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- HOI_double_desk/merged_doubledesk/data/chunk-000/file-000.parquet +3 -0
- HOI_double_desk/merged_doubledesk/meta/episodes/chunk-000/file-000.parquet +3 -0
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| 173 |
+
},
|
| 174 |
+
"episode_index": {
|
| 175 |
+
"dtype": "int64",
|
| 176 |
+
"shape": [
|
| 177 |
+
1
|
| 178 |
+
],
|
| 179 |
+
"names": null
|
| 180 |
+
},
|
| 181 |
+
"index": {
|
| 182 |
+
"dtype": "int64",
|
| 183 |
+
"shape": [
|
| 184 |
+
1
|
| 185 |
+
],
|
| 186 |
+
"names": null
|
| 187 |
+
},
|
| 188 |
+
"task_index": {
|
| 189 |
+
"dtype": "int64",
|
| 190 |
+
"shape": [
|
| 191 |
+
1
|
| 192 |
+
],
|
| 193 |
+
"names": null
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
}
|
HOI_double_desk/merged_doubledesk/meta/stats.json
ADDED
|
@@ -0,0 +1,1302 @@
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|
HOI_double_desk/merged_doubledesk/meta/stats.json.gripper_fix.bak
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| 128 |
+
"action.joint_pos.right_hip_pitch_joint",
|
| 129 |
+
"action.joint_pos.waist_yaw_joint",
|
| 130 |
+
"action.joint_pos.left_hip_roll_joint",
|
| 131 |
+
"action.joint_pos.right_hip_roll_joint",
|
| 132 |
+
"action.joint_pos.waist_roll_joint",
|
| 133 |
+
"action.joint_pos.left_hip_yaw_joint",
|
| 134 |
+
"action.joint_pos.right_hip_yaw_joint",
|
| 135 |
+
"action.joint_pos.waist_pitch_joint",
|
| 136 |
+
"action.joint_pos.left_knee_joint",
|
| 137 |
+
"action.joint_pos.right_knee_joint",
|
| 138 |
+
"action.joint_pos.left_shoulder_pitch_joint",
|
| 139 |
+
"action.joint_pos.right_shoulder_pitch_joint",
|
| 140 |
+
"action.joint_pos.left_ankle_pitch_joint",
|
| 141 |
+
"action.joint_pos.right_ankle_pitch_joint",
|
| 142 |
+
"action.joint_pos.left_shoulder_roll_joint",
|
| 143 |
+
"action.joint_pos.right_shoulder_roll_joint",
|
| 144 |
+
"action.joint_pos.left_ankle_roll_joint",
|
| 145 |
+
"action.joint_pos.right_ankle_roll_joint",
|
| 146 |
+
"action.joint_pos.left_shoulder_yaw_joint",
|
| 147 |
+
"action.joint_pos.right_shoulder_yaw_joint",
|
| 148 |
+
"action.joint_pos.left_elbow_joint",
|
| 149 |
+
"action.joint_pos.right_elbow_joint",
|
| 150 |
+
"action.joint_pos.left_wrist_roll_joint",
|
| 151 |
+
"action.joint_pos.right_wrist_roll_joint",
|
| 152 |
+
"action.joint_pos.left_wrist_pitch_joint",
|
| 153 |
+
"action.joint_pos.right_wrist_pitch_joint",
|
| 154 |
+
"action.joint_pos.left_wrist_yaw_joint",
|
| 155 |
+
"action.joint_pos.right_wrist_yaw_joint",
|
| 156 |
+
"action.hand_binary.left",
|
| 157 |
+
"action.hand_binary.right"
|
| 158 |
+
]
|
| 159 |
+
},
|
| 160 |
+
"timestamp": {
|
| 161 |
+
"dtype": "float32",
|
| 162 |
+
"shape": [
|
| 163 |
+
1
|
| 164 |
+
],
|
| 165 |
+
"names": null
|
| 166 |
+
},
|
| 167 |
+
"frame_index": {
|
| 168 |
+
"dtype": "int64",
|
| 169 |
+
"shape": [
|
| 170 |
+
1
|
| 171 |
+
],
|
| 172 |
