Add 25 real world datasets (static + mobile aloha) (#133)
This commit is contained in:
Remi
GitHub
parent
6e6feae09e
commit
6eaffbef1d
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@ -9,6 +9,7 @@ Example:
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print(lerobot.available_tasks_per_env)
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print(lerobot.available_datasets)
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print(lerobot.available_datasets_per_env)
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print(lerobot.available_real_world_datasets)
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print(lerobot.available_policies)
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print(lerobot.available_policies_per_env)
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```
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@ -55,10 +56,33 @@ available_datasets_per_env = {
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],
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}
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available_datasets_without_env = ["lerobot/umi_cup_in_the_wild"]
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available_real_world_datasets = [
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"lerobot/aloha_mobile_cabinet",
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"lerobot/aloha_mobile_chair",
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"lerobot/aloha_mobile_elevator",
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"lerobot/aloha_mobile_shrimp",
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"lerobot/aloha_mobile_wash_pan",
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"lerobot/aloha_mobile_wipe_wine",
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"lerobot/aloha_static_battery",
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"lerobot/aloha_static_candy",
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"lerobot/aloha_static_coffee",
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"lerobot/aloha_static_coffee_new",
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"lerobot/aloha_static_cups_open",
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"lerobot/aloha_static_fork_pick_up",
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"lerobot/aloha_static_pingpong_test",
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"lerobot/aloha_static_pro_pencil",
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"lerobot/aloha_static_screw_driver",
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"lerobot/aloha_static_tape",
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"lerobot/aloha_static_thread_velcro",
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"lerobot/aloha_static_towel",
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"lerobot/aloha_static_vinh_cup",
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"lerobot/aloha_static_vinh_cup_left",
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"lerobot/aloha_static_ziploc_slide",
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"lerobot/umi_cup_in_the_wild",
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]
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available_datasets = list(
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itertools.chain(*available_datasets_per_env.values(), available_datasets_without_env)
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itertools.chain(*available_datasets_per_env.values(), available_real_world_datasets)
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)
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# TODO(rcadene, aliberts, alexander-soare): Add real-world env with a gym API
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@ -0,0 +1,85 @@
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https://drive.google.com/file/d/1_SOJkgfP5yZyVjMhTt3nwhvyUjcnlI51/view?usp=drive_link
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https://drive.google.com/file/d/1rmgN8UUzph1qwJnzG1d-uOafodn-gLvb/view?usp=drive_link
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https://drive.google.com/file/d/1NYQ-XxsBVinB6dUoZmVWweT83367P3i2/view?usp=drive_link
