "sharpa_left_tactile_contact_point_index_4_y", |
| "sharpa_left_tactile_contact_point_index_4_confidence", |
| "sharpa_left_tactile_contact_point_index_5_x", |
| "sharpa_left_tactile_contact_point_index_5_y", |
| "sharpa_left_tactile_contact_point_index_5_confidence", |
| "sharpa_left_tactile_contact_point_index_6_x", |
| "sharpa_left_tactile_contact_point_index_6_y", |
| "sharpa_left_tactile_contact_point_index_6_confidence", |
| "sharpa_left_tactile_contact_point_index_7_x", |
| "sharpa_left_tactile_contact_point_index_7_y", |
| "sharpa_left_tactile_contact_point_index_7_confidence", |
| "sharpa_left_tactile_contact_point_index_8_x", |
| "sharpa_left_tactile_contact_point_index_8_y", |
| "sharpa_left_tactile_contact_point_index_8_confidence", |
| "sharpa_left_tactile_contact_point_index_9_x", |
| "sharpa_left_tactile_contact_point_index_9_y", |
| "sharpa_left_tactile_contact_point_index_9_confidence", |
| "sharpa_left_tactile_contact_point_index_10_x", |
| "sharpa_left_tactile_contact_point_index_10_y", |
| "sharpa_left_tactile_contact_point_index_10_confidence", |
| "sharpa_left_tactile_contact_point_index_11_x", |
| "sharpa_left_tactile_contact_point_index_11_y", |
| "sharpa_left_tactile_contact_point_index_11_confidence", |
| "sharpa_left_tactile_contact_point_index_12_x", |
| "sharpa_left_tactile_contact_point_index_12_y", |
| "sharpa_left_tactile_contact_point_index_12_confidence", |
| "sharpa_left_tactile_contact_point_index_13_x", |
| "sharpa_left_tactile_contact_point_index_13_y", |
| "sharpa_left_tactile_contact_point_index_13_confidence", |
| "sharpa_left_tactile_contact_point_index_14_x", |
| "sharpa_left_tactile_contact_point_index_14_y", |
| "sharpa_left_tactile_contact_point_index_14_confidence", |
| "sharpa_left_tactile_contact_point_index_15_x", |
| "sharpa_left_tactile_contact_point_index_15_y", |
| "sharpa_left_tactile_contact_point_index_15_confidence", |
| "sharpa_left_tactile_force6d_middle_0", |
| "sharpa_left_tactile_force6d_middle_1", |
| "sharpa_left_tactile_force6d_middle_2", |
| "sharpa_left_tactile_force6d_middle_3", |
| "sharpa_left_tactile_force6d_middle_4", |
| "sharpa_left_tactile_force6d_middle_5", |
| "sharpa_left_tactile_contact_point_middle_count", |
| "sharpa_left_tactile_contact_point_middle_0_x", |
| "sharpa_left_tactile_contact_point_middle_0_y", |
| "sharpa_left_tactile_contact_point_middle_0_confidence", |
| "sharpa_left_tactile_contact_point_middle_1_x", |
| "sharpa_left_tactile_contact_point_middle_1_y", |
| "sharpa_left_tactile_contact_point_middle_1_confidence", |
| "sharpa_left_tactile_contact_point_middle_2_x", |
| "sharpa_left_tactile_contact_point_middle_2_y", |
| "sharpa_left_tactile_contact_point_middle_2_confidence", |
| "sharpa_left_tactile_contact_point_middle_3_x", |
| "sharpa_left_tactile_contact_point_middle_3_y", |
| "sharpa_left_tactile_contact_point_middle_3_confidence", |
| "sharpa_left_tactile_contact_point_middle_4_x", |
| "sharpa_left_tactile_contact_point_middle_4_y", |
| "sharpa_left_tactile_contact_point_middle_4_confidence", |
| "sharpa_left_tactile_contact_point_middle_5_x", |
| "sharpa_left_tactile_contact_point_middle_5_y", |
| "sharpa_left_tactile_contact_point_middle_5_confidence", |
