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- .gitattributes +62 -0
- DM-DataClaw/datasets/v1_3_usb_backups_2026-03-25_08-16/dag911262r003570_lerobot_0410_043001/data/chunk-000/file-000.parquet +3 -0
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- DM-DataClaw/datasets/v1_3_usb_backups_2026-03-25_08-16/dag911262r003570_lerobot_0410_043001/videos/observation.images.cam_right/chunk-000/file-026.mp4 +3 -0
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- DM-DataClaw/datasets/v1_3_usb_backups_2026-03-25_08-16/dag911262r003570_lerobot_0410_043001/videos/observation.images.cam_right/chunk-000/file-028.mp4 +3 -0
- DM-DataClaw/datasets/v1_3_usb_backups_2026-03-25_08-16/dag911262r003570_lerobot_0410_043001/videos/observation.images.cam_right/chunk-000/file-029.mp4 +3 -0
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "ugripper_right",
|
| 4 |
+
"total_episodes": 409,
|
| 5 |
+
"total_frames": 309795,
|
| 6 |
+
"total_tasks": 5,
|
| 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": 200,
|
| 10 |
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"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
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"train": "0:409"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.images.cam_right": {
|
| 18 |
+
"dtype": "video",
|
| 19 |
+
"shape": [
|
| 20 |
+
3,
|
| 21 |
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1080,
|
| 22 |
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1920
|
| 23 |
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],
|
| 24 |
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"names": [
|
| 25 |
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"channels",
|
| 26 |
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"height",
|
| 27 |
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"width"
|
| 28 |
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],
|
| 29 |
+
"intrinsics": {
|
| 30 |
+
"1920x1080": {
|
| 31 |
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"fx": 1000.0,
|
| 32 |
+
"fy": 1000.0,
|
| 33 |
+
"ppx": 960.0,
|
| 34 |
+
"ppy": 540.0
|
| 35 |
+
}
|
| 36 |
+
},
|
| 37 |
+
"info": {
|
| 38 |
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"video.height": 1080,
|
| 39 |
+
"video.width": 1920,
|
| 40 |
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"video.codec": "h264",
|
| 41 |
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"video.pix_fmt": "yuv420p",
|
| 42 |
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"video.is_depth_map": false,
|
| 43 |
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"video.fps": 30,
|
| 44 |
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"video.channels": 3,
|
| 45 |
+
"has_audio": false
|
| 46 |
+
}
|
| 47 |
+
},
|
| 48 |
+
"observation.images.gripper_left_tactile": {
|
| 49 |
+
"dtype": "video",
|
| 50 |
+
"shape": [
|
| 51 |
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3,
|
| 52 |
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480,
|
| 53 |
+
640
|
| 54 |
+
],
|
| 55 |
+
"names": [
|
| 56 |
+
"channels",
|
| 57 |
+
"height",
|
| 58 |
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"width"
|
| 59 |
+
],
|
| 60 |
+
"serial": "X25510107",
|
| 61 |
+
"info": {
|
| 62 |
+
"video.height": 480,
|
| 63 |
+
"video.width": 640,
|
| 64 |
+
"video.codec": "h264",
|
| 65 |
+
"video.pix_fmt": "yuv420p",
|
| 66 |
+
"video.is_depth_map": false,
|
| 67 |
+
"video.fps": 30,
|
| 68 |
+
"video.channels": 3,
|
| 69 |
+
"has_audio": false
|
| 70 |
+
}
|
| 71 |
+
},
|
| 72 |
+
"observation.images.gripper_right_tactile": {
|
| 73 |
+
"dtype": "video",
|
| 74 |
+
"shape": [
|
| 75 |
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3,
|
| 76 |
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480,
|
| 77 |
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640
|
| 78 |
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],
|
| 79 |
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"names": [
|
| 80 |
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"channels",
|
| 81 |
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|
| 82 |
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|
| 83 |
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],
|
| 84 |
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"serial": "X25480110",
|
| 85 |
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"info": {
|
| 86 |
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"video.height": 480,
|
| 87 |
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"video.width": 640,
|
| 88 |
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"video.codec": "h264",
|
| 89 |
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"video.pix_fmt": "yuv420p",
|
| 90 |
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"video.is_depth_map": false,
|
| 91 |
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"video.fps": 30,
|
| 92 |
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"video.channels": 3,
|
| 93 |
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"has_audio": false
|
| 94 |
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}
|
| 95 |
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},
|
| 96 |
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"observation.state": {
|
| 97 |
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"dtype": "float32",
|
| 98 |
+
"shape": [
|
| 99 |
