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Browse files- data/chunk-000/episode_000000.parquet +3 -0
- data/chunk-000/episode_000001.parquet +3 -0
- meta/crisp_meta.json +125 -0
- meta/episodes.jsonl +2 -0
- meta/episodes_stats.jsonl +2 -0
- meta/info.json +296 -0
- meta/tasks.jsonl +1 -0
- videos/chunk-000/observation.images.primary/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.primary/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.tactile/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.tactile/episode_000001.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000000.mp4 +3 -0
- videos/chunk-000/observation.images.wrist/episode_000001.mp4 +3 -0
data/chunk-000/episode_000000.parquet
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version https://git-lfs.github.com/spec/v1
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data/chunk-000/episode_000001.parquet
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version https://git-lfs.github.com/spec/v1
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meta/crisp_meta.json
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{
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"crisp_gym_version": "4.0.0",
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"crisp_py_version": "3.0.0",
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"control_type": "CARTESIAN",
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"env_config": {
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"robot_config": {
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"joint_names": [
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"fr3_joint1",
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"fr3_joint2",
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"fr3_joint3",
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"fr3_joint4",
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"fr3_joint5",
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"fr3_joint6",
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"fr3_joint7"
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],
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"home_config": [
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],
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"base_frame": "base",
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"target_frame": "fr3_hand_tcp",
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"default_controller": "cartesian_impedance_controller",
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"cartesian_impedance_controller_name": "cartesian_impedance_controller",
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"joint_trajectory_controller_name": "joint_impedance_controller",
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"target_pose_topic": "target_pose",
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"target_joint_topic": "target_joint",
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"current_pose_topic": "current_pose",
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"current_joint_topic": "joint_states",
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"current_twist_topic": "current_twist",
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"publish_frequency": 50.0,
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"time_to_home": 2.0,
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"max_pose_delay": 1.0,
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"max_joint_delay": 1.0,
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"use_tf_pose": false,
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"tf_retrieve_rate": 50.0,
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"use_prefix": false
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},
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"gripper_config": {
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"min_value": 1046.0,
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"max_value": 2065.0,
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"command_topic": "/left/gripper/dynamixel_motor/command",
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"joint_state_topic": "/left/gripper/dynamixel_motor/joint_states",
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"reboot_service": "reboot_gripper",
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"enable_torque_service": "/left/gripper/dynamixel_motor/set_torque",
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"index": 0,
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"publish_frequency": 30.0,
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"max_joint_delay": 1.0,
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"max_delta": 0.1
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},
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"camera_config": [
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{
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"camera_color_image_topic": "left_third_person_camera/image_raw",
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"camera_color_info_topic": "left_third_person_camera/camera_info",
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"camera_name": "primary",
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"camera_frame": "primary_link",
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"max_image_delay": 1.0,
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"resolution": [
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],
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"crop_width": null,
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"crop_height": null
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},
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{
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"camera_color_image_topic": "left_wrist_camera/color/image_rect_raw",
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"camera_color_info_topic": "left_wrist_camera/color/camera_info",
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"camera_name": "wrist",
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"camera_frame": "wrist_link",
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"max_image_delay": 1.0,
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"resolution": [
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},
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{
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"camera_color_image_topic": "anyskin/image_raw",
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"camera_color_info_topic": "anyskin/camera_info",
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"camera_name": "tactile",
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"camera_frame": "tactile_link",
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"max_image_delay": 1.0,
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"resolution": [
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}
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],
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"sensor_config": [
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"shape": [
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],
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"sensor_type": "float32_array",
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"name": "tactile_sensor",
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"data_topic": "/left/anyskin/tactile_data",
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"max_data_delay": 1.0,
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"buffer_size": null,
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"reset_service": "/left/anyskin/reset"
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},
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{
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"shape": [
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],
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"sensor_type": "force_torque",
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"name": "ft_sensor",
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"data_topic": "/left/external_wrench",
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"max_data_delay": 1.0,
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"buffer_size": null,
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}
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],
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"gripper_mode": "GripperMode.ABSOLUTE_CONTINUOUS",
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"gripper_threshold": 0.1,
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"cartesian_control_param_config": "None",
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"joint_control_param_config": "None"
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}
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}
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meta/episodes.jsonl
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{"episode_index": 0, "tasks": ["pick the lego block."], "length": 393}
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{"episode_index": 1, "tasks": ["pick the lego block."], "length": 327}
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meta/episodes_stats.jsonl
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{"episode_index": 0, "stats": {"observation.images.primary": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3183972473144531]], [[0.4996147287406173]], [[0.42592031680836395]]], "std": [[[0.3430431706759899]], [[0.23134916113524517]], [[0.29452050201447055]]], "count": [100]}, "observation.images.tactile": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.9882352941176471]]], "mean": [[[0.9162822780235141]], [[0.9089922611012178]], [[0.9070540370567173]]], "std": [[[0.032409702229440424]], [[0.08527163891731047]], [[0.09242973062182185]]], "count": [100]}, "observation.images.wrist": {"min": [[[0.0]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3150283418543198]], [[0.47349470250746784]], [[0.39587768435010723]]], "std": [[[0.32585228392699406]], [[0.22050070432762747]], [[0.26154150946094307]]], "count": [100]}, "observation.state.cartesian": {"min": [0.5048902034759521, 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meta/info.json