| "sharpa_left_tactile_contact_point_middle_6_x", |
| "sharpa_left_tactile_contact_point_middle_6_y", |
| "sharpa_left_tactile_contact_point_middle_6_confidence", |
| "sharpa_left_tactile_contact_point_middle_7_x", |
| "sharpa_left_tactile_contact_point_middle_7_y", |
| "sharpa_left_tactile_contact_point_middle_7_confidence", |
| "sharpa_left_tactile_contact_point_middle_8_x", |
| "sharpa_left_tactile_contact_point_middle_8_y", |
| "sharpa_left_tactile_contact_point_middle_8_confidence", |
| "sharpa_left_tactile_contact_point_middle_9_x", |
| "sharpa_left_tactile_contact_point_middle_9_y", |
| "sharpa_left_tactile_contact_point_middle_9_confidence", |
| "sharpa_left_tactile_contact_point_middle_10_x", |
| "sharpa_left_tactile_contact_point_middle_10_y", |
| "sharpa_left_tactile_contact_point_middle_10_confidence", |
| "sharpa_left_tactile_contact_point_middle_11_x", |
| "sharpa_left_tactile_contact_point_middle_11_y", |
| "sharpa_left_tactile_contact_point_middle_11_confidence", |
| "sharpa_left_tactile_contact_point_middle_12_x", |
| "sharpa_left_tactile_contact_point_middle_12_y", |
| "sharpa_left_tactile_contact_point_middle_12_confidence", |
| "sharpa_left_tactile_contact_point_middle_13_x", |
| "sharpa_left_tactile_contact_point_middle_13_y", |
| "sharpa_left_tactile_contact_point_middle_13_confidence", |
| "sharpa_left_tactile_contact_point_middle_14_x", |
| "sharpa_left_tactile_contact_point_middle_14_y", |
| "sharpa_left_tactile_contact_point_middle_14_confidence", |
| "sharpa_left_tactile_contact_point_middle_15_x", |
| "sharpa_left_tactile_contact_point_middle_15_y", |
| "sharpa_left_tactile_contact_point_middle_15_confidence", |
| "sharpa_left_tactile_force6d_ring_0", |
| "sharpa_left_tactile_force6d_ring_1", |
| "sharpa_left_tactile_force6d_ring_2", |
| "sharpa_left_tactile_force6d_ring_3", |
| "sharpa_left_tactile_force6d_ring_4", |
| "sharpa_left_tactile_force6d_ring_5", |
| "sharpa_left_tactile_contact_point_ring_count", |
| "sharpa_left_tactile_contact_point_ring_0_x", |
| "sharpa_left_tactile_contact_point_ring_0_y", |
| "sharpa_left_tactile_contact_point_ring_0_confidence", |
| "sharpa_left_tactile_contact_point_ring_1_x", |
| "sharpa_left_tactile_contact_point_ring_1_y", |
| "sharpa_left_tactile_contact_point_ring_1_confidence", |
| "sharpa_left_tactile_contact_point_ring_2_x", |
| "sharpa_left_tactile_contact_point_ring_2_y", |
| "sharpa_left_tactile_contact_point_ring_2_confidence", |
| "sharpa_left_tactile_contact_point_ring_3_x", |
| "sharpa_left_tactile_contact_point_ring_3_y", |
| "sharpa_left_tactile_contact_point_ring_3_confidence", |
| "sharpa_left_tactile_contact_point_ring_4_x", |
| "sharpa_left_tactile_contact_point_ring_4_y", |
| "sharpa_left_tactile_contact_point_ring_4_confidence", |
| "sharpa_left_tactile_contact_point_ring_5_x", |
| "sharpa_left_tactile_contact_point_ring_5_y", |
| "sharpa_left_tactile_contact_point_ring_5_confidence", |
| "sharpa_left_tactile_contact_point_ring_6_x", |
| "sharpa_left_tactile_contact_point_ring_6_y", |
| "sharpa_left_tactile_contact_point_ring_6_confidence", |
| "sharpa_left_tactile_contact_point_ring_7_x", |
| "sharpa_left_tactile_contact_point_ring_7_y", |
