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Datasets:
JingwuLuo
/
pick_and_place_cube_quick

Tasks:
Robotics
Modalities:
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Tags:
ur3
bimanual
teleoperation
hdf5
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17
17
episode_id
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270
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14
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2.7
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0
589
home_movej_steps
int64
0
305
gripper_closes
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4
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float64
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recorded_at
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2026-10-26 14:51:28
2026-10-28 17:30:23
notes
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10 values
episode_0000.hdf5
0
pick_and_place
506
30
16.83
right
297
0
1
0.035
2026-10-26T14:51:28.388314
null
episode_0001.hdf5
1
pick_and_place
303
30
10.07
right
156
0
1
0.035
2026-10-26T14:51:42.294067
null
episode_0002.hdf5
2
pick_and_place
422
20.6
20.4
right
235
0
2
6.328
2026-10-26T14:52:25.221841
step gap 6.3 s
episode_0003.hdf5
3
pick_and_place
246
30
8.17
right
163
0
2
0.035
2026-10-26T15:02:20.933772
left gripper closed throughout
episode_0004.hdf5
4
pick_and_place
524
30
17.44
right
426
0
3
0.035
2026-10-26T15:03:02.632859
left gripper closed throughout
episode_0005.hdf5
5
pick_and_place
334
30
11.1
right
241
0
2
0.035
2026-10-26T15:03:33.044148
left gripper closed throughout
episode_0006.hdf5
6
pick_and_place
330
30
10.97
right
245
0
2
0.035
2026-10-26T15:04:01.503147
left gripper closed throughout
episode_0007.hdf5
7
pick_and_place
215
30
7.13
right
127
0
2
0.035
2026-10-26T15:04:18.953783
left gripper closed throughout
episode_0008.hdf5
8
pick_and_place
205
30
6.8
right
128
0
1
0.035
2026-10-26T15:04:50.254130
null
episode_0009.hdf5
9
pick_and_place
14
2.7
4.89
right
13
0
1
4.51
2026-10-26T15:06:31.963341
step gap 4.5 s; 14 steps
episode_0010.hdf5
10
pick_and_place
272
30
9.03
right
179
0
1
0.035
2026-10-26T16:47:29.861321
null
episode_0011.hdf5
11
pick_and_place
203
30
6.73
right
144
0
1
0.035
2026-10-26T16:47:46.260219
null
episode_0012.hdf5
12
pick_and_place
225
30
7.47
right
152
0
1
0.035
2026-10-26T16:47:58.979555
null
episode_0013.hdf5
13
pick_and_place
223
30
7.4
right
157
0
1
0.035
2026-10-26T16:48:12.379540
null
episode_0014.hdf5
14
pick_and_place
224
30
7.43
right
155
0
1
0.035
2026-10-26T16:49:16.029157
null
episode_0015.hdf5
15
pick_and_place
214
30
7.1
right
146
0
1
0.035
2026-10-26T16:49:32.239520
null
episode_0016.hdf5
16
pick_and_place
226
30
7.5
right
153
0
1
0.036
2026-10-26T16:49:58.069885
null
episode_0017.hdf5
17
pick_and_place
263
30
8.73
right
196
0
1
0.035
2026-10-26T16:50:11.069831
null
episode_0018.hdf5
18
pick_and_place
192
30
6.37
right
129
0
1
0.035
2026-10-26T16:50:25.159636
null
episode_0019.hdf5
19
pick_and_place
204
30
6.77
right
136
0
1
0.035
2026-10-26T16:50:35.519718
null
episode_0020.hdf5
20
pick_and_place
746
30
24.83
right
151
305
1
0.035
2026-10-26T16:51:10.669487
null
episode_0021.hdf5
21
pick_and_place
186
30
6.17
none
0
0
0
0.035
2026-10-26T16:51:24.559514
no arm motion; gripper never closed
episode_0022.hdf5
22
pick_and_place
201
30
6.67
right
133
0
1
0.035
2026-10-26T16:52:27.978620
null
episode_0023.hdf5
23
pick_and_place
277
30
9.2
right
197
43
1
0.035
2026-10-26T16:53:14.909978
null
episode_0024.hdf5
24
pick_and_place
495
30
16.47
right
348
0
1
0.035
2026-10-26T16:53:39.779386
null
episode_0025.hdf5
25
pick_and_place
266
30
8.83
right
171
0
1
0.035
2026-10-26T16:53:59.819776
null
episode_0026.hdf5
26
pick_and_place
243
30
8.06
right
149
0
1
0.035
2026-10-26T16:54:34.849459
null
episode_0027.hdf5
