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  1. .gitattributes +61 -0
  2. Assets/Eval_Layout/RoboDojo/arx_x5/0/arrange_largest_number_13.json +601 -0
  3. Assets/Eval_Layout/RoboDojo/arx_x5/0/arrange_largest_number_8.json +601 -0
  4. Assets/Eval_Layout/RoboDojo/arx_x5/0/arrange_largest_number_random_26.json +1172 -0
  5. Assets/Eval_Layout/RoboDojo/arx_x5/0/arrange_largest_number_random_8.json +1183 -0
  6. Assets/Eval_Layout/RoboDojo/arx_x5/0/fold_clothes_18.json +221 -0
  7. Assets/Eval_Layout/RoboDojo/arx_x5/0/fold_clothes_24.json +221 -0
  8. Assets/Eval_Layout/RoboDojo/arx_x5/0/fold_clothes_39.json +221 -0
  9. Assets/Eval_Layout/RoboDojo/arx_x5/0/hang_mugs_random_9.json +927 -0
  10. Assets/Eval_Layout/RoboDojo/arx_x5/0/make_toast_47.json +442 -0
  11. Assets/Eval_Layout/RoboDojo/arx_x5/0/make_toast_random_36.json +645 -0
  12. Assets/Eval_Layout/RoboDojo/arx_x5/0/make_toast_random_5.json +670 -0
  13. Assets/Eval_Layout/RoboDojo/arx_x5/0/pack_objects_into_box_random_16.json +407 -0
  14. Assets/Eval_Layout/RoboDojo/arx_x5/0/pack_objects_into_box_random_19.json +407 -0
  15. Assets/Eval_Layout/RoboDojo/arx_x5/0/pack_objects_into_box_random_28.json +407 -0
  16. Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_17.json +619 -0
  17. Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_23.json +615 -0
  18. Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_24.json +627 -0
  19. Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_28.json +616 -0
  20. Assets/Eval_Layout/RoboDojo/arx_x5/0/pour_liquid_into_cup_random_5.json +618 -0
  21. Assets/Eval_Layout/RoboDojo/arx_x5/0/push_T_0.json +229 -0
  22. Assets/Eval_Layout/RoboDojo/arx_x5/0/push_T_random_1.json +598 -0
  23. Assets/Eval_Layout/RoboDojo/arx_x5/0/push_T_random_23.json +743 -0
  24. Assets/Eval_Layout/RoboDojo/arx_x5/0/push_T_random_5.json +662 -0
  25. Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_blocks_12.json +274 -0
  26. Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_blocks_23.json +274 -0
  27. Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_blocks_54.json +280 -0
  28. Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_blocks_random_13.json +820 -0
  29. Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_bowls_25.json +277 -0
  30. Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_bowls_29.json +277 -0
  31. Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_bowls_33.json +277 -0
  32. Assets/Eval_Layout/RoboDojo/arx_x5/0/stack_bowls_random_29.json +794 -0
  33. Assets/Eval_Layout/RoboDojo/arx_x5/0/store_laptop_and_headphones_5.json +417 -0
  34. Assets/Eval_Layout/RoboDojo/arx_x5/0/sweep_blocks_random_23.json +446 -0
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  49. Assets/Object/RoboDojo/Articulation/laptop/00003/metadata.json +183 -0
  50. Assets/Object/RoboDojo/Articulation/laptop/00003/object.usdz +3 -0
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