| "sharpa_left_tactile_contact_point_ring_7_confidence", |
| "sharpa_left_tactile_contact_point_ring_8_x", |
| "sharpa_left_tactile_contact_point_ring_8_y", |
| "sharpa_left_tactile_contact_point_ring_8_confidence", |
| "sharpa_left_tactile_contact_point_ring_9_x", |
| "sharpa_left_tactile_contact_point_ring_9_y", |
| "sharpa_left_tactile_contact_point_ring_9_confidence", |
| "sharpa_left_tactile_contact_point_ring_10_x", |
| "sharpa_left_tactile_contact_point_ring_10_y", |
| "sharpa_left_tactile_contact_point_ring_10_confidence", |
| "sharpa_left_tactile_contact_point_ring_11_x", |
| "sharpa_left_tactile_contact_point_ring_11_y", |
| "sharpa_left_tactile_contact_point_ring_11_confidence", |
| "sharpa_left_tactile_contact_point_ring_12_x", |
| "sharpa_left_tactile_contact_point_ring_12_y", |
| "sharpa_left_tactile_contact_point_ring_12_confidence", |
| "sharpa_left_tactile_contact_point_ring_13_x", |
| "sharpa_left_tactile_contact_point_ring_13_y", |
| "sharpa_left_tactile_contact_point_ring_13_confidence", |
| "sharpa_left_tactile_contact_point_ring_14_x", |
| "sharpa_left_tactile_contact_point_ring_14_y", |
| "sharpa_left_tactile_contact_point_ring_14_confidence", |
| "sharpa_left_tactile_contact_point_ring_15_x", |
| "sharpa_left_tactile_contact_point_ring_15_y", |
| "sharpa_left_tactile_contact_point_ring_15_confidence", |
| "sharpa_left_tactile_force6d_pinky_0", |
| "sharpa_left_tactile_force6d_pinky_1", |
| "sharpa_left_tactile_force6d_pinky_2", |
| "sharpa_left_tactile_force6d_pinky_3", |
| "sharpa_left_tactile_force6d_pinky_4", |
| "sharpa_left_tactile_force6d_pinky_5", |
| "sharpa_left_tactile_contact_point_pinky_count", |
| "sharpa_left_tactile_contact_point_pinky_0_x", |
| "sharpa_left_tactile_contact_point_pinky_0_y", |
| "sharpa_left_tactile_contact_point_pinky_0_confidence", |
| "sharpa_left_tactile_contact_point_pinky_1_x", |
| "sharpa_left_tactile_contact_point_pinky_1_y", |
| "sharpa_left_tactile_contact_point_pinky_1_confidence", |
| "sharpa_left_tactile_contact_point_pinky_2_x", |
| "sharpa_left_tactile_contact_point_pinky_2_y", |
| "sharpa_left_tactile_contact_point_pinky_2_confidence", |
| "sharpa_left_tactile_contact_point_pinky_3_x", |
| "sharpa_left_tactile_contact_point_pinky_3_y", |
| "sharpa_left_tactile_contact_point_pinky_3_confidence", |
| "sharpa_left_tactile_contact_point_pinky_4_x", |
| "sharpa_left_tactile_contact_point_pinky_4_y", |
| "sharpa_left_tactile_contact_point_pinky_4_confidence", |
| "sharpa_left_tactile_contact_point_pinky_5_x", |
| "sharpa_left_tactile_contact_point_pinky_5_y", |
| "sharpa_left_tactile_contact_point_pinky_5_confidence", |
| "sharpa_left_tactile_contact_point_pinky_6_x", |
| "sharpa_left_tactile_contact_point_pinky_6_y", |
| "sharpa_left_tactile_contact_point_pinky_6_confidence", |
| "sharpa_left_tactile_contact_point_pinky_7_x", |
| "sharpa_left_tactile_contact_point_pinky_7_y", |
| "sharpa_left_tactile_contact_point_pinky_7_confidence", |
| "sharpa_left_tactile_contact_point_pinky_8_x", |
| "sharpa_left_tactile_contact_point_pinky_8_y", |
| "sharpa_left_tactile_contact_point_pinky_8_confidence", |
| "sharpa_left_tactile_contact_point_pinky_9_x", |
| "sharpa_left_tactile_contact_point_pinky_9_y", |
