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The dataset generation failed because of a cast error
Error code: DatasetGenerationCastError
Exception: DatasetGenerationCastError
Message: An error occurred while generating the dataset
All the data files must have the same columns, but at some point there are 36 new columns ({'-0.000128', '0.023534', '-0.009570', '1.710336', '1.117313', '-0.048090', '0.134352', '0.779868', '0.319062', '-0.070976', '-0.190791', '-0.278292', '1.171921', '0.010702', '0.179874', '0.997195', '-0.005507', '-0.306177', '-0.145459', '-1.661460', '-0.096474', '-0.200741', '-0.210048', '-0.320937', '0.002137', '-0.300216', '0.370233', '0.000606', '0.003238', '-0.083894', '0.416376', '-0.003180', '0.446640', '0.093906', '-0.041495', '-0.171327'}) and 36 missing columns ({'0.999755', '0.039829', '0.021641', '0.799087', '0.196130', '-0.004409', '-0.023962', '-0.006092', '-0.017476', '1.220329', '-0.119414', '-1.454644', '1.374207', '0.004109', '-0.172469', '0.000167', '-0.068885', '0.166431', '0.206674', '0.060532', '-0.097473', '0.001142', '-0.180823', '0.069432', '-0.385817', '0.281551', '-0.162874', '0.229778', '-0.000161', '0.063265', '0.040313', '0.016061', '0.002375', '0.176276', '1.474532', '0.000098'}).
This happened while the csv dataset builder was generating data using
hf://datasets/unitreerobotics/LAFAN1_Retargeting_Dataset/g1/dance1_subject2.csv (at revision fc60903af72d1eceb98c07251ed46cb419aba4a0)
Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)
Traceback: Traceback (most recent call last):
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 1870, in _prepare_split_single
writer.write_table(table)
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/arrow_writer.py", line 622, in write_table
pa_table = table_cast(pa_table, self._schema)
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/table.py", line 2292, in table_cast
return cast_table_to_schema(table, schema)
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/table.py", line 2240, in cast_table_to_schema
raise CastError(
datasets.table.CastError: Couldn't cast
0.000606: double
-0.000128: double
0.779868: double
0.003238: double
0.023534: double
-0.070976: double
0.997195: double
-0.190791: double
0.179874: double
0.319062: double
0.446640: double
-0.278292: double
-0.041495: double
-0.200741: double
-0.210048: double
-0.320937: double
0.416376: double
-0.300216: double
0.093906: double
-0.005507: double
-0.003180: double
0.002137: double
-0.171327: double
1.710336: double
0.134352: double
1.171921: double
-0.009570: double
0.010702: double
0.370233: double
-0.145459: double
-1.661460: double
-0.083894: double
1.117313: double
-0.096474: double
-0.048090: double
-0.306177: double
-- schema metadata --
pandas: '{"index_columns": [{"kind": "range", "name": null, "start": 0, "' + 4512
to
{'0.000098': Value(dtype='float64', id=None), '-0.000161': Value(dtype='float64', id=None), '0.799087': Value(dtype='float64', id=None), '0.004109': Value(dtype='float64', id=None), '0.002375': Value(dtype='float64', id=None), '0.021641': Value(dtype='float64', id=None), '0.999755': Value(dtype='float64', id=None), '-0.004409': Value(dtype='float64', id=None), '0.060532': Value(dtype='float64', id=None), '0.166431': Value(dtype='float64', id=None), '0.176276': Value(dtype='float64', id=None), '-0.097473': Value(dtype='float64', id=None), '-0.023962': Value(dtype='float64', id=None), '0.040313': Value(dtype='float64', id=None), '-0.119414': Value(dtype='float64', id=None), '-0.385817': Value(dtype='float64', id=None), '0.206674': Value(dtype='float64', id=None), '-0.180823': Value(dtype='float64', id=None), '0.039829': Value(dtype='float64', id=None), '0.016061': Value(dtype='float64', id=None), '-0.006092': Value(dtype='float64', id=None), '0.001142': Value(dtype='float64', id=None), '-0.068885': Value(dtype='float64', id=None), '1.474532': Value(dtype='float64', id=None), '-0.172469': Value(dtype='float64', id=None), '1.220329': Value(dtype='float64', id=None), '0.281551': Value(dtype='float64', id=None), '0.229778': Value(dtype='float64', id=None), '0.196130': Value(dtype='float64', id=None), '0.063265': Value(dtype='float64', id=None), '-1.454644': Value(dtype='float64', id=None), '0.000167': Value(dtype='float64', id=None), '1.374207': Value(dtype='float64', id=None), '-0.017476': Value(dtype='float64', id=None), '0.069432': Value(dtype='float64', id=None), '-0.162874': Value(dtype='float64', id=None)}
because column names don't match
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1417, in compute_config_parquet_and_info_response
parquet_operations = convert_to_parquet(builder)
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1049, in convert_to_parquet
builder.download_and_prepare(
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 924, in download_and_prepare
self._download_and_prepare(
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 1000, in _download_and_prepare
self._prepare_split(split_generator, **prepare_split_kwargs)
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 1741, in _prepare_split
for job_id, done, content in self._prepare_split_single(
File "/src/services/worker/.venv/lib/python3.9/site-packages/datasets/builder.py", line 1872, in _prepare_split_single
raise DatasetGenerationCastError.from_cast_error(
datasets.exceptions.DatasetGenerationCastError: An error occurred while generating the dataset
All the data files must have the same columns, but at some point there are 36 new columns ({'-0.000128', '0.023534', '-0.009570', '1.710336', '1.117313', '-0.048090', '0.134352', '0.779868', '0.319062', '-0.070976', '-0.190791', '-0.278292', '1.171921', '0.010702', '0.179874', '0.997195', '-0.005507', '-0.306177', '-0.145459', '-1.661460', '-0.096474', '-0.200741', '-0.210048', '-0.320937', '0.002137', '-0.300216', '0.370233', '0.000606', '0.003238', '-0.083894', '0.416376', '-0.003180', '0.446640', '0.093906', '-0.041495', '-0.171327'}) and 36 missing columns ({'0.999755', '0.039829', '0.021641', '0.799087', '0.196130', '-0.004409', '-0.023962', '-0.006092', '-0.017476', '1.220329', '-0.119414', '-1.454644', '1.374207', '0.004109', '-0.172469', '0.000167', '-0.068885', '0.166431', '0.206674', '0.060532', '-0.097473', '0.001142', '-0.180823', '0.069432', '-0.385817', '0.281551', '-0.162874', '0.229778', '-0.000161', '0.063265', '0.040313', '0.016061', '0.002375', '0.176276', '1.474532', '0.000098'}).