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114
|
| 100 |
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],
|
| 101 |
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|
| 102 |
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"left_x",
|
| 103 |
+
"left_y",
|
| 104 |
+
"left_z",
|
| 105 |
+
"left_qx",
|
| 106 |
+
"left_qy",
|
| 107 |
+
"left_qz",
|
| 108 |
+
"left_qw",
|
| 109 |
+
"right_x",
|
| 110 |
+
"right_y",
|
| 111 |
+
"right_z",
|
| 112 |
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"right_qx",
|
| 113 |
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"right_qy",
|
| 114 |
+
"right_qz",
|
| 115 |
+
"right_qw",
|
| 116 |
+
"head_x",
|
| 117 |
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"head_y",
|
| 118 |
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"head_z",
|
| 119 |
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"head_qx",
|
| 120 |
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"head_qy",
|
| 121 |
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"head_qz",
|
| 122 |
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"head_qw",
|
| 123 |
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"left_eye_x",
|
| 124 |
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"left_eye_y",
|
| 125 |
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"left_eye_z",
|
| 126 |
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"left_eye_qx",
|
| 127 |
+
"left_eye_qy",
|
| 128 |
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"left_eye_qz",
|
| 129 |
+
"left_eye_qw",
|
| 130 |
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"right_eye_x",
|
| 131 |
+
"right_eye_y",
|
| 132 |
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"right_eye_z",
|
| 133 |
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"right_eye_qx",
|
| 134 |
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"right_eye_qy",
|
| 135 |
+
"right_eye_qz",
|
| 136 |
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"right_eye_qw",
|
| 137 |
+
"third_x",
|
| 138 |
+
"third_y",
|
| 139 |
+
"third_z",
|
| 140 |
+
"third_qx",
|
| 141 |
+
"third_qy",
|
| 142 |
+
"third_qz",
|
| 143 |
+
"third_qw",
|
| 144 |
+
"arm_left_1",
|
| 145 |
+
"arm_left_2",
|
| 146 |
+
"arm_left_3",
|
| 147 |
+
"arm_left_4",
|
| 148 |
+
"arm_left_5",
|
| 149 |
+
"arm_left_6",
|
| 150 |
+
"arm_left_7",
|
| 151 |
+
"arm_right_1",
|
| 152 |
+
"arm_right_2",
|
| 153 |
+
"arm_right_3",
|
| 154 |
+
"arm_right_4",
|
| 155 |
+
"arm_right_5",
|
| 156 |
+
"arm_right_6",
|
| 157 |
+
"arm_right_7",
|
| 158 |
+
"head_pitch",
|
| 159 |
+
"head_yaw",
|
| 160 |
+
"hip_pitch",
|
| 161 |
+
"hip_yaw",
|
| 162 |
+
"knee",
|
| 163 |
+
"left_wheel",
|
| 164 |
+
"right_wheel",
|
| 165 |
+
"gripper",
|
| 166 |
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"gripper_left",
|
| 167 |
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"gripper_right",
|
| 168 |
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"finger0",
|
| 169 |
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"finger1",
|
| 170 |
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"finger2",
|
| 171 |
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"finger3",
|
| 172 |
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"finger4",
|
| 173 |
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"finger5",
|
| 174 |
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"finger6",
|
| 175 |
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"finger7",
|
| 176 |
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"finger8",
|
| 177 |
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"finger9",
|
| 178 |
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"finger10",
|
| 179 |
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"finger11",
|
| 180 |
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"finger12",
|
| 181 |
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"finger13",
|
| 182 |
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"finger14",
|
| 183 |
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"finger15",
|
| 184 |
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"finger16",
|
| 185 |
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"finger17",
|
| 186 |
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"finger18",
|
| 187 |
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"finger19",
|
| 188 |
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"finger20",
|
| 189 |
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"finger21",
|
| 190 |
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"finger22",
|
| 191 |
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"finger23",
|
| 192 |
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"finger24",
|
| 193 |
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"finger25",
|
| 194 |
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"finger26",
|
| 195 |
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"finger27",
|
| 196 |
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"finger28",
|
| 197 |
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"finger29",
|
| 198 |
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"finger30",
|
| 199 |
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"finger31",
|
| 200 |
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"finger32",
|
| 201 |
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"finger33",