| "sharpa_left_tactile_contact_point_pinky_9_confidence", |
| "sharpa_left_tactile_contact_point_pinky_10_x", |
| "sharpa_left_tactile_contact_point_pinky_10_y", |
| "sharpa_left_tactile_contact_point_pinky_10_confidence", |
| "sharpa_left_tactile_contact_point_pinky_11_x", |
| "sharpa_left_tactile_contact_point_pinky_11_y", |
| "sharpa_left_tactile_contact_point_pinky_11_confidence", |
| "sharpa_left_tactile_contact_point_pinky_12_x", |
| "sharpa_left_tactile_contact_point_pinky_12_y", |
| "sharpa_left_tactile_contact_point_pinky_12_confidence", |
| "sharpa_left_tactile_contact_point_pinky_13_x", |
| "sharpa_left_tactile_contact_point_pinky_13_y", |
| "sharpa_left_tactile_contact_point_pinky_13_confidence", |
| "sharpa_left_tactile_contact_point_pinky_14_x", |
| "sharpa_left_tactile_contact_point_pinky_14_y", |
| "sharpa_left_tactile_contact_point_pinky_14_confidence", |
| "sharpa_left_tactile_contact_point_pinky_15_x", |
| "sharpa_left_tactile_contact_point_pinky_15_y", |
| "sharpa_left_tactile_contact_point_pinky_15_confidence", |
| "sharpa_right_tactile_force6d_thumb_0", |
| "sharpa_right_tactile_force6d_thumb_1", |
| "sharpa_right_tactile_force6d_thumb_2", |
| "sharpa_right_tactile_force6d_thumb_3", |
| "sharpa_right_tactile_force6d_thumb_4", |
| "sharpa_right_tactile_force6d_thumb_5", |
| "sharpa_right_tactile_contact_point_thumb_count", |
| "sharpa_right_tactile_contact_point_thumb_0_x", |
| "sharpa_right_tactile_contact_point_thumb_0_y", |
| "sharpa_right_tactile_contact_point_thumb_0_confidence", |
| "sharpa_right_tactile_contact_point_thumb_1_x", |
| "sharpa_right_tactile_contact_point_thumb_1_y", |
| "sharpa_right_tactile_contact_point_thumb_1_confidence", |
| "sharpa_right_tactile_contact_point_thumb_2_x", |
| "sharpa_right_tactile_contact_point_thumb_2_y", |
| "sharpa_right_tactile_contact_point_thumb_2_confidence", |
| "sharpa_right_tactile_contact_point_thumb_3_x", |
| "sharpa_right_tactile_contact_point_thumb_3_y", |
| "sharpa_right_tactile_contact_point_thumb_3_confidence", |
| "sharpa_right_tactile_contact_point_thumb_4_x", |
| "sharpa_right_tactile_contact_point_thumb_4_y", |
| "sharpa_right_tactile_contact_point_thumb_4_confidence", |
| "sharpa_right_tactile_contact_point_thumb_5_x", |
| "sharpa_right_tactile_contact_point_thumb_5_y", |
| "sharpa_right_tactile_contact_point_thumb_5_confidence", |
| "sharpa_right_tactile_contact_point_thumb_6_x", |
| "sharpa_right_tactile_contact_point_thumb_6_y", |
| "sharpa_right_tactile_contact_point_thumb_6_confidence", |
| "sharpa_right_tactile_contact_point_thumb_7_x", |
| "sharpa_right_tactile_contact_point_thumb_7_y", |
| "sharpa_right_tactile_contact_point_thumb_7_confidence", |
| "sharpa_right_tactile_contact_point_thumb_8_x", |
| "sharpa_right_tactile_contact_point_thumb_8_y", |
| "sharpa_right_tactile_contact_point_thumb_8_confidence", |
| "sharpa_right_tactile_contact_point_thumb_9_x", |
| "sharpa_right_tactile_contact_point_thumb_9_y", |
| "sharpa_right_tactile_contact_point_thumb_9_confidence", |
| "sharpa_right_tactile_contact_point_thumb_10_x", |
| "sharpa_right_tactile_contact_point_thumb_10_y", |
| "sharpa_right_tactile_contact_point_thumb_10_confidence", |