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https://drive.google.com/file/d/1oAv_j74zxxCJieMG7r5Vl2BeHK1__3s3/view?usp=drive_link
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https://drive.google.com/file/d/1wFUJQROsrTJt64YRuIeExhFjr2wnK5uu/view?usp=drive_link
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https://drive.google.com/file/d/1KzL3Tt0Le7jVl58XVRUcmigmXjyiuhbK/view?usp=drive_link
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https://drive.google.com/file/d/1qy_YBladeHtianSSGtgAPSHtMin7msvf/view?usp=drive_link
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https://drive.google.com/file/d/1rA_F0V_qL_nyuC_0aBKCisF4-0TIkF2Y/view?usp=drive_link
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https://drive.google.com/file/d/1hw-8qMpz9VgSt62XoASqNRuPECpCwJQP/view?usp=drive_link
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https://drive.google.com/file/d/1BpHOl9rKMzdvNGka6js7C0s40hH6vnDA/view?usp=drive_link
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https://drive.google.com/file/d/1PazhkhiDnJ-OUMyDVDFxEZNKQQqHiNWS/view?usp=drive_link
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https://drive.google.com/file/d/1lZ665R6ATl57dypxH4dGJ2NSt6XYnbuz/view?usp=drive_link
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https://drive.google.com/file/d/1V9HzLaf-tlG15wUzT7KrTDCS_z1vi5NV/view?usp=drive_link
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https://drive.google.com/file/d/1aKauWiXoKqbNwn_2xs4MrmLlaNYlVNmO/view?usp=drive_link
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https://drive.google.com/file/d/1WVD5DFhriO1YmmOgiVHhacR6HWoTPxav/view?usp=drive_link
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https://drive.google.com/file/d/1_X43WgeBAsfkhH9EmpyPki8U9joMeAGC/view?usp=drive_link
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https://drive.google.com/file/d/1t8x0GqWoNKWtnBsB7_D40Z34nL9ak4kf/view?usp=drive_link
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https://drive.google.com/file/d/15V_f26WaKOXjKnq2T3HRWAmtQUi4lbu2/view?usp=drive_link
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https://drive.google.com/file/d/11VFIAsiSDsMOBANgrOcZBpKB9AFWnLy7/view?usp=drive_link
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https://drive.google.com/file/d/1M0NS7vVaxJv3FHnuRYtdwTFYF7We4LxP/view?usp=drive_link
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https://drive.google.com/file/d/1mR0OItTNqFnVLoczcyKYlm6drAy778lO/view?usp=drive_link
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https://drive.google.com/file/d/1NbVFWDQAh-z4JJ4D-Zw6Lps9kdvpqh2j/view?usp=drive_link
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https://drive.google.com/file/d/1JQoZGBzl4W3QG26-n39tefcGN0fDRMbB/view?usp=drive_link
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https://drive.google.com/file/d/1VBjHl-TvZpncopvasIP5G9gecbB2a5f6/view?usp=drive_link
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https://drive.google.com/file/d/1VzSf6zaB21nahm7MsPwroXbJ84NIwq0b/view?usp=drive_link
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https://drive.google.com/file/d/1OtNnfMEydNtZOcivs4k6E_uJSpf8PkGy/view?usp=drive_link
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https://drive.google.com/file/d/14nVvpvsrFr_03Pa_N7MKzwnRwibOUYM6/view?usp=drive_link
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https://drive.google.com/file/d/1M8li6duiO2r3lv_9HhF_XJn0oZUIEK5F/view?usp=drive_link
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https://drive.google.com/file/d/1Cpzea6fO14lxAaNfSBifqoa4ekhCiLD1/view?usp=drive_link
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https://drive.google.com/file/d/1mbxRTm5vlbsY9UJ0jfjM6j9D7kPJjBpG/view?usp=drive_link
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https://drive.google.com/file/d/1RXD1i6IfWsHRlCxVmG04h2h5Ycm_WwZN/view?usp=drive_link
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https://drive.google.com/file/d/1QFqFSwDGOk1BkgGmqgCcc2BRWnJ6R3MA/view?usp=drive_link
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https://drive.google.com/file/d/1bFqWR8DQM0ZUxxtS2bl-RANQvukeFLzp/view?usp=drive_link
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https://drive.google.com/file/d/1pR-rH3yNGoyPdD4hJ6-3lXQ-PstBx9du/view?usp=drive_link