27
pick_and_place
200
30
6.63
right
139
0
2
0.035
2026-10-26T16:56:53.229260
null
episode_0028.hdf5
28
pick_and_place
381
30
12.67
right
307
0
4
0.035
2026-10-26T16:57:08.639629
null
episode_0029.hdf5
29
pick_and_place
264
30
8.77
right
201
0
1
0.035
2026-10-26T17:48:50.057012
null
episode_0030.hdf5
30
pick_and_place
471
30
15.67
right
235
115
1
0.035
2026-10-26T17:49:20.486970
null
episode_0031.hdf5
31
pick_and_place
191
15.5
12.26
right
127
0
0
5.912
2026-10-26T17:49:44.977239
step gap 5.9 s; gripper never closed
episode_0032.hdf5
32
pick_and_place
300
30
9.97
right
142
63
1
0.035
2026-10-26T17:50:04.676552
null
episode_0033.hdf5
33
pick_and_place
367
30
12.2
right
239
54
1
0.035
2026-10-26T17:50:40.217027
null
episode_0034.hdf5
34
pick_and_place
442
30
14.7
right
304
61
2
0.035
2026-10-26T17:50:57.506958
null
episode_0035.hdf5
35
pick_and_place
482
30
16.03
right
333
68
2
0.035
2026-10-26T17:51:16.776890
null
episode_0036.hdf5
36
pick_and_place
283
30
9.4
right
136
54
1
0.035
2026-10-26T17:51:28.396980
null
episode_0037.hdf5
37
pick_and_place
276
30
9.17
right
153
54
1
0.035
2026-10-26T17:52:18.727032
null
episode_0038.hdf5
38
pick_and_place
387
30
12.87
right
255
50
2
0.035
2026-10-26T17:52:42.746933
null
episode_0039.hdf5
39
pick_and_place
429
30
14.27
right
301
60
2
0.035
2026-10-26T17:53:05.316732
null
episode_0040.hdf5
40
pick_and_place
486
30
16.17
right
328
59
2
0.036
2026-10-26T17:53:38.086871
null
episode_0041.hdf5
41
pick_and_place
489
30
16.27
right
325
61
2
0.035
2026-10-26T17:53:57.616955
null
episode_0042.hdf5
42
pick_and_place
612
30
20.37
right
466
55
3
0.035
2026-10-26T17:54:25.167443
null
episode_0043.hdf5
43
pick_and_place
528
30
17.57
right
391
69
3
0.035
2026-10-26T17:55:26.846831
null
episode_0044.hdf5
44
pick_and_place
407
30
13.53
right
180
70
1
0.035
2026-10-26T17:55:55.427878
null
episode_0045.hdf5
45
pick_and_place
267
30
8.87
right
128
55
1
0.035
2026-10-26T17:56:12.486991
null
episode_0046.hdf5
46
pick_and_place
569
30
18.93
right
422
73
3
0.035
2026-10-26T17:57:25.216922
null
episode_0047.hdf5
47
pick_and_place
729
30
24.27
right
571
78
4
0.035
2026-10-26T17:58:04.716715
null
episode_0048.hdf5
48
pick_and_place
614
30
20.43
right
449
65
3
0.035
2026-10-26T17:58:29.336640
null
episode_0049.hdf5
49
pick_and_place
411
30
13.67
right
228
64
1
0.035
2026-10-26T17:59:19.617151
null
episode_0050.hdf5
50
pick_and_place
302
30
10.03
right
159
54
1
0.035
2026-10-26T17:59:32.697088
null
episode_0051.hdf5
51
pick_and_place
490
30
16.3
right
280
88
1
0.035
2026-10-26T17:59:51.697085
null
episode_0052.hdf5
52
pick_and_place
556
30
18.5
right
401
73
3
0.035
2026-10-26T18:00:14.357322
null
episode_0053.hdf5
53
pick_and_place
648
30
21.57
right
448
57
2
0.035
2026-10-26T18:00:53.937314
null
episode_0054.hdf5
54
pick_and_place
1,011
30
33.67
right
589
285
3
0.035
2026-10-26T18:02:20.556950
null
episode_0055.hdf5
55
pick_and_place
635
30
21.13
right
275
262
1
0.035
2026-10-26T18:02:48.666900
null
episode_0056.hdf5
56
pick_and_place
308
19.5
15.78
right
144
84
1
5.511
2026-10-26T18:03:08.236898
step gap 5.5 s
episode_0057.hdf5
57
pick_and_place
430
30
14.3
right
271
57
2
0.035
2026-10-26T18:03:36.277618
null
episode_0058.hdf5
58
pick_and_place
312
30
10.37
right
177
66
1
0.035
2026-10-27T12:20:02.186557
null
episode_0059.hdf5
59
pick_and_place
382
30
12.7
right
210
65
1
0.035
2026-10-27T12:20:41.126200
null
episode_0060.hdf5
60
pick_and_place
295
30
9.8
right
154
70
1
0.035
2026-10-27T12:21:12.995827
null
episode_0061.hdf5
61
pick_and_place
296
30
9.83
right
180
64
1
0.035
2026-10-27T12:24:25.186123
null
episode_0062.hdf5
62
pick_and_place
254
30
8.43
right
136
56
1
0.035
2026-10-27T12:24:51.415878
null
episode_0063.hdf5
63
pick_and_place
299
30
9.93
right
167
43
1
0.035
2026-10-27T12:25:12.476051
null
episode_0064.hdf5
