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meta/info.json CHANGED
@@ -17,20 +17,270 @@
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  "observation.state": {
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  "dtype": "float32",
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  "shape": [
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- 3
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  ],
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  "names": [
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- "x",
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- "y",
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- "z"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  ]
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  },
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  "action": {
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  "dtype": "float32",
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  "shape": [
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- 1
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  ],
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- "names": null
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  },
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  "language_instruction": {
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  "dtype": "string",
 
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  "observation.state": {
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  "dtype": "float32",
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  "shape": [
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+ 126
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  ],
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  "names": [
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+ "camera_x",
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+ "camera_y",
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+ "camera_z",
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+ "camera_roll",
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+ "camera_pitch",
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+ "camera_yaw",
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+ "left_wrist_x",
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+ "left_wrist_y",
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+ "left_wrist_z",
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+ "left_wrist_roll",
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+ "left_wrist_pitch",
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+ "left_wrist_yaw",
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+ "left_thumb_cmc_x",
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+ "left_thumb_cmc_y",
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+ "left_thumb_cmc_z",
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+ "left_thumb_cmc_roll",
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+ "left_thumb_cmc_pitch",
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+ "left_thumb_cmc_yaw",
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+ "left_thumb_mcp_x",
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+ "left_thumb_mcp_y",
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+ "left_thumb_mcp_z",
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+ "left_thumb_mcp_roll",
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+ "left_thumb_mcp_pitch",
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+ "left_thumb_mcp_yaw",
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+ "left_thumb_tip_x",
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+ "left_thumb_tip_y",
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+ "left_thumb_tip_z",
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+ "left_thumb_tip_roll",
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+ "left_thumb_tip_pitch",
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+ "left_thumb_tip_yaw",
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+ "left_index_mcp_x",
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+ "left_index_mcp_y",
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+ "left_index_mcp_z",
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+ "left_index_mcp_roll",
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+ "left_index_mcp_pitch",
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+ "left_index_mcp_yaw",
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+ "left_index_pip_x",
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+ "left_index_pip_z",
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+ "left_index_pip_roll",
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+ "left_index_pip_pitch",
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+ "left_index_pip_yaw",
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+ "left_index_tip_x",
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+ "left_index_tip_y",
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+ "left_index_tip_z",
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+ "left_index_tip_roll",
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+ "left_index_tip_pitch",
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+ "left_index_tip_yaw",
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+ "left_middle_mcp_x",
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+ "left_middle_mcp_y",
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+ "left_middle_mcp_z",
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+ "left_middle_mcp_roll",
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+ "left_middle_mcp_pitch",
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+ "left_middle_mcp_yaw",
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+ "left_middle_tip_x",
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+ "left_middle_tip_y",
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+ "left_middle_tip_z",
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+ "left_middle_tip_roll",
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+ "left_middle_tip_pitch",
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+ "left_middle_tip_yaw",
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+ "left_ring_mcp_x",
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+ "left_ring_mcp_y",
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+ "left_ring_mcp_z",
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+ "left_ring_mcp_roll",
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+ "left_ring_mcp_pitch",
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+ "left_ring_mcp_yaw",
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+ "left_ring_tip_x",
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+ "left_ring_tip_y",
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+ "left_ring_tip_z",
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+ "left_ring_tip_roll",
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+ "left_ring_tip_pitch",
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+ "left_ring_tip_yaw",
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+ "left_pinky_mcp_x",
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+ "left_pinky_mcp_y",
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+ "left_pinky_mcp_z",
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+ "left_pinky_mcp_roll",
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+ "left_pinky_mcp_pitch",
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+ "left_pinky_mcp_yaw",
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+ "right_wrist_x",
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+ "right_wrist_y",
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+ "right_wrist_z",
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+ "right_wrist_roll",
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+ "right_wrist_pitch",
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+ "right_wrist_yaw",
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+ "right_thumb_mcp_x",
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+ "right_thumb_mcp_y",
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+ "right_thumb_mcp_z",
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+ "right_thumb_mcp_roll",
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+ "right_thumb_mcp_pitch",
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+ "right_thumb_mcp_yaw",
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+ "right_index_mcp_x",
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+ "right_index_mcp_y",
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+ "right_index_mcp_z",
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+ "right_index_mcp_roll",
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+ "right_index_mcp_pitch",
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+ "right_index_mcp_yaw",
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+ "right_index_tip_x",
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+ "right_index_tip_y",
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+ "right_index_tip_z",
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+ "right_index_tip_roll",
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+ "right_index_tip_pitch",
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+ "right_index_tip_yaw",
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+ "right_middle_mcp_x",
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+ "right_middle_mcp_y",
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+ "right_middle_mcp_z",
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+ "right_middle_mcp_roll",
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+ "right_middle_mcp_pitch",
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+ "right_middle_mcp_yaw",
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+ "right_middle_tip_x",
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+ "right_middle_tip_y",
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+ "right_middle_tip_z",
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+ "right_middle_tip_roll",
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+ "right_middle_tip_pitch",
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+ "right_middle_tip_yaw",
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+ "right_ring_mcp_x",
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+ "right_ring_mcp_y",
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+ "right_ring_mcp_z",
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+ "right_ring_mcp_roll",
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+ "right_ring_mcp_pitch",
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+ "right_ring_mcp_yaw",