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https://drive.google.com/file/d/107OAwLY-hva9HeQLIK7VCh-ytdDabVjr/view?usp=drive_link
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https://drive.google.com/file/d/1Tpl08QOaSZ37GTO4awFWSdD8wBR9xdlT/view?usp=drive_link
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https://drive.google.com/file/d/1MR164AOM-0S1T6RX8xKTV2IHyaCvpqAW/view?usp=drive_link
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https://drive.google.com/file/d/1_wknJfVnStIhJ82lU_QtcrwahsqYIsr8/view?usp=drive_link
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https://drive.google.com/file/d/1ZuEktWrbYkTx0l5pj3WiZ2CJrfbDOHNo/view?usp=drive_link
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https://drive.google.com/file/d/15G_10hkkkq6yxvyI5NGZirlF-RzduR2F/view?usp=drive_link
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https://drive.google.com/file/d/1DBKxg3ONqh7dhLuX6oh1Yyo2x383V1Hp/view?usp=drive_link
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https://drive.google.com/file/d/1B5iDBkTUr5vopDddV_fHud18SqAHhauS/view?usp=drive_link
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https://drive.google.com/file/d/1acwFV0eenRkki1QcjSKH5xqOtys-P3Pr/view?usp=drive_link
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https://drive.google.com/file/d/1S47BI83xyrh-FKXsvAQqer98Biu_p8XK/view?usp=drive_link
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https://drive.google.com/file/d/1JL6DmBZl3uyq9dyLfgSqtGF06e7E9JwM/view?usp=drive_link
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https://drive.google.com/file/d/16WvRS4Kjog8Pxgr0E3sGGnI01YwL9Uql/view?usp=drive_link
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https://drive.google.com/file/d/12ttGqL33IPWg0-s1SD44rr22M6LiSQBr/view?usp=drive_link
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https://drive.google.com/file/d/1OyZqqnldTU_DliRbr6x0C4a_iWPwIN7j/view?usp=drive_link
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https://drive.google.com/file/d/1oYk00IpLnR9fesLfD15Ebe7nVBffEbcS/view?usp=drive_link
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https://drive.google.com/file/d/1eyE2-MQduCEqCd-5_kl5zsoOEERAzpZD/view?usp=drive_link
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https://drive.google.com/file/d/1ir1Ya-vO0d97pfvbePlUeuKTTRc0qIMU/view?usp=drive_link
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https://drive.google.com/file/d/1hOi-JnqlMt47gVnLZHMTqeojyYVErohl/view?usp=drive_link
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https://drive.google.com/file/d/1NFFw5_PqigQ7xGqsL-MNq2B1r5yAscCf/view?usp=drive_link
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https://drive.google.com/file/d/1uftq1-Zlh8d2sNLWrlVcKYQUwZTD7o24/view?usp=drive_link
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https://drive.google.com/file/d/1-ax19dSLPacVgk000T-m3l4flPcg07pM/view?usp=drive_link
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https://drive.google.com/file/d/126y-lgn86-ZmCz8hooF1THKJGGObw3OB/view?usp=drive_link
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https://drive.google.com/file/d/1JiDniK0VmDIkk92AbBILb8J2Ba59PWML/view?usp=drive_link
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https://drive.google.com/file/d/1kr8nPIRljiU0R4J9SMgj80o1FPQxzu9z/view?usp=drive_link
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https://drive.google.com/file/d/1bbThWRij1pKBh_kFgV8FwK0sXtTHBoLX/view?usp=drive_link
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https://drive.google.com/file/d/1WenzDW6lxk1xkOFm-OiGFfc0ROskAuKU/view?usp=drive_link
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https://drive.google.com/file/d/1MiKRzuzUn1yN-k_6kPJJzIGy7dT-nnsD/view?usp=drive_link
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https://drive.google.com/file/d/17rRg2tcmB-gNhQ0KoZJQmNfyFeoij1jH/view?usp=drive_link
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https://drive.google.com/file/d/11mokBpvrY3ld6sY5WztREtJ1jgqfQV70/view?usp=drive_link
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https://drive.google.com/file/d/1Il_6IOx9NDp1bX_KHizJfBwzTufTmn86/view?usp=drive_link
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https://drive.google.com/file/d/1KswtJGsxJ7eeBDAmNA_aeLjOxcH6MIxa/view?usp=drive_link
