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  1. .gitattributes +1 -0
  2. webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_446761/depth_uint16.mkv +3 -0
  3. webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_446761/depth_uint8.mp4 +3 -0
  4. webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_446761/metadata.pkl +3 -0
  5. webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461054/trajectory_info.json +14 -0
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  11. webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461082/trajectory_info.json +14 -0
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  27. webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461228/metadata.json +1 -0
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461082/status.txt ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461092/status.txt ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461092/trajectory_info.json ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461096/metadata.json ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461096/status.txt ADDED
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The diff for this file is too large to render. See raw diff
 
webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461159/status.txt ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461160/status.txt ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461160/trajectory_info.json ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461228/metadata.json ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461228/status.txt ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461228/trajectory_info.json ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461255/metadata.json ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461255/status.txt ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461255/trajectory_info.json ADDED
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+ {
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+ "first_success_step": null,
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461262/metadata.json ADDED
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The diff for this file is too large to render. See raw diff
 
webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461299/status.txt ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461310/status.txt ADDED
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+ "trajectory_id": 461310,
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+ "source_path": "/data/Roboverse_train/roboverse_data/trajs/webdata/put_the_brush_beside_the_basket_505/raw/trajectory_461310.json",
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+ "total_steps": 46,
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+ "status": "passed",
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+ "finish_step": 46,
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+ "first_success_step": null,
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+ "reason": "state_replay_complete_without_checker",
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+ "render_index": 0,
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+ "num_per_demo": 1,
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+ "save_dir": null,
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+ "video_path": null,
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+ "state_path": "/data/Roboverse_train/roboverse_data/trajs/webdata/put_the_brush_beside_the_basket_505/checker_validation_raw_states/put_the_brush_beside_the_basket_505/raw/put_the_brush_beside_the_basket_505__raw__trajectory_461310__passed.states.json.gz"
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+ }
webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461314/metadata.json ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461314/status.txt ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461314/trajectory_info.json ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461321/status.txt ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461321/trajectory_info.json ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461354/metadata.json ADDED
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webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461354/status.txt ADDED
@@ -0,0 +1 @@
 
 
1
+ success
webtask.put_the_brush_beside_the_basket_505-raw/robot-franka/success/demo_461354/trajectory_info.json ADDED
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1
+ {
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+ "trajectory_id": 461354,
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+ "source_path": "/data/Roboverse_train/roboverse_data/trajs/webdata/put_the_brush_beside_the_basket_505/raw/trajectory_461354.json",
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+ "total_steps": 66,
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+ "status": "passed",
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+ "finish_step": 66,
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+ "first_success_step": null,
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+ "reason": "state_replay_complete_without_checker",
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+ "render_index": 0,
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+ "num_per_demo": 1,
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+ "save_dir": null,
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+ "video_path": null,
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+ "state_path": "/data/Roboverse_train/roboverse_data/trajs/webdata/put_the_brush_beside_the_basket_505/checker_validation_raw_states/put_the_brush_beside_the_basket_505/raw/put_the_brush_beside_the_basket_505__raw__trajectory_461354__passed.states.json.gz"
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+ }