+
"names": null
|
| 173 |
+
},
|
| 174 |
+
"episode_index": {
|
| 175 |
+
"dtype": "int64",
|
| 176 |
+
"shape": [
|
| 177 |
+
1
|
| 178 |
+
],
|
| 179 |
+
"names": null
|
| 180 |
+
},
|
| 181 |
+
"index": {
|
| 182 |
+
"dtype": "int64",
|
| 183 |
+
"shape": [
|
| 184 |
+
1
|
| 185 |
+
],
|
| 186 |
+
"names": null
|
| 187 |
+
},
|
| 188 |
+
"task_index": {
|
| 189 |
+
"dtype": "int64",
|
| 190 |
+
"shape": [
|
| 191 |
+
1
|
| 192 |
+
],
|
| 193 |
+
"names": null
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
}
|
HOI_double_desk/sonic_doubledesk_0418/meta/stats.json
ADDED
|
@@ -0,0 +1,1302 @@
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| 1264 |
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"mean": [
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| 1302 |
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}
|
HOI_double_desk/sonic_doubledesk_0418/meta/stats.json.gripper_fix.bak
ADDED
|
@@ -0,0 +1,1302 @@
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HOI_double_desk/twist2_doubledesk_0418/meta/stats.json.gripper_fix.bak
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "unitree_g1_smpl_pose6d_vla",
|
| 4 |
+
"total_episodes": 100,
|
| 5 |
+
"total_frames": 40935,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 50,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:100"
|
| 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.front": {
|
| 18 |
+
"dtype": "video",
|
| 19 |
+
"shape": [
|
| 20 |
+
480,
|
| 21 |
+
640,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channels"
|
| 28 |
+
],
|
| 29 |
+
"info": {
|
| 30 |
+
"video.height": 480,
|
| 31 |
+
"video.width": 640,
|
| 32 |
+
"video.codec": "av1",
|
| 33 |
+
"video.pix_fmt": "yuv420p",
|
| 34 |
+
"video.is_depth_map": false,
|
| 35 |
+
"video.fps": 50,
|
| 36 |
+
"video.channels": 3,
|
| 37 |
+
"has_audio": false
|
| 38 |
+
}
|
| 39 |
+
},
|
| 40 |
+
"observation.state": {
|
| 41 |
+
"dtype": "float32",
|
| 42 |
+
"shape": [
|
| 43 |
+
64
|
| 44 |
+
],
|
| 45 |
+
"names": [
|
| 46 |
+
"state.root_rot6d.0",
|
| 47 |
+
"state.root_rot6d.1",
|
| 48 |
+
"state.root_rot6d.2",
|
| 49 |
+
"state.root_rot6d.3",
|
| 50 |
+
"state.root_rot6d.4",
|
| 51 |
+
"state.root_rot6d.5",
|
| 52 |
+
"state.dof_pos.left_hip_pitch_joint",
|
| 53 |
+
"state.dof_pos.right_hip_pitch_joint",
|
| 54 |
+
"state.dof_pos.waist_yaw_joint",
|
| 55 |
+
"state.dof_pos.left_hip_roll_joint",
|
| 56 |
+
"state.dof_pos.right_hip_roll_joint",
|
| 57 |
+
"state.dof_pos.waist_roll_joint",
|
| 58 |
+
"state.dof_pos.left_hip_yaw_joint",
|
| 59 |
+
"state.dof_pos.right_hip_yaw_joint",
|
| 60 |
+
"state.dof_pos.waist_pitch_joint",
|
| 61 |
+
"state.dof_pos.left_knee_joint",
|
| 62 |
+
"state.dof_pos.right_knee_joint",
|
| 63 |
+
"state.dof_pos.left_shoulder_pitch_joint",
|
| 64 |
+
"state.dof_pos.right_shoulder_pitch_joint",
|
| 65 |
+
"state.dof_pos.left_ankle_pitch_joint",
|
| 66 |
+