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https://drive.google.com/file/d/1gzMhi5uWu4C3Y6WbQ3L-08V96GxTZrRR/view?usp=drive_link
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https://drive.google.com/file/d/1nRQFtaBxfUCYc2W90Qibh0kHCt6YQCfc/view?usp=drive_link
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https://drive.google.com/file/d/1vs-gyW-KheqHbUATwAhA2mmR9GOGw7f_/view?usp=drive_link
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https://drive.google.com/file/d/1MuxzGOA2fgLaHryq82KkQumtuRJGcUOC/view?usp=drive_link
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https://drive.google.com/file/d/1IIwxZnGlqrXLUXqG6yMO0r7uhCvhpk9e/view?usp=drive_link
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https://drive.google.com/file/d/1vE7XPyaFcXP4DtTY5Y9WKIt7zWgmX-Cr/view?usp=drive_link
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https://drive.google.com/file/d/1j-bIV09gr21RC3-x1N_pK4RPLV3fmWKz/view?usp=drive_link
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https://drive.google.com/file/d/1t3nW1rD3S-EL0Oymb5U7ZAj5UMkydkln/view?usp=drive_link
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https://drive.google.com/file/d/14hbfHCdMKtJZ41F9CQReMec2jeRFTOqR/view?usp=drive_link
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https://drive.google.com/file/d/1x-hUyOSne5BW0AzQ3W6_Pf4g5yXQWi9M/view?usp=drive_link
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https://drive.google.com/file/d/1sw9JqRg6E-3P84I3ZhzTrJMu0vuiaMmP/view?usp=drive_link
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https://drive.google.com/file/d/1LuqhQlL4MGZhB_6THmkovRxrlP26BbdC/view?usp=drive_link
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https://drive.google.com/file/d/15C5K6v_lkjnMSmUvVyqHQKwh2N166e7K/view?usp=drive_link
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https://drive.google.com/file/d/1ns_9eSsQeeoZ10nlbkLy8tu0GmJFSnkt/view?usp=drive_link
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https://drive.google.com/file/d/1NpzWJeK6CqjxzjIMYe6aYdX8xGsQwD4o/view?usp=drive_link
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https://drive.google.com/file/d/1NMLezwufKJ9_8xTc9KQThSzVVD71B9Ui/view?usp=drive_link
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https://drive.google.com/file/d/1aa71DCUqs6oXlIxX35jgsmsgm-NlDxPV/view?usp=drive_link
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https://drive.google.com/file/d/1UJzkIZzAL0j-D5YQBnoq7mHvttASy12O/view?usp=drive_link
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https://drive.google.com/file/d/1nPgx36HIJFb7oI94VbRzWjpPP2GANxzG/view?usp=drive_link
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https://drive.google.com/file/d/1NovAP-KVJjqcuvWy3d6G4ptGGAIDqcCx/view?usp=drive_link
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|
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@ -0,0 +1,55 @@
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https://drive.google.com/file/d/11M3Ye0r5agMaaicPbVGD0q2Hb3rGklbb/view?usp=drive_link
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https://drive.google.com/file/d/1-tx7SvYYgSvXCvnf_EI2OVdwK-CkFY6S/view?usp=drive_link
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https://drive.google.com/file/d/1EWJunmOpMHaU1hE106wwpbkGYcjQXYAF/view?usp=drive_link
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https://drive.google.com/file/d/1IDn95Z7FSiCckrSENtGV4u3RyFHNQSDY/view?usp=drive_link
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https://drive.google.com/file/d/1CwzvWj1i7QOtqrZvsCZ6BdZaKNDfpN32/view?usp=drive_link
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https://drive.google.com/file/d/1HvAvlhm77nAD3Td24QPSeq8lw-Rl_aOh/view?usp=drive_link
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https://drive.google.com/file/d/1t-suKYOPhXH666RpAYNRp2QU_DOy3AeM/view?usp=drive_link
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https://drive.google.com/file/d/18xpKgWh7RWyjMN5PkLTOo-AxsAadAuRw/view?usp=drive_link
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https://drive.google.com/file/d/1oci5Eto-ztv-AQNz8EnwZveBIhxvk-xJ/view?usp=drive_link