| "sharpa_right_tactile_contact_point_thumb_11_x", |
| "sharpa_right_tactile_contact_point_thumb_11_y", |
| "sharpa_right_tactile_contact_point_thumb_11_confidence", |
| "sharpa_right_tactile_contact_point_thumb_12_x", |
| "sharpa_right_tactile_contact_point_thumb_12_y", |
| "sharpa_right_tactile_contact_point_thumb_12_confidence", |
| "sharpa_right_tactile_contact_point_thumb_13_x", |
| "sharpa_right_tactile_contact_point_thumb_13_y", |
| "sharpa_right_tactile_contact_point_thumb_13_confidence", |
| "sharpa_right_tactile_contact_point_thumb_14_x", |
| "sharpa_right_tactile_contact_point_thumb_14_y", |
| "sharpa_right_tactile_contact_point_thumb_14_confidence", |
| "sharpa_right_tactile_contact_point_thumb_15_x", |
| "sharpa_right_tactile_contact_point_thumb_15_y", |
| "sharpa_right_tactile_contact_point_thumb_15_confidence", |
| "sharpa_right_tactile_force6d_index_0", |
| "sharpa_right_tactile_force6d_index_1", |
| "sharpa_right_tactile_force6d_index_2", |
| "sharpa_right_tactile_force6d_index_3", |
| "sharpa_right_tactile_force6d_index_4", |
| "sharpa_right_tactile_force6d_index_5", |
| "sharpa_right_tactile_contact_point_index_count", |
| "sharpa_right_tactile_contact_point_index_0_x", |
| "sharpa_right_tactile_contact_point_index_0_y", |
| "sharpa_right_tactile_contact_point_index_0_confidence", |
| "sharpa_right_tactile_contact_point_index_1_x", |
| "sharpa_right_tactile_contact_point_index_1_y", |
| "sharpa_right_tactile_contact_point_index_1_confidence", |
| "sharpa_right_tactile_contact_point_index_2_x", |
| "sharpa_right_tactile_contact_point_index_2_y", |
| "sharpa_right_tactile_contact_point_index_2_confidence", |
| "sharpa_right_tactile_contact_point_index_3_x", |
| "sharpa_right_tactile_contact_point_index_3_y", |
| "sharpa_right_tactile_contact_point_index_3_confidence", |
| "sharpa_right_tactile_contact_point_index_4_x", |
| "sharpa_right_tactile_contact_point_index_4_y", |
| "sharpa_right_tactile_contact_point_index_4_confidence", |
| "sharpa_right_tactile_contact_point_index_5_x", |
| "sharpa_right_tactile_contact_point_index_5_y", |
| "sharpa_right_tactile_contact_point_index_5_confidence", |
| "sharpa_right_tactile_contact_point_index_6_x", |
| "sharpa_right_tactile_contact_point_index_6_y", |
| "sharpa_right_tactile_contact_point_index_6_confidence", |
| "sharpa_right_tactile_contact_point_index_7_x", |
| "sharpa_right_tactile_contact_point_index_7_y", |
| "sharpa_right_tactile_contact_point_index_7_confidence", |
| "sharpa_right_tactile_contact_point_index_8_x", |
| "sharpa_right_tactile_contact_point_index_8_y", |
| "sharpa_right_tactile_contact_point_index_8_confidence", |
| "sharpa_right_tactile_contact_point_index_9_x", |
| "sharpa_right_tactile_contact_point_index_9_y", |
| "sharpa_right_tactile_contact_point_index_9_confidence", |
| "sharpa_right_tactile_contact_point_index_10_x", |
| "sharpa_right_tactile_contact_point_index_10_y", |
| "sharpa_right_tactile_contact_point_index_10_confidence", |
| "sharpa_right_tactile_contact_point_index_11_x", |
| "sharpa_right_tactile_contact_point_index_11_y", |
| "sharpa_right_tactile_contact_point_index_11_confidence", |
| "sharpa_right_tactile_contact_point_index_12_x", |
