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| 105 |
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| 107 |
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| 108 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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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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|
| 123 |
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|
| 124 |
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| 125 |
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| 126 |
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| 127 |
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|
| 128 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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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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{"episode_index": 142, "tasks": ["Push the lid from bottom left to the top right."], "length": 464, "source_h5": "/home/hanyu/Code/factr_qy/data/async_infer/open_box/pi05_joint_success/pi05_joint_0045_20260731_172727.h5", "control_group": "control", "source": "pi05_joint", "source_id": 1, "episode_label": 1}
|
| 144 |
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{"episode_index": 143, "tasks": ["Push the lid from bottom left to the top right."], "length": 540, "source_h5": "/home/hanyu/Code/factr_qy/data/async_infer/open_box/pi05_joint_success/pi05_joint_0046_20260731_172756.h5", "control_group": "control", "source": "pi05_joint", "source_id": 1, "episode_label": 1}
|
| 145 |
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{"episode_index": 144, "tasks": ["Push the lid from bottom left to the top right."], "length": 484, "source_h5": "/home/hanyu/Code/factr_qy/data/async_infer/open_box/pi05_joint_success/pi05_joint_0047_20260731_172823.h5", "control_group": "control", "source": "pi05_joint", "source_id": 1, "episode_label": 1}
|
| 146 |
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{"episode_index": 145, "tasks": ["Push the lid from bottom left to the top right."], "length": 491, "source_h5": "/home/hanyu/Code/factr_qy/data/async_infer/open_box/pi05_joint_success/pi05_joint_0048_20260731_172848.h5", "control_group": "control", "source": "pi05_joint", "source_id": 1, "episode_label": 1}
|
| 147 |
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{"episode_index": 146, "tasks": ["Push the lid from bottom left to the top right."], "length": 427, "source_h5": "/home/hanyu/Code/factr_qy/data/async_infer/open_box/pi05_joint_success/pi05_joint_0049_20260731_172912.h5", "control_group": "control", "source": "pi05_joint", "source_id": 1, "episode_label": 1}
|
| 148 |
+
{"episode_index": 147, "tasks": ["Push the lid from bottom left to the top right."], "length": 456, "source_h5": "/home/hanyu/Code/factr_qy/data/async_infer/open_box/pi05_joint_success/pi05_joint_0051_20260731_173015.h5", "control_group": "control", "source": "pi05_joint", "source_id": 1, "episode_label": 1}
|
| 149 |
+
{"episode_index": 148, "tasks": ["Push the lid from bottom left to the top right."], "length": 432, "source_h5": "/home/hanyu/Code/factr_qy/data/async_infer/open_box/pi05_joint_success/pi05_joint_0052_20260731_173040.h5", "control_group": "control", "source": "pi05_joint", "source_id": 1, "episode_label": 1}
|
| 150 |
+
{"episode_index": 149, "tasks": ["Push the lid from bottom left to the top right."], "length": 464, "source_h5": "/home/hanyu/Code/factr_qy/data/async_infer/open_box/pi05_joint_success/pi05_joint_0053_20260731_173104.h5", "control_group": "control", "source": "pi05_joint", "source_id": 1, "episode_label": 1}
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|
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|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
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|
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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": "franka_fr3",
|
| 4 |
+
"total_episodes": 150,
|
| 5 |
+
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|
| 6 |
+
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|
| 7 |
+
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|
| 8 |
+
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|
| 9 |
+
"fps": 30.0,
|
| 10 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 11 |
+
"video_path": "videos/{video_key}/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.mp4",