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https://drive.google.com/file/d/1Y-t_4vxdE6NpHO0DLJR8f3mD0Q-Wj5-c/view?usp=drive_link
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https://drive.google.com/file/d/1lylRqbbbB8bgtpsBWMPACmHJreuKmllv/view?usp=drive_link
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https://drive.google.com/file/d/1yliSyMig_NXShWfQx6qyW7Ijf2Y5lFK6/view?usp=drive_link
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https://drive.google.com/file/d/1XXhwJsJbeb7KXAooGvJapnm9bjnGUmxS/view?usp=drive_link
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https://drive.google.com/file/d/1_xs1f3hW2JArKyvfF7UWubWjyROGTLs6/view?usp=drive_link
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https://drive.google.com/file/d/1WVEHpr6EqKCZbkHapQSTXJq4xE4SWFT-/view?usp=drive_link
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https://drive.google.com/file/d/1RqOHv9pEQGvW8NUA7ynffFmG999TL_Az/view?usp=drive_link
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https://drive.google.com/file/d/1cu5AgD2gh-uA3PFJmzxxzNaF3qOSlYY1/view?usp=drive_link
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https://drive.google.com/file/d/1SsrXqiPclNrnYToPZ9Uq-k3y0C4qdHT1/view?usp=drive_link
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https://drive.google.com/file/d/1-J7EXf0vjkLIfSqT8ICEsP6CTjzSLBop/view?usp=drive_link
|
||||
https://drive.google.com/file/d/11O7ewUmoZXfyyKjy_6B5RW4DpjICxqBT/view?usp=drive_link
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||||
https://drive.google.com/file/d/1iic44kZoCsjNsfAz2cMstZ9-WQvAhblF/view?usp=drive_link
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||||
https://drive.google.com/file/d/1yLV1lVX-2WnWQldGlnQZ0x7QBuDiVkL3/view?usp=drive_link
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https://drive.google.com/file/d/1Tybp9ru98TTbGn4eyROpUQwDFuALWXmk/view?usp=drive_link
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https://drive.google.com/file/d/13E9OTMiipVJByDs5-J19oWwAz7l94LTN/view?usp=drive_link
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https://drive.google.com/file/d/1EeTpJQdMSliw4JzSMtJ6CyTvVdexjM4M/view?usp=drive_link
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https://drive.google.com/file/d/1NHyNwoFqzeAu-1_PSpq5JfxaiD_xbpn9/view?usp=drive_link
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https://drive.google.com/file/d/1fJcS0phDp4xm_FyGaJ5wr9Pe4KqtHaxD/view?usp=drive_link
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https://drive.google.com/file/d/12AqrLUaewDPEcFRqPZeZFb_TQ0Lfi3At/view?usp=drive_link
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https://drive.google.com/file/d/1x_hd4Qsq1oJS-aj2t3qM7WbbV7KZj05b/view?usp=drive_link
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https://drive.google.com/file/d/14OUSUArmsB068hs6BuEIXQhI1Cyz8Sf0/view?usp=drive_link
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https://drive.google.com/file/d/16zlzh1T5zeUJQnFf382NXkFEKEnDub4O/view?usp=drive_link
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https://drive.google.com/file/d/1IbDltmN-NEFCNtr1TO4ILxEgQ94rtjWv/view?usp=drive_link
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https://drive.google.com/file/d/15gmlf8Gx9455pZ1AlqcCSwh3nDPxMzSr/view?usp=drive_link
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||||
https://drive.google.com/file/d/1qHpRL1oZfIMo_vxnm8qfwQ-7l0BZIVva/view?usp=drive_link
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https://drive.google.com/file/d/1H1xskIgiFZivkYn23rMzH3xePGOh3VTC/view?usp=drive_link
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||||
https://drive.google.com/file/d/1avls6Pv0kYiCMNVknbc1zQsgy64MUDMM/view?usp=drive_link
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||||
https://drive.google.com/file/d/1MmWVgCj5khc8KMIifmt3EzF1o-CtPyyn/view?usp=drive_link
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||||
https://drive.google.com/file/d/1U0kCc_xqW0WNppf4sbnK14euWKdPZtzB/view?usp=drive_link
|
||||
https://drive.google.com/file/d/16CaEyQscOuhLj23PEGDTL9DeyNkohkMn/view?usp=drive_link
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||||