|
| 202 |
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"finger34",
|
| 203 |
+
"finger35",
|
| 204 |
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"left_Acc_X",
|
| 205 |
+
"left_Acc_Y",
|
| 206 |
+
"left_Acc_Z",
|
| 207 |
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"left_Gyro_X",
|
| 208 |
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"left_Gyro_Y",
|
| 209 |
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"left_Gyro_Z",
|
| 210 |
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"right_Acc_X",
|
| 211 |
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"right_Acc_Y",
|
| 212 |
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"right_Acc_Z",
|
| 213 |
+
"right_Gyro_X",
|
| 214 |
+
"right_Gyro_Y",
|
| 215 |
+
"right_Gyro_Z"
|
| 216 |
+
]
|
| 217 |
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},
|
| 218 |
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"action": {
|
| 219 |
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"dtype": "float32",
|
| 220 |
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"shape": [
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| 221 |
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111
|
| 222 |
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],
|
| 223 |
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"names": [
|
| 224 |
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"left_x",
|
| 225 |
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"left_y",
|
| 226 |
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"left_z",
|
| 227 |
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"left_qx",
|
| 228 |
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"left_qy",
|
| 229 |
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"left_qz",
|
| 230 |
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"left_qw",
|
| 231 |
+
"right_x",
|
| 232 |
+
"right_y",
|
| 233 |
+
"right_z",
|
| 234 |
+
"right_qx",
|
| 235 |
+
"right_qy",
|
| 236 |
+
"right_qz",
|
| 237 |
+
"right_qw",
|
| 238 |
+
"head_x",
|
| 239 |
+
"head_y",
|
| 240 |
+
"head_z",
|
| 241 |
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"head_qx",
|
| 242 |
+
"head_qy",
|
| 243 |
+
"head_qz",
|
| 244 |
+
"head_qw",
|
| 245 |
+
"hip_x",
|
| 246 |
+
"hip_y",
|
| 247 |
+
"hip_z",
|
| 248 |
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"hip_qx",
|
| 249 |
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"hip_qy",
|
| 250 |
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"hip_qz",
|
| 251 |
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"hip_qw",
|
| 252 |
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"v",
|
| 253 |
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"w",
|
| 254 |
+
"left_eye_x",
|
| 255 |
+
"left_eye_y",
|
| 256 |
+
"left_eye_z",
|
| 257 |
+
"left_eye_qx",
|
| 258 |
+
"left_eye_qy",
|
| 259 |
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"left_eye_qz",
|
| 260 |
+
"left_eye_qw",
|
| 261 |
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"right_eye_x",
|
| 262 |
+
"right_eye_y",
|
| 263 |
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"right_eye_z",
|
| 264 |
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"right_eye_qx",
|
| 265 |
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"right_eye_qy",
|
| 266 |
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"right_eye_qz",
|
| 267 |
+
"right_eye_qw",
|
| 268 |
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"third_x",
|
| 269 |
+
"third_y",
|
| 270 |
+
"third_z",
|
| 271 |
+
"third_qx",
|
| 272 |
+
"third_qy",
|
| 273 |
+
"third_qz",
|
| 274 |
+
"third_qw",
|
| 275 |
+
"arm_left_1",
|
| 276 |
+
"arm_left_2",
|
| 277 |
+
"arm_left_3",
|
| 278 |
+
"arm_left_4",
|
| 279 |
+
"arm_left_5",
|
| 280 |
+
"arm_left_6",
|
| 281 |
+
"arm_left_7",
|
| 282 |
+
"arm_right_1",
|
| 283 |
+
"arm_right_2",
|
| 284 |
+
"arm_right_3",
|
| 285 |
+
"arm_right_4",
|
| 286 |
+
"arm_right_5",
|
| 287 |
+
"arm_right_6",
|
| 288 |
+
"arm_right_7",
|
| 289 |
+
"head_pitch",
|
| 290 |
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"head_yaw",
|
| 291 |
+
"hip_pitch",
|
| 292 |
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"hip_yaw",
|
| 293 |
+
"knee",
|
| 294 |
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"left_wheel",
|
| 295 |
+
"right_wheel",
|
| 296 |
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"gripper",
|
| 297 |
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"gripper_left",
|
| 298 |
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"gripper_right",
|
| 299 |
+
"finger0",
|
| 300 |
+
"finger1",
|
| 301 |
+
"finger2",
|
| 302 |
+
"finger3",
|
| 303 |
+
"finger4",
|
| 304 |
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"finger5",
|
| 305 |
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"finger6",
|
| 306 |
+
"finger7",
|
| 307 |
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"finger8",
|
| 308 |
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"finger9",
|
| 309 |
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"finger10",
|
| 310 |
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"finger11",
|
| 311 |
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"finger12",
|
| 312 |
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"finger13",
|
| 313 |
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"finger14",
|
| 314 |
