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Datasets:
LightwheelAI
/
Lightwheel-Tasks-G1-WBC

Tasks:
Robotics
Modalities:
Tabular
Time-series
Video
Formats:
parquet
Size:
1M - 10M
Tags:
LeRobot
RoboCasa
Libraries:
Datasets
Dask
Polars
License:
Dataset card Data Studio Files
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+ ---
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+ license: apache-2.0
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+ task_categories:
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+ - robotics
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+ tags:
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+ - LeRobot
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+ - RoboCasa
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+ configs:
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+ - config_name: default
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+ data_files: data/*/*.parquet
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+ ---
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+
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+ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
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+
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+ ## Dataset Description
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+
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+
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+
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+ - **Homepage:** [More Information Needed]
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+ - **Paper:** [More Information Needed]
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+ - **License:** apache-2.0
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+
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+ ## Dataset Structure
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+
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+ [meta/info.json](meta/info.json):
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+ ```json
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+ {
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+ "codebase_version": "v3.0",
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+ "robot_type": "g1_wbc",
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+ "total_episodes": 1600,
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+ "total_frames": 1474930,
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+ "total_tasks": 32,
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+ "chunks_size": 1000,
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+ "fps": 50,
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+ "splits": {
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+ "train": "0:1600"
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+ },
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+ "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
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+ "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
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+ "features": {
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+ "observation.images.left_hand": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channel"
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+ ],
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+ "video_info": {
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+ "video.width": 640,
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+ "video.height": 480,
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+ "video.fps": 50.0,
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+ "video.codec": "h264",
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+ "video.pix_fmt": "yuv420p",
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+ "video.channels": 3,
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.first_person": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channel"
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+ ],
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+ "video_info": {
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+ "video.width": 640,
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+ "video.height": 480,
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+ "video.fps": 50.0,
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+ "video.codec": "h264",
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+ "video.pix_fmt": "yuv420p",
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+ "video.channels": 3,
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.images.right_hand": {
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+ "dtype": "video",
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+ "shape": [
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+ 480,
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+ 640,
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+ 3
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+ ],
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+ "names": [
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+ "height",
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+ "width",
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+ "channel"
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+ ],
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+ "video_info": {
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+ "video.width": 640,
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+ "video.height": 480,
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+ "video.fps": 50.0,
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+ "video.codec": "h264",
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+ "video.pix_fmt": "yuv420p",
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+ "video.channels": 3,
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+ "video.is_depth_map": false,
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+ "has_audio": false
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+ }
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+ },
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+ "observation.state": {
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+ "dtype": "float32",
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+ "shape": [
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+ 43
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+ ],
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+ "names": [
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+ "left_hip_pitch_joint",
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+ "right_hip_pitch_joint",
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+ "waist_yaw_joint",
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+ "left_hip_roll_joint",
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+ "right_hip_roll_joint",
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+ "waist_roll_joint",
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+ "left_hip_yaw_joint",
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+ "right_hip_yaw_joint",
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+ "waist_pitch_joint",
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+ "left_knee_joint",
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+ "right_knee_joint",
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+ "left_shoulder_pitch_joint",
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+ "right_shoulder_pitch_joint",
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+ "left_ankle_pitch_joint",
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+ "right_ankle_pitch_joint",
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+ "left_shoulder_roll_joint",
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+ "right_shoulder_roll_joint",
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+ "left_ankle_roll_joint",
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+ "right_ankle_roll_joint",
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+ "left_shoulder_yaw_joint",
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+ "right_shoulder_yaw_joint",
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+ "left_elbow_joint",
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+ "right_elbow_joint",
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+ "left_wrist_roll_joint",
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+ "right_wrist_roll_joint",
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+ "left_wrist_pitch_joint",
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+ "right_wrist_pitch_joint",
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+ "left_wrist_yaw_joint",
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+ "right_wrist_yaw_joint",
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+ "left_hand_index_0_joint",
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+ "left_hand_middle_0_joint",
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+ "left_hand_thumb_0_joint",
