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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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size 64409
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meta/info.json
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|
| 1 |
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{
|
| 2 |
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"codebase_version": "v3.0",
|
| 3 |
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"robot_type": "so101_follower",
|
| 4 |
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"total_episodes": 5,
|
| 5 |
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"total_frames": 1820,
|
| 6 |
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"total_tasks": 1,
|
| 7 |
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"chunks_size": 1000,
|
| 8 |
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"data_files_size_in_mb": 100,
|
| 9 |
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"video_files_size_in_mb": 500,
|
| 10 |
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"fps": 30,
|
| 11 |
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"splits": {
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| 12 |
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"train": "0:5"
|
| 13 |
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},
|
| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
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"features": {
|
| 17 |
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"action": {
|
| 18 |
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"dtype": "float32",
|
| 19 |
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"names": [
|
| 20 |
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"shoulder_pan.pos",
|
| 21 |
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"shoulder_lift.pos",
|
| 22 |
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"elbow_flex.pos",
|
| 23 |
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"wrist_flex.pos",
|
| 24 |
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"wrist_roll.pos",
|
| 25 |
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"gripper.pos"
|
| 26 |
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],
|
| 27 |
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"shape": [
|
| 28 |
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6
|
| 29 |
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]
|
| 30 |
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},
|
| 31 |
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"observation.state": {
|
| 32 |
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"dtype": "float32",
|
| 33 |
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"names": [
|
| 34 |
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"shoulder_pan.pos",
|
| 35 |
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"shoulder_lift.pos",
|
| 36 |
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"elbow_flex.pos",
|
| 37 |
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"wrist_flex.pos",
|
| 38 |
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"wrist_roll.pos",
|
| 39 |
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"gripper.pos"
|
| 40 |
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],
|
| 41 |
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"shape": [
|
| 42 |
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6
|
| 43 |
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]
|
| 44 |
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},
|
| 45 |
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"observation.images.handeye": {
|
| 46 |
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"dtype": "video",
|
| 47 |
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"shape": [
|
| 48 |
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360,
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| 49 |
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640,
|
| 50 |
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3
|
| 51 |
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],
|
| 52 |
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"names": [
|
| 53 |
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"height",
|
| 54 |
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"width",
|
| 55 |
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"channels"
|
| 56 |
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],
|
| 57 |
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"info": {
|
| 58 |
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"video.height": 360,
|
| 59 |
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"video.width": 640,
|
| 60 |
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"video.codec": "h264",
|
| 61 |
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"video.pix_fmt": "yuv420p",
|
| 62 |
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"video.is_depth_map": false,
|
| 63 |
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"video.fps": 30,
|
| 64 |
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"video.channels": 3,
|
| 65 |
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"has_audio": false
|
| 66 |
+
}
|
| 67 |
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},
|
| 68 |
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"observation.images.fixed": {
|
| 69 |
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"dtype": "video",
|
| 70 |
+
"shape": [
|
| 71 |
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360,
|
| 72 |
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640,
|
| 73 |
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3
|
| 74 |
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],
|
| 75 |
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"names": [
|
| 76 |
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"height",
|
| 77 |
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"width",
|
| 78 |
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"channels"
|
| 79 |
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],
|
| 80 |
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"info": {
|
| 81 |
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"video.height": 360,
|
| 82 |
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"video.width": 640,
|
| 83 |
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"video.codec": "h264",
|
| 84 |
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"video.pix_fmt": "yuv420p",
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| 85 |
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"video.is_depth_map": false,
|
| 86 |
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"video.fps": 30,
|
| 87 |
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"video.channels": 3,
|
| 88 |
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"has_audio": false
|
| 89 |
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}
|
| 90 |
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},
|
| 91 |
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"observation.tactile": {
|
| 92 |
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"dtype": "float32",
|
| 93 |
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"shape": [
|
| 94 |
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207
|
| 95 |
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],
|
| 96 |
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"names": [
|
| 97 |
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"tactile.force_000.x",
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"tactile.force_000.y",
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"tactile.force_000.z",
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| 104 |
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|
| 217 |
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"tactile.force_040.x",
|
| 218 |
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"tactile.force_040.y",
|
| 219 |
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"tactile.force_040.z",
|
| 220 |
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"tactile.force_041.x",
|
| 221 |
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|
| 222 |
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|
| 223 |
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"tactile.force_042.x",
|
| 224 |
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|
| 225 |
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"tactile.force_042.z",
|
| 226 |
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"tactile.force_043.x",
|
| 227 |
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"tactile.force_043.y",
|
| 228 |
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"tactile.force_043.z",
|
| 229 |
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"tactile.force_044.x",
|
| 230 |
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"tactile.force_044.y",
|
| 231 |
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"tactile.force_044.z",
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| 232 |
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"tactile.force_045.x",
|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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"tactile.force_046.z",
|
| 238 |
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"tactile.force_047.x",
|
| 239 |
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|
| 240 |
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"tactile.force_047.z",
|
| 241 |
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|
| 242 |
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|
| 243 |
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"tactile.force_048.z",
|
| 244 |
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|
| 245 |
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| 246 |
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|
| 247 |
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|
| 248 |
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|
| 249 |
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|
| 250 |
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"tactile.force_051.x",
|
| 251 |
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|
| 252 |
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| 253 |
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"tactile.force_052.x",
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| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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| 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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| 263 |
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| 264 |
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|
| 265 |
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| 266 |
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|
| 267 |
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| 268 |
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| 269 |
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| 270 |
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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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| 276 |
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|
| 277 |
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| 278 |
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| 280 |
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| 281 |
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| 282 |
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| 283 |
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|
| 284 |
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| 285 |
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|
| 286 |
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|
| 287 |
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| 288 |
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| 289 |
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| 290 |
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|
| 291 |
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"tactile.force_064.z",
|
| 292 |
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"tactile.force_065.x",
|
| 293 |
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|
| 294 |
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"tactile.force_065.z",
|
| 295 |
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|
| 296 |
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"tactile.force_066.y",
|
| 297 |
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"tactile.force_066.z",
|
| 298 |
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"tactile.force_067.x",
|
| 299 |
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"tactile.force_067.y",
|
| 300 |
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"tactile.force_067.z",
|
| 301 |
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"tactile.resultant.x",
|
| 302 |
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"tactile.resultant.y",
|
| 303 |
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"tactile.resultant.z"
|
| 304 |
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]
|
| 305 |
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},
|
| 306 |
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|
| 308 |
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|
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|
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|
| 320 |
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|
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|
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|
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|
| 340 |
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|
| 341 |
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|
| 342 |
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}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,1148 @@
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