This happened while the csv dataset builder was generating data using
hf://datasets/unitreerobotics/LAFAN1_Retargeting_Dataset/g1/dance1_subject2.csv (at revision fc60903af72d1eceb98c07251ed46cb419aba4a0)
Please either edit the data files to have matching columns, or separate them into different configurations (see docs at https://hf.co/docs/hub/datasets-manual-configuration#multiple-configurations)Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
0.000098
float64 | -0.000161
float64 | 0.799087
float64 | 0.004109
float64 | 0.002375
float64 | 0.021641
float64 | 0.999755
float64 | -0.004409
float64 | 0.060532
float64 | 0.166431
float64 | 0.176276
float64 | -0.097473
float64 | -0.023962
float64 | 0.040313
float64 | -0.119414
float64 | -0.385817
float64 | 0.206674
float64 | -0.180823
float64 | 0.039829
float64 | 0.016061
float64 | -0.006092
float64 | 0.001142
float64 | -0.068885
float64 | 1.474532
float64 | -0.172469
float64 | 1.220329
float64 | 0.281551
float64 | 0.229778
float64 | 0.196130
float64 | 0.063265
float64 | -1.454644
float64 | 0.000167
float64 | 1.374207
float64 | -0.017476
float64 | 0.069432
float64 | -0.162874
float64 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
-0.000335 | -0.000131 | 0.79921 | 0.007093 | -0.006311 | 0.023914 | 0.999669 | 0.02258 | 0.055132 | 0.170017 | 0.154695 | -0.087593 | -0.025523 | 0.068572 | -0.128489 | -0.405084 | 0.191232 | -0.177135 | 0.045392 | 0.011406 | -0.011419 | 0.017212 | -0.123204 | 1.413082 | -0.163013 | 1.111023 | 0.375086 | 0.378047 | 0.181134 | 0.106936 | -1.415889 | -0.045866 | 1.2756 | -0.031492 | 0.150529 | -0.206176 |
-0.000799 | -0.000019 | 0.799261 | 0.009208 | -0.013241 | 0.024876 | 0.99956 | 0.039094 | 0.050337 | 0.169404 | 0.149267 | -0.084507 | -0.025314 | 0.084919 | -0.133349 | -0.408766 | 0.187169 | -0.174972 | 0.046738 | 0.007133 | -0.015489 | 0.030049 | -0.139914 | 1.382011 | -0.132149 | 1.046472 | 0.448907 | 0.452373 | 0.151249 | 0.144295 | -1.395998 | -0.102097 | 1.201817 | -0.060916 | 0.210389 | -0.226788 |
-0.001233 | 0.000126 | 0.799263 | 0.010712 | -0.018414 | 0.025211 | 0.999455 | 0.050271 | 0.046889 | 0.169126 | 0.147973 | -0.083756 | -0.02488 | 0.095584 | -0.136637 | -0.409506 | 0.185973 | -0.173811 | 0.047213 | 0.003945 | -0.018441 | 0.039439 | -0.137805 | 1.364064 | -0.089162 | 1.010012 | 0.510649 | 0.477448 | 0.122529 | 0.175918 | -1.378939 | -0.167451 | 1.144465 | -0.099014 | 0.254333 | -0.236735 |
-0.001658 | 0.000292 | 0.799255 | 0.011758 | -0.022224 | 0.024945 | 0.999373 | 0.058253 | 0.044568 | 0.169799 | 0.147597 | -0.083552 | -0.024508 | 0.102611 | -0.138919 | -0.408924 | 0.185652 | -0.172943 | 0.047411 | 0.001692 | -0.020525 | 0.046138 | -0.128029 | 1.350911 | -0.041547 | 0.9886 | 0.566193 | 0.481991 | 0.097591 | 0.20219 | -1.359902 | -0.239166 | 1.096634 | -0.141136 | 0.287804 | -0.239115 |
-0.002059 | 0.000473 | 0.799249 | 0.012475 | -0.024945 | 0.024235 | 0.999317 | 0.063925 | 0.043062 | 0.171261 | 0.147522 | -0.08352 | -0.024197 | 0.107037 | -0.140493 | -0.40744 | 0.185728 | -0.172214 | 0.047456 | 0.000169 | -0.021925 | 0.050869 | -0.115165 | 1.338976 | 0.005806 | 0.971807 | 0.617879 | 0.481813 | 0.075453 | 0.224147 | -1.338715 | -0.311914 | 1.054229 | -0.186531 | 0.314307 | -0.232542 |
-0.002433 | 0.000652 | 0.799247 | 0.012944 | -0.026824 | 0.023261 | 0.999286 | 0.067795 | 0.042172 | 0.173197 | 0.147647 | -0.083579 | -0.023958 | 0.10959 | -0.141526 | -0.405434 | 0.186009 | -0.17161 | 0.047416 | -0.000834 | -0.022793 | 0.054237 | -0.101334 | 1.327442 | 0.052325 | 0.956468 | 0.665409 | 0.480432 | 0.056591 | 0.242993 | -1.316891 | -0.379979 | 1.015794 | -0.235948 | 0.335463 | -0.215801 |
-0.002778 | 0.000819 | 0.799252 | 0.013229 | -0.028002 | 0.022204 | 0.999274 | 0.070146 | 0.04173 | 0.175284 | 0.147913 | -0.083669 | -0.023789 | 0.110786 | -0.142112 | -0.403264 | 0.186223 | -0.171041 | 0.04731 | -0.00149 | -0.023254 | 0.056758 | -0.087925 | 1.316233 | 0.098824 | 0.942753 | 0.708049 | 0.479066 | 0.040959 | 0.258862 | -1.295785 | -0.441692 | 0.980459 | -0.289006 | 0.350638 | -0.197039 |
-0.003107 | 0.000977 | 0.799267 | 0.013387 | -0.02865 | 0.021167 | 0.999276 | 0.071318 | 0.041563 | 0.177317 | 0.148248 | -0.08372 | -0.023647 | 0.111051 | -0.142383 | -0.401149 | 0.186224 | -0.170388 | 0.047163 | -0.001925 | -0.023406 | 0.058757 | -0.07487 | 1.305339 | 0.144371 | 0.930231 | 0.746517 | 0.477597 | 0.028785 | 0.271457 | -1.274901 | -0.497821 | 0.94826 | -0.342278 | 0.360156 | -0.179928 |
-0.003433 | 0.001134 | 0.799288 | 0.01344 | -0.028964 | 0.020292 | 0.999284 | 0.071621 | 0.04156 | 0.179035 | 0.148678 | -0.083702 | -0.023487 | 0.110752 | -0.142455 | -0.399348 | 0.186102 | -0.169699 | 0.047015 | -0.002203 | -0.023354 | 0.060346 | -0.062427 | 1.294701 | 0.187521 | 0.918739 | 0.781771 | 0.476074 | 0.019346 | 0.281037 | -1.254355 | -0.548414 | 0.92009 | -0.393023 | 0.365629 | -0.163107 |
-0.003748 | 0.0013 | 0.799315 | 0.013452 | -0.029034 | 0.019693 | 0.999294 | 0.071337 | 0.04151 | 0.180264 | 0.148999 | -0.083521 | -0.023263 | 0.110101 | -0.142556 | -0.398047 | 0.186033 | -0.16907 | 0.046928 | -0.002383 | -0.023178 | 0.061608 | -0.051223 | 1.284442 | 0.226602 | 0.908257 | 0.814932 | 0.474854 | 0.011019 | 0.288024 | -1.234961 | -0.593803 | 0.896629 | -0.4395 | 0.368298 | -0.146032 |
-0.004031 | 0.001471 | 0.799345 | 0.013506 | -0.028922 | 0.019263 | 0.999305 | 0.07078 | 0.041267 | 0.181183 | 0.149036 | -0.083165 | -0.022987 | 0.109225 | -0.142825 | -0.397084 | 0.186018 | -0.168527 | 0.046913 | -0.002586 | -0.022879 | 0.062587 | -0.041541 | 1.274608 | 0.260966 | 0.899081 | 0.846356 | 0.473713 | 0.002417 | 0.292295 | -1.217417 | -0.63449 | 0.877776 | -0.480398 | 0.368623 | -0.12851 |
-0.004279 | 0.001655 | 0.799374 | 0.013566 | -0.028696 | 0.018992 | 0.999316 | 0.070124 | 0.040892 | 0.181819 | 0.148776 | -0.082668 | -0.022663 | 0.108217 | -0.143206 | -0.396427 | 0.186061 | -0.168093 | 0.046981 | -0.002826 | -0.022534 | 0.063339 | -0.033584 | 1.26562 | 0.290421 | 0.891286 | 0.876498 | 0.472818 | -0.007193 | 0.294096 | -1.201867 | -0.671048 | 0.862801 | -0.515201 | 0.366617 | -0.110941 |
-0.004486 | 0.001848 | 0.799401 | 0.013641 | -0.02842 | 0.018848 | 0.999325 | 0.069384 | 0.040416 | 0.182225 | 0.148507 | -0.082188 | -0.022307 | 0.107234 | -0.143687 | -0.396012 | 0.186141 | -0.167732 | 0.047109 | -0.003129 | -0.022173 | 0.063919 | -0.027425 | 1.257574 | 0.315672 | 0.884515 | 0.905439 | 0.472216 | -0.016998 | 0.294659 | -1.188847 | -0.702859 | 0.850939 | -0.545702 | 0.363073 | -0.095434 |