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+ "right_hand_index_0_joint",
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+ "right_hand_middle_0_joint",
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+ "right_hand_thumb_0_joint",
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+ "left_hand_index_1_joint",
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+ "left_hand_middle_1_joint",
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+ "left_hand_thumb_1_joint",
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+ "right_hand_index_1_joint",
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+ "right_hand_middle_1_joint",
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+ "right_hand_thumb_1_joint",
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+ "left_hand_thumb_2_joint",
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+ "right_hand_thumb_2_joint"
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+ ],
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+ "fps": 50
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+ },
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+ "action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 23
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+ ],
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+ "names": [
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+ "left_gripper",
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+ "right_gripper",
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+ "left_arm_pos_x",
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+ "left_arm_pos_y",
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+ "left_arm_pos_z",
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+ "left_arm_quat_w",
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+ "left_arm_quat_x",
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+ "left_arm_quat_y",
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+ "left_arm_quat_z",
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+ "right_arm_pos_x",
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+ "right_arm_pos_y",
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+ "right_arm_pos_z",
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+ "right_arm_quat_w",
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+ "right_arm_quat_x",
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+ "right_arm_quat_y",
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+ "right_arm_quat_z",
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+ "base_lin_x_local",
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+ "base_lin_y_local",
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+ "base_ang_z_local",
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+ "base_height_cmd",
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+ "torso_orientation_roll_cmd",
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+ "torso_orientation_pitch_cmd",
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+ "torso_orientation_yaw_cmd"
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+ ],
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+ "fps": 50
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+ },
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+ "processed_action": {
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+ "dtype": "float32",
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+ "shape": [
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+ 43
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+ ],
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+ "names": [
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+ "left_hip_pitch_joint",
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+ "right_hip_pitch_joint",
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+ "waist_yaw_joint",
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+ "left_hip_roll_joint",
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+ "right_hip_roll_joint",
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+ "waist_roll_joint",
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+ "left_hip_yaw_joint",
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+ "right_hip_yaw_joint",
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+ "waist_pitch_joint",
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+ "left_knee_joint",
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+ "right_knee_joint",
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+ "left_shoulder_pitch_joint",
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+ "right_shoulder_pitch_joint",
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+ "left_ankle_pitch_joint",
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+ "right_ankle_pitch_joint",
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+ "left_shoulder_roll_joint",
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+ "right_shoulder_roll_joint",
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+ "left_ankle_roll_joint",
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+ "right_ankle_roll_joint",
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+ "left_shoulder_yaw_joint",
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+ "right_shoulder_yaw_joint",
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+ "left_elbow_joint",
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+ "right_elbow_joint",
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+ "left_wrist_roll_joint",
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+ "right_wrist_roll_joint",
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+ "left_wrist_pitch_joint",
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+ "right_wrist_pitch_joint",
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+ "left_wrist_yaw_joint",
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+ "right_wrist_yaw_joint",
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+ "left_hand_index_0_joint",
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+ "left_hand_middle_0_joint",
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+ "left_hand_thumb_0_joint",
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+ "right_hand_index_0_joint",
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+ "right_hand_middle_0_joint",
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+ "right_hand_thumb_0_joint",
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+ "left_hand_index_1_joint",
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+ "left_hand_middle_1_joint",
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+ "left_hand_thumb_1_joint",
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+ "right_hand_index_1_joint",
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+ "right_hand_middle_1_joint",
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+ "right_hand_thumb_1_joint",
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+ "left_hand_thumb_2_joint",
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+ "right_hand_thumb_2_joint"
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+ ],
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+ "fps": 50
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+ },
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+ "timestamp": {
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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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+ "fps": 50
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+ },
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+ "episode_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null,
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+ "fps": 50
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+ },
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+ "task_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null,
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+ "fps": 50
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+ },
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+ "index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null,
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+ "fps": 50
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+ },
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+ "frame_index": {
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+ "dtype": "int64",
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+ "shape": [
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+ 1
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+ ],
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+ "names": null,
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+ "fps": 50
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+ }
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+ },
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+ "data_files_size_in_mb": 100,
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+ "video_files_size_in_mb": 500
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+ }
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+ ```