64
pick_and_place
333
30
11.07
right
216
51
1
0.035
2026-10-27T12:26:07.416154
null
episode_0065.hdf5
65
pick_and_place
337
30
11.2
right
212
60
1
0.035
2026-10-27T12:26:52.596118
null
episode_0066.hdf5
66
pick_and_place
433
30
14.4
right
327
43
2
0.036
2026-10-27T12:27:58.855970
null
episode_0067.hdf5
67
pick_and_place
282
30
9.37
right
160
63
1
0.035
2026-10-27T12:28:28.916235
null
episode_0068.hdf5
68
pick_and_place
316
30
10.5
right
144
59
1
0.035
2026-10-27T12:28:51.356045
null
episode_0069.hdf5
69
pick_and_place
330
30
10.97
right
196
56
1
0.035
2026-10-27T12:30:03.225824
null
episode_0070.hdf5
70
pick_and_place
361
30
12
right
221
42
1
0.035
2026-10-27T12:31:01.796185
null
episode_0071.hdf5
71
pick_and_place
482
30
16.03
right
335
62
2
0.035
2026-10-27T12:31:49.975146
null
episode_0072.hdf5
72
pick_and_place
368
30
12.23
right
200
60
2
0.035
2026-10-27T12:37:16.835956
left gripper closed throughout
episode_0073.hdf5
73
pick_and_place
476
30
15.83
right
347
68
3
0.035
2026-10-27T12:37:53.495892
left gripper closed throughout
episode_0074.hdf5
74
pick_and_place
249
30
8.27
right
139
56
2
0.035
2026-10-27T12:38:20.125953
left gripper closed throughout
episode_0075.hdf5
75
pick_and_place
354
30
11.77
right
224
82
2
0.035
2026-10-27T12:39:05.035705
left gripper closed throughout
episode_0076.hdf5
76
pick_and_place
337
30
11.2
right
201
74
2
0.035
2026-10-27T12:40:03.346200
left gripper closed throughout
episode_0077.hdf5
77
pick_and_place
348
30
11.57
right
218
71
1
0.035
2026-10-27T12:41:27.066136
null
episode_0078.hdf5
78
pick_and_place
446
30
14.83
right
316
58
3
0.036
2026-10-27T12:42:00.955994
null
episode_0079.hdf5
79
pick_and_place
344
30
11.43
right
230
62
2
0.035
2026-10-27T12:42:39.356500
null
episode_0080.hdf5
80
pick_and_place
356
30
11.83
right
225
64
2
0.035
2026-10-27T12:43:21.506072
null
episode_0081.hdf5
81
pick_and_place
273
30
9.07
right
152
65
1
0.035
2026-10-27T12:43:51.506144
null
episode_0082.hdf5
82
pick_and_place
296
30
9.83
right
216
43
2
0.035
2026-10-27T12:44:12.586235
null
episode_0083.hdf5
83
pick_and_place
318
30
10.57
right
178
61
1
0.035
2026-10-27T12:44:37.135971
null
episode_0084.hdf5
84
pick_and_place
260
30
8.63
right
139
73
1
0.035
2026-10-27T12:50:09.416138
null
episode_0085.hdf5
85
pick_and_place
261
30
8.67
right
141
66
1
0.035
2026-10-27T12:50:35.546004
null
episode_0086.hdf5
86
pick_and_place
343
30
11.4
right
221
72
2
0.035
2026-10-27T12:51:18.676018
null
episode_0087.hdf5
87
pick_and_place
318
30
10.57
right
209
70
2
0.035
2026-10-27T12:51:47.815802
null
episode_0088.hdf5
88
pick_and_place
249
30
8.27
right
135
60
1
0.035
2026-10-27T12:52:28.076003
null
episode_0089.hdf5
89
pick_and_place
428
30
14.23
right
314
60
3
0.035
2026-10-27T12:52:49.465911
null
episode_0090.hdf5
90
pick_and_place
274
30
9.1
right
154
63
1
0.035
2026-10-27T12:53:10.315621
null
episode_0091.hdf5
91
pick_and_place
281
30
9.33
right
156
65
1
0.035
2026-10-27T12:53:33.346128
null
episode_0092.hdf5
92
pick_and_place
261
30
8.67
right
139
55
1
0.035
2026-10-27T12:54:09.185944
null
episode_0093.hdf5
93
pick_and_place
275
30
9.13
right
149
56
1
0.036
2026-10-27T12:55:16.865530
null
episode_0094.hdf5
94
pick_and_place
319
30
10.6
right
184
59
1
0.035
2026-10-27T12:56:07.376655
null
episode_0095.hdf5
95
pick_and_place
357
30
11.87
right
214
81
1
0.035
2026-10-27T12:56:41.696637
null
episode_0096.hdf5
96
pick_and_place
253
30
8.4
right
150
42
1
0.035
2026-10-27T12:57:26.785177
null
episode_0097.hdf5
97
pick_and_place
398
30
13.23
right
262
70
1
0.035
2026-10-27T12:57:49.526249
null
episode_0098.hdf5
98
pick_and_place
259
30
8.6
right
156
65
1
0.035
2026-10-27T12:58:35.246585
null
episode_0099.hdf5
99
pick_and_place
263
30
8.73
right
167
62
1
0.035
2026-10-27T12:59:11.326231
null
End of preview. Expand in Data Studio

