Add LeLab rollout manifest
Browse files
checkpoints/010000/pretrained_model/lelab_rollout.json
ADDED
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@@ -0,0 +1,224 @@
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| 1 |
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{
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| 2 |
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"version": 1,
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| 3 |
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"dataset_repo_id": "H2Ozone/new_full_data",
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| 4 |
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"dataset_revision": "a375585fae9969bdd231f1dfde6ae8a09ae7a4a3",
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| 5 |
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"model_repo_id": "H2Ozone/new_full_data-groot",
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| 6 |
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"policy_type": "groot",
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| 7 |
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"target_profile": "alex_v2_ability_hands",
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| 8 |
+
"fps": 30,
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| 9 |
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"robot_type": "alex_ability_hands",
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| 10 |
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"features": {
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| 11 |
+
"observation.images.cam_zed_left": {
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| 12 |
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"dtype": "video",
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| 13 |
+
"shape": [
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| 14 |
+
480,
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| 15 |
+
640,
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| 16 |
+
3
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| 17 |
+
],
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| 18 |
+
"names": [
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| 19 |
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"height",
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| 20 |
+
"width",
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| 21 |
+
"channel"
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| 22 |
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],
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| 23 |
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"video_info": {
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| 24 |
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"video.fps": 30.0,
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| 25 |
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"video.codec": "h264",
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| 26 |
+
"video.pix_fmt": "yuv420p",
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| 27 |
+
"video.is_depth_map": false,
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| 28 |
+
"has_audio": false
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| 29 |
+
},
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| 30 |
+
"fps": 30.0,
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| 31 |
+
"info": {
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| 32 |
+
"video.extra_options": null,
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| 33 |
+
"video.crf": null,
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| 34 |
+
"video.preset": null,
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| 35 |
+
"video.g": null,
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| 36 |
+
"video.fast_decode": null,
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| 37 |
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"video.video_backend": "pyav"
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| 38 |
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}
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| 39 |
+
},
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| 40 |
+
"observation.images.cam_zed_right": {
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| 41 |
+
"dtype": "video",
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| 42 |
+
"shape": [
|
| 43 |
+
480,
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| 44 |
+
640,
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| 45 |
+
3
|
| 46 |
+
],
|
| 47 |
+
"names": [
|
| 48 |
+
"height",
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| 49 |
+
"width",
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| 50 |
+
"channel"
|
| 51 |
+
],
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| 52 |
+
"video_info": {
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| 53 |
+
"video.fps": 30.0,
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| 54 |
+
"video.codec": "h264",
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| 55 |
+
"video.pix_fmt": "yuv420p",
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| 56 |
+
"video.is_depth_map": false,
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| 57 |
+
"has_audio": false
|
| 58 |
+
},
|
| 59 |
+
"fps": 30.0,
|
| 60 |
+
"info": {
|
| 61 |
+
"video.extra_options": null,
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| 62 |
+
"video.crf": null,
|
| 63 |
+
"video.preset": null,
|
| 64 |
+
"video.g": null,
|
| 65 |
+
"video.fast_decode": null,
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| 66 |
+
"video.video_backend": "pyav"
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| 67 |
+
}
|
| 68 |
+
},
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| 69 |
+
"observation.state": {
|
| 70 |
+
"dtype": "float32",
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| 71 |
+
"shape": [
|
| 72 |
+
48
|
| 73 |
+
],
|
| 74 |
+
"names": [
|
| 75 |
+
"left_wrist_pos_x",
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| 76 |
+
"left_wrist_pos_y",
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| 77 |
+
"left_wrist_pos_z",
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| 78 |
+
"left_wrist_quat_x",
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| 79 |
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"left_wrist_quat_y",
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| 80 |
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"left_wrist_quat_z",
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| 81 |
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"left_wrist_quat_w",
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| 82 |
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"right_wrist_pos_x",
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| 83 |
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"right_wrist_pos_y",
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| 84 |
+
"right_wrist_pos_z",
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| 85 |
+
"right_wrist_quat_x",
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| 86 |
+
"right_wrist_quat_y",
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| 87 |
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"right_wrist_quat_z",
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| 88 |
+
"right_wrist_quat_w",
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| 89 |
+
"left_forearm_quat_x",
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| 90 |
+
"left_forearm_quat_y",
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| 91 |
+
"left_forearm_quat_z",
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| 92 |
+
"left_forearm_quat_w",
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| 93 |
+
"right_forearm_quat_x",
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| 94 |
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"right_forearm_quat_y",
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| 95 |
+
"right_forearm_quat_z",
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| 96 |
+
"right_forearm_quat_w",
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| 97 |
+
"neck_quat_x",
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| 98 |
+
"neck_quat_y",
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| 99 |
+
"neck_quat_z",
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| 100 |
+
"neck_quat_w",
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| 101 |
+
"left_ability_hand_index_q1",
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| 102 |
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"left_ability_hand_index_q2",
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| 103 |
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"left_ability_hand_middle_q1",
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| 104 |
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"left_ability_hand_middle_q2",
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| 105 |
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"left_ability_hand_ring_q1",
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| 106 |
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"left_ability_hand_ring_q2",
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| 107 |
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"left_ability_hand_pinky_q1",
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| 108 |
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"left_ability_hand_pinky_q2",
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| 109 |
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"left_ability_hand_thumb_q1",
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| 110 |
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"left_ability_hand_thumb_q2",
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| 111 |
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"right_ability_hand_index_q1",
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| 112 |
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"right_ability_hand_index_q2",
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| 113 |
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"right_ability_hand_middle_q1",
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| 114 |
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"right_ability_hand_middle_q2",
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| 115 |
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"right_ability_hand_ring_q1",
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| 116 |
+
"right_ability_hand_ring_q2",
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| 117 |
+
"right_ability_hand_pinky_q1",
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| 118 |
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"right_ability_hand_pinky_q2",