|
| 12 |
+
"features": {
|
| 13 |
+
"action": {
|
| 14 |
+
"dtype": "float32",
|
| 15 |
+
"shape": [
|
| 16 |
+
8
|
| 17 |
+
],
|
| 18 |
+
"names": [
|
| 19 |
+
"ee_pose_cmd_x",
|
| 20 |
+
"ee_pose_cmd_y",
|
| 21 |
+
"ee_pose_cmd_z",
|
| 22 |
+
"ee_pose_cmd_qx",
|
| 23 |
+
"ee_pose_cmd_qy",
|
| 24 |
+
"ee_pose_cmd_qz",
|
| 25 |
+
"ee_pose_cmd_qw",
|
| 26 |
+
"gripper_state"
|
| 27 |
+
],
|
| 28 |
+
"info": {
|
| 29 |
+
"action_source": "ee_pose_cmd_plus_gripper_state",
|
| 30 |
+
"pose_format": "xyz_quat_xyzw"
|
| 31 |
+
}
|
| 32 |
+
},
|
| 33 |
+
"timestamp": {
|
| 34 |
+
"dtype": "float32",
|
| 35 |
+
"shape": [
|
| 36 |
+
1
|
| 37 |
+
],
|
| 38 |
+
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|
| 39 |
+
},
|
| 40 |
+
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|
| 41 |
+
"dtype": "int64",
|
| 42 |
+
"shape": [
|
| 43 |
+
1
|
| 44 |
+
],
|
| 45 |
+
"names": null
|
| 46 |
+
},
|
| 47 |
+
"episode_index": {
|
| 48 |
+
"dtype": "int64",
|
| 49 |
+
"shape": [
|
| 50 |
+
1
|
| 51 |
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],
|
| 52 |
+
"names": null
|
| 53 |
+
},
|
| 54 |
+
"index": {
|
| 55 |
+
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|
| 56 |
+
"shape": [
|
| 57 |
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1
|
| 58 |
+
],
|
| 59 |
+
"names": null
|
| 60 |
+
},
|
| 61 |
+
"task_index": {
|
| 62 |
+
"dtype": "int64",
|
| 63 |
+
"shape": [
|
| 64 |
+
1
|
| 65 |
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],
|
| 66 |
+
"names": null
|
| 67 |
+
},
|
| 68 |
+
"observation.state.q_cmd": {
|
| 69 |
+
"dtype": "float32",
|
| 70 |
+
"shape": [
|
| 71 |
+
7
|
| 72 |
+
],
|
| 73 |
+
"names": [
|
| 74 |
+
"q_cmd_0",
|
| 75 |
+
"q_cmd_1",
|
| 76 |
+
"q_cmd_2",
|
| 77 |
+
"q_cmd_3",
|
| 78 |
+
"q_cmd_4",
|
| 79 |
+
"q_cmd_5",
|
| 80 |
+
"q_cmd_6"
|
| 81 |
+
]
|
| 82 |
+
},
|
| 83 |
+
"observation.state.q": {
|
| 84 |
+
"dtype": "float32",
|
| 85 |
+
"shape": [
|
| 86 |
+
7
|
| 87 |
+
],
|
| 88 |
+
"names": [
|
| 89 |
+
"q_0",
|
| 90 |
+
"q_1",
|
| 91 |
+
"q_2",
|
| 92 |
+
"q_3",
|
| 93 |
+
"q_4",
|
| 94 |
+
"q_5",
|
| 95 |
+
"q_6"
|
| 96 |
+
]
|
| 97 |
+
},
|
| 98 |
+
"observation.state.ee_pose": {
|
| 99 |
+
"dtype": "float32",
|
| 100 |
+
"shape": [
|
| 101 |
+
7
|
| 102 |
+
],
|
| 103 |
+
"names": [
|
| 104 |
+
"ee_pose_x",
|
| 105 |
+
"ee_pose_y",
|
| 106 |
+
"ee_pose_z",
|
| 107 |
+
"ee_pose_qx",
|
| 108 |
+
"ee_pose_qy",
|
| 109 |
+
"ee_pose_qz",
|
| 110 |
+
"ee_pose_qw"
|
| 111 |
+
],
|
| 112 |
+
"info": {
|
| 113 |
+
"pose_format": "xyz_quat_xyzw",
|
| 114 |
+
"source_matrix_shape": [
|
| 115 |
+
4,
|
| 116 |
+
4
|
| 117 |
+
]
|
| 118 |
+
}
|
| 119 |
+
},
|
| 120 |
+
"observation.state.ee_pose_cmd": {
|
| 121 |
+
"dtype": "float32",
|
| 122 |
+
"shape": [
|
| 123 |
+
7
|
| 124 |
+
],
|
| 125 |
+
"names": [
|
| 126 |
+
"ee_pose_cmd_x",
|
| 127 |
+
"ee_pose_cmd_y",
|
| 128 |
+
"ee_pose_cmd_z",
|
| 129 |
+
"ee_pose_cmd_qx",
|
| 130 |
+
"ee_pose_cmd_qy",
|
| 131 |
+
"ee_pose_cmd_qz",
|
| 132 |
+
"ee_pose_cmd_qw"
|
| 133 |
+
],
|
| 134 |
+
"info": {
|
| 135 |
+
"pose_format": "xyz_quat_xyzw",
|
| 136 |
+
"source_matrix_shape": [
|
| 137 |
+
4,
|
| 138 |
+
4
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"observation.state.gripper_state": {
|
| 143 |
+
"dtype": "float32",
|
| 144 |
+
"shape": [
|
| 145 |
+
1
|
| 146 |
+
],
|
| 147 |
+
"names": [
|
| 148 |
+
"gripper_state"
|
| 149 |
+
]
|
| 150 |
+
},
|
| 151 |
+
"observation.state.wrench_raw_chunk": {
|
| 152 |
+
"dtype": "float32",
|
| 153 |
+
"shape": [
|
| 154 |
+
4,
|
| 155 |
+
6
|
| 156 |
+
],
|
| 157 |
+
"names": null,
|
| 158 |
+
"info": {
|
| 159 |
+
"chunk_shape": [
|
| 160 |
+
4,
|
| 161 |
+
6
|
| 162 |
+
],
|
| 163 |
+
"window_s": null,
|
| 164 |
+
"channel_names": [
|
| 165 |
+
"fx",
|
| 166 |
+
"fy",
|
| 167 |
+
"fz",
|
| 168 |
+
"tx",
|
| 169 |
+
"ty",
|
| 170 |
+
"tz"
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"observation.state.wrench_filtered_chunk": {
|
| 175 |
+
"dtype": "float32",
|
| 176 |
+
"shape": [
|
| 177 |
+
4,
|
| 178 |
+
6
|
| 179 |
+
],
|
| 180 |
+
"names": null,
|
| 181 |
+
"info": {
|
| 182 |
+
"chunk_shape": [
|
| 183 |
+
4,
|
| 184 |
+
6
|
| 185 |
+
],
|
| 186 |
+
"window_s": null,
|
| 187 |
+
"channel_names": [
|
| 188 |
+
"fx",
|
| 189 |
+
"fy",
|
| 190 |
+
"fz",
|
| 191 |
+
"tx",
|
| 192 |
+
"ty",
|
| 193 |
+
"tz"
|
| 194 |
+
]
|
| 195 |
+
}
|
| 196 |
+
},
|
| 197 |
+
"observation.state.wrench_chunk_valid_len": {
|
| 198 |
+
"dtype": "int64",