UR3 pick and place cube, quick (raw HDF5)

Raw teleoperation episodes from a dual-arm UR3 rig (two UR3 CB3 arms, DH PGE grippers), recorded on 2026-10-26 (episodes 0000–0057, 14:51–18:04 local time), 2026-10-27 (episodes 0058–0128, 12:20–13:14; 0129–0209, 19:17–19:50) and 2026-10-28 (episodes 0210–0270, 17:01–17:30). 270 episodes, episode_0000.hdf5 … episode_0270.hdf5, one HDF5 file per episode, 82,933 steps, 7.8 GiB. Episode number 0130 was discarded at recording time and is absent. Every recorded episode is included as-is, without filtering or cleaning; the table below lists per-episode measurements.

Task: the right arm picks a cube and places it at a target on the table (episode 0010, for example, moves the orange cube from the blue cube onto the white box). The left arm stays at its home pose. language_instruction is pick_and_place in episodes 0000–0209 and pick and place in 0210–0270.

Rig

  • Teleoperation: Meta Quest (WebXR) → joint-velocity (speedJ) control at 30 Hz, max_joint_vel 2.5 rad/s, speedj_accel 6.0 rad/s².
  • Grippers: open command 433 per mille of the stroke (gripper_opening reads 0.433 when open), force 100 %.
  • Cameras (Intel RealSense, RGB, JPEG): top D435i 320×240; left_wrist / right_wrist D405 424×240.
  • Recorder: 30 Hz absolute step grid with a freshness gate (a step is stored only when every camera has a new frame, so no frame repeats).
  • Code: embodyx/UR3-Whole_Process, branch rotate-around-axis (recorder ros2_ws/src/data_recorder/data_recorder/episode_writer.py).