-0.00465 | 0.002041 | 0.799422 | 0.013736 | -0.028148 | 0.018764 | 0.999333 | 0.06859 | 0.039887 | 0.182508 | 0.148468 | -0.081871 | -0.021945 | 0.106349 | -0.144245 | -0.395717 | 0.186257 | -0.167448 | 0.047276 | -0.003528 | -0.021808 | 0.064379 | -0.02248 | 1.250636 | 0.336682 | 0.878817 | 0.933976 | 0.471615 | -0.026084 | 0.29441 | -1.178133 | -0.729848 | 0.841318 | -0.572683 | 0.358338 | -0.083344 |
-0.004772 | 0.002225 | 0.799435 | 0.01387 | -0.027935 | 0.01871 | 0.999338 | 0.067945 | 0.039284 | 0.182731 | 0.14851 | -0.081673 | -0.021592 | 0.105627 | -0.144902 | -0.395482 | 0.186468 | -0.167278 | 0.047461 | -0.004012 | -0.021439 | 0.064731 | -0.01869 | 1.244402 | 0.354091 | 0.874619 | 0.9614 | 0.470518 | -0.036798 | 0.293353 | -1.169143 | -0.752637 | 0.833386 | -0.595756 | 0.352609 | -0.074107 |
-0.004851 | 0.002386 | 0.799442 | 0.014031 | -0.027801 | 0.018688 | 0.99934 | 0.067536 | 0.038668 | 0.18289 | 0.148558 | -0.081555 | -0.021291 | 0.105103 | -0.145585 | -0.395315 | 0.186762 | -0.16722 | 0.047623 | -0.004522 | -0.02108 | 0.064984 | -0.017448 | 1.237703 | 0.371719 | 0.870796 | 0.983561 | 0.468337 | -0.048073 | 0.291855 | -1.161847 | -0.77137 | 0.827463 | -0.615907 | 0.346915 | -0.066438 |
-0.004892 | 0.002513 | 0.799441 | 0.014184 | -0.027741 | 0.018715 | 0.999339 | 0.067289 | 0.038134 | 0.182933 | 0.148701 | -0.08154 | -0.021068 | 0.10477 | -0.146204 | -0.395263 | 0.18712 | -0.167264 | 0.047724 | -0.004992 | -0.020741 | 0.06515 | -0.018196 | 1.230363 | 0.390795 | 0.866667 | 0.998856 | 0.464353 | -0.058966 | 0.289882 | -1.155921 | -0.786844 | 0.823283 | -0.63339 | 0.34155 | -0.05989 |
-0.004899 | 0.002612 | 0.799435 | 0.014289 | -0.027763 | 0.018826 | 0.999335 | 0.067223 | 0.037739 | 0.182807 | 0.1489 | -0.081611 | -0.020905 | 0.104605 | -0.146716 | -0.39537 | 0.187658 | -0.167453 | 0.047777 | -0.005338 | -0.020475 | 0.06524 | -0.019405 | 1.223531 | 0.409767 | 0.862695 | 1.009709 | 0.459638 | -0.068775 | 0.287469 | -1.150753 | -0.800283 | 0.820437 | -0.647969 | 0.336579 | -0.054791 |
-0.004877 | 0.002681 | 0.799422 | 0.014362 | -0.027943 | 0.018934 | 0.999327 | 0.06754 | 0.037463 | 0.182638 | 0.149065 | -0.081737 | -0.020807 | 0.10481 | -0.147105 | -0.395524 | 0.188201 | -0.167724 | 0.047771 | -0.005599 | -0.02029 | 0.06527 | -0.019492 | 1.218067 | 0.425867 | 0.858828 | 1.019776 | 0.454113 | -0.076329 | 0.284979 | -1.146122 | -0.811919 | 0.818663 | -0.659881 | 0.331908 | -0.050606 |
-0.004826 | 0.002722 | 0.799408 | 0.014439 | -0.028133 | 0.019047 | 0.999318 | 0.068009 | 0.037208 | 0.182455 | 0.149046 | -0.081828 | -0.020751 | 0.105084 | -0.147464 | -0.395698 | 0.188784 | -0.168066 | 0.047705 | -0.005788 | -0.020157 | 0.065301 | -0.018268 | 1.213986 | 0.437986 | 0.855706 | 1.030554 | 0.447511 | -0.081796 | 0.282716 | -1.142085 | -0.821469 | 0.817727 | -0.669928 | 0.327639 | -0.046412 |
-0.004758 | 0.002736 | 0.799392 | 0.014498 | -0.028306 | 0.019186 | 0.99931 | 0.068468 | 0.037014 | 0.182212 | 0.148973 | -0.08193 | -0.020731 | 0.105415 | -0.147731 | -0.395941 | 0.189268 | -0.1684 | 0.04759 | -0.005908 | -0.020071 | 0.065316 | -0.016971 | 1.210926 | 0.447613 | 0.854023 | 1.041314 | 0.4401 | -0.087058 | 0.281053 | -1.138824 | -0.828668 | 0.817522 | -0.679219 | 0.323763 | -0.041169 |
-0.004679 | 0.002723 | 0.799378 | 0.014543 | -0.028467 | 0.01934 | 0.999302 | 0.068915 | 0.036892 | 0.181925 | 0.148946 | -0.082043 | -0.020743 | 0.105808 | -0.147904 | -0.396234 | 0.189622 | -0.168698 | 0.047454 | -0.005983 | -0.020027 | 0.065317 | -0.016765 | 1.208134 | 0.456909 | 0.852995 | 1.050603 | 0.433109 | -0.091051 | 0.280012 | -1.136547 | -0.834154 | 0.817801 | -0.688345 | 0.320385 | -0.035161 |
-0.0046 | 0.002679 | 0.799365 | 0.014567 | -0.028609 | 0.019488 | 0.999295 | 0.069275 | 0.036898 | 0.181634 | 0.149092 | -0.082201 | -0.020821 | 0.106191 | -0.147953 | -0.39654 | 0.189899 | -0.168974 | 0.047295 | -0.006043 | -0.020033 | 0.065347 | -0.017606 | 1.205407 | 0.466971 | 0.852509 | 1.058118 | 0.427254 | -0.092787 | 0.279513 | -1.135101 | -0.838446 | 0.818385 | -0.697611 | 0.317196 | -0.029046 |
-0.004539 | 0.002591 | 0.799353 | 0.01458 | -0.028744 | 0.019615 | 0.999288 | 0.06954 | 0.037063 | 0.181334 | 0.149272 | -0.08239 | -0.020931 | 0.106566 | -0.147816 | -0.396829 | 0.190047 | -0.169191 | 0.047112 | -0.006094 | -0.020083 | 0.06545 | -0.018739 | 1.202813 | 0.476435 | 0.852264 | 1.064394 | 0.42363 | -0.093978 | 0.278912 | -1.133973 | -0.842495 | 0.819095 | -0.706196 | 0.314148 | -0.023812 |
-0.004501 | 0.002472 | 0.799341 | 0.014595 | -0.028858 | 0.019709 | 0.999283 | 0.069704 | 0.037328 | 0.181155 | 0.149492 | -0.08257 | -0.021056 | 0.106837 | -0.147602 | -0.397067 | 0.190188 | -0.169381 | 0.046933 | -0.006152 | -0.020152 | 0.065634 | -0.019735 | 1.200552 | 0.484761 | 0.851994 | 1.069735 | 0.420907 | -0.095131 | 0.278134 | -1.132988 | -0.84635 | 0.820074 | -0.71377 | 0.311657 | -0.019503 |
-0.004485 | 0.002343 | 0.799333 | 0.014606 | -0.028927 | 0.019801 | 0.999279 | 0.069784 | 0.03755 | 0.180932 | 0.1496 | -0.082657 | -0.02121 | 0.106942 | -0.147423 | -0.397284 | 0.190401 | -0.169575 | 0.046772 | -0.0062 | -0.020218 | 0.065871 | -0.020585 | 1.198649 | 0.492209 | 0.851631 | 1.074143 | 0.418702 | -0.096094 | 0.27737 | -1.132168 | -0.849839 | 0.821265 | -0.720351 | 0.309415 | -0.015912 |
-0.004488 | 0.002204 | 0.799328 | 0.014609 | -0.028958 | 0.019916 | 0.999275 | 0.069791 | 0.037724 | 0.180572 | 0.149585 | -0.082638 | -0.021384 | 0.106942 | -0.147251 | -0.39754 | 0.190626 | -0.169758 | 0.046631 | -0.006233 | -0.02029 | 0.066141 | -0.021209 | 1.197078 | 0.49889 | 0.851208 | 1.077807 | 0.417014 | -0.096759 | 0.276593 | -1.131545 | -0.853124 | 0.822583 | -0.72594 | 0.307207 | -0.013131 |
-0.004508 | 0.002053 | 0.799328 | 0.0146 | -0.028951 | 0.020076 | 0.999273 | 0.069713 | 0.037889 | 0.180134 | 0.149482 | -0.082526 | -0.021566 | 0.106885 | -0.14706 | -0.397888 | 0.190802 | -0.1699 | 0.046517 | -0.006254 | -0.020373 | 0.066436 | -0.021484 | 1.195886 | 0.504546 | 0.850816 | 1.081261 | 0.415849 | -0.096993 | 0.275839 | -1.131116 | -0.856338 | 0.823934 | -0.730587 | 0.305122 | -0.011312 |
-0.004539 | 0.001891 | 0.799333 | 0.014583 | -0.028906 | 0.020267 | 0.99927 | 0.06956 | 0.038067 | 0.179697 | 0.149304 | -0.082335 | -0.021749 | 0.106824 | -0.146827 | -0.398313 | 0.190809 | -0.169906 | 0.046435 | -0.006288 | -0.020465 | 0.066756 | -0.021202 | 1.195078 | 0.509239 | 0.850492 | 1.08468 | 0.414708 | -0.096538 | 0.27508 | -1.130747 | -0.859656 | 0.825134 | -0.734286 | 0.303179 | -0.010608 |