"state.dof_pos.right_ankle_pitch_joint",
|
| 67 |
+
"state.dof_pos.left_shoulder_roll_joint",
|
| 68 |
+
"state.dof_pos.right_shoulder_roll_joint",
|
| 69 |
+
"state.dof_pos.left_ankle_roll_joint",
|
| 70 |
+
"state.dof_pos.right_ankle_roll_joint",
|
| 71 |
+
"state.dof_pos.left_shoulder_yaw_joint",
|
| 72 |
+
"state.dof_pos.right_shoulder_yaw_joint",
|
| 73 |
+
"state.dof_pos.left_elbow_joint",
|
| 74 |
+
"state.dof_pos.right_elbow_joint",
|
| 75 |
+
"state.dof_pos.left_wrist_roll_joint",
|
| 76 |
+
"state.dof_pos.right_wrist_roll_joint",
|
| 77 |
+
"state.dof_pos.left_wrist_pitch_joint",
|
| 78 |
+
"state.dof_pos.right_wrist_pitch_joint",
|
| 79 |
+
"state.dof_pos.left_wrist_yaw_joint",
|
| 80 |
+
"state.dof_pos.right_wrist_yaw_joint",
|
| 81 |
+
"state.dof_vel.left_hip_pitch_joint",
|
| 82 |
+
"state.dof_vel.right_hip_pitch_joint",
|
| 83 |
+
"state.dof_vel.waist_yaw_joint",
|
| 84 |
+
"state.dof_vel.left_hip_roll_joint",
|
| 85 |
+
"state.dof_vel.right_hip_roll_joint",
|
| 86 |
+
"state.dof_vel.waist_roll_joint",
|
| 87 |
+
"state.dof_vel.left_hip_yaw_joint",
|
| 88 |
+
"state.dof_vel.right_hip_yaw_joint",
|
| 89 |
+
"state.dof_vel.waist_pitch_joint",
|
| 90 |
+
"state.dof_vel.left_knee_joint",
|
| 91 |
+
"state.dof_vel.right_knee_joint",
|
| 92 |
+
"state.dof_vel.left_shoulder_pitch_joint",
|
| 93 |
+
"state.dof_vel.right_shoulder_pitch_joint",
|
| 94 |
+
"state.dof_vel.left_ankle_pitch_joint",
|
| 95 |
+
"state.dof_vel.right_ankle_pitch_joint",
|
| 96 |
+
"state.dof_vel.left_shoulder_roll_joint",
|
| 97 |
+
"state.dof_vel.right_shoulder_roll_joint",
|
| 98 |
+
"state.dof_vel.left_ankle_roll_joint",
|
| 99 |
+
"state.dof_vel.right_ankle_roll_joint",
|
| 100 |
+
"state.dof_vel.left_shoulder_yaw_joint",
|
| 101 |
+
"state.dof_vel.right_shoulder_yaw_joint",
|
| 102 |
+
"state.dof_vel.left_elbow_joint",
|
| 103 |
+
"state.dof_vel.right_elbow_joint",
|
| 104 |
+
"state.dof_vel.left_wrist_roll_joint",
|
| 105 |
+
"state.dof_vel.right_wrist_roll_joint",
|
| 106 |
+
"state.dof_vel.left_wrist_pitch_joint",
|
| 107 |
+
"state.dof_vel.right_wrist_pitch_joint",
|
| 108 |
+
"state.dof_vel.left_wrist_yaw_joint",
|
| 109 |
+
"state.dof_vel.right_wrist_yaw_joint"
|
| 110 |
+
]
|
| 111 |
+
},
|
| 112 |
+
"action": {
|
| 113 |
+
"dtype": "float32",
|
| 114 |
+
"shape": [
|
| 115 |
+
40
|
| 116 |
+
],
|
| 117 |
+
"names": [
|
| 118 |
+
"action.root_xy_delta.x",
|
| 119 |
+
"action.root_xy_delta.y",
|
| 120 |
+
"action.root_z",
|
| 121 |
+
"action.root_rot6d.0",
|
| 122 |
+
"action.root_rot6d.1",
|
| 123 |
+
"action.root_rot6d.2",
|
| 124 |
+
"action.root_rot6d.3",
|
| 125 |
+
"action.root_rot6d.4",
|
| 126 |
+
"action.root_rot6d.5",
|
| 127 |
+
"action.joint_pos.left_hip_pitch_joint",
|
| 128 |
+
"action.joint_pos.right_hip_pitch_joint",
|
| 129 |
+
"action.joint_pos.waist_yaw_joint",
|
| 130 |
+
"action.joint_pos.left_hip_roll_joint",
|
| 131 |
+
