action
listlengths 34
34
| observation.state
listlengths 34
34
| isaac_commands
listlengths 34
34
| timestamp
float64 0
40.7
| frame_index
int64 0
359
| episode_index
int64 0
0
| index
int64 0
359
| task_index
int64 0
0
| joint_names
listlengths 34
34
| joint_velocities
listlengths 34
34
| action.arm1_shoulder_lift_joint
float64 -1.41
-0.27
| action.arm1_elbow_joint
float64 -0.29
-0.29
| action.arm1_wrist_1_joint
float64 0.44
0.44
| action.arm1_wrist_2_joint
float64 -0.18
-0.18
| action.arm2_wrist_3_joint
float64 0.36
0.36
| action.arm1_wrist_3_joint
float64 -0
0
| action.arm2_3f_finger_b_joint_3
float64 -0.24
0.91
| action.arm1_3f_finger_c_joint_3
float64 -0.1
-0.1
| action.arm2_3f_palm_finger_b_joint
float64 -0.37
-0.37
| action.arm2_3f_finger_c_joint_3
float64 -0.29
-0.29
| action.arm2_3f_palm_finger_c_joint
float64 -0.41
-0.41
| action.arm1_3f_finger_c_joint_2
float64 0
0
| action.arm2_3f_finger_a_joint_3
float64 0.05
0.05
| action.arm2_3f_finger_c_joint_2
float64 0
0
| action.arm1_3f_finger_b_joint_2
float64 -0.05
-0.05
| action.arm2_3f_finger_c_joint_1
float64 0
0
| action.arm2_wrist_2_joint
float64 0.05
0.05
| action.arm1_shoulder_pan_joint
float64 0
0
| action.arm1_3f_finger_c_joint_1
float64 -0.05
-0.05
| action.arm2_3f_finger_b_joint_1
float64 -0
0
| action.arm2_shoulder_pan_joint
float64 0.05
0.05
| action.arm1_3f_finger_b_joint_3
float64 0
0
| action.arm1_3f_finger_b_joint_1
float64 -0.05
-0.05
| action.arm2_3f_finger_a_joint_2
float64 0.05
0.05
| action.arm1_3f_palm_finger_b_joint
float64 0
0
| action.arm1_3f_finger_a_joint_3
float64 -0.05
-0.05
| action.arm2_elbow_joint
float64 0
0
| action.arm1_3f_finger_a_joint_1
float64 0.05
0.05
| action.arm2_shoulder_lift_joint
float64 0
0
| action.arm2_3f_finger_b_joint_2
float64 -0.05
-0.05
| action.arm2_3f_finger_a_joint_1
float64 -0
0
| action.arm1_3f_palm_finger_c_joint
float64 0.05
0.05
| action.arm1_3f_finger_a_joint_2
float64 0
0
| action.arm2_wrist_1_joint
float64 -0.05
-0.05
| observation.state.arm1_shoulder_lift_joint
float64 -0.29
-0.29
| observation.state.arm1_elbow_joint
float64 0.44
0.44
| observation.state.arm1_wrist_1_joint
float64 -0.18
-0.18
| observation.state.arm1_wrist_2_joint
float64 0.36
0.36
| observation.state.arm2_wrist_3_joint
float64 0
0
| observation.state.arm1_wrist_3_joint
float64 -0
0
| observation.state.arm2_3f_finger_b_joint_3
float64 -0.05
-0.05
| observation.state.arm1_3f_finger_c_joint_3
float64 -0.05
-0.05
| observation.state.arm2_3f_palm_finger_b_joint
float64 0
0
| observation.state.arm2_3f_finger_c_joint_3
float64 -0.05
-0.05
| observation.state.arm2_3f_palm_finger_c_joint
float64 0
0
| observation.state.arm1_3f_finger_c_joint_2
float64 -0
0
| observation.state.arm2_3f_finger_a_joint_3
float64 -0.05
-0.05
| observation.state.arm2_3f_finger_c_joint_2
float64 0
0
| observation.state.arm1_3f_finger_b_joint_2
float64 0
0
| observation.state.arm2_3f_finger_c_joint_1
float64 0.05
0.05
| observation.state.arm2_wrist_2_joint
float64 -0.41
-0.41
| observation.state.arm1_shoulder_pan_joint
float64 -1.42
-0.27
| observation.state.arm1_3f_finger_c_joint_1
float64 0.05
0.05
| observation.state.arm2_3f_finger_b_joint_1
float64 0.05
0.05
| observation.state.arm2_shoulder_pan_joint
float64 -0.24
0.92
| observation.state.arm1_3f_finger_b_joint_3
float64 -0.05
-0.05
| observation.state.arm1_3f_finger_b_joint_1
float64 0.05
0.05
| observation.state.arm2_3f_finger_a_joint_2
float64 0
0
| observation.state.arm1_3f_palm_finger_b_joint
float64 0
0
| observation.state.arm1_3f_finger_a_joint_3
float64 -0.05
-0.05
| observation.state.arm2_elbow_joint
float64 -0.37
-0.37