-0.004574 | 0.00172 | 0.799342 | 0.014562 | -0.028818 | 0.020487 | 0.999269 | 0.069352 | 0.038246 | 0.179215 | 0.149013 | -0.082054 | -0.021948 | 0.106798 | -0.146543 | -0.398816 | 0.190571 | -0.169842 | 0.046412 | -0.006331 | -0.020556 | 0.067104 | -0.020508 | 1.194559 | 0.513253 | 0.850337 | 1.087894 | 0.41334 | -0.095666 | 0.274282 | -1.130378 | -0.86333 | 0.825974 | -0.737171 | 0.301526 | -0.011757 |
-0.004609 | 0.001548 | 0.79935 | 0.014532 | -0.028708 | 0.020742 | 0.999267 | 0.069113 | 0.038417 | 0.178673 | 0.148664 | -0.081719 | -0.022164 | 0.10678 | -0.146294 | -0.399344 | 0.19025 | -0.169796 | 0.046324 | -0.006389 | -0.020635 | 0.067487 | -0.019498 | 1.194184 | 0.516689 | 0.850325 | 1.090823 | 0.411693 | -0.09532 | 0.273242 | -1.129803 | -0.867595 | 0.826642 | -0.738463 | 0.300036 | -0.014139 |
-0.004641 | 0.00137 | 0.799355 | 0.014508 | -0.028607 | 0.021022 | 0.999264 | 0.068772 | 0.038606 | 0.178079 | 0.148574 | -0.081505 | -0.022395 | 0.106707 | -0.146068 | -0.399917 | 0.190129 | -0.169832 | 0.046246 | -0.006448 | -0.020706 | 0.067911 | -0.018295 | 1.193745 | 0.519579 | 0.85044 | 1.09367 | 0.410028 | -0.096586 | 0.272 | -1.12905 | -0.872355 | 0.827281 | -0.737619 | 0.298376 | -0.016709 |
-0.00467 | 0.00119 | 0.799355 | 0.014489 | -0.02854 | 0.021281 | 0.999261 | 0.068442 | 0.038806 | 0.177514 | 0.148655 | -0.081395 | -0.022636 | 0.106575 | -0.145876 | -0.400436 | 0.190271 | -0.17 | 0.046195 | -0.006511 | -0.020767 | 0.068351 | -0.017521 | 1.1929 | 0.522823 | 0.850205 | 1.09597 | 0.408732 | -0.097682 | 0.27141 | -1.128513 | -0.876477 | 0.828039 | -0.736018 | 0.296846 | -0.019015 |
-0.004696 | 0.001014 | 0.799349 | 0.014469 | -0.028509 | 0.021509 | 0.999257 | 0.068139 | 0.039024 | 0.177004 | 0.148862 | -0.081365 | -0.022879 | 0.106427 | -0.145726 | -0.400898 | 0.190589 | -0.170262 | 0.046123 | -0.006574 | -0.020826 | 0.068782 | -0.017286 | 1.191503 | 0.526435 | 0.849683 | 1.097684 | 0.407828 | -0.097288 | 0.271589 | -1.128315 | -0.879326 | 0.828934 | -0.734511 | 0.295726 | -0.02043 |
-0.004715 | 0.000843 | 0.79934 | 0.014449 | -0.0285 | 0.021696 | 0.999254 | 0.067873 | 0.039261 | 0.17657 | 0.149137 | -0.081388 | -0.023125 | 0.10628 | -0.145601 | -0.401292 | 0.191006 | -0.170592 | 0.046017 | -0.006645 | -0.020896 | 0.06919 | -0.017301 | 1.189581 | 0.530033 | 0.84908 | 1.098975 | 0.407281 | -0.09564 | 0.272057 | -1.128393 | -0.880926 | 0.829771 | -0.73343 | 0.295301 | -0.02108 |
-0.004729 | 0.000674 | 0.799328 | 0.01444 | -0.02851 | 0.021841 | 0.999251 | 0.067648 | 0.039492 | 0.17622 | 0.149456 | -0.081455 | -0.023377 | 0.106125 | -0.145515 | -0.401599 | 0.191514 | -0.17099 | 0.045857 | -0.006734 | -0.020975 | 0.069571 | -0.017369 | 1.187471 | 0.533067 | 0.848406 | 1.100327 | 0.406976 | -0.093032 | 0.272426 | -1.128545 | -0.881692 | 0.830275 | -0.732807 | 0.295826 | -0.021266 |
-0.004733 | 0.000502 | 0.799316 | 0.014452 | -0.028533 | 0.021954 | 0.999247 | 0.067496 | 0.039714 | 0.175942 | 0.149757 | -0.081536 | -0.023634 | 0.106 | -0.145414 | -0.401857 | 0.192015 | -0.171364 | 0.045684 | -0.006831 | -0.021059 | 0.069918 | -0.0177 | 1.185221 | 0.535743 | 0.847777 | 1.101139 | 0.406356 | -0.090518 | 0.272669 | -1.128527 | -0.881765 | 0.830047 | -0.732722 | 0.296153 | -0.021005 |
-0.004727 | 0.000327 | 0.799304 | 0.014475 | -0.028559 | 0.022031 | 0.999244 | 0.0674 | 0.039944 | 0.175755 | 0.150046 | -0.081633 | -0.02389 | 0.105915 | -0.14529 | -0.402062 | 0.192467 | -0.171698 | 0.045492 | -0.006938 | -0.021138 | 0.070239 | -0.01803 | 1.183254 | 0.537486 | 0.8475 | 1.10197 | 0.405648 | -0.089766 | 0.272575 | -1.128232 | -0.881607 | 0.829388 | -0.732548 | 0.295989 | -0.020832 |
-0.004712 | 0.000151 | 0.799294 | 0.014496 | -0.028597 | 0.02209 | 0.999242 | 0.067353 | 0.040182 | 0.175574 | 0.150346 | -0.081746 | -0.024169 | 0.105911 | -0.145142 | -0.402251 | 0.192841 | -0.171996 | 0.045271 | -0.007046 | -0.021213 | 0.070543 | -0.018268 | 1.182083 | 0.538248 | 0.847411 | 1.103301 | 0.404771 | -0.09076 | 0.27237 | -1.127802 | -0.881321 | 0.828666 | -0.732207 | 0.295533 | -0.020719 |
-0.004693 | -0.000029 | 0.799284 | 0.014511 | -0.028649 | 0.022132 | 0.999239 | 0.067346 | 0.040449 | 0.175406 | 0.150618 | -0.081853 | -0.024469 | 0.105964 | -0.144945 | -0.402399 | 0.193102 | -0.172245 | 0.045017 | -0.007162 | -0.021285 | 0.070832 | -0.018775 | 1.181493 | 0.538941 | 0.84718 | 1.104662 | 0.40404 | -0.091875 | 0.271962 | -1.127244 | -0.881411 | 0.828098 | -0.731289 | 0.295161 | -0.021397 |
-0.004672 | -0.000219 | 0.799276 | 0.014518 | -0.028703 | 0.022151 | 0.999237 | 0.067381 | 0.040779 | 0.175283 | 0.150809 | -0.081927 | -0.024763 | 0.106051 | -0.144677 | -0.402504 | 0.193246 | -0.17244 | 0.044733 | -0.007293 | -0.021355 | 0.071103 | -0.01936 | 1.181234 | 0.539842 | 0.846813 | 1.105966 | 0.403655 | -0.092338 | 0.271427 | -1.126626 | -0.88199 | 0.827998 | -0.729743 | 0.295447 | -0.022875 |
-0.004646 | -0.000411 | 0.79927 | 0.014497 | -0.028749 | 0.022148 | 0.999236 | 0.067462 | 0.041159 | 0.175213 | 0.150897 | -0.081947 | -0.025086 | 0.106153 | -0.144328 | -0.402564 | 0.193312 | -0.172592 | 0.044428 | -0.007442 | -0.021423 | 0.071338 | -0.019868 | 1.181127 | 0.540985 | 0.846349 | 1.107067 | 0.403488 | -0.092184 | 0.270536 | -1.125831 | -0.883274 | 0.828384 | -0.726996 | 0.296482 | -0.024743 |
-0.004622 | -0.000608 | 0.799266 | 0.014468 | -0.028801 | 0.022123 | 0.999236 | 0.067585 | 0.041552 | 0.175187 | 0.150913 | -0.081933 | -0.025435 | 0.106238 | -0.143944 | -0.402587 | 0.193383 | -0.172736 | 0.044114 | -0.007597 | -0.021479 | 0.071524 | -0.020364 | 1.181108 | 0.542221 | 0.845811 | 1.107929 | 0.403429 | -0.091607 | 0.269541 | -1.124966 | -0.88476 | 0.82888 | -0.723454 | 0.29681 | -0.027058 |
-0.0046 | -0.000805 | 0.799261 | 0.014442 | -0.028847 | 0.022087 | 0.999235 | 0.067703 | 0.041937 | 0.175193 | 0.150915 | -0.081913 | -0.025801 | 0.106235 | -0.143572 | -0.402537 | 0.193527 | -0.172906 | 0.043778 | -0.007736 | -0.021515 | 0.071671 | -0.020776 | 1.181193 | 0.543296 | 0.845322 | 1.10866 | 0.403368 | -0.09115 | 0.26863 | -1.124107 | -0.886186 | 0.829356 | -0.719824 | 0.297309 | -0.030314 |