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+ "right_ring_tip_x",
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+ "right_ring_tip_y",
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+ "right_ring_tip_z",
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+ "right_ring_tip_roll",
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+ "right_ring_tip_pitch",
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+ "right_ring_tip_yaw"
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  ]
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  },
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  "action": {
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  "dtype": "float32",
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  "shape": [
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+ 126
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  ],
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+ "names": [
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+ "camera_x",
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+ "camera_y",
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+ "camera_z",
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+ "camera_roll",
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+ "camera_pitch",
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+ "camera_yaw",
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+ "left_wrist_x",
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+ "left_wrist_y",
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+ "left_wrist_z",
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+ "left_wrist_roll",
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+ "left_wrist_pitch",
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+ "left_wrist_yaw",
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+ "left_thumb_cmc_x",
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+ "left_thumb_cmc_y",
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+ "left_thumb_cmc_z",
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+ "left_thumb_cmc_roll",
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+ "left_thumb_cmc_pitch",
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+ "left_thumb_cmc_yaw",
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+ "left_thumb_mcp_x",
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+ "left_thumb_mcp_y",
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+ "left_thumb_mcp_z",
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+ "left_thumb_mcp_roll",
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+ "left_thumb_mcp_pitch",
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+ "left_thumb_mcp_yaw",
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+ "left_thumb_tip_x",
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+ "left_thumb_tip_y",
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+ "left_thumb_tip_z",
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+ "left_thumb_tip_roll",
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+ "left_thumb_tip_pitch",
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+ "left_thumb_tip_yaw",
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+ "left_index_mcp_x",
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+ "left_index_mcp_y",
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+ "left_index_mcp_z",
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+ "left_index_mcp_roll",
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+ "left_index_mcp_pitch",
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+ "left_index_mcp_yaw",
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+ "left_index_pip_x",
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+ "left_index_pip_y",
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+ "left_index_pip_z",
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+ "left_index_pip_roll",
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+ "left_index_pip_pitch",
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+ "left_index_pip_yaw",
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+ "left_index_tip_x",
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+ "left_index_tip_y",
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+ "left_index_tip_z",
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+ "left_index_tip_roll",
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+ "left_index_tip_pitch",
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+ "left_index_tip_yaw",
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+ "left_middle_mcp_x",
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+ "left_middle_mcp_y",
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+ "left_middle_mcp_z",
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+ "left_middle_mcp_roll",
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+ "left_middle_mcp_pitch",
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+ "left_middle_mcp_yaw",
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+ "left_middle_tip_x",
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+ "left_middle_tip_y",
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+ "left_middle_tip_z",
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+ "left_middle_tip_roll",
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+ "left_middle_tip_pitch",
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+ "left_middle_tip_yaw",
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+ "left_ring_mcp_x",
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+ "left_ring_mcp_y",
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+ "left_ring_mcp_z",
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+ "left_ring_mcp_roll",
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+ "left_ring_mcp_pitch",
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+ "left_ring_mcp_yaw",
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+ "left_ring_tip_x",
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+ "left_ring_tip_y",
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+ "left_ring_tip_z",
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+ "left_ring_tip_roll",
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+ "left_ring_tip_pitch",
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+ "left_ring_tip_yaw",
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+ "left_pinky_mcp_x",
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+ "left_pinky_mcp_y",
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+ "left_pinky_mcp_z",
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+ "left_pinky_mcp_roll",
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+ "left_pinky_mcp_pitch",
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+ "left_pinky_mcp_yaw",
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+ "right_wrist_x",
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+ "right_wrist_y",
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+ "right_wrist_z",
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+ "right_wrist_roll",
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+ "right_wrist_pitch",
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+ "right_wrist_yaw",
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+ "right_thumb_mcp_x",
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+ "right_thumb_mcp_y",
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+ "right_thumb_mcp_z",
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+ "right_thumb_mcp_roll",
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+ "right_thumb_mcp_pitch",
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+ "right_thumb_mcp_yaw",
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+ "right_index_mcp_x",
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+ "right_index_mcp_y",
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+ "right_index_mcp_z",
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+ "right_index_mcp_roll",
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+ "right_index_mcp_pitch",
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+ "right_index_mcp_yaw",
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+ "right_index_tip_x",
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+ "right_index_tip_y",
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+ "right_index_tip_z",
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+ "right_index_tip_roll",
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+ "right_index_tip_pitch",
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+ "right_index_tip_yaw",
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+ "right_middle_mcp_x",
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+ "right_middle_mcp_y",
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+ "right_middle_mcp_z",
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+ "right_middle_mcp_roll",
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+ "right_middle_mcp_pitch",
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+ "right_middle_mcp_yaw",
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+ "right_middle_tip_x",
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+ "right_middle_tip_y",
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+ "right_middle_tip_z",
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+ "right_middle_tip_roll",
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+ "right_middle_tip_pitch",
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+ "right_middle_tip_yaw",
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+ "right_ring_mcp_x",
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+ "right_ring_mcp_y",
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+ "right_ring_mcp_z",
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+ "right_ring_mcp_roll",
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+ "right_ring_mcp_pitch",
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+ "right_ring_mcp_yaw",
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+ "right_ring_tip_x",
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+ "right_ring_tip_y",
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+ "right_ring_tip_z",
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+ "right_ring_tip_roll",
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+ "right_ring_tip_pitch",
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+ "right_ring_tip_yaw"
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+ ]
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  },
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  "language_instruction": {
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  "dtype": "string",