| "sharpa_right_tactile_contact_point_index_12_y", |
| "sharpa_right_tactile_contact_point_index_12_confidence", |
| "sharpa_right_tactile_contact_point_index_13_x", |
| "sharpa_right_tactile_contact_point_index_13_y", |
| "sharpa_right_tactile_contact_point_index_13_confidence", |
| "sharpa_right_tactile_contact_point_index_14_x", |
| "sharpa_right_tactile_contact_point_index_14_y", |
| "sharpa_right_tactile_contact_point_index_14_confidence", |
| "sharpa_right_tactile_contact_point_index_15_x", |
| "sharpa_right_tactile_contact_point_index_15_y", |
| "sharpa_right_tactile_contact_point_index_15_confidence", |
| "sharpa_right_tactile_force6d_middle_0", |
| "sharpa_right_tactile_force6d_middle_1", |
| "sharpa_right_tactile_force6d_middle_2", |
| "sharpa_right_tactile_force6d_middle_3", |
| "sharpa_right_tactile_force6d_middle_4", |
| "sharpa_right_tactile_force6d_middle_5", |
| "sharpa_right_tactile_contact_point_middle_count", |
| "sharpa_right_tactile_contact_point_middle_0_x", |
| "sharpa_right_tactile_contact_point_middle_0_y", |
| "sharpa_right_tactile_contact_point_middle_0_confidence", |
| "sharpa_right_tactile_contact_point_middle_1_x", |
| "sharpa_right_tactile_contact_point_middle_1_y", |
| "sharpa_right_tactile_contact_point_middle_1_confidence", |
| "sharpa_right_tactile_contact_point_middle_2_x", |
| "sharpa_right_tactile_contact_point_middle_2_y", |
| "sharpa_right_tactile_contact_point_middle_2_confidence", |
| "sharpa_right_tactile_contact_point_middle_3_x", |
| "sharpa_right_tactile_contact_point_middle_3_y", |
| "sharpa_right_tactile_contact_point_middle_3_confidence", |
| "sharpa_right_tactile_contact_point_middle_4_x", |
| "sharpa_right_tactile_contact_point_middle_4_y", |
| "sharpa_right_tactile_contact_point_middle_4_confidence", |
| "sharpa_right_tactile_contact_point_middle_5_x", |
| "sharpa_right_tactile_contact_point_middle_5_y", |
| "sharpa_right_tactile_contact_point_middle_5_confidence", |
| "sharpa_right_tactile_contact_point_middle_6_x", |
| "sharpa_right_tactile_contact_point_middle_6_y", |
| "sharpa_right_tactile_contact_point_middle_6_confidence", |
| "sharpa_right_tactile_contact_point_middle_7_x", |
| "sharpa_right_tactile_contact_point_middle_7_y", |
| "sharpa_right_tactile_contact_point_middle_7_confidence", |
| "sharpa_right_tactile_contact_point_middle_8_x", |
| "sharpa_right_tactile_contact_point_middle_8_y", |
| "sharpa_right_tactile_contact_point_middle_8_confidence", |
| "sharpa_right_tactile_contact_point_middle_9_x", |
| "sharpa_right_tactile_contact_point_middle_9_y", |
| "sharpa_right_tactile_contact_point_middle_9_confidence", |
| "sharpa_right_tactile_contact_point_middle_10_x", |
| "sharpa_right_tactile_contact_point_middle_10_y", |
| "sharpa_right_tactile_contact_point_middle_10_confidence", |
| "sharpa_right_tactile_contact_point_middle_11_x", |
| "sharpa_right_tactile_contact_point_middle_11_y", |
| "sharpa_right_tactile_contact_point_middle_11_confidence", |
| "sharpa_right_tactile_contact_point_middle_12_x", |
| "sharpa_right_tactile_contact_point_middle_12_y", |
| "sharpa_right_tactile_contact_point_middle_12_confidence", |
| "sharpa_right_tactile_contact_point_middle_13_x", |