-0.004578 | -0.001006 | 0.799254 | 0.014423 | -0.028885 | 0.021996 | 0.999237 | 0.067801 | 0.042338 | 0.175294 | 0.150971 | -0.08192 | -0.026177 | 0.106115 | -0.143229 | -0.402421 | 0.19385 | -0.173152 | 0.043433 | -0.007871 | -0.021529 | 0.071789 | -0.02103 | 1.181461 | 0.544047 | 0.844955 | 1.109384 | 0.403044 | -0.091226 | 0.267889 | -1.123109 | -0.88756 | 0.829603 | -0.716255 | 0.297626 | -0.034269 |
-0.004554 | -0.001208 | 0.799244 | 0.014402 | -0.028917 | 0.021866 | 0.999239 | 0.067857 | 0.042782 | 0.175464 | 0.151137 | -0.081995 | -0.026548 | 0.105915 | -0.142897 | -0.402202 | 0.194319 | -0.173467 | 0.043075 | -0.007999 | -0.021534 | 0.071888 | -0.021335 | 1.181739 | 0.544783 | 0.844542 | 1.10982 | 0.402382 | -0.091391 | 0.267165 | -1.122077 | -0.888657 | 0.82956 | -0.712868 | 0.297225 | -0.03922 |
-0.004527 | -0.001405 | 0.79923 | 0.014378 | -0.028946 | 0.021709 | 0.999242 | 0.067836 | 0.043253 | 0.175681 | 0.151498 | -0.082176 | -0.026916 | 0.105652 | -0.142578 | -0.401914 | 0.194914 | -0.173842 | 0.042715 | -0.008112 | -0.021529 | 0.071981 | -0.021603 | 1.181992 | 0.545404 | 0.84411 | 1.110227 | 0.401746 | -0.091006 | 0.266838 | -1.12133 | -0.888914 | 0.829475 | -0.710453 | 0.296047 | -0.044896 |
-0.004503 | -0.001594 | 0.799212 | 0.014355 | -0.028981 | 0.021532 | 0.999245 | 0.067728 | 0.043732 | 0.175926 | 0.152059 | -0.082457 | -0.027269 | 0.105334 | -0.142296 | -0.401586 | 0.19562 | -0.174262 | 0.042355 | -0.008209 | -0.021516 | 0.072085 | -0.021921 | 1.182105 | 0.545854 | 0.843759 | 1.110716 | 0.401118 | -0.090103 | 0.266763 | -1.120818 | -0.888627 | 0.829465 | -0.708917 | 0.294241 | -0.051377 |
-0.004477 | -0.001772 | 0.799193 | 0.014335 | -0.029029 | 0.021374 | 0.999247 | 0.067584 | 0.044172 | 0.176093 | 0.152733 | -0.082798 | -0.027616 | 0.105035 | -0.142049 | -0.401284 | 0.196377 | -0.174708 | 0.042027 | -0.008279 | -0.021492 | 0.072187 | -0.022541 | 1.181899 | 0.546491 | 0.843312 | 1.110707 | 0.400304 | -0.088996 | 0.266848 | -1.120539 | -0.887594 | 0.829697 | -0.708243 | 0.292286 | -0.057303 |
-0.004448 | -0.001943 | 0.799172 | 0.014332 | -0.029095 | 0.021239 | 0.999248 | 0.067459 | 0.044582 | 0.176267 | 0.153437 | -0.083156 | -0.027916 | 0.104787 | -0.14184 | -0.401027 | 0.197142 | -0.175161 | 0.041739 | -0.008335 | -0.021458 | 0.072275 | -0.023618 | 1.181406 | 0.547033 | 0.842666 | 1.11043 | 0.399511 | -0.087418 | 0.266925 | -1.120574 | -0.885865 | 0.829952 | -0.70838 | 0.291033 | -0.062202 |
-0.004416 | -0.002097 | 0.799152 | 0.014324 | -0.029171 | 0.021145 | 0.999248 | 0.067387 | 0.044944 | 0.176381 | 0.154056 | -0.083474 | -0.02815 | 0.104608 | -0.141679 | -0.400845 | 0.197879 | -0.175606 | 0.041485 | -0.008377 | -0.021423 | 0.072344 | -0.024774 | 1.180827 | 0.547565 | 0.842025 | 1.110009 | 0.39879 | -0.085182 | 0.267098 | -1.120918 | -0.883577 | 0.830089 | -0.709238 | 0.289842 | -0.065538 |
-0.00438 | -0.002232 | 0.799134 | 0.014319 | -0.02925 | 0.021102 | 0.999247 | 0.067429 | 0.045219 | 0.176496 | 0.154427 | -0.083664 | -0.02835 | 0.104495 | -0.141597 | -0.400744 | 0.198568 | -0.176036 | 0.041257 | -0.008416 | -0.021385 | 0.072393 | -0.025938 | 1.180338 | 0.547823 | 0.841616 | 1.109716 | 0.398357 | -0.083377 | 0.267324 | -1.121416 | -0.881518 | 0.830256 | -0.710389 | 0.288512 | -0.067087 |
-0.004341 | -0.002365 | 0.79912 | 0.014339 | -0.02933 | 0.021093 | 0.999244 | 0.067594 | 0.045402 | 0.176478 | 0.15452 | -0.083703 | -0.028524 | 0.10445 | -0.141553 | -0.400721 | 0.19917 | -0.176441 | 0.041052 | -0.008461 | -0.021354 | 0.072426 | -0.027146 | 1.180009 | 0.547617 | 0.841319 | 1.109753 | 0.397999 | -0.082732 | 0.267383 | -1.12185 | -0.880405 | 0.830509 | -0.711313 | 0.28739 | -0.067234 |
-0.004306 | -0.002497 | 0.799109 | 0.014363 | -0.029413 | 0.021175 | 0.99924 | 0.06776 | 0.045543 | 0.176299 | 0.154528 | -0.083668 | -0.02868 | 0.104459 | -0.141497 | -0.400872 | 0.19967 | -0.176811 | 0.040872 | -0.008518 | -0.021339 | 0.072456 | -0.028608 | 1.179714 | 0.547383 | 0.840868 | 1.1098 | 0.397856 | -0.082754 | 0.267534 | -1.122216 | -0.879876 | 0.830765 | -0.712575 | 0.286899 | -0.067434 |
-0.004275 | -0.002622 | 0.799101 | 0.01439 | -0.029481 | 0.02128 | 0.999235 | 0.0679 | 0.045652 | 0.176069 | 0.154514 | -0.083599 | -0.028806 | 0.104503 | -0.14145 | -0.401077 | 0.200096 | -0.177129 | 0.040704 | -0.008602 | -0.021334 | 0.072483 | -0.029952 | 1.17949 | 0.547227 | 0.840242 | 1.109881 | 0.397725 | -0.082991 | 0.267392 | -1.122276 | -0.87972 | 0.831003 | -0.713662 | 0.286612 | -0.067741 |
-0.00425 | -0.002736 | 0.799094 | 0.014421 | -0.029541 | 0.021368 | 0.999231 | 0.067996 | 0.045738 | 0.17587 | 0.154525 | -0.083509 | -0.028923 | 0.104562 | -0.14143 | -0.40125 | 0.200511 | -0.177403 | 0.040539 | -0.008702 | -0.021332 | 0.072508 | -0.03085 | 1.179326 | 0.547509 | 0.839414 | 1.109803 | 0.397291 | -0.0831 | 0.266822 | -1.122007 | -0.879897 | 0.83128 | -0.714122 | 0.286179 | -0.067704 |
-0.004239 | -0.00284 | 0.799088 | 0.014459 | -0.029626 | 0.021457 | 0.999226 | 0.068056 | 0.045806 | 0.175669 | 0.154631 | -0.083429 | -0.029012 | 0.104619 | -0.141448 | -0.401414 | 0.20098 | -0.177677 | 0.04038 | -0.008796 | -0.021325 | 0.072524 | -0.031228 | 1.179273 | 0.548124 | 0.838568 | 1.109736 | 0.396571 | -0.082998 | 0.266241 | -1.121621 | -0.880099 | 0.831629 | -0.71434 | 0.285653 | -0.067573 |
-0.004241 | -0.002937 | 0.799081 | 0.0145 | -0.029731 | 0.02155 | 0.99922 | 0.068098 | 0.045848 | 0.175458 | 0.154818 | -0.083384 | -0.029061 | 0.10465 | -0.141451 | -0.401584 | 0.201497 | -0.177956 | 0.040232 | -0.008863 | -0.021308 | 0.07253 | -0.031065 | 1.179401 | 0.548755 | 0.837908 | 1.11014 | 0.396121 | -0.082764 | 0.265917 | -1.121304 | -0.879858 | 0.832151 | -0.714757 | 0.285176 | -0.066796 |
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-0.004275 | -0.003099 | 0.799066 | 0.014587 | -0.029976 | 0.021703 | 0.999209 | 0.068175 | 0.045943 | 0.17506 | 0.155372 | -0.083382 | -0.029042 | 0.104618 | -0.141514 | -0.401855 | 0.202731 | -0.178537 | 0.039984 | -0.008896 | -0.021228 | 0.0725 | -0.030622 | 1.179688 | 0.549941 | 0.837025 | 1.111201 | 0.396033 | -0.082413 | 0.265431 | -1.121018 | -0.878919 | 0.833071 | -0.71584 | 0.284562 | -0.063609 |
-0.004306 | -0.003158 | 0.799056 | 0.01463 | -0.030122 | 0.021783 | 0.999202 | 0.068248 | 0.045991 | 0.174848 | 0.155715 | -0.083452 | -0.029002 | 0.104618 | -0.141651 | -0.401966 | 0.203366 | -0.178801 | 0.039882 | -0.008858 | -0.021157 | 0.072441 | -0.030872 | 1.179711 | 0.55072 | 0.836688 | 1.111003 | 0.396118 | -0.081897 | 0.265467 | -1.121121 | -0.877873 | 0.833241 | -0.717206 | 0.284372 | -0.06123 |
