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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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"end": 20,
|
| 16 |
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"original_key": "action"
|
| 17 |
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|
| 18 |
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"right_gripper": {
|
| 19 |
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|
| 20 |
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"end": 24,
|
| 21 |
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"original_key": "action"
|
| 22 |
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|
| 23 |
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"electroSurgeryMode_left": {
|
| 24 |
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"start": 14,
|
| 25 |
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"end": 15,
|
| 26 |
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"original_key": "observation.state"
|
| 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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"original_key": "observation.state"
|
| 32 |
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|
| 33 |
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"instrtype_left": {
|
| 34 |
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"start": 22,
|
| 35 |
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"end": 23,
|
| 36 |
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"original_key": "observation.state"
|
| 37 |
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|
| 38 |
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"electroSurgeryMode_right": {
|
| 39 |
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"start": 15,
|
| 40 |
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"end": 16,
|
| 41 |
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"original_key": "observation.state"
|
| 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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"original_key": "observation.state"
|
| 47 |
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},
|
| 48 |
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"instrtype_right": {
|
| 49 |
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"start": 23,
|
| 50 |
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"end": 24,
|
| 51 |
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"original_key": "observation.state"
|
| 52 |
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},
|
| 53 |
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"translation_scaling": {
|
| 54 |
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"start": 12,
|
| 55 |
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"end": 13,
|
| 56 |
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"original_key": "observation.state"
|
| 57 |
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},
|
| 58 |
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"rotation_scaling": {
|
| 59 |
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"start": 13,
|
| 60 |
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|
| 61 |
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"original_key": "observation.state"
|
| 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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|
| 67 |
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|
| 68 |
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"hapticengaged_right": {
|
| 69 |
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|
| 70 |
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|
| 71 |
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"original_key": "observation.state"
|
| 72 |
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|
| 73 |
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"arm_0_color": {
|
| 74 |
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"start": 2,
|
| 75 |
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|
| 76 |
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"original_key": "observation.state"
|
| 77 |
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|
| 78 |
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"arm_1_color": {
|
| 79 |
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"start": 3,
|
| 80 |
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|
| 81 |
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"original_key": "observation.state"
|
| 82 |
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|
| 83 |
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"arm_2_color": {
|
| 84 |
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"start": 4,
|
| 85 |
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|
| 86 |
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"original_key": "observation.state"
|
| 87 |
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},
|
| 88 |
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"arm_3_color": {
|
| 89 |
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"start": 5,
|
| 90 |
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"end": 6,
|
| 91 |
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"original_key": "observation.state"
|
| 92 |
+
}
|
| 93 |
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},
|
| 94 |
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"action": {
|
| 95 |
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"left_pose": {
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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"start": 10,
|
| 101 |
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"end": 11
|
| 102 |
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},
|
| 103 |
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"right_pose": {
|
| 104 |
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"start": 13,
|
| 105 |
+
"end": 20
|
| 106 |
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},
|
| 107 |
+
"right_gripper": {
|
| 108 |
+
"start": 23,
|
| 109 |
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"end": 24
|
| 110 |
+
},
|
| 111 |
+
"left_energy": {
|
| 112 |
+
"start": 8,
|
| 113 |
+
"end": 9
|
| 114 |
+
},
|
| 115 |
+
"right_energy": {
|
| 116 |
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"start": 21,
|
| 117 |
+
"end": 22
|
| 118 |
+
},
|
| 119 |
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"thumbstick_x_left": {
|
| 120 |
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"start": 11,
|
| 121 |
+
"end": 12
|
| 122 |
+
},
|
| 123 |
+
"thumbstick_y_left": {
|
| 124 |
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"start": 12,
|
| 125 |
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"end": 13
|
| 126 |
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},
|
| 127 |
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"thumbstickBtn_left": {
|
| 128 |
+
"start": 9,
|
| 129 |
+
"end": 10
|
| 130 |
+
},
|
| 131 |
+
"thumbstick_x_right": {
|
| 132 |
+
"start": 24,
|
| 133 |
+
"end": 25
|
| 134 |
+
},
|
| 135 |
+
"thumbstick_y_right": {
|
| 136 |
+
"start": 25,
|
| 137 |
+
"end": 26
|
| 138 |
+
},
|
| 139 |
+
"thumbstickBtn_right": {
|
| 140 |
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"start": 22,
|
| 141 |
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"end": 23
|
| 142 |
+
},
|
| 143 |
+
"hapticengaged_left": {
|
| 144 |
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"start": 16,
|
| 145 |
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"end": 17,
|
| 146 |
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"original_key": "observation.state"
|
| 147 |
+
},
|
| 148 |
+
"hapticengaged_right": {
|
| 149 |
+
"start": 17,
|
| 150 |
+
"end": 18,
|
| 151 |
+
"original_key": "observation.state"
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
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"video": {
|
| 155 |
+
"endoscope": {
|
| 156 |
+
"original_key": "observation.images.endoscope"
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"annotation": {
|
| 160 |
+
"human.task_description": {
|
| 161 |
+
"original_key": "task_index"
|
| 162 |
+
}
|
| 163 |
+
}
|
| 164 |
+
}
|
cmr-surgical-60hz-fixed/inguinal_hernia/meta/modality.json
ADDED
|
@@ -0,0 +1,140 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"left_pose": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 7,
|
| 6 |
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"original_key": "action"
|
| 7 |
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},
|
| 8 |
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"left_gripper": {
|
| 9 |
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"start": 10,
|
| 10 |
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"end": 11,
|
| 11 |
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"original_key": "action"
|
| 12 |
+
},
|
| 13 |
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"right_pose": {