|
| 199 |
+
"shape": [
|
| 200 |
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1
|
| 201 |
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],
|
| 202 |
+
"names": [
|
| 203 |
+
"valid_len"
|
| 204 |
+
],
|
| 205 |
+
"info": {
|
| 206 |
+
"max_valid_len": 4
|
| 207 |
+
}
|
| 208 |
+
},
|
| 209 |
+
"timestamp_us": {
|
| 210 |
+
"dtype": "int64",
|
| 211 |
+
"shape": [
|
| 212 |
+
1
|
| 213 |
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],
|
| 214 |
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"names": null
|
| 215 |
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|
| 216 |
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"source_id": {
|
| 217 |
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|
| 218 |
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|
| 219 |
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1
|
| 220 |
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],
|
| 221 |
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|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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1
|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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1
|
| 234 |
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],
|
| 235 |
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"names": [
|
| 236 |
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|
| 237 |
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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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1
|
| 243 |
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|
| 244 |
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|
| 245 |
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"interaction_label"
|
| 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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|
| 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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|
| 257 |
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"height",
|
| 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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|
| 279 |
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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 |
+
"video.pix_fmt": "yuv420p",
|
| 290 |
+
"video.is_depth_map": false,
|
| 291 |
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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 |
+
}
|
| 297 |
+
},
|
| 298 |
+
"wrist": {
|
| 299 |
+
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|
| 300 |
+
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|
| 301 |
+
3,
|
| 302 |
+
192,
|
| 303 |
+
256
|
| 304 |
+
],
|
| 305 |
+
"names": [
|
| 306 |
+
"channels",
|
| 307 |
+
"height",
|
| 308 |
+
"width"
|
| 309 |
+
],
|
| 310 |
+
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|
| 311 |
+
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|
| 312 |
+
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|
| 313 |
+
"video.codec": "libx264",
|
| 314 |
+
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|
| 315 |
+
"video.is_depth_map": false,
|
| 316 |
+
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|
| 317 |
+
"video.channels": 3,
|
| 318 |
+
"has_audio": false,
|
| 319 |
+
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|
| 320 |
+
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|
| 321 |
+
}
|
| 322 |
+
}
|
| 323 |
+
}
|
| 324 |
+
}
|
articulated/open_box/meta/stats.json
ADDED
|
@@ -0,0 +1,708 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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oid sha256:59c10e4a4a7926e8ca17ab999485a51a9b3adc0f7043c150fa3e3a461eede31a
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| 3 |
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size 1267227
|
articulated/open_box/videos/side_1/chunk-000/episode_000032.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:c99b55447cf7f08eacedf78a8e5a9fa5ad716d0791d77be69f3c4deacc419be0
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| 3 |
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size 1264998
|
articulated/open_box/videos/side_1/chunk-000/episode_000033.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:aa6da8a360524f9ded74a2f48dd19e7f7663f84bb09d7dc8a9b4706864cd0183
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| 3 |
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size 1148410
|