-0.004347 | -0.003199 | 0.799045 | 0.014664 | -0.030288 | 0.021876 | 0.999194 | 0.06834 | 0.045985 | 0.174643 | 0.156109 | -0.083586 | -0.028985 | 0.104644 | -0.141845 | -0.402079 | 0.203994 | -0.179016 | 0.039794 | -0.008792 | -0.021069 | 0.072343 | -0.031864 | 1.179349 | 0.55239 | 0.836063 | 1.10908 | 0.395859 | -0.080209 | 0.265663 | -1.121383 | -0.876371 | 0.833204 | -0.719403 | 0.283997 | -0.058445 |
-0.004402 | -0.003225 | 0.799035 | 0.01469 | -0.030488 | 0.021993 | 0.999185 | 0.068467 | 0.045949 | 0.174402 | 0.156523 | -0.083738 | -0.028975 | 0.104733 | -0.142069 | -0.402233 | 0.204608 | -0.179194 | 0.039716 | -0.008685 | -0.02098 | 0.072194 | -0.033292 | 1.17866 | 0.554803 | 0.835066 | 1.105651 | 0.395315 | -0.076307 | 0.265641 | -1.121659 | -0.874931 | 0.833125 | -0.721777 | 0.28342 | -0.055506 |
-0.004472 | -0.003238 | 0.799026 | 0.014706 | -0.03071 | 0.022127 | 0.999175 | 0.068633 | 0.045876 | 0.174131 | 0.156835 | -0.083822 | -0.028952 | 0.10489 | -0.142292 | -0.402417 | 0.205157 | -0.179354 | 0.039657 | -0.008554 | -0.020907 | 0.072008 | -0.034443 | 1.177935 | 0.557134 | 0.833764 | 1.10186 | 0.394047 | -0.069762 | 0.265239 | -1.121925 | -0.873869 | 0.833104 | -0.723868 | 0.28284 | -0.05277 |
-0.004558 | -0.003244 | 0.799017 | 0.014729 | -0.030966 | 0.022315 | 0.999163 | 0.068822 | 0.045765 | 0.173764 | 0.157125 | -0.083862 | -0.02891 | 0.105159 | -0.142525 | -0.402709 | 0.205638 | -0.179516 | 0.039634 | -0.008414 | -0.020851 | 0.071786 | -0.034799 | 1.177456 | 0.558512 | 0.83222 | 1.099005 | 0.391368 | -0.059784 | 0.264317 | -1.122164 | -0.873442 | 0.833045 | -0.725259 | 0.282557 | -0.050566 |
-0.004662 | -0.003235 | 0.799009 | 0.01474 | -0.031257 | 0.022545 | 0.999148 | 0.069041 | 0.045616 | 0.173282 | 0.157402 | -0.083872 | -0.028864 | 0.105547 | -0.142753 | -0.403093 | 0.206026 | -0.179643 | 0.039631 | -0.008288 | -0.020816 | 0.071539 | -0.034591 | 1.177189 | 0.558825 | 0.830967 | 1.097459 | 0.387715 | -0.046766 | 0.26289 | -1.122295 | -0.873523 | 0.832796 | -0.725781 | 0.28238 | -0.048822 |
-0.004786 | -0.003225 | 0.799001 | 0.014771 | -0.031552 | 0.022823 | 0.999132 | 0.069257 | 0.045443 | 0.17275 | 0.157615 | -0.083863 | -0.02879 | 0.105938 | -0.143002 | -0.403571 | 0.206421 | -0.179764 | 0.039642 | -0.008173 | -0.020795 | 0.071273 | -0.034694 | 1.176989 | 0.559019 | 0.830203 | 1.095911 | 0.383553 | -0.03296 | 0.261257 | -1.12232 | -0.873578 | 0.832359 | -0.725762 | 0.281851 | -0.047034 |
-0.004933 | -0.003211 | 0.798994 | 0.014805 | -0.031835 | 0.023131 | 0.999116 | 0.069403 | 0.045264 | 0.17219 | 0.157833 | -0.083836 | -0.028695 | 0.10626 | -0.143258 | -0.404105 | 0.206861 | -0.179885 | 0.039654 | -0.008067 | -0.020787 | 0.071009 | -0.035099 | 1.17694 | 0.559053 | 0.829984 | 1.094281 | 0.379377 | -0.019828 | 0.259718 | -1.122401 | -0.873334 | 0.831918 | -0.725791 | 0.281258 | -0.045361 |
-0.00511 | -0.003191 | 0.798988 | 0.014837 | -0.032094 | 0.02343 | 0.9991 | 0.069418 | 0.045085 | 0.171625 | 0.158131 | -0.0838 | -0.02859 | 0.106443 | -0.143512 | -0.40462 | 0.207374 | -0.180004 | 0.039656 | -0.007975 | -0.020792 | 0.070767 | -0.035747 | 1.177134 | 0.558783 | 0.830557 | 1.092836 | 0.376159 | -0.009154 | 0.25822 | -1.122587 | -0.872665 | 0.831547 | -0.726052 | 0.280576 | -0.043826 |
-0.005317 | -0.003168 | 0.798984 | 0.014858 | -0.032305 | 0.023693 | 0.999087 | 0.069241 | 0.044932 | 0.171114 | 0.158552 | -0.083763 | -0.028469 | 0.106414 | -0.143747 | -0.40506 | 0.207976 | -0.180113 | 0.039634 | -0.007901 | -0.020816 | 0.070575 | -0.036793 | 1.177476 | 0.558386 | 0.831554 | 1.091216 | 0.373703 | -0.001477 | 0.256647 | -1.122948 | -0.871477 | 0.831271 | -0.726649 | 0.279715 | -0.042387 |
-0.005554 | -0.003139 | 0.798984 | 0.014859 | -0.032467 | 0.023924 | 0.999076 | 0.068886 | 0.044824 | 0.170658 | 0.159058 | -0.083709 | -0.028331 | 0.106199 | -0.143962 | -0.405422 | 0.208603 | -0.180181 | 0.039554 | -0.00783 | -0.02086 | 0.070449 | -0.03815 | 1.178024 | 0.557953 | 0.832718 | 1.089628 | 0.372613 | 0.003507 | 0.254983 | -1.123514 | -0.869969 | 0.831126 | -0.727525 | 0.278855 | -0.041241 |
-0.005819 | -0.003107 | 0.798987 | 0.014853 | -0.032608 | 0.024123 | 0.999067 | 0.068529 | 0.04473 | 0.170269 | 0.159418 | -0.083594 | -0.028174 | 0.1059 | -0.144159 | -0.405724 | 0.209158 | -0.180161 | 0.039448 | -0.007742 | -0.020917 | 0.070365 | -0.03922 | 1.179017 | 0.556767 | 0.833754 | 1.089149 | 0.372534 | 0.006676 | 0.25325 | -1.124229 | -0.868358 | 0.831101 | -0.72855 | 0.278235 | -0.040595 |
-0.006105 | -0.00307 | 0.798997 | 0.014831 | -0.032733 | 0.024292 | 0.999059 | 0.068211 | 0.044652 | 0.16994 | 0.159585 | -0.083372 | -0.027994 | 0.105587 | -0.144298 | -0.405983 | 0.209546 | -0.180012 | 0.039332 | -0.007616 | -0.020987 | 0.070312 | -0.040218 | 1.18021 | 0.555274 | 0.834643 | 1.089255 | 0.372923 | 0.008456 | 0.251326 | -1.124981 | -0.86676 | 0.831148 | -0.729511 | 0.277706 | -0.040445 |
-0.006406 | -0.003031 | 0.799015 | 0.014789 | -0.032846 | 0.024439 | 0.999052 | 0.067959 | 0.044598 | 0.169656 | 0.159526 | -0.083022 | -0.027803 | 0.105377 | -0.144326 | -0.406241 | 0.209566 | -0.179652 | 0.039234 | -0.007441 | -0.021071 | 0.070277 | -0.041337 | 1.181366 | 0.554127 | 0.835342 | 1.08922 | 0.373233 | 0.009332 | 0.249037 | -1.125658 | -0.865527 | 0.831199 | -0.729989 | 0.27713 | -0.040724 |
-0.006717 | -0.002988 | 0.799042 | 0.014718 | -0.03295 | 0.024574 | 0.999046 | 0.067755 | 0.044583 | 0.169392 | 0.1593 | -0.082575 | -0.027606 | 0.105295 | -0.144225 | -0.406521 | 0.209219 | -0.179089 | 0.039154 | -0.007213 | -0.021175 | 0.070253 | -0.042262 | 1.182433 | 0.553261 | 0.835805 | 1.089146 | 0.37327 | 0.010252 | 0.246624 | -1.12631 | -0.864574 | 0.831274 | -0.730034 | 0.27654 | -0.040558 |
-0.007032 | -0.002936 | 0.799073 | 0.014629 | -0.033041 | 0.024696 | 0.999042 | 0.067551 | 0.044554 | 0.169156 | 0.159007 | -0.082089 | -0.027398 | 0.105284 | -0.144051 | -0.406801 | 0.208641 | -0.178403 | 0.039079 | -0.006942 | -0.021288 | 0.070245 | -0.042847 | 1.183422 | 0.552707 | 0.836168 | 1.088818 | 0.372961 | 0.011181 | 0.244383 | -1.127022 | -0.863736 | 0.831301 | -0.730111 | 0.276023 | -0.040261 |
-0.00735 | -0.002879 | 0.799101 | 0.014546 | -0.033119 | 0.024825 | 0.999037 | 0.067245 | 0.044534 | 0.168903 | 0.158838 | -0.081652 | -0.027173 | 0.105167 | -0.143932 | -0.407063 | 0.208246 | -0.177811 | 0.038985 | -0.006649 | -0.021403 | 0.070266 | -0.043165 | 1.18433 | 0.55246 | 0.836518 | 1.08822 | 0.372786 | 0.011756 | 0.242465 | -1.127735 | -0.863077 | 0.831165 | -0.73042 | 0.275419 | -0.040832 |
