Add files using upload-large-folder tool
Browse files- data/chunk-000/file-000.parquet +3 -0
- data/chunk-000/file-001.parquet +3 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +737 -0
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- videos/observation.images.wrist_right/chunk-000/file-008.mp4 +3 -0
- videos/observation.images.wrist_right_ir/chunk-000/file-000.mp4 +3 -0
data/chunk-000/file-000.parquet
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meta/info.json
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|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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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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| 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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| 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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| 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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| 75 |
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|
| 146 |
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|
| 151 |
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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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| 159 |
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| 160 |
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|
| 162 |
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|
| 163 |
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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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| 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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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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| 203 |
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| 207 |
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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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|
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|
| 216 |
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| 218 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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| 232 |
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| 238 |
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|
| 239 |
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|
| 240 |
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| 241 |
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|
| 242 |
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|
| 243 |
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|
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| 252 |
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| 253 |
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| 255 |
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|
| 256 |
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|
| 257 |
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|
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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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| 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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|
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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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|
| 292 |
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|
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| 300 |
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| 301 |
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| 302 |
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|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
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|
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|
| 314 |
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|
| 315 |
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|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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|
| 320 |
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|
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| 328 |
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| 329 |
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| 330 |
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|
| 331 |
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|
| 332 |
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|
| 333 |
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|
| 334 |
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| 342 |
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| 343 |
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| 344 |
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|
| 345 |
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|
| 346 |
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|
| 347 |
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|
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|
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|
| 360 |
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|
| 361 |
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|
| 362 |
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|
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|
| 371 |
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| 372 |
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|
| 382 |
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|
| 383 |
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|
| 384 |
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|
| 385 |
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|
| 386 |
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|
| 387 |
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|
| 388 |
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|
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| 395 |
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|
| 396 |
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|
| 397 |
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|
| 398 |
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|
| 399 |
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|
| 400 |
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|
| 401 |
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|
| 402 |
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|
| 403 |
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|
| 404 |
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1
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|
| 408 |
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|
| 410 |
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|
| 411 |
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|
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|
| 413 |
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| 416 |
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|
| 417 |
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| 418 |
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|
| 419 |
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|
| 420 |
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|
| 421 |
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"left_knee",
|
| 422 |
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|
| 423 |
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|
| 424 |
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|
| 425 |
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|
| 426 |
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|
| 427 |
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|
| 428 |
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|