ADDED
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| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
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|
| 6 |
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|
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|
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|
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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| 53 |
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| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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| 80 |
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|
| 81 |
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|
| 82 |
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| 83 |
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| 84 |
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| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 111 |
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| 112 |
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| 114 |
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| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
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|
| 125 |
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|
| 126 |
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|
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|
| 129 |
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| 130 |
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|
| 131 |
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|
| 132 |
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|
| 134 |
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| 137 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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| 144 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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| 159 |
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| 160 |
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|
| 161 |
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| 162 |
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| 163 |
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| 165 |
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|
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|
| 167 |
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|
| 168 |
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|
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|
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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| 184 |
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| 185 |
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|
| 186 |
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| 187 |
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| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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| 196 |
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| 197 |
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| 198 |
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| 200 |
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| 201 |
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| 202 |
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| 203 |
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| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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"joint_6",
|
| 216 |
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"sensors_ft_sensor_0",
|
| 217 |
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"sensors_ft_sensor_1",
|
| 218 |
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"sensors_ft_sensor_2",
|
| 219 |
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"sensors_ft_sensor_3",
|
| 220 |
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"sensors_ft_sensor_4",
|
| 221 |
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"sensors_ft_sensor_5",
|
| 222 |
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"sensors_tactile_sensor_0",
|
| 223 |
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"sensors_tactile_sensor_1",
|
| 224 |
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"sensors_tactile_sensor_2",
|
| 225 |
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"sensors_tactile_sensor_3",
|
| 226 |
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"sensors_tactile_sensor_4",
|
| 227 |
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"sensors_tactile_sensor_5",
|
| 228 |
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"sensors_tactile_sensor_6",
|
| 229 |
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"sensors_tactile_sensor_7",
|
| 230 |
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"sensors_tactile_sensor_8",
|
| 231 |
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"sensors_tactile_sensor_9",
|
| 232 |
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"sensors_tactile_sensor_10",
|
| 233 |
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"sensors_tactile_sensor_11",
|
| 234 |
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"sensors_tactile_sensor_12",
|
| 235 |
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"sensors_tactile_sensor_13",
|
| 236 |
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"sensors_tactile_sensor_14",
|
| 237 |
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"target_x",
|
| 238 |
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"target_y",
|
| 239 |
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"target_z",
|
| 240 |
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"target_roll",
|
| 241 |
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"target_pitch",
|
| 242 |
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"target_yaw"
|
| 243 |
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|
| 244 |
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|
| 245 |
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| 246 |
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| 247 |
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|
| 249 |
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| 250 |
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| 251 |
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| 252 |
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| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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"yaw",
|
| 257 |
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"gripper"
|
| 258 |
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|
| 259 |
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|
| 260 |
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| 261 |
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|
| 262 |
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|
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| 265 |
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|
| 266 |
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| 267 |
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|
| 271 |
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| 272 |
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|
| 273 |
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| 274 |
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|
| 275 |
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|
| 278 |
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|
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| 281 |
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|
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| 287 |
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| 288 |
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|
| 292 |
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|
| 293 |
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|
| 294 |
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|
| 295 |
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|
| 296 |
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|
meta/tasks.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "pick the lego block."}
|
videos/chunk-000/observation.images.primary/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:c2090a1b9e91064e0df465370c81de598923234e5b10beb7a3945689e85b62f5
|
| 3 |
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size 3373888
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videos/chunk-000/observation.images.primary/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 2686841
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videos/chunk-000/observation.images.tactile/episode_000000.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 196626
|
videos/chunk-000/observation.images.tactile/episode_000001.mp4
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 87504
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videos/chunk-000/observation.images.wrist/episode_000000.mp4
ADDED
|
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version https://git-lfs.github.com/spec/v1
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videos/chunk-000/observation.images.wrist/episode_000001.mp4
ADDED
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version https://git-lfs.github.com/spec/v1
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size 1525029
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