-0.007666 | -0.002817 | 0.799123 | 0.014474 | -0.033196 | 0.024944 | 0.999033 | 0.066851 | 0.044545 | 0.168654 | 0.158851 | -0.081308 | -0.026926 | 0.104941 | -0.143891 | -0.407276 | 0.208082 | -0.17734 | 0.038876 | -0.006345 | -0.021513 | 0.070311 | -0.043246 | 1.185047 | 0.552563 | 0.836804 | 1.087294 | 0.372871 | 0.011982 | 0.241194 | -1.128389 | -0.861992 | 0.83114 | -0.731477 | 0.274406 | -0.04169 |
-0.007971 | -0.002751 | 0.799141 | 0.014403 | -0.033276 | 0.025062 | 0.999028 | 0.066422 | 0.044615 | 0.168377 | 0.158965 | -0.081028 | -0.026666 | 0.104704 | -0.143878 | -0.407481 | 0.208004 | -0.176938 | 0.038784 | -0.006032 | -0.021622 | 0.070364 | -0.043069 | 1.185567 | 0.552841 | 0.837137 | 1.086154 | 0.37312 | 0.011394 | 0.240239 | -1.128852 | -0.860702 | 0.831338 | -0.732972 | 0.273084 | -0.042483 |
-0.008255 | -0.002668 | 0.799158 | 0.014323 | -0.033357 | 0.025202 | 0.999023 | 0.066022 | 0.044587 | 0.168075 | 0.159091 | -0.080793 | -0.026396 | 0.104582 | -0.143861 | -0.407743 | 0.207817 | -0.176537 | 0.038753 | -0.005729 | -0.021732 | 0.070415 | -0.042101 | 1.186233 | 0.552243 | 0.838114 | 1.085971 | 0.373391 | 0.007753 | 0.239054 | -1.128984 | -0.859814 | 0.831686 | -0.734029 | 0.271485 | -0.042731 |
-0.008513 | -0.002571 | 0.799175 | 0.014251 | -0.033438 | 0.025348 | 0.999018 | 0.065688 | 0.04447 | 0.167776 | 0.159172 | -0.080582 | -0.026114 | 0.104595 | -0.143832 | -0.408034 | 0.207447 | -0.176086 | 0.038756 | -0.005439 | -0.021855 | 0.070466 | -0.041146 | 1.186741 | 0.55168 | 0.839117 | 1.085781 | 0.373037 | 0.001688 | 0.237652 | -1.128903 | -0.859343 | 0.832158 | -0.734559 | 0.26987 | -0.042316 |
-0.008741 | -0.002465 | 0.799193 | 0.014181 | -0.033518 | 0.02548 | 0.999013 | 0.065438 | 0.044356 | 0.167501 | 0.159203 | -0.080395 | -0.025813 | 0.104748 | -0.143799 | -0.408333 | 0.206868 | -0.175564 | 0.038812 | -0.005156 | -0.021997 | 0.070528 | -0.039894 | 1.187206 | 0.551005 | 0.839752 | 1.08648 | 0.37251 | -0.004304 | 0.236474 | -1.128872 | -0.858943 | 0.832687 | -0.735319 | 0.268753 | -0.041912 |
-0.008943 | -0.002341 | 0.799208 | 0.014106 | -0.033631 | 0.025613 | 0.999006 | 0.065302 | 0.044208 | 0.167241 | 0.159246 | -0.080269 | -0.025489 | 0.105034 | -0.143834 | -0.408766 | 0.206306 | -0.175088 | 0.038911 | -0.004871 | -0.022152 | 0.070611 | -0.038686 | 1.187274 | 0.550724 | 0.839778 | 1.087717 | 0.372388 | -0.008562 | 0.235506 | -1.128838 | -0.858663 | 0.833225 | -0.736212 | 0.268302 | -0.041506 |
-0.009122 | -0.002209 | 0.799217 | 0.014028 | -0.033767 | 0.025739 | 0.999 | 0.065232 | 0.044073 | 0.166997 | 0.15938 | -0.080236 | -0.025172 | 0.105327 | -0.143885 | -0.40904 | 0.205883 | -0.174721 | 0.03903 | -0.00461 | -0.022325 | 0.070735 | -0.037921 | 1.186708 | 0.551488 | 0.839351 | 1.088495 | 0.372844 | -0.010839 | 0.234726 | -1.128696 | -0.858546 | 0.833679 | -0.73703 | 0.268296 | -0.041054 |
-0.009286 | -0.00208 | 0.799225 | 0.013975 | -0.033901 | 0.025855 | 0.998993 | 0.065196 | 0.043938 | 0.166778 | 0.159552 | -0.080227 | -0.024865 | 0.105591 | -0.143941 | -0.409222 | 0.205527 | -0.174402 | 0.039164 | -0.004363 | -0.022496 | 0.070899 | -0.037175 | 1.185886 | 0.552659 | 0.838765 | 1.089089 | 0.373723 | -0.011874 | 0.234283 | -1.128366 | -0.858711 | 0.833929 | -0.737678 | 0.26832 | -0.040684 |
-0.009444 | -0.001946 | 0.799232 | 0.013928 | -0.034032 | 0.025965 | 0.998986 | 0.06516 | 0.04379 | 0.166584 | 0.159623 | -0.080169 | -0.024562 | 0.105835 | -0.144002 | -0.409355 | 0.2052 | -0.174099 | 0.039315 | -0.004115 | -0.022664 | 0.071103 | -0.036013 | 1.185219 | 0.553428 | 0.838265 | 1.090218 | 0.374639 | -0.01231 | 0.234387 | -1.127868 | -0.859231 | 0.83398 | -0.738153 | 0.267923 | -0.040568 |
-0.009599 | -0.001805 | 0.79924 | 0.013886 | -0.034155 | 0.026059 | 0.99898 | 0.065116 | 0.043628 | 0.16643 | 0.159622 | -0.08006 | -0.024246 | 0.106047 | -0.144082 | -0.409459 | 0.204898 | -0.173798 | 0.039482 | -0.00387 | -0.022829 | 0.071336 | -0.034595 | 1.184874 | 0.553637 | 0.837993 | 1.091963 | 0.375403 | -0.013276 | 0.234894 | -1.127301 | -0.85998 | 0.833979 | -0.738565 | 0.267389 | -0.040631 |
-0.009749 | -0.001655 | 0.799248 | 0.013859 | -0.034261 | 0.026112 | 0.998976 | 0.065041 | 0.043436 | 0.166361 | 0.159731 | -0.080016 | -0.023935 | 0.106194 | -0.144196 | -0.409535 | 0.204648 | -0.173506 | 0.039675 | -0.003651 | -0.02298 | 0.071585 | -0.032841 | 1.185043 | 0.553051 | 0.838144 | 1.094691 | 0.376099 | -0.016175 | 0.23557 | -1.126836 | -0.860556 | 0.834057 | -0.739202 | 0.267217 | -0.040618 |
-0.009898 | -0.001496 | 0.799254 | 0.013847 | -0.034351 | 0.02614 | 0.998972 | 0.064916 | 0.043217 | 0.166328 | 0.159905 | -0.080024 | -0.023607 | 0.106282 | -0.144338 | -0.409562 | 0.204425 | -0.173214 | 0.039898 | -0.003458 | -0.023107 | 0.071843 | -0.031149 | 1.185528 | 0.552213 | 0.83844 | 1.097942 | 0.376493 | -0.020674 | 0.23638 | -1.126433 | -0.861077 | 0.834084 | -0.740035 | 0.267147 | -0.04048 |
-0.01005 | -0.001324 | 0.79926 | 0.013842 | -0.034418 | 0.026142 | 0.99897 | 0.064734 | 0.042971 | 0.166366 | 0.16012 | -0.080051 | -0.023263 | 0.106287 | -0.144524 | -0.409513 | 0.204239 | -0.172926 | 0.040139 | -0.003302 | -0.023203 | 0.072102 | -0.029385 | 1.186228 | 0.551285 | 0.838941 | 1.101689 | 0.376562 | -0.026556 | 0.237029 | -1.125953 | -0.861832 | 0.834022 | -0.740682 | 0.267024 | -0.040066 |
-0.010208 | -0.001131 | 0.799266 | 0.013838 | -0.034453 | 0.026139 | 0.998969 | 0.064475 | 0.042676 | 0.166484 | 0.160337 | -0.080083 | -0.022888 | 0.10616 | -0.144793 | -0.409365 | 0.204139 | -0.172654 | 0.040389 | -0.003176 | -0.02326 | 0.072354 | -0.027222 | 1.187236 | 0.549959 | 0.839855 | 1.106426 | 0.376298 | -0.034202 | 0.237498 | -1.125324 | -0.862888 | 0.833867 | -0.740897 | 0.266709 | -0.039445 |
-0.010367 | -0.000922 | 0.799272 | 0.013837 | -0.034424 | 0.026113 | 0.99897 | 0.064082 | 0.042355 | 0.16661 | 0.16058 | -0.080137 | -0.022495 | 0.105885 | -0.145099 | -0.409167 | 0.204058 | -0.172375 | 0.040646 | -0.003071 | -0.023294 | 0.072639 | -0.024347 | 1.188823 | 0.547559 | 0.841436 | 1.113226 | 0.375768 | -0.044106 | 0.237992 | -1.124605 | -0.864154 | 0.833741 | -0.740993 | 0.266274 | -0.039036 |