| observation.state.arm1_3f_finger_a_joint_1
float64 0.05
0.05
| observation.state.arm2_shoulder_lift_joint
float64 -0.1
-0.1
| observation.state.arm2_3f_finger_b_joint_2
float64 0
0
| observation.state.arm2_3f_finger_a_joint_1
float64 0.05
0.05
| observation.state.arm1_3f_palm_finger_c_joint
float64 -0
0
| observation.state.arm1_3f_finger_a_joint_2
float64 0
0
| observation.state.arm2_wrist_1_joint
float64 -0.29
-0.29
|
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 0
| 0
| 0
| 0
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 0.641161
| 1
| 0
| 1
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 1.002352
| 2
| 0
| 2
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 1.111884
| 3
| 0
| 3
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 1.222111
| 4
| 0
| 4
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 1.331967
| 5
| 0
| 5
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 1.442199
| 6
| 0
| 6
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 1.551812
| 7
| 0
| 7
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 1.653645
| 8
| 0
| 8
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 1.771974
| 9
| 0
| 9
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 1.881946
| 10
| 0
| 10
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 1.991782
| 11
| 0
| 11
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 2.091881
| 12
| 0
| 12
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 2.21188
| 13
| 0
| 13
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 2.31184
| 14
| 0
| 14
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 2.432376
| 15
| 0
| 15
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 2.532062
| 16
| 0
| 16
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 2.652369
| 17
| 0
| 17
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 2.752178
| 18
| 0
| 18
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 2.871827
| 19
| 0
| 19
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 2.982021
| 20
| 0
| 20
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 3.097413
| 21
| 0
| 21
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 3.202254
| 22
| 0
| 22
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 3.323048
| 23
| 0
| 23
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 3.421983
| 24
| 0
| 24
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 3.541334
| 25
| 0
| 25
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 3.647576
| 26
| 0
| 26
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 3.761982
| 27
| 0
| 27
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 3.867705
| 28
| 0
| 28
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 3.982806
| 29
| 0
| 29
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 4.094225
| 30
| 0
| 30
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 4.20188
| 31
| 0
| 31
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 4.312016
| 32
| 0
| 32
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 4.422049
| 33
| 0
| 33
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 4.535082
| 34
| 0
| 34
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 4.641872
| 35
| 0
| 35
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 4.752203
| 36
| 0
| 36
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] |
[
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
0,
-0.0523,
-0.0523,
0,
-0.0523,
0,
0,
-0.0523,
0,
0,
0.0495,
-0.4067,
-0.2719,
0.0495,
0.0495,
-0.2384,
-0.0523,
0.0495,
0,
0,
-0.0523,
-0.3712,
0.0495,
-0.0993,
0,
0.0495,
0,
0,
-0.2903
] |
[
-0.2719,
-0.2937,
0.4391,
-0.1778,
0.3551,
0,
-0.2384,
-0.0993,
-0.3712,
-0.2903,