| "sharpa_right_tactile_contact_point_middle_13_y", |
| "sharpa_right_tactile_contact_point_middle_13_confidence", |
| "sharpa_right_tactile_contact_point_middle_14_x", |
| "sharpa_right_tactile_contact_point_middle_14_y", |
| "sharpa_right_tactile_contact_point_middle_14_confidence", |
| "sharpa_right_tactile_contact_point_middle_15_x", |
| "sharpa_right_tactile_contact_point_middle_15_y", |
| "sharpa_right_tactile_contact_point_middle_15_confidence", |
| "sharpa_right_tactile_force6d_ring_0", |
| "sharpa_right_tactile_force6d_ring_1", |
| "sharpa_right_tactile_force6d_ring_2", |
| "sharpa_right_tactile_force6d_ring_3", |
| "sharpa_right_tactile_force6d_ring_4", |
| "sharpa_right_tactile_force6d_ring_5", |
| "sharpa_right_tactile_contact_point_ring_count", |
| "sharpa_right_tactile_contact_point_ring_0_x", |
| "sharpa_right_tactile_contact_point_ring_0_y", |
| "sharpa_right_tactile_contact_point_ring_0_confidence", |
| "sharpa_right_tactile_contact_point_ring_1_x", |
| "sharpa_right_tactile_contact_point_ring_1_y", |
| "sharpa_right_tactile_contact_point_ring_1_confidence", |
| "sharpa_right_tactile_contact_point_ring_2_x", |
| "sharpa_right_tactile_contact_point_ring_2_y", |
| "sharpa_right_tactile_contact_point_ring_2_confidence", |
| "sharpa_right_tactile_contact_point_ring_3_x", |
| "sharpa_right_tactile_contact_point_ring_3_y", |
| "sharpa_right_tactile_contact_point_ring_3_confidence", |
| "sharpa_right_tactile_contact_point_ring_4_x", |
| "sharpa_right_tactile_contact_point_ring_4_y", |
| "sharpa_right_tactile_contact_point_ring_4_confidence", |
| "sharpa_right_tactile_contact_point_ring_5_x", |
| "sharpa_right_tactile_contact_point_ring_5_y", |
| "sharpa_right_tactile_contact_point_ring_5_confidence", |
| "sharpa_right_tactile_contact_point_ring_6_x", |
| "sharpa_right_tactile_contact_point_ring_6_y", |
| "sharpa_right_tactile_contact_point_ring_6_confidence", |
| "sharpa_right_tactile_contact_point_ring_7_x", |
| "sharpa_right_tactile_contact_point_ring_7_y", |
| "sharpa_right_tactile_contact_point_ring_7_confidence", |
| "sharpa_right_tactile_contact_point_ring_8_x", |
| "sharpa_right_tactile_contact_point_ring_8_y", |
| "sharpa_right_tactile_contact_point_ring_8_confidence", |
| "sharpa_right_tactile_contact_point_ring_9_x", |
| "sharpa_right_tactile_contact_point_ring_9_y", |
| "sharpa_right_tactile_contact_point_ring_9_confidence", |
| "sharpa_right_tactile_contact_point_ring_10_x", |
| "sharpa_right_tactile_contact_point_ring_10_y", |
| "sharpa_right_tactile_contact_point_ring_10_confidence", |
| "sharpa_right_tactile_contact_point_ring_11_x", |
| "sharpa_right_tactile_contact_point_ring_11_y", |
| "sharpa_right_tactile_contact_point_ring_11_confidence", |
| "sharpa_right_tactile_contact_point_ring_12_x", |
| "sharpa_right_tactile_contact_point_ring_12_y", |
| "sharpa_right_tactile_contact_point_ring_12_confidence", |
| "sharpa_right_tactile_contact_point_ring_13_x", |
| "sharpa_right_tactile_contact_point_ring_13_y", |
| "sharpa_right_tactile_contact_point_ring_13_confidence", |
| "sharpa_right_tactile_contact_point_ring_14_x", |
| "sharpa_right_tactile_contact_point_ring_14_y", |
| "sharpa_right_tactile_contact_point_ring_14_confidence", |