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"finger15",
|
| 315 |
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"finger16",
|
| 316 |
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"finger17",
|
| 317 |
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"finger18",
|
| 318 |
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"finger19",
|
| 319 |
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"finger20",
|
| 320 |
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"finger21",
|
| 321 |
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"finger22",
|
| 322 |
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"finger23",
|
| 323 |
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"finger24",
|
| 324 |
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"finger25",
|
| 325 |
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"finger26",
|
| 326 |
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"finger27",
|
| 327 |
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"finger28",
|
| 328 |
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"finger29",
|
| 329 |
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"finger30",
|
| 330 |
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"finger31",
|
| 331 |
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"finger32",
|
| 332 |
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"finger33",
|
| 333 |
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"finger34",
|
| 334 |
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"finger35"
|
| 335 |
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]
|
| 336 |
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},
|
| 337 |
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|
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| 339 |
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],
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| 342 |
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| 343 |
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},
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| 344 |
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1
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],
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| 349 |
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1
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| 356 |
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|
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1
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| 365 |
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1
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],
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| 370 |
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| 371 |
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| 372 |
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1
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| 376 |
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],
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| 377 |
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|
| 378 |
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},
|
| 379 |
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|
| 380 |
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| 381 |
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3,
|
| 382 |
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288,
|
| 383 |
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384
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| 384 |
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],
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| 385 |
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| 386 |
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"channels",
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| 387 |
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"height",
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| 388 |
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| 389 |
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],
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| 390 |
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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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"dtype": "tactile"
|
| 401 |
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},
|
| 402 |
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| 403 |
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| 404 |
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3,
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| 405 |
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288,
|
| 406 |
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384
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| 407 |
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| 408 |
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| 409 |
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| 410 |
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| 411 |
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| 412 |
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],
|
| 413 |
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|
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|
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