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  1. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_439465/depth_uint8.mp4 +3 -0
  2. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_439465/metadata.json +1 -0
  3. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_439465/metadata.pkl +3 -0
  4. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_439465/status.txt +1 -0
  5. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_439465/trajectory_info.json +14 -0
  6. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_439490/metadata.json +1 -0
  7. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_439490/status.txt +1 -0
  8. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_439490/trajectory_info.json +14 -0
  9. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466099/metadata.json +1 -0
  10. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466099/status.txt +1 -0
  11. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466099/trajectory_info.json +14 -0
  12. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466101/metadata.json +1 -0
  13. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466101/status.txt +1 -0
  14. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466101/trajectory_info.json +14 -0
  15. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466105/metadata.json +1 -0
  16. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466105/status.txt +1 -0
  17. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466105/trajectory_info.json +14 -0
  18. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466108/metadata.json +1 -0
  19. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466108/status.txt +1 -0
  20. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466108/trajectory_info.json +14 -0
  21. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466111/metadata.json +1 -0
  22. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466111/status.txt +1 -0
  23. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466111/trajectory_info.json +14 -0
  24. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466115/metadata.json +1 -0
  25. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466115/status.txt +1 -0
  26. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466115/trajectory_info.json +14 -0
  27. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466116/metadata.json +1 -0
  28. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466116/status.txt +1 -0
  29. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466116/trajectory_info.json +14 -0
  30. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466117/metadata.json +1 -0
  31. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466117/status.txt +1 -0
  32. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466117/trajectory_info.json +14 -0
  33. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466118/metadata.json +1 -0
  34. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466118/status.txt +1 -0
  35. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466118/trajectory_info.json +14 -0
  36. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466119/metadata.json +1 -0
  37. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466119/status.txt +1 -0
  38. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466119/trajectory_info.json +14 -0
  39. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466120/metadata.json +1 -0
  40. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466120/status.txt +1 -0
  41. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466120/trajectory_info.json +14 -0
  42. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466122/metadata.json +1 -0
  43. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466122/status.txt +1 -0
  44. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466122/trajectory_info.json +14 -0
  45. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466124/metadata.json +1 -0
  46. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466124/status.txt +1 -0
  47. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466124/trajectory_info.json +14 -0
  48. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466137/metadata.json +0 -0
  49. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466137/status.txt +1 -0
  50. webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466137/trajectory_info.json +14 -0
webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_439465/depth_uint8.mp4 ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_439490/status.txt ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_439490/trajectory_info.json ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466099/metadata.json ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466101/status.txt ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466101/trajectory_info.json ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466105/metadata.json ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466105/status.txt ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466108/status.txt ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466108/trajectory_info.json ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466111/metadata.json ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466111/status.txt ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466111/trajectory_info.json ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466115/metadata.json ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466115/status.txt ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466115/trajectory_info.json ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466116/metadata.json ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466116/status.txt ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466117/status.txt ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466118/status.txt ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466118/trajectory_info.json ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466119/metadata.json ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466119/status.txt ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466119/trajectory_info.json ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466120/metadata.json ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466120/status.txt ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466120/trajectory_info.json ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466122/metadata.json ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466122/status.txt ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466122/trajectory_info.json ADDED
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webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466124/metadata.json ADDED
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The diff for this file is too large to render. See raw diff
 
webtask.put_the_orange_beside_the_mug_516-raw/robot-franka/success/demo_466137/status.txt ADDED
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