"action.joint_pos.right_hip_roll_joint",
|
| 132 |
+
"action.joint_pos.waist_roll_joint",
|
| 133 |
+
"action.joint_pos.left_hip_yaw_joint",
|
| 134 |
+
"action.joint_pos.right_hip_yaw_joint",
|
| 135 |
+
"action.joint_pos.waist_pitch_joint",
|
| 136 |
+
"action.joint_pos.left_knee_joint",
|
| 137 |
+
"action.joint_pos.right_knee_joint",
|
| 138 |
+
"action.joint_pos.left_shoulder_pitch_joint",
|
| 139 |
+
"action.joint_pos.right_shoulder_pitch_joint",
|
| 140 |
+
"action.joint_pos.left_ankle_pitch_joint",
|
| 141 |
+
"action.joint_pos.right_ankle_pitch_joint",
|
| 142 |
+
"action.joint_pos.left_shoulder_roll_joint",
|
| 143 |
+
"action.joint_pos.right_shoulder_roll_joint",
|
| 144 |
+
"action.joint_pos.left_ankle_roll_joint",
|
| 145 |
+
"action.joint_pos.right_ankle_roll_joint",
|
| 146 |
+
"action.joint_pos.left_shoulder_yaw_joint",
|
| 147 |
+
"action.joint_pos.right_shoulder_yaw_joint",
|
| 148 |
+
"action.joint_pos.left_elbow_joint",
|
| 149 |
+
"action.joint_pos.right_elbow_joint",
|
| 150 |
+
"action.joint_pos.left_wrist_roll_joint",
|
| 151 |
+
"action.joint_pos.right_wrist_roll_joint",
|
| 152 |
+
"action.joint_pos.left_wrist_pitch_joint",
|
| 153 |
+
"action.joint_pos.right_wrist_pitch_joint",
|
| 154 |
+
"action.joint_pos.left_wrist_yaw_joint",
|
| 155 |
+
"action.joint_pos.right_wrist_yaw_joint",
|
| 156 |
+
"action.hand_binary.left",
|
| 157 |
+
"action.hand_binary.right"
|
| 158 |
+
]
|
| 159 |
+
},
|
| 160 |
+
"timestamp": {
|
| 161 |
+
"dtype": "float32",
|
| 162 |
+
"shape": [
|
| 163 |
+
1
|
| 164 |
+
],
|
| 165 |
+
"names": null
|
| 166 |
+
},
|
| 167 |
+
"frame_index": {
|
| 168 |
+
"dtype": "int64",
|
| 169 |
+
"shape": [
|
| 170 |
+
1
|
| 171 |
+
],
|
| 172 |
+
"names": null
|
| 173 |
+
},
|
| 174 |
+
"episode_index": {
|
| 175 |
+
"dtype": "int64",
|
| 176 |
+
"shape": [
|
| 177 |
+
1
|
| 178 |
+
],
|
| 179 |
+
"names": null
|
| 180 |
+
},
|
| 181 |
+
"index": {
|
| 182 |
+
"dtype": "int64",
|
| 183 |
+
"shape": [
|
| 184 |
+
1
|
| 185 |
+
],
|
| 186 |
+
"names": null
|
| 187 |
+
},
|
| 188 |
+
"task_index": {
|
| 189 |
+
"dtype": "int64",
|
| 190 |
+
"shape": [
|
| 191 |
+
1
|
| 192 |
+
],
|
| 193 |
+
"names": null
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
}
|
HOI_football/merged_football/meta/stats.json
ADDED
|
@@ -0,0 +1,1302 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
HOI_football/merged_football/meta/stats.json.gripper_fix.bak
ADDED
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@@ -0,0 +1,1302 @@
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{
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HOI_football/sonic_football_0416/meta/stats.json
ADDED
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@@ -0,0 +1,1302 @@
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HOI_football/sonic_football_0416/meta/stats.json.gripper_fix.bak
ADDED
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