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| 119 |
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"right_ability_hand_thumb_q1",
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| 120 |
+
"right_ability_hand_thumb_q2",
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| 121 |
+
"spine_z",
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| 122 |
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"spine_y"
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| 123 |
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],
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| 124 |
+
"fps": 30.0
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| 125 |
+
},
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| 126 |
+
"action": {
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| 127 |
+
"dtype": "float32",
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| 128 |
+
"shape": [
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| 129 |
+
46
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| 130 |
+
],
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| 131 |
+
"names": [
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| 132 |
+
"left_wrist_pos_x",
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| 133 |
+
"left_wrist_pos_y",
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| 134 |
+
"left_wrist_pos_z",
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| 135 |
+
"left_wrist_quat_x",
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| 136 |
+
"left_wrist_quat_y",
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| 137 |
+
"left_wrist_quat_z",
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| 138 |
+
"left_wrist_quat_w",
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| 139 |
+
"right_wrist_pos_x",
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| 140 |
+
"right_wrist_pos_y",
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| 141 |
+
"right_wrist_pos_z",
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| 142 |
+
"right_wrist_quat_x",
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| 143 |
+
"right_wrist_quat_y",
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| 144 |
+
"right_wrist_quat_z",
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| 145 |
+
"right_wrist_quat_w",
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| 146 |
+
"left_forearm_quat_x",
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| 147 |
+
"left_forearm_quat_y",
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| 148 |
+
"left_forearm_quat_z",
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| 149 |
+
"left_forearm_quat_w",
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| 150 |
+
"right_forearm_quat_x",
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| 151 |
+
"right_forearm_quat_y",
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| 152 |
+
"right_forearm_quat_z",
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| 153 |
+
"right_forearm_quat_w",
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| 154 |
+
"neck_quat_x",
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| 155 |
+
"neck_quat_y",
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| 156 |
+
"neck_quat_z",
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| 157 |
+
"neck_quat_w",
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| 158 |
+
"left_ability_hand_index_q1",
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| 159 |
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"left_ability_hand_index_q2",
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| 160 |
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"left_ability_hand_middle_q1",
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| 161 |
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"left_ability_hand_middle_q2",
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| 162 |
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"left_ability_hand_ring_q1",
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| 163 |
+
"left_ability_hand_ring_q2",
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| 164 |
+
"left_ability_hand_pinky_q1",
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| 165 |
+
"left_ability_hand_pinky_q2",
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| 166 |
+
"left_ability_hand_thumb_q1",
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| 167 |
+
"left_ability_hand_thumb_q2",
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| 168 |
+
"right_ability_hand_index_q1",
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| 169 |
+
"right_ability_hand_index_q2",
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| 170 |
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"right_ability_hand_middle_q1",
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| 171 |
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"right_ability_hand_middle_q2",
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| 172 |
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"right_ability_hand_ring_q1",
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| 173 |
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"right_ability_hand_ring_q2",
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| 174 |
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"right_ability_hand_pinky_q1",
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| 175 |
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"right_ability_hand_pinky_q2",
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| 176 |
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"right_ability_hand_thumb_q1",
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| 177 |
+
"right_ability_hand_thumb_q2"
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| 178 |
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],
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| 179 |
+
"fps": 30.0
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| 180 |
+
},
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| 181 |
+
"timestamp": {
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| 182 |
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"dtype": "float32",
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| 183 |
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"shape": [
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| 184 |
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1
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| 185 |
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],
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| 186 |
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"names": null
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| 187 |
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},
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| 188 |
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"episode_index": {
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| 189 |
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"dtype": "int64",
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| 190 |
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"shape": [
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| 191 |
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1
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| 192 |
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],
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| 193 |
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"names": null
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| 194 |
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},
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| 195 |
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"task_index": {
|
| 196 |
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"dtype": "int64",
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| 197 |
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"shape": [
|
| 198 |
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1
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| 199 |
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],
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| 200 |
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| 201 |
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},
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| 202 |
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|
| 203 |
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"dtype": "int64",
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| 204 |
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| 205 |
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1
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| 206 |
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],
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| 207 |
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"names": null
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| 208 |
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},
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| 209 |
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"frame_index": {
|
| 210 |
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"dtype": "int64",
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| 211 |
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| 212 |
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1
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| 213 |
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],
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| 214 |
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"names": null
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| 215 |
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},
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| 216 |
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"next.done": {
|
| 217 |
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"dtype": "bool",
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| 218 |
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"shape": [
|
| 219 |
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1
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| 220 |
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],
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| 221 |
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"fps": 30.0
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| 222 |
+
}
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| 223 |
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}
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| 224 |
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}
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