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meta/info.json

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+                "z1_dual_kLeftForearmRoll",
+                "z1_dual_kLeftWristAngle",
+                "z1_dual_kLeftWristRotate",
+                "z1_dual_kRightWaist",
+                "z1_dual_kRightShoulder",
+                "z1_dual_kRightElbow",
+                "z1_dual_kRightForearmRoll",
+                "z1_dual_kRightWristAngle",
+                "z1_dual_kRightWristRotate",
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+                "z1_dual_kRightWaist",
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+                "z1_dual_kRightElbow",
+                "z1_dual_kRightForearmRoll",
+                "z1_dual_kRightWristAngle",
+                "z1_dual_kRightWristRotate",
+                "gripper_kLeftGripper",
+                "gripper_kRightGripper"
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meta/tasks.jsonl

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+{"task_index": 0, "task": "Stack the blocks in the rectangular block: red at the bottom, yellow in the middle, green on top"}