| 429 |
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|
| 430 |
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|
| 431 |
+
"waist_roll",
|
| 432 |
+
"waist_pitch"
|
| 433 |
+
]
|
| 434 |
+
},
|
| 435 |
+
"action.left_arm": {
|
| 436 |
+
"dtype": "float32",
|
| 437 |
+
"shape": [
|
| 438 |
+
7
|
| 439 |
+
],
|
| 440 |
+
"names": [
|
| 441 |
+
"shoulder_pitch",
|
| 442 |
+
"shoulder_roll",
|
| 443 |
+
"shoulder_yaw",
|
| 444 |
+
"elbow",
|
| 445 |
+
"wrist_yaw",
|
| 446 |
+
"wrist_roll",
|
| 447 |
+
"wrist_pitch"
|
| 448 |
+
]
|
| 449 |
+
},
|
| 450 |
+
"action.right_arm": {
|
| 451 |
+
"dtype": "float32",
|
| 452 |
+
"shape": [
|
| 453 |
+
7
|
| 454 |
+
],
|
| 455 |
+
"names": [
|
| 456 |
+
"shoulder_pitch",
|
| 457 |
+
"shoulder_roll",
|
| 458 |
+
"shoulder_yaw",
|
| 459 |
+
"elbow",
|
| 460 |
+
"wrist_yaw",
|
| 461 |
+
"wrist_roll",
|
| 462 |
+
"wrist_pitch"
|
| 463 |
+
]
|
| 464 |
+
},
|
| 465 |
+
"action.left_leg": {
|
| 466 |
+
"dtype": "float32",
|
| 467 |
+
"shape": [
|
| 468 |
+
6
|
| 469 |
+
],
|
| 470 |
+
"names": [
|
| 471 |
+
"hip_pitch",
|
| 472 |
+
"hip_roll",
|
| 473 |
+
"hip_yaw",
|
| 474 |
+
"knee",
|
| 475 |
+
"ankle_pitch",
|
| 476 |
+
"ankle_roll"
|
| 477 |
+
]
|
| 478 |
+
},
|
| 479 |
+
"action.right_leg": {
|
| 480 |
+
"dtype": "float32",
|
| 481 |
+
"shape": [
|
| 482 |
+
6
|
| 483 |
+
],
|
| 484 |
+
"names": [
|
| 485 |
+
"hip_pitch",
|
| 486 |
+
"hip_roll",
|
| 487 |
+
"hip_yaw",
|
| 488 |
+
"knee",
|
| 489 |
+
"ankle_pitch",
|
| 490 |
+
"ankle_roll"
|
| 491 |
+
]
|
| 492 |
+
},
|
| 493 |
+
"action.hand_cmd": {
|
| 494 |
+
"dtype": "float32",
|
| 495 |
+
"shape": [
|
| 496 |
+
12
|
| 497 |
+
],
|
| 498 |
+
"names": [
|
| 499 |
+
"finger_0",
|
| 500 |
+
"finger_1",
|
| 501 |
+
"finger_2",
|
| 502 |
+
"finger_3",
|
| 503 |
+
"finger_4",
|
| 504 |
+
"finger_5",
|
| 505 |
+
"finger_6",
|
| 506 |
+
"finger_7",
|
| 507 |
+
"finger_8",
|
| 508 |
+
"finger_9",
|
| 509 |
+
"finger_10",
|
| 510 |
+
"finger_11"
|
| 511 |
+
]
|
| 512 |
+
},
|
| 513 |
+
"action.left_ee_pose_gripper_base": {
|
| 514 |
+
"dtype": "float32",
|
| 515 |
+
"shape": [
|
| 516 |
+
6
|
| 517 |
+
],
|
| 518 |
+
"names": [
|
| 519 |
+
"x",
|
| 520 |
+
"y",
|
| 521 |
+
"z",
|
| 522 |
+
"roll",
|
| 523 |
+
"pitch",
|
| 524 |
+
"yaw"
|
| 525 |
+
]
|
| 526 |
+
},
|
| 527 |
+
"action.right_ee_pose_gripper_base": {
|
| 528 |
+
"dtype": "float32",
|
| 529 |
+
"shape": [
|
| 530 |
+
6
|
| 531 |
+
],
|
| 532 |
+
"names": [
|
| 533 |
+
"x",
|
| 534 |
+
"y",
|
| 535 |
+
"z",
|
| 536 |
+
"roll",
|
| 537 |
+
"pitch",
|
| 538 |
+
"yaw"
|
| 539 |
+
]
|
| 540 |
+
},
|
| 541 |
+
"action.action_torso": {
|
| 542 |
+
"dtype": "float32",
|
| 543 |
+
"shape": [
|
| 544 |
+
6
|
| 545 |
+
],
|
| 546 |
+
"names": [
|
| 547 |
+
"x",
|
| 548 |
+
"y",
|
| 549 |
+
"z",
|
| 550 |
+
"roll",
|
| 551 |
+
"pitch",
|
| 552 |
+
"yaw"
|
| 553 |
+
]
|
| 554 |
+
},
|
| 555 |
+
"action.action_d435": {
|
| 556 |
+
"dtype": "float32",
|
| 557 |
+
"shape": [
|
| 558 |
+
6
|
| 559 |
+
],
|
| 560 |
+
"names": [
|
| 561 |
+
"x",
|
| 562 |
+
"y",
|
| 563 |
+
"z",
|
| 564 |
+
"roll",
|
| 565 |
+
"pitch",
|
| 566 |
+
"yaw"
|
| 567 |
+
]
|
| 568 |
+
},
|
| 569 |
+
"action.left_ee_pose_gripper_torso": {
|
| 570 |
+
"dtype": "float32",
|
| 571 |
+
"shape": [
|
| 572 |
+
6
|
| 573 |
+
],
|
| 574 |
+
"names": [
|
| 575 |
+
"x",
|
| 576 |
+
"y",
|
| 577 |
+
"z",
|
| 578 |
+
"roll",
|
| 579 |
+
"pitch",
|
| 580 |
+
"yaw"
|
| 581 |
+
]
|
| 582 |
+
},
|
| 583 |
+
"action.right_ee_pose_gripper_torso": {
|
| 584 |
+
"dtype": "float32",
|
| 585 |
+
"shape": [
|
| 586 |
+
6
|
| 587 |
+
],
|
| 588 |
+
"names": [
|
| 589 |
+
"x",
|
| 590 |
+
"y",
|
| 591 |
+
"z",
|
| 592 |
+
"roll",
|
| 593 |
+
"pitch",
|
| 594 |
+
"yaw"
|
| 595 |
+
]
|
| 596 |
+
},
|
| 597 |
+
"action.action_base_pose": {
|
| 598 |
+
"dtype": "float32",
|
| 599 |
+
"shape": [
|
| 600 |
+
7
|
| 601 |
+
],
|
| 602 |
+
"names": [
|
| 603 |
+
"x",
|
| 604 |
+
"y",
|
| 605 |
+
"z",
|
| 606 |
+
"qx",
|
| 607 |
+
"qy",
|
| 608 |
+
"qz",