-0.4067,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523,
0,
0.0495,
0,
-0.0523
] | 4.861866
| 37
| 0
| 37
| 0
|
[
"arm1_shoulder_lift_joint",
"arm1_elbow_joint",
"arm1_wrist_1_joint",
"arm1_wrist_2_joint",
"arm2_wrist_3_joint",
"arm1_wrist_3_joint",
"arm2_3f_finger_b_joint_3",
"arm1_3f_finger_c_joint_3",
"arm2_3f_palm_finger_b_joint",
"arm2_3f_finger_c_joint_3",
"arm2_3f_palm_finger_c_joint",
"arm1_3f_finger_c_joint_2",
"arm2_3f_finger_a_joint_3",
"arm2_3f_finger_c_joint_2",
"arm1_3f_finger_b_joint_2",
"arm2_3f_finger_c_joint_1",
"arm2_wrist_2_joint",
"arm1_shoulder_pan_joint",
"arm1_3f_finger_c_joint_1",
"arm2_3f_finger_b_joint_1",
"arm2_shoulder_pan_joint",
"arm1_3f_finger_b_joint_3",
"arm1_3f_finger_b_joint_1",
"arm2_3f_finger_a_joint_2",
"arm1_3f_palm_finger_b_joint",
"arm1_3f_finger_a_joint_3",
"arm2_elbow_joint",
"arm1_3f_finger_a_joint_1",
"arm2_shoulder_lift_joint",
"arm2_3f_finger_b_joint_2",
"arm2_3f_finger_a_joint_1",
"arm1_3f_palm_finger_c_joint",
"arm1_3f_finger_a_joint_2",
"arm2_wrist_1_joint"
] |
[
-0.0044,
-0.0015,
-0.0012,
-0.0002,
0.0043,
0.0035,
0.0001,
0,
-0.001,
0.0008,
-0.0074,
0.0001,
0.0001,
0.0021,
-0.0006,
-0.0044,
0.0032,
0,
-0.0024,
-0.0003,
0.0001,
-0.0002,
-0.0011,
0.0001,
0.0011,
-0.0001,
-0.0005,
0.0029,
-0.0086,
0.0003,
-0.0017,
-0.0008,
-0.0001,
-0.0028
] | -0.2719
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| -0.2384
| -0.0993
| -0.3712
| -0.2903
| -0.4067
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| 0
| 0.0495
| 0
| -0.0523
| -0.2937
| 0.4391
| -0.1778
| 0.3551
| 0
| 0
| -0.0523
| -0.0523
| 0
| -0.0523
| 0
| 0
| -0.0523
| 0
| 0
| 0.0495
| -0.4067
| -0.2719
| 0.0495
| 0.0495
| -0.2384
| -0.0523
| 0.0495
| 0
| 0
| -0.0523
| -0.3712
| 0.0495
| -0.0993
| 0
| 0.0495
| 0
| 0
| -0.2903
|
End of preview. Expand
in Data Studio
Shrugmaster Test
LeRobot v2.1 format dataset for robot manipulation.
Dataset Structure
- Episodes: 4 episodes of robot manipulation
- Total Frames: 1,440 frames
- Cameras: 3 camera views per episode
observation.images.base_camera_sensor_image_rawobservation.images.arm1_camera_sensor_image_rawobservation.images.arm2_camera_sensor_image_raw
- Robot: Bimanual manipulator with 34 joints
- Format: LeRobot v2.1
Usage with LeRobot
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
dataset = LeRobotDataset("Sraghvi/shrugmaster-test")
Dataset Format
This dataset follows the LeRobot v2.1 format:
shrugmaster-test/
├── data/
│ └── chunk-000/
│ ├── episode_000000.parquet
│ ├── episode_000001.parquet
│ ├── episode_000002.parquet
│ └── episode_000003.parquet
├── videos/
│ └── chunk-000/
│ ├── observation.images.base_camera_sensor_image_raw/
│ │ ├── episode_000000.mp4
│ │ ├── episode_000001.mp4
│ │ ├── episode_000002.mp4
│ │ └── episode_000003.mp4
│ ├── observation.images.arm1_camera_sensor_image_raw/
│ │ └── ... (same episodes)
│ └── observation.images.arm2_camera_sensor_image_raw/
│ └── ... (same episodes)
├── meta/
│ ├── info.json
│ ├── episodes.jsonl
│ ├── tasks.jsonl
│ └── episodes_stats.jsonl
└── README.md
Dataset Details
- Total Episodes: 4
- Total Frames: 1,440
- Average Episode Length: 360 frames
- FPS: ~9 (calculated from real data)
- Robot Type: Bimanual arm with 34 joints
- Camera Resolution: 1280x720
- Video Codec: H.264
Features
- Action: Robot action commands with individual joint columns
- Observation State: Robot state observations with individual joint columns
- Isaac Commands: Simulation commands
- Timestamp: Frame timestamps
- Episode/Frame/Task Indices: Data organization
- Joint Names: Names of all robot joints
- Joint Velocities: Velocity data for all joints
- Downloads last month
- 30