| "sharpa_right_tactile_contact_point_ring_15_x", |
| "sharpa_right_tactile_contact_point_ring_15_y", |
| "sharpa_right_tactile_contact_point_ring_15_confidence", |
| "sharpa_right_tactile_force6d_pinky_0", |
| "sharpa_right_tactile_force6d_pinky_1", |
| "sharpa_right_tactile_force6d_pinky_2", |
| "sharpa_right_tactile_force6d_pinky_3", |
| "sharpa_right_tactile_force6d_pinky_4", |
| "sharpa_right_tactile_force6d_pinky_5", |
| "sharpa_right_tactile_contact_point_pinky_count", |
| "sharpa_right_tactile_contact_point_pinky_0_x", |
| "sharpa_right_tactile_contact_point_pinky_0_y", |
| "sharpa_right_tactile_contact_point_pinky_0_confidence", |
| "sharpa_right_tactile_contact_point_pinky_1_x", |
| "sharpa_right_tactile_contact_point_pinky_1_y", |
| "sharpa_right_tactile_contact_point_pinky_1_confidence", |
| "sharpa_right_tactile_contact_point_pinky_2_x", |
| "sharpa_right_tactile_contact_point_pinky_2_y", |
| "sharpa_right_tactile_contact_point_pinky_2_confidence", |
| "sharpa_right_tactile_contact_point_pinky_3_x", |
| "sharpa_right_tactile_contact_point_pinky_3_y", |
| "sharpa_right_tactile_contact_point_pinky_3_confidence", |
| "sharpa_right_tactile_contact_point_pinky_4_x", |
| "sharpa_right_tactile_contact_point_pinky_4_y", |
| "sharpa_right_tactile_contact_point_pinky_4_confidence", |
| "sharpa_right_tactile_contact_point_pinky_5_x", |
| "sharpa_right_tactile_contact_point_pinky_5_y", |
| "sharpa_right_tactile_contact_point_pinky_5_confidence", |
| "sharpa_right_tactile_contact_point_pinky_6_x", |
| "sharpa_right_tactile_contact_point_pinky_6_y", |
| "sharpa_right_tactile_contact_point_pinky_6_confidence", |
| "sharpa_right_tactile_contact_point_pinky_7_x", |
| "sharpa_right_tactile_contact_point_pinky_7_y", |
| "sharpa_right_tactile_contact_point_pinky_7_confidence", |
| "sharpa_right_tactile_contact_point_pinky_8_x", |
| "sharpa_right_tactile_contact_point_pinky_8_y", |
| "sharpa_right_tactile_contact_point_pinky_8_confidence", |
| "sharpa_right_tactile_contact_point_pinky_9_x", |
| "sharpa_right_tactile_contact_point_pinky_9_y", |
| "sharpa_right_tactile_contact_point_pinky_9_confidence", |
| "sharpa_right_tactile_contact_point_pinky_10_x", |
| "sharpa_right_tactile_contact_point_pinky_10_y", |
| "sharpa_right_tactile_contact_point_pinky_10_confidence", |
| "sharpa_right_tactile_contact_point_pinky_11_x", |
| "sharpa_right_tactile_contact_point_pinky_11_y", |
| "sharpa_right_tactile_contact_point_pinky_11_confidence", |
| "sharpa_right_tactile_contact_point_pinky_12_x", |
| "sharpa_right_tactile_contact_point_pinky_12_y", |
| "sharpa_right_tactile_contact_point_pinky_12_confidence", |
| "sharpa_right_tactile_contact_point_pinky_13_x", |
| "sharpa_right_tactile_contact_point_pinky_13_y", |
| "sharpa_right_tactile_contact_point_pinky_13_confidence", |
| "sharpa_right_tactile_contact_point_pinky_14_x", |
| "sharpa_right_tactile_contact_point_pinky_14_y", |
| "sharpa_right_tactile_contact_point_pinky_14_confidence", |
| "sharpa_right_tactile_contact_point_pinky_15_x", |
| "sharpa_right_tactile_contact_point_pinky_15_y", |
| "sharpa_right_tactile_contact_point_pinky_15_confidence" |
| ] |
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