https://drive.google.com/file/d/1Iu8uM6UUJ0zW8tvN-9UiOe_4oSNzEutg/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1UImqiBaIxCR-1DNJaZhHqeHhaySOtVIr/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1VpU2V_leIoRIyv_lAvE7eLHBG8DxCTnp/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1_Q8J27OT3Xby7QY6yHvIJauFRWEMxkRm/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1bantmVo1L9Xz4tbiNw_a1UC2Z_HPO1wT/view?usp=drive_link
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https://drive.google.com/file/d/1IRIXMJMCBDkBjbaHvAlEiBogSvZ1jK_3/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1mAHXKjiFbjwydypW2t5Lv8_H5x6nHegl/view?usp=drive_link
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https://drive.google.com/file/d/1SfyY796fLrBCMY39OcyuxZafqSCRZPZk/view?usp=drive_link
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||||
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||||
https://drive.google.com/file/d/1W2xr4h23ucjPrc-mBEeqnACsfaImpc0p/view?usp=drive_link
|
||||
https://drive.google.com/file/d/10xj_0V7A07o3uCa7v5omUrTC0YlPW8H3/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1FOc3EMaCy8Mb0_a7PuXLAwKwvxkbKmwU/view?usp=drive_link
|
||||
https://drive.google.com/file/d/143PgDXBcf2GQ0Q07ZPMVMfBgZDd5sLJG/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1pE5Tyj0LlGbGWvUzuhixp86Ibu55Ez3I/view?usp=drive_link
|
||||
https://drive.google.com/file/d/141668b1VzX80ncrVJPzhkoAeIFB4MEK9/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1bw12lo37p1ZvRvErHsll7cEYi2OxscvZ/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1zfnMFvbgBjl6SzYhksbaOzfbwLrCN6tb/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1-GIszA6mUJMaNB-tdh9r9skc77SWA0VX/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1fTB0zWFYU6zh4IIUFT2zX_OkwYqmElwY/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1gPIPNKGmrO9c7gKF7SP0SuUYbIBBq8z1/view?usp=drive_link
|
||||
https://drive.google.com/file/d/12JeJ-dQd5lYyn6PlDOGdE-ChVeiZ-Uv0/view?usp=drive_link
|
||||
https://drive.google.com/file/d/100_20cgCqerU6qoh3TfTbwLy9mlDAFEG/view?usp=drive_link
|
||||
https://drive.google.com/file/d/111oAGJ76ku_pYgbBoIdZAC1_XEQcPI__/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1UhC8L-354ZQ2gblPFGI35EMsVwfpuKa0/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1sIXQSgUR_xdrNtGrL6QGBnkLMKErsIp1/view?usp=drive_link
|
||||
https://drive.google.com/file/d/16Ax77bDSIXnsn4GFL8XYKKT1P6bPpfMd/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1pgRVYwwVIsWq_qsWqZpe1UBzZfF5Fa9D/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1jtimaZkWsY1P5gC2bbS64H_WCUU7HXN2/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1N6Bh02P-RiTEgtx1YH1Db_X3TGpP-X_r/view?usp=drive_link
|
||||
https://drive.google.com/file/d/14Fy8EwJ8d9Vh97Yt1VOvUChSCrfIjBij/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1IRuv42dvIMPuKhcMZmuXaBjJ-lPFOmQd/view?usp=drive_link
|
||||
https://drive.google.com/file/d/16XWzNY2D8ucVVn5geBgsVdhm3ppO4que/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1xsVOoQgthK_L_SDrmq_JvQgUpAvPEAY8/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1bZbw66DyEMvnJnzkdUUNbKjvNKg8KFYM/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1CyTVkdrNGGpouCXr4CfhKbMzE6Ah3oo3/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1hDRyeM-XEDpHXpptbT8LvNnlQUR3PWOh/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1XhHWxbra8Iy5irQZ83IvxwaJqHq9x4s1/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1haZcn6aM1o4JlmP9tJj3x2enrxiPaDSD/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1ypDyuUTbljaBZ34f-t7lj3O_0bRmyX2n/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1ILEEZo_tA9_ChIAprr2mPaNVKZi5vXsO/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1U7nVYFaGE8vVTfLCW33D74xOjDcqfgyJ/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1rZ93_rmCov5SMDxPkfM3qthcRELZrQX6/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1mYO1b_csddtyE3qT6cwLiw-m2w2_1Lxh/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1xz7Q5x2jikY8wJQjMRQpRws6AnfWlHm5/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1OO8GaO-0FrSZRd1kxMYwBmubyiLOWnbl/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1EXn4NVDmf-4_HCy34mYwT-vwK2CFI9ev/view?usp=drive_link
|
||||
https://drive.google.com/file/d/10hH70XhXRL9C5SnAG4toHtfHqfJUJo4H/view?usp=drive_link
|
||||
https://drive.google.com/file/d/18tiBcxea0guUai4lwsXQvt0q2LZ8ZnnJ/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1Q8R8qv37vk5PQ5kQ2ibx6BFLOySD0VpX/view?usp=drive_link
