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  1. SeanLMH/so100_picknplace/meta/info.json +134 -0
  2. SeanLMH/so100_picknplace/meta/stats.json +307 -0
  3. SeanLMH/so100_picknplace_v2/meta/info.json +134 -0
  4. SeanLMH/so100_picknplace_v2/meta/stats.json +307 -0
  5. T1g3rGE/so100_pickplace_small_20250407_171912/meta/info.json +111 -0
  6. T1g3rGE/so100_pickplace_small_20250407_171912/meta/stats.json +234 -0
  7. aergogo/so100_pick_place/meta/info.json +134 -0
  8. aergogo/so100_pick_place/meta/stats.json +307 -0
  9. airthebear/so100_GL/meta/info.json +111 -0
  10. dsfsg/bring_bottle/meta/info.json +157 -0
  11. dsfsg/bring_bottle/meta/stats.json +380 -0
  12. dsfsg/grasp_pen_and_bottle/meta/info.json +157 -0
  13. dsfsg/grasp_pen_and_bottle/meta/stats.json +380 -0
  14. dsfsg/grasp_pens/meta/info.json +157 -0
  15. dsfsg/grasp_pens/meta/stats.json +380 -0
  16. duthvik/sputnik_100_17_pick_place_container/meta/info.json +134 -0
  17. duthvik/sputnik_100_17_pick_place_container/meta/stats.json +307 -0
  18. duthvik/sputnik_100_18_pick_place_container/meta/info.json +157 -0
  19. duthvik/sputnik_100_18_pick_place_container/meta/stats.json +380 -0
  20. duthvik/sputnik_100_24_pick_place_surface/meta/info.json +134 -0
  21. duthvik/sputnik_100_24_pick_place_surface/meta/stats.json +307 -0
  22. duthvik/sputnik_100_25_pick_place_surface/meta/info.json +134 -0
  23. duthvik/sputnik_100_25_pick_place_surface/meta/stats.json +307 -0
  24. duthvik/sputnik_100_26_pick_place_surface/meta/info.json +134 -0
  25. duthvik/sputnik_100_26_pick_place_surface/meta/stats.json +307 -0
  26. duthvik/sputnik_100_27_pick_place_surface/meta/info.json +134 -0
  27. duthvik/sputnik_100_27_pick_place_surface/meta/stats.json +307 -0
  28. duthvik/sputnik_100_29_pick_place_surface/meta/info.json +157 -0
  29. duthvik/sputnik_100_29_pick_place_surface/meta/stats.json +380 -0
  30. duthvik/sputnik_100_31_pour_liquid/meta/info.json +134 -0
  31. duthvik/sputnik_100_31_pour_liquid/meta/stats.json +307 -0
  32. duthvik/sputnik_100_32_pour_liquid/meta/info.json +157 -0
  33. duthvik/sputnik_100_32_pour_liquid/meta/stats.json +380 -0
  34. duthvik/sputnik_100_41_custom_tasks/meta/info.json +157 -0
  35. duthvik/sputnik_100_41_custom_tasks/meta/stats.json +380 -0
  36. duthvik/sputnik_100_42_custom_tasks/meta/info.json +157 -0
  37. duthvik/sputnik_100_42_custom_tasks/meta/stats.json +380 -0
  38. duthvik/sputnik_100_43_custom_tasks/meta/info.json +157 -0
  39. duthvik/sputnik_100_43_custom_tasks/meta/stats.json +380 -0
  40. duthvik/sputnik_100_44_custom_tasks/meta/info.json +157 -0
  41. duthvik/sputnik_100_44_custom_tasks/meta/stats.json +380 -0
  42. duthvik/sputnik_100_45_custom_tasks/meta/info.json +157 -0
  43. duthvik/sputnik_100_45_custom_tasks/meta/stats.json +380 -0
  44. duthvik/sputnik_100_51_kitchen_tasks/meta/info.json +157 -0
  45. duthvik/sputnik_100_51_kitchen_tasks/meta/stats.json +380 -0
  46. duthvik/sputnik_100_52_kitchen_tasks/meta/stats.json +380 -0
  47. duthvik/sputnik_100_53_kitchen_tasks/meta/info.json +157 -0
  48. duthvik/sputnik_100_53_kitchen_tasks/meta/stats.json +380 -0
  49. hkphoooey/throw_stuffie/meta/info.json +111 -0
  50. hkphoooey/throw_stuffie/meta/stats.json +234 -0
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