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Browse files- data/chunk-000/file-000.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +128 -67
- meta/stats.json +1258 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.cam_left_high/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.cam_left_wrist/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.cam_right_wrist/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet
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meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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meta/info.json
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{
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"codebase_version": "
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"total_episodes": 20,
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"total_frames": 26062,
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"total_videos": 60,
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"names": [
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"names": [
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"action_27": {
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"dtype": "float32",
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@@ -516,7 +569,8 @@
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],
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"names": [
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"kRightHandMiddle1"
|
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-
]
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},
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"observation.images.cam_left_high": {
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"dtype": "video",
|
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@@ -592,35 +646,42 @@
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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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"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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},
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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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},
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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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},
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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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}
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-
}
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}
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| 1 |
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
"robot_type": "Unitree_G1_Dex3_Sim",
|
| 4 |
"total_episodes": 20,
|
| 5 |
"total_frames": 26062,
|
| 6 |
"total_tasks": 1,
|
|
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|
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|
| 7 |
"chunks_size": 1000,
|
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"fps": 30,
|
| 9 |
"splits": {
|
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"train": "0:20"
|
| 11 |
},
|
| 12 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 13 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
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"features": {
|
| 15 |
"observation.state_0": {
|
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"dtype": "float32",
|
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],
|
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"names": [
|
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"kLeftShoulderPitch"
|
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+
],
|
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+
"fps": 30
|
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},
|
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"action_0": {
|
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"dtype": "float32",
|
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| 29 |
],
|
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"names": [
|
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"kLeftShoulderPitch"
|
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+
],
|
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+
"fps": 30
|
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},
|
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"observation.state_1": {
|
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"dtype": "float32",
|
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],
|
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"names": [
|
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"kLeftShoulderRoll"
|
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+
],
|
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+
"fps": 30
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},
|
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"action_1": {
|
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"dtype": "float32",
|
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],
|
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"names": [
|
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"kLeftShoulderRoll"
|
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+
],
|
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+
"fps": 30
|
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},
|
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"observation.state_2": {
|
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"dtype": "float32",
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],
|
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"names": [
|
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"kLeftShoulderYaw"
|
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+
],
|
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+
"fps": 30
|
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},
|
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"action_2": {
|
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"dtype": "float32",
|
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],
|
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"names": [
|
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"kLeftShoulderYaw"
|
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+
],
|
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+
"fps": 30
|
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},
|
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"observation.state_3": {
|
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"dtype": "float32",
|
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],
|
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"names": [
|
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"kLeftElbow"
|
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+
],
|
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+
"fps": 30
|
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},
|
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"action_3": {
|
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"dtype": "float32",
|
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],
|
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"names": [
|
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"kLeftElbow"
|
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+
],
|
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+
"fps": 30
|
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},
|
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"observation.state_4": {
|
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"dtype": "float32",
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],
|
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"names": [
|
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"kLeftWristRoll"
|
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+
],
|
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+
"fps": 30
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},
|
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"action_4": {
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"dtype": "float32",
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],
|
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"names": [
|
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"kLeftWristRoll"
|
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+
],
|
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+
"fps": 30
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},
|
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"observation.state_5": {
|
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"dtype": "float32",
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],
|
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"names": [
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"kLeftWristPitch"
|
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+
],
|
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+
"fps": 30
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},
|
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"action_5": {
|
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"dtype": "float32",
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],
|
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"names": [
|
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"kLeftWristPitch"
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+
],
|
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+
"fps": 30
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},
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"observation.state_6": {
|
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"dtype": "float32",
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],
|
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"names": [
|
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"kLeftWristYaw"
|
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+
],
|
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+
"fps": 30
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},
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"action_6": {
|
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"dtype": "float32",
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],
|
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"names": [
|
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"kLeftWristYaw"
|
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+
],
|
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+