|
||||
https://drive.google.com/file/d/17aNriHzjhdibCyuUjQoMFZqjybJZtggG/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1LVjEYHSdeKm6CotU1QguIeNEPaIaFl_1/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1ufAhE_EkgJ85slg2EW8aW_grOzE_Lmxd/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1wtzLtXrkw9eXRGESTPIOlpl1tInu-b2m/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1Mk5qvVtD_QHwGOUApRq76TUw2T5THu6f/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1y1WQ3hboWVJ68KEYQQ3OhreGuaUpSgwc/view?usp=drive_link
|
||||
|
|
@ -0,0 +1,52 @@
|
|||
https://drive.google.com/drive/folders/1dxWh6YFZUDt6qXIoxgD9bla3CiFjZ11C
|
||||
https://drive.google.com/file/d/1hNBJN00SCAlOl0ZEgm7RRGbAGDjyBs0p/view?usp=drive_link
|
||||
https://drive.google.com/file/d/17He0CVwXGeoMmXg4SHKo-osNn7YPKVL7/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1laNKUVID1x2CV6a2O2WQjwFewKu4lidL/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1pNf36xbZJGRArYLmNAvRj5y6CoqdC6kB/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1_4E1-y3JXk5I0ebycLYM70YDPK9g52gZ/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1PHfzhGPdbolKyOpS3FnR2w7Q8zUlJXSk/view?usp=drive_link
|
||||
https://drive.google.com/file/d/17ls2PPN-Pi3tEuK059cwV2_iDT8aGhOO/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1LWsg6PmCT00Kv_N_slrmcwKmQPGoBT3k/view?usp=drive_link
|
||||
https://drive.google.com/file/d/12LckrchoHTUVH7rxi8J7zD9dA19GXvoW/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1VqrJKjAIkj5gtFXL69grdSeu9CyaqnSw/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1g5rQYDBZvW-kUtYPeyF3qmd53v6k7kXu/view?usp=drive_link
|
||||
https://drive.google.com/file/d/10kUgaSJ0TS7teaG83G3Rf_DG4XGrBt6A/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1je9XmneZQZvTma5adMJICUPDovW3ppei/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1v28r6bedwZGbUPVVTVImXhK-42XdtGfj/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1-TEEx9sGVvzMMaNXYfQMtY2JJ6cvl0dT/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1YdBKdJFP9rJWBUX7qrOYL_gfUA8o6J9M/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1X9vffwQHNUSKLXr2RlYNtbWDIFCIDfdF/view?usp=drive_link
|
||||
https://drive.google.com/file/d/11hqesqa5kvEe5FABUnZRcvmOhR373cYM/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1ltTTECjEcbQPgS3UPRgMzaE2x9n6H7dC/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1Zxqfa29JdwT-bfMpivi6IG2vz34d21dD/view?usp=drive_link
|
||||
https://drive.google.com/file/d/11LQlVxS5hz494dYUJ_PNRPx2NHIJbQns/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1i1JhNtnZpO_E8rAv8gxBP3ZTZRvcvsZi/view?usp=drive_link
|
||||
https://drive.google.com/file/d/11jOXAr2EULUO4Qkm748634lg4UUFho5U/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1rj67wur8DdB_Pipwx24bY43xu4X1eQ5e/view?usp=drive_link
|
||||
https://drive.google.com/file/d/15ZTm6lO6f_JQy_4SNfrOu3iPYn1Ro8mh/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1q4gBtqWPJtCwXEvknGgN0WHGp7Vfn1b9/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1t17keyre47AYqm8GgXiQ7EcvcUkeSiDQ/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1OYUPGxtZgOF86Ng_BEOTXm_XOYpuQPsO/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1cBjbGHi3dwWHtx6r9EQJi0JT_CE3LuHt/view?usp=drive_link
|
||||
https://drive.google.com/file/d/14qaMyF0mcbCB-fCYKNyo5_2NahSC6D5u/view?usp=drive_link
|
||||
https://drive.google.com/file/d/12FgX86eA7Y5co9ULBVK80XMsiKQSs-Ri/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1yvoHWidf-jdBVw6qCCXOFfkVwKj_2hPk/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1a2SugsSDlC8UtUrFzp-_KAwyZckQOvdQ/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1l8pILBFSAosypWJMza2K09Vm7rug9axm/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1hfPQ8dBCk97PnOhq6_MIISm3IEzcOxJG/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1PPAUwlJCFKpms8cqF_k1v2_fCgDBOc3S/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1lVKQZeqFfK3amEmLuFhYLUFQ2eyE8rOW/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1K9iPMLfDowcIFoyzpvgn88dQ6x6kVwNG/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1PNvMqG9tL7QxeLaYBGHiWYR6SYb5iIct/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1xkRtzbvIkUsylx9hrFLGQsJn0h1EYu-5/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1nxMRrJlSayjDