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Number of data of each terrain in the contact data sets.
| Terrain Type | ||||||||||
| overall | air trotting | air pronking | asphalt road | concrete | forest | grass | middle pebble | small pebble | rock road | sidewalk |
| 1,013,441 | 44,386 | 48,972 | 94,615 | 465,144 | 72,144 | 103,392 | 44,442 | 52,669 | 45,819 | 58,115 |