"fps": 30
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},
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"observation.state_7": {
|
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"dtype": "float32",
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],
|
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"names": [
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"kRightShoulderPitch"
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+
],
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+
"fps": 30
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},
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"action_7": {
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"dtype": "float32",
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],
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"names": [
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"kRightShoulderPitch"
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+
],
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+
"fps": 30
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},
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"observation.state_8": {
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"dtype": "float32",
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],
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"names": [
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"kRightShoulderRoll"
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+
],
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+
"fps": 30
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},
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"action_8": {
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"dtype": "float32",
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],
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"names": [
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"kRightShoulderRoll"
|
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+
],
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+
"fps": 30
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"observation.state_9": {
|
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"dtype": "float32",
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],
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"names": [
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"kRightShoulderYaw"
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+
],
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+
"fps": 30
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},
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"action_9": {
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"dtype": "float32",
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],
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"names": [
|
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"kRightShoulderYaw"
|
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+
],
|
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+
"fps": 30
|
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},
|
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"observation.state_10": {
|
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"dtype": "float32",
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],
|
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"names": [
|
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"kRightElbow"
|
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+
],
|
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+
"fps": 30
|
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},
|
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"action_10": {
|
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"dtype": "float32",
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],
|
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"names": [
|
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"kRightElbow"
|
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+
],
|
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+
"fps": 30
|
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},
|
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"observation.state_11": {
|
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"dtype": "float32",
|
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],
|
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"names": [
|
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"kRightWristRoll"
|
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+
],
|
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+
"fps": 30
|
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},
|
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"action_11": {
|
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"dtype": "float32",
|
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],
|
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"names": [
|
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"kRightWristRoll"
|
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+
],
|
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+
"fps": 30
|
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},
|
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"observation.state_12": {
|
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"dtype": "float32",
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],
|
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"names": [
|
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"kRightWristPitch"
|
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+
],
|
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+
"fps": 30
|
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},
|
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"action_12": {
|
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"dtype": "float32",
|
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],
|
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"names": [
|
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"kRightWristPitch"
|
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+
],
|
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+
"fps": 30
|
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},
|
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|
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"dtype": "float32",
|
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],
|
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"names": [
|
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"kRightWristYaw"
|
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+
],
|
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+
"fps": 30
|
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},
|
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"action_13": {
|
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"dtype": "float32",
|
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],
|
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"names": [
|
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"kRightWristYaw"
|
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+
],
|
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+
"fps": 30
|
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|
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"observation.state_14": {
|
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"dtype": "float32",
|
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|
| 299 |
],
|
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"names": [
|
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"kLeftHandThumb0"
|
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+
],
|
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+
"fps": 30
|
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},
|
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"action_14": {
|
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"dtype": "float32",
|
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],
|
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"names": [
|
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"kLeftHandThumb0"
|
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+
],
|
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+
"fps": 30
|
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|
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|
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"dtype": "float32",
|
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],
|
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"names": [
|
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"kLeftHandThumb1"
|
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+
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|
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+
"fps": 30
|
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|
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|
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"dtype": "float32",
|
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|
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],
|
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|
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"kLeftHandThumb1"
|
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+
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|
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+
"fps": 30
|
| 334 |
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|
| 335 |
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|
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"dtype": "float32",
|
|
|
|
| 339 |
],
|
| 340 |
"names": [
|
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"kLeftHandThumb2"
|
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+
],
|
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+
"fps": 30
|
| 344 |
},
|
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"action_16": {
|
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"dtype": "float32",
|
|
|
|
| 349 |
],
|
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"names": [
|
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"kLeftHandThumb2"
|
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+
],
|
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+
"fps": 30
|
| 354 |
},
|
| 355 |
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|
| 356 |
"dtype": "float32",
|
|
|
|
| 359 |
],
|
| 360 |
"names": [
|
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"kLeftHandMiddle0"
|
| 362 |
+
],
|
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+