HDF5 layout

Same layout as JingwuLuo/UR3-pick-and-place.

attrs: language_instruction, episode_id, record_hz (measured), timestamp, sim, compress,
       cameras, arms ["left","right"], eef_frame, fingertip_offset_m [0, 0, 0.254]
observations/{left,right}/
    joint_pos (T,6) rad   joint_vel (T,6) rad/s   joint_current (T,6) A
    eef_pose (T,7) flange (tool0) in the arm base frame, xyz m + quaternion xyzw
    gripper_opening (T,) 0..1 of the stroke (1 = fully open; the open command is 0.433)
    gripper_state (T,) uint8, DH register 0x0201 (0 moving, 1 at target, 2 object caught, 3 object dropped)
observations/images/{top,left_wrist,right_wrist}       (T,max_len) uint8, zero-padded JPEG bytes
observations/images/{top,left_wrist,right_wrist}_len   (T,) int32 JPEG byte count
observations/scale/{weight_g,age_s} (T,)               bench scale, about 4.8 Hz; constant within every episode
command/{left,right}/
    source (T,) str: idle | stop | vr | movej | halted | rotate | wrist | shake
    engaged (T,) bool   eef_twist (T,6)   joint_vel (T,6) speedJ rad/s
    gripper (T,) 0 open / 1 closed   boundary_limited (T,) bool
teleop/{left,right}/
    controller_pose (T,7)  controller_fresh (T,)  deadman (T,)  axis_rotate (T,)  wrist_rotate (T,)
    follow_target (T,7)    follow_target_valid (T,)
timestamps/ step, top, left_wrist, right_wrist, {left,right}_state, {left,right}_command, scale   (Unix s)
events/ time, arm, kind, value, detail          gripper toggles, home / resume, etc.
params/ time + one dataset per teleop parameter (values in effect at the episode start)

Decode a frame: cv2.imdecode(f["observations/images/top"][i, :f["observations/images/top_len"][i]], 1).

Measured

  • record_hz is 30.0 except in the four episodes with a step gap (0002, 0009, 0031, 0056: gaps of 4.5–6.3 s, during which no step was stored).
  • Episode 0009 has 14 steps; episodes 0021 and 0126 have no arm motion and no gripper close; episode 0125 is 29 s long, most of it idle; episode 0251 is 3.5 s long and starts at the home pose.
  • The left gripper stays closed for the whole episode (gripper_opening 0, command 1) in episodes 0003–0007, 0072–0076 and 0151–0209; in every other episode it stays open (0.433).
  • home_movej_steps counts steps with command/<arm>/source == "movej" (return-to-home segments, mostly in episodes 0020 and 0023 onward; every episode from 0058 on except 0126 and 0251 has one).

Episodes

The same table, with more columns (teleop_steps, home_movej_steps, gripper_closes, step_gap_max_s, recorded_at), is in episodes.csv (shown in the dataset viewer).