|
| 609 |
+
"qw"
|
| 610 |
+
]
|
| 611 |
+
},
|
| 612 |
+
"action.base_command": {
|
| 613 |
+
"dtype": "float32",
|
| 614 |
+
"shape": [
|
| 615 |
+
4
|
| 616 |
+
],
|
| 617 |
+
"names": [
|
| 618 |
+
"vx",
|
| 619 |
+
"vy",
|
| 620 |
+
"angle_z",
|
| 621 |
+
"height"
|
| 622 |
+
]
|
| 623 |
+
},
|
| 624 |
+
"action.waist_action_joint": {
|
| 625 |
+
"dtype": "float32",
|
| 626 |
+
"shape": [
|
| 627 |
+
3
|
| 628 |
+
],
|
| 629 |
+
"names": [
|
| 630 |
+
"yaw",
|
| 631 |
+
"roll",
|
| 632 |
+
"pitch"
|
| 633 |
+
]
|
| 634 |
+
},
|
| 635 |
+
"action.left_fig6d": {
|
| 636 |
+
"dtype": "float32",
|
| 637 |
+
"shape": [
|
| 638 |
+
6
|
| 639 |
+
],
|
| 640 |
+
"names": [
|
| 641 |
+
"thumb_oc",
|
| 642 |
+
"thumb_lat",
|
| 643 |
+
"index",
|
| 644 |
+
"middle",
|
| 645 |
+
"ring",
|
| 646 |
+
"little"
|
| 647 |
+
]
|
| 648 |
+
},
|
| 649 |
+
"action.right_fig6d": {
|
| 650 |
+
"dtype": "float32",
|
| 651 |
+
"shape": [
|
| 652 |
+
6
|
| 653 |
+
],
|
| 654 |
+
"names": [
|
| 655 |
+
"thumb_oc",
|
| 656 |
+
"thumb_lat",
|
| 657 |
+
"index",
|
| 658 |
+
"middle",
|
| 659 |
+
"ring",
|
| 660 |
+
"little"
|
| 661 |
+
]
|
| 662 |
+
},
|
| 663 |
+
"timestamp": {
|
| 664 |
+
"dtype": "float32",
|
| 665 |
+
"shape": [
|
| 666 |
+
1
|
| 667 |
+
],
|
| 668 |
+
"names": null
|
| 669 |
+
},
|
| 670 |
+
"frame_index": {
|
| 671 |
+
"dtype": "int64",
|
| 672 |
+
"shape": [
|
| 673 |
+
1
|
| 674 |
+
],
|
| 675 |
+
"names": null
|
| 676 |
+
},
|
| 677 |
+
"episode_index": {
|
| 678 |
+
"dtype": "int64",
|
| 679 |
+
"shape": [
|
| 680 |
+
1
|
| 681 |
+
],
|
| 682 |
+
"names": null
|
| 683 |
+
},
|
| 684 |
+
"index": {
|
| 685 |
+
"dtype": "int64",
|
| 686 |
+
"shape": [
|
| 687 |
+
1
|
| 688 |
+
],
|
| 689 |
+
"names": null
|
| 690 |
+
},
|
| 691 |
+
"task_index": {
|
| 692 |
+
"dtype": "int64",
|
| 693 |
+
"shape": [
|
| 694 |
+
1
|
| 695 |
+
],
|
| 696 |
+
"names": null
|
| 697 |
+
},
|
| 698 |
+
"observation.state.state_base_rot": {
|
| 699 |
+
"dtype": "float32",
|
| 700 |
+
"shape": [
|
| 701 |
+
6
|
| 702 |
+
],
|
| 703 |
+
"names": [
|
| 704 |
+
"gx",
|
| 705 |
+
"gy",
|
| 706 |
+
"gz",
|
| 707 |
+
"wx",
|
| 708 |
+
"wy",
|
| 709 |
+
"wz"
|
| 710 |
+
]
|
| 711 |
+
},
|
| 712 |
+
"observation.state.state_base_rot_quat": {
|
| 713 |
+
"dtype": "float32",
|
| 714 |
+
"shape": [
|
| 715 |
+
4
|
| 716 |
+
],
|
| 717 |
+
"names": [
|
| 718 |
+
"qx",
|
| 719 |
+
"qy",
|
| 720 |
+
"qz",
|
| 721 |
+
"qw"
|
| 722 |
+
]
|
| 723 |
+
},
|
| 724 |
+
"action.action_base_rot": {
|
| 725 |
+
"dtype": "float32",
|
| 726 |
+
"shape": [
|
| 727 |
+
4
|
| 728 |
+
],
|
| 729 |
+
"names": [
|
| 730 |
+
"qx",
|
| 731 |
+
"qy",
|
| 732 |
+
"qz",
|
| 733 |
+
"qw"
|
| 734 |
+
]
|
| 735 |
+
}
|
| 736 |
+
}
|
| 737 |
+
}
|
meta/relative_stats.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,2035 @@
|
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|
| 1 |
+
{
|
| 2 |
+
"action.left_ee_pose_gripper_base": {
|
| 3 |
+
"mean": [
|
| 4 |
+
0.4021989232850322,
|
| 5 |
+
0.13241580283128435,
|
| 6 |
+
0.797066338147291,
|
| 7 |
+
0.5632036761216518,
|
| 8 |
+
-0.0046518924068135944,
|
| 9 |
+
-0.2944662279126818
|
| 10 |
+
],
|
| 11 |
+
"std": [
|
| 12 |
+
0.09167716438656029,
|
| 13 |
+
0.11119628964318246,
|
| 14 |
+
0.14482716122468572,
|
| 15 |
+
0.9331034013436248,
|
| 16 |
+
0.37060233247317265,
|
| 17 |
+
0.3898065634618201
|
| 18 |
+
],
|
| 19 |
+
"min": [
|
| 20 |
+
0.08949930220842361,
|
| 21 |
+
-0.2800426185131073,
|
| 22 |
+
0.39156410098075867,
|
| 23 |
+
-1.3303166627883911,
|
| 24 |
+
-1.1125214099884033,
|
| 25 |
+
-1.63124418258667
|
| 26 |
+
],
|
| 27 |
+
"max": [
|
| 28 |
+
1.0054157972335815,
|
| 29 |
+
0.5367159843444824,
|
| 30 |
+
1.1535048484802246,
|
| 31 |
+
2.8318254947662354,
|
| 32 |
+
1.422912836074829,
|
| 33 |
+
1.6871955394744873
|
| 34 |
+
],
|
| 35 |
+
"q01": [
|
| 36 |
+
0.20297587989570207,
|
| 37 |
+
-0.027006604068192042,
|
| 38 |
+
0.5153493991094912,
|
| 39 |
+
-0.5332629713000135,
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