"fps": 30
|
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},
|
| 365 |
"action_17": {
|
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"dtype": "float32",
|
|
|
|
| 369 |
],
|
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"names": [
|
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"kLeftHandMiddle0"
|
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+
],
|
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+
"fps": 30
|
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|
| 375 |
"observation.state_18": {
|
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"dtype": "float32",
|
|
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|
| 379 |
],
|
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"names": [
|
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"kLeftHandMiddle1"
|
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+
],
|
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+
"fps": 30
|
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},
|
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"action_18": {
|
| 386 |
"dtype": "float32",
|
|
|
|
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],
|
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"names": [
|
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"kLeftHandMiddle1"
|
| 392 |
+
],
|
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+
"fps": 30
|
| 394 |
},
|
| 395 |
"observation.state_19": {
|
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"dtype": "float32",
|
|
|
|
| 399 |
],
|
| 400 |
"names": [
|
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"kLeftHandIndex0"
|
| 402 |
+
],
|
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+
"fps": 30
|
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},
|
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"action_19": {
|
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"dtype": "float32",
|
|
|
|
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],
|
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"names": [
|
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"kLeftHandIndex0"
|
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+
],
|
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+
"fps": 30
|
| 414 |
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|
| 415 |
"observation.state_20": {
|
| 416 |
"dtype": "float32",
|
|
|
|
| 419 |
],
|
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"names": [
|
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"kLeftHandIndex1"
|
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+
],
|
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+
"fps": 30
|
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},
|
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"action_20": {
|
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"dtype": "float32",
|
|
|
|
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],
|
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"names": [
|
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"kLeftHandIndex1"
|
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+
],
|
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+
"fps": 30
|
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|
| 435 |
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|
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"dtype": "float32",
|
|
|
|
| 439 |
],
|
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"names": [
|
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"kRightHandThumb0"
|
| 442 |
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|
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"fps": 30
|
| 444 |
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|
| 445 |
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|
| 446 |
"dtype": "float32",
|
|
|
|
| 449 |
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|
| 450 |
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|
| 451 |
"kRightHandThumb0"
|
| 452 |
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],
|
| 453 |
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"fps": 30
|
| 454 |
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|
| 455 |
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|
| 456 |
"dtype": "float32",
|
|
|
|
| 459 |
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|
| 460 |
"names": [
|
| 461 |
"kRightHandThumb1"
|
| 462 |
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|
| 463 |
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"fps": 30
|
| 464 |
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|
| 465 |
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|
| 466 |
"dtype": "float32",
|
|
|
|
| 469 |
],
|
| 470 |
"names": [
|
| 471 |
"kRightHandThumb1"
|
| 472 |
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],
|
| 473 |
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"fps": 30
|
| 474 |
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|
| 475 |
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|
| 476 |
"dtype": "float32",
|
|
|
|
| 479 |
],
|
| 480 |
"names": [
|
| 481 |
"kRightHandThumb2"
|
| 482 |
+
],
|
| 483 |
+
"fps": 30
|
| 484 |
},
|
| 485 |
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|
| 486 |
"dtype": "float32",
|
|
|
|
| 489 |
],
|
| 490 |
"names": [
|
| 491 |
"kRightHandThumb2"
|
| 492 |
+
],
|
| 493 |
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"fps": 30
|
| 494 |
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|
| 495 |
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|
| 496 |
"dtype": "float32",
|
|
|
|
| 499 |
],
|
| 500 |
"names": [
|
| 501 |
"kRightHandIndex0"
|
| 502 |
+
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|
| 503 |
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"fps": 30
|
| 504 |
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|
| 505 |
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|
| 506 |
"dtype": "float32",
|
|
|
|
| 509 |
],
|
| 510 |
"names": [
|
| 511 |
"kRightHandIndex0"
|
| 512 |
+
],
|
| 513 |
+
"fps": 30
|
| 514 |
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|
| 515 |
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|
| 516 |
"dtype": "float32",
|
|
|
|
| 519 |
],
|
| 520 |
"names": [
|
| 521 |
"kRightHandIndex1"
|
| 522 |
+
],
|
| 523 |
+
"fps": 30
|
| 524 |
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|
| 525 |
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|
| 526 |
"dtype": "float32",
|
|
|
|
| 529 |
],
|
| 530 |
"names": [
|
| 531 |
"kRightHandIndex1"
|
| 532 |
+
],
|
| 533 |
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|
| 534 |
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|
| 535 |
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|
| 536 |
"dtype": "float32",
|
|
|
|
| 539 |
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|
| 540 |
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|
| 541 |
"kRightHandMiddle0"
|
| 542 |
+
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|
| 543 |
+
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|
| 544 |
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|
| 545 |
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|
| 546 |
"dtype": "float32",
|
|
|
|
| 549 |
],
|
| 550 |
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|
| 551 |
"kRightHandMiddle0"
|
| 552 |
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|
| 553 |
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|
| 554 |
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|
| 555 |
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|
| 556 |
"dtype": "float32",
|
|
|
|
| 559 |
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|
| 560 |
"names": [
|
| 561 |
"kRightHandMiddle1"
|
| 562 |
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| 563 |
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"fps": 30
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| 564 |
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|
| 565 |
"action_27": {
|
| 566 |
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| 569 |
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|
| 570 |
"names": [
|
| 571 |
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|
| 572 |
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],
|
| 573 |
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"fps": 30
|
| 574 |
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|
| 575 |
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|
| 576 |
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|
| 646 |
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|
| 647 |
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|
| 648 |
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|
| 649 |
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|
| 650 |
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"fps": 30
|
| 651 |
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|
| 652 |
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|
| 653 |
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|
| 654 |
"shape": [
|
| 655 |
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|
| 656 |
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|
| 657 |
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|
| 658 |
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"fps": 30
|
| 659 |
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|
| 660 |
"episode_index": {
|
| 661 |
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|
| 662 |
"shape": [
|
| 663 |
1
|
| 664 |
],
|
| 665 |
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|
| 666 |
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"fps": 30
|
| 667 |
},
|
| 668 |
"index": {
|
| 669 |
"dtype": "int64",
|
| 670 |
"shape": [
|
| 671 |
1
|
| 672 |
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|
| 673 |
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"names": null,
|
| 674 |
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"fps": 30
|
| 675 |
},
|
| 676 |
"task_index": {
|
| 677 |
"dtype": "int64",
|
| 678 |
"shape": [
|
| 679 |
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|
| 680 |
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|
| 681 |
+
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|
| 682 |
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|
| 683 |
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|
| 684 |
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| 685 |
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"data_files_size_in_mb": 100,
|
| 686 |
+
"video_files_size_in_mb": 500
|
| 687 |
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,1258 @@
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