|
| 14 |
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"start": 13,
|
| 15 |
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"end": 20,
|
| 16 |
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"original_key": "action"
|
| 17 |
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},
|
| 18 |
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"right_gripper": {
|
| 19 |
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"start": 23,
|
| 20 |
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"end": 24,
|
| 21 |
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"original_key": "action"
|
| 22 |
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},
|
| 23 |
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"electroSurgeryMode_left": {
|
| 24 |
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"start": 14,
|
| 25 |
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"end": 15,
|
| 26 |
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"original_key": "observation.state"
|
| 27 |
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},
|
| 28 |
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"armlinkedtohaptic_left": {
|
| 29 |
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"start": 20,
|
| 30 |
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"end": 21,
|
| 31 |
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"original_key": "observation.state"
|
| 32 |
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},
|
| 33 |
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"instrtype_left": {
|
| 34 |
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"start": 22,
|
| 35 |
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"end": 23,
|
| 36 |
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"original_key": "observation.state"
|
| 37 |
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},
|
| 38 |
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"electroSurgeryMode_right": {
|
| 39 |
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"start": 15,
|
| 40 |
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"end": 16,
|
| 41 |
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"original_key": "observation.state"
|
| 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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"original_key": "observation.state"
|
| 47 |
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},
|
| 48 |
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"instrtype_right": {
|
| 49 |
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"start": 23,
|
| 50 |
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"end": 24,
|
| 51 |
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"original_key": "observation.state"
|
| 52 |
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},
|
| 53 |
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"translation_scaling": {
|
| 54 |
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"start": 12,
|
| 55 |
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"end": 13,
|
| 56 |
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"original_key": "observation.state"
|
| 57 |
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},
|
| 58 |
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"rotation_scaling": {
|
| 59 |
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"start": 13,
|
| 60 |
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"end": 14,
|
| 61 |
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"original_key": "observation.state"
|
| 62 |
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},
|
| 63 |
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"hapticengaged_left": {
|
| 64 |
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"start": 16,
|
| 65 |
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"end": 17,
|
| 66 |
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"original_key": "observation.state"
|
| 67 |
+
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|
| 68 |
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"hapticengaged_right": {
|
| 69 |
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"start": 17,
|
| 70 |
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"end": 18,
|
| 71 |
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"original_key": "observation.state"
|
| 72 |
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},
|
| 73 |
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"arm_0_color": {
|
| 74 |
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"start": 2,
|
| 75 |
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"end": 3,
|
| 76 |
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"original_key": "observation.state"
|
| 77 |
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},
|
| 78 |
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"arm_1_color": {
|
| 79 |
+
"start": 3,
|
| 80 |
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"end": 4,
|
| 81 |
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"original_key": "observation.state"
|
| 82 |
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},
|
| 83 |
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"arm_2_color": {
|
| 84 |
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"start": 4,
|
| 85 |
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"end": 5,
|
| 86 |
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"original_key": "observation.state"
|
| 87 |
+
},
|
| 88 |
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"arm_3_color": {
|
| 89 |
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"start": 5,
|
| 90 |
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"end": 6,
|
| 91 |
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"original_key": "observation.state"
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"action": {
|
| 95 |
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"left_pose": {
|
| 96 |
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|
| 97 |
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"end": 7
|
| 98 |
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},
|
| 99 |
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"left_gripper": {
|
| 100 |
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"start": 10,
|
| 101 |
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"end": 11
|
| 102 |
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},
|
| 103 |
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"right_pose": {
|
| 104 |
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"start": 13,
|
| 105 |
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"end": 20
|
| 106 |
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|
| 107 |
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"right_gripper": {
|
| 108 |
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"start": 23,
|
| 109 |
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|
| 110 |
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},
|
| 111 |
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"left_energy": {
|
| 112 |
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"start": 8,
|
| 113 |
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"end": 9
|
| 114 |
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},
|
| 115 |
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"right_energy": {
|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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"hapticengaged_left": {
|
| 120 |
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|
| 121 |
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|
| 122 |
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"original_key": "observation.state"
|
| 123 |
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},
|
| 124 |
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"hapticengaged_right": {
|
| 125 |
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"start": 17,
|
| 126 |
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"end": 18,
|
| 127 |
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"original_key": "observation.state"
|
| 128 |
+
}
|
| 129 |
+
},
|
| 130 |
+
"video": {
|
| 131 |
+
"endoscope": {
|
| 132 |
+
"original_key": "observation.images.endoscope"
|
| 133 |
+
}
|
| 134 |
+
},
|
| 135 |
+
"annotation": {
|
| 136 |
+
"human.task_description": {
|
| 137 |
+
"original_key": "task_index"
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
}
|
cmr-surgical-60hz-fixed/inguinal_hernia/meta/stats_cosmos-28D.json
ADDED
|
@@ -0,0 +1,782 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
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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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cmr-surgical-60hz-fixed/inguinal_hernia/meta/stats_cosmos.json
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@@ -0,0 +1,626 @@
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