-0.010523 | -0.000695 | 0.799278 | 0.013843 | -0.034325 | 0.026024 | 0.998976 | 0.063589 | 0.042014 | 0.166862 | 0.160825 | -0.080203 | -0.022081 | 0.105438 | -0.145475 | -0.408936 | 0.204012 | -0.172092 | 0.040915 | -0.002993 | -0.023306 | 0.07301 | -0.021542 | 1.190498 | 0.545022 | 0.843127 | 1.121154 | 0.374214 | -0.055053 | 0.238471 | -1.123833 | -0.865435 | 0.833652 | -0.741123 | 0.265834 | -0.038895 |
-0.010684 | -0.000445 | 0.799286 | 0.013857 | -0.034222 | 0.025897 | 0.998983 | 0.063121 | 0.041618 | 0.167199 | 0.161006 | -0.080246 | -0.021634 | 0.104933 | -0.145931 | -0.408662 | 0.203991 | -0.171805 | 0.041205 | -0.002929 | -0.023298 | 0.073444 | -0.020311 | 1.191053 | 0.545099 | 0.84375 | 1.127291 | 0.372104 | -0.063085 | 0.238901 | -1.123075 | -0.866586 | 0.833645 | -0.741299 | 0.26555 | -0.039093 |
-0.01085 | -0.000179 | 0.799295 | 0.013891 | -0.034112 | 0.025802 | 0.998988 | 0.062668 | 0.04114 | 0.167501 | 0.161079 | -0.080217 | -0.021149 | 0.104407 | -0.146444 | -0.408345 | 0.203973 | -0.171503 | 0.041524 | -0.002863 | -0.023274 | 0.073925 | -0.02012 | 1.190163 | 0.547697 | 0.843504 | 1.131238 | 0.370237 | -0.06663 | 0.239318 | -1.122357 | -0.867617 | 0.833701 | -0.741411 | 0.265413 | -0.039534 |
-0.011018 | 0.000102 | 0.799307 | 0.013938 | -0.033985 | 0.025756 | 0.998993 | 0.062212 | 0.04058 | 0.167726 | 0.161027 | -0.080096 | -0.02063 | 0.10387 | -0.147005 | -0.408119 | 0.203953 | -0.171175 | 0.041896 | -0.002783 | -0.02324 | 0.074447 | -0.020168 | 1.188414 | 0.551377 | 0.843027 | 1.133999 | 0.369452 | -0.067606 | 0.239835 | -1.121733 | -0.868468 | 0.833774 | -0.741515 | 0.265385 | -0.039756 |
-0.011186 | 0.000397 | 0.799323 | 0.014002 | -0.033843 | 0.02574 | 0.998998 | 0.061785 | 0.039939 | 0.167907 | 0.160825 | -0.079874 | -0.020083 | 0.103343 | -0.147628 | -0.407962 | 0.203915 | -0.170811 | 0.042284 | -0.002707 | -0.023202 | 0.075001 | -0.019762 | 1.186593 | 0.554738 | 0.842443 | 1.136546 | 0.368211 | -0.06819 | 0.240527 | -1.121249 | -0.869108 | 0.833768 | -0.74182 | 0.265474 | -0.0394 |
-0.011345 | 0.000703 | 0.799341 | 0.01409 | -0.033697 | 0.025758 | 0.999001 | 0.061457 | 0.039197 | 0.168042 | 0.160402 | -0.07953 | -0.019511 | 0.102861 | -0.148334 | -0.407875 | 0.203877 | -0.170426 | 0.042695 | -0.002644 | -0.023168 | 0.075571 | -0.019301 | 1.185018 | 0.557426 | 0.841817 | 1.139191 | 0.366602 | -0.068696 | 0.241356 | -1.12089 | -0.869863 | 0.833671 | -0.742021 | 0.26561 | -0.038335 |
-0.011494 | 0.001019 | 0.799358 | 0.014199 | -0.033573 | 0.025827 | 0.999002 | 0.061165 | 0.038383 | 0.168094 | 0.160013 | -0.079203 | -0.018924 | 0.102455 | -0.149119 | -0.407866 | 0.203872 | -0.17008 | 0.043149 | -0.002592 | -0.023139 | 0.076147 | -0.018997 | 1.18383 | 0.559616 | 0.841478 | 1.141694 | 0.365085 | -0.0697 | 0.242641 | -1.120791 | -0.870506 | 0.833589 | -0.742748 | 0.266353 | -0.037444 |
-0.011636 | 0.001339 | 0.799369 | 0.014323 | -0.033475 | 0.025912 | 0.999001 | 0.060794 | 0.037562 | 0.168103 | 0.159935 | -0.079032 | -0.018342 | 0.102086 | -0.149953 | -0.40788 | 0.203936 | -0.169804 | 0.043622 | -0.002562 | -0.023113 | 0.076726 | -0.019544 | 1.182775 | 0.562243 | 0.841083 | 1.142822 | 0.364479 | -0.070647 | 0.24329 | -1.120406 | -0.872071 | 0.833246 | -0.74199 | 0.266449 | -0.036601 |
End of preview.
LAFAN1 Retargeting Dataset
To make the motion of humanoid robots more natural, we retargeted LAFAN1 motion capture data to Unitree's humanoid robots, supporting three models: H1, H1_2, and G1. This retargeting was achieved through numerical optimization based on Interaction Mesh and IK, considering end-effector pose constraints, as well as joint position and velocity constraints, to prevent foot slippage. It is important to note that the retargeting only accounted for kinematic constraints and did not include dynamic constraints or actuator limitations. As a result, the robot cannot perfectly execute the retargeted trajectories.
How to visualize robot trajectories?
# Step 1: Set up a Conda virtual environment
conda create -n retarget python=3.10
conda activate retarget
# Step 2: Install dependencies
conda install pinocchio -c conda-forge
pip install numpy rerun-sdk trimesh
# Step 3: Run the script
python rerun_visualize.py
# run the script with parameters:
# python rerun_visualize.py --file_name dance1_subject2 --robot_type [g1|h1|h1_2]
Dataset Collection Pipeline
This database stores the retargeted trajectories in CSV format. Each row in the CSV file corresponds to the original motion capture data for each frame, recording the configurations of all joints in the humanoid robot in the following order:
The Order of Configuration
G1: (30 FPS)
root_joint(XYZQXQYQZQW)
left_hip_pitch_joint
left_hip_roll_joint
left_hip_yaw_joint
left_knee_joint
left_ankle_pitch_joint
left_ankle_roll_joint
right_hip_pitch_joint
right_hip_roll_joint
right_hip_yaw_joint
right_knee_joint
right_ankle_pitch_joint
right_ankle_roll_joint
waist_yaw_joint
waist_roll_joint
waist_pitch_joint
left_shoulder_pitch_joint
left_shoulder_roll_joint
left_shoulder_yaw_joint
left_elbow_joint
left_wrist_roll_joint
left_wrist_pitch_joint
left_wrist_yaw_joint
right_shoulder_pitch_joint
right_shoulder_roll_joint
right_shoulder_yaw_joint
right_elbow_joint
right_wrist_roll_joint
right_wrist_pitch_joint
right_wrist_yaw_joint
H1_2: (30 FPS)
root_joint(XYZQXQYQZQW)
left_hip_yaw_joint
left_hip_pitch_joint
left_hip_roll_joint
left_knee_joint
left_ankle_pitch_joint
left_ankle_roll_joint
right_hip_yaw_joint
right_hip_pitch_joint
right_hip_roll_joint
right_knee_joint
right_ankle_pitch_joint
right_ankle_roll_joint
torso_joint
left_shoulder_pitch_joint
left_shoulder_roll_joint
left_shoulder_yaw_joint
left_elbow_joint
left_wrist_roll_joint
left_wrist_pitch_joint
left_wrist_yaw_joint
right_shoulder_pitch_joint
right_shoulder_roll_joint
right_shoulder_yaw_joint
right_elbow_joint
right_wrist_roll_joint
right_wrist_pitch_joint
right_wrist_yaw_joint
H1: (30 FPS)
root_joint(XYZQXQYQZQW)
left_hip_yaw_joint
left_hip_roll_joint
left_hip_pitch_joint
left_knee_joint
left_ankle_joint
right_hip_yaw_joint
right_hip_roll_joint
right_hip_pitch_joint
right_knee_joint
right_ankle_joint
torso_joint
left_shoulder_pitch_joint
left_shoulder_roll_joint
left_shoulder_yaw_joint
left_elbow_joint
right_shoulder_pitch_joint
right_shoulder_roll_joint
right_shoulder_yaw_joint
right_elbow_joint
LAFAN1 is licensed under Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International Public License (unlike the code, which is licensed under MIT).
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