episode steps rate (Hz) duration (s) arm used notes
0000 506 30 16.8 right
0001 303 30 10.1 right
0002 422 20.6 20.4 right step gap 6.3 s
0003 246 30 8.2 right left gripper closed throughout
0004 524 30 17.4 right left gripper closed throughout
0005 334 30 11.1 right left gripper closed throughout
0006 330 30 11.0 right left gripper closed throughout
0007 215 30 7.1 right left gripper closed throughout
0008 205 30 6.8 right
0009 14 2.7 4.9 right step gap 4.5 s; 14 steps
0010 272 30 9.0 right
0011 203 30 6.7 right
0012 225 30 7.5 right
0013 223 30 7.4 right
0014 224 30 7.4 right
0015 214 30 7.1 right
0016 226 30 7.5 right
0017 263 30 8.7 right
0018 192 30 6.4 right
0019 204 30 6.8 right
0020 746 30 24.8 right
0021 186 30 6.2 none no arm motion; gripper never closed
0022 201 30 6.7 right
0023 277 30 9.2 right
0024 495 30 16.5 right
0025 266 30 8.8 right
0026 243 30 8.1 right
0027 200 30 6.6 right
0028 381 30 12.7 right
0029 264 30 8.8 right
0030 471 30 15.7 right
0031 191 15.5 12.3 right step gap 5.9 s; gripper never closed
0032 300 30 10.0 right
0033 367 30 12.2 right
0034 442 30 14.7 right
0035 482 30 16.0 right
0036 283 30 9.4 right
0037 276 30 9.2 right
0038 387 30 12.9 right
0039 429 30 14.3 right
0040 486 30 16.2 right
0041 489 30 16.3 right
0042 612 30 20.4 right
0043 528 30 17.6 right
0044 407 30 13.5 right
0045 267 30 8.9 right
0046 569 30 18.9 right
0047 729 30 24.3 right
0048 614 30 20.4 right
0049 411 30 13.7 right
0050 302 30 10.0 right
0051 490 30 16.3 right
0052 556 30 18.5 right
0053 648 30 21.6 right
0054 1011 30 33.7 right
0055 635 30 21.1 right
0056 308 19.5 15.8 right step gap 5.5 s
0057 430 30 14.3 right
0058 312 30 10.4 right
0059 382 30 12.7 right
0060 295 30 9.8 right
0061 296 30 9.8 right
0062 254 30 8.4 right
0063 299 30 9.9 right
0064 333 30 11.1 right
0065 337 30 11.2 right
0066 433 30 14.4 right
0067 282 30 9.4 right
0068 316 30 10.5 right
0069 330 30 11.0 right
0070 361 30 12.0 right
0071 482 30 16.0 right
0072 368 30 12.2 right left gripper closed throughout
0073 476 30 15.8 right left gripper closed throughout
0074 249 30 8.3 right left gripper closed throughout
0075 354 30 11.8 right left gripper closed throughout
0076 337 30 11.2 right left gripper closed throughout
0077 348 30 11.6 right
0078 446 30 14.8 right
0079 344 30 11.4 right
0080 356 30 11.8 right
0081 273 30 9.1 right
0082 296 30 9.8 right
0083 318 30 10.6 right
0084 260 30 8.6 right
0085 261 30 8.7 right
0086 343 30 11.4 right
0087 318 30 10.6 right
0088 249 30 8.3 right
0089 428 30 14.2 right
0090 274 30 9.1 right
0091 281 30 9.3 right
0092 261 30 8.7 right
0093 275 30 9.1 right
0094 319 30 10.6 right
0095 357 30 11.9 right
0096 253 30 8.4 right
0097 398 30 13.2 right
0098 259 30 8.6 right
0099 263 30 8.7 right
0100 330 30 11.0 right
0101 325 30 10.8 right
0102 312 30 10.4 right
0103 263 30 8.7 right
0104 248 30 8.2 right
0105 387 30 12.9 right
0106 274 30 9.1 right
0107 268 30 8.9 right
0108 279 30 9.3 right
0109 273 30 9.1 right
0110 313 30 10.4 right
0111 268 30 8.9 right
0112 293 30 9.7 right
0113 317 30 10.5 right
0114 310 30 10.3 right
0115 257 30 8.5 right
0116 273 30 9.1 right
0117 285 30 9.5 right
0118 241 30 8.0 right
0119 258 30 8.6 right
0120 274 30 9.1 right
0121 254 30 8.4 right
0122 363 30 12.1 right
0123 369 30 12.3 right
0124 278 30 9.2 right
0125 870 30 29.0 right 29 s, mostly idle (140 teleop steps)
0126 146 30 4.8 none no arm motion and no gripper close
0127 275 30 9.1 right
0128 260 30 8.6 right
0129 223 30 7.4 right
0131 257 30 8.5 right
0132 310 30 10.3 right
0133 598 30 19.9 right
0134 252 30 8.4 right
0135 258 30 8.6 right
0136 288 30 9.6 right
0137 277 30 9.2 right
0138 297 30 9.9 right
0139 266 30 8.8 right
0140 333 30 11.1 right
0141 285 30 9.5 right
0142 243 30 8.1 right
0143 228 30 7.6 right
0144 294 30 9.8 right
0145 252 30 8.4 right
0146 207 30 6.9 right
0147 257 30 8.5 right
0148 271 30 9.0 right
0149 285 30 9.5 right
0150 199 30 6.6 right
0151 257 30 8.5 right left gripper closed throughout
0152 233 30 7.7 right left gripper closed throughout
0153 254 30 8.4 right left gripper closed throughout
0154 239 30 7.9 right left gripper closed throughout
0155 291 30 9.7 right left gripper closed throughout
0156 232 30 7.7 right left gripper closed throughout
0157 237 30 7.9 right left gripper closed throughout
0158 247 30 8.2 right left gripper closed throughout
0159 235 30 7.8 right left gripper closed throughout
0160 237 30 7.9 right left gripper closed throughout
0161 241 30 8.0 right left gripper closed throughout
0162 251 30 8.3 right left gripper closed throughout
0163 321 30 10.7 right left gripper closed throughout
0164 231 30 7.7 right left gripper closed throughout
0165 238 30 7.9 right left gripper closed throughout
0166 212 30 7.0 right left gripper closed throughout
0167 222 30 7.4 right left gripper closed throughout
0168 218 30 7.2 right left gripper closed throughout
0169 270 30 9.0 right left gripper closed throughout
0170 220 30 7.3 right left gripper closed throughout
0171 221 30 7.3 right left gripper closed throughout
0172 232 30 7.7 right left gripper closed throughout
0173 235 30 7.8 right left gripper closed throughout
0174 225 30 7.5 right left gripper closed throughout
0175 262 30 8.7 right left gripper closed throughout
0176 201 30 6.7 right left gripper closed throughout
0177 227 30 7.5 right left gripper closed throughout
0178 213 30 7.1 right left gripper closed throughout
0179 227 30 7.5 right left gripper closed throughout
0180 289 30 9.6 right left gripper closed throughout
0181 347 30 11.5 right left gripper closed throughout
0182 186 30 6.2 right left gripper closed throughout
0183 235 30 7.8 right left gripper closed throughout
0184 218 30 7.2 right left gripper closed throughout
0185 221 30 7.3 right left gripper closed throughout
0186 251 30 8.3 right left gripper closed throughout
0187 249 30 8.3 right left gripper closed throughout
0188 234 30 7.8 right left gripper closed throughout
0189 279 30 9.3 right left gripper closed throughout
0190 249 30 8.3 right left gripper closed throughout
0191 259 30 8.6 right left gripper closed throughout
0192 270 30 9.0 right left gripper closed throughout
0193 226 30 7.5 right left gripper closed throughout
0194 403 30 13.4 right left gripper closed throughout
0195 297 30 9.9 right left gripper closed throughout
0196 203 30 6.7 right left gripper closed throughout
0197 321 30 10.7 right left gripper closed throughout
0198 272 30 9.0 right left gripper closed throughout
0199 231 30 7.7 right left gripper closed throughout
0200 231 30 7.7 right left gripper closed throughout
0201 281 30 9.3 right left gripper closed throughout
0202 236 30 7.8 right left gripper closed throughout
0203 242 30 8.0 right left gripper closed throughout
0204 232 30 7.7 right left gripper closed throughout
0205 285 30 9.5 right left gripper closed throughout
0206 210 30 7.0 right left gripper closed throughout
0207 241 30 8.0 right left gripper closed throughout
0208 271 30 9.0 right left gripper closed throughout
0209 265 30 8.8 right left gripper closed throughout
0210 309 30 10.3 right
0211 291 30 9.7 right
0212 296 30 9.8 right
0213 460 30 15.3 right
0214 336 30 11.2 right
0215 339 30 11.3 right
0216 419 30 13.9 right
0217 341 30 11.3 right
0218 322 30 10.7 right
0219 628 30 20.9 right 21 s, mostly idle (333 teleop steps)
0220 310 30 10.3 right
0221 288 30 9.6 right
0222 293 30 9.7 right
0223 264 30 8.8 right
0224 301 30 10.0 right
0225 306 30 10.2 right
0226 232 30 7.7 right
0227 257 30 8.5 right
0228 253 30 8.4 right
0229 282 30 9.4 right
0230 234 30 7.8 right
0231 267 30 8.9 right
0232 228 30 7.6 right
0233 279 30 9.3 right
0234 222 30 7.4 right
0235 294 30 9.8 right
0236 233 30 7.7 right
0237 269 30 8.9 right
0238 284 30 9.4 right
0239 254 30 8.4 right
0240 340 30 11.3 right
0241 261 30 8.7 right
0242 291 30 9.7 right
0243 270 30 9.0 right
0244 357 30 11.9 right
0245 392 30 13.0 right
0246 318 30 10.6 right
0247 268 30 8.9 right
0248 344 30 11.4 right
0249 297 30 9.9 right
0250 316 30 10.5 right
0251 106 30 3.5 right no return-to-home segment (starts at the home pose); 3.5 s
0252 324 30 10.8 right
0253 264 30 8.8 right
0254 263 30 8.7 right
0255 265 30 8.8 right
0256 313 30 10.4 right
0257 233 30 7.7 right
0258 268 30 8.9 right
0259 259 30 8.6 right
0260 276 30 9.2 right
0261 272 30 9.0 right
0262 361 30 12.0 right
0263 258 30 8.6 right
0264 253 30 8.4 right
0265 279 30 9.3 right
0266 318 30 10.6 right
0267 288 30 9.6 right
0268 299 30 9.9 right
0269 392 30 13.0 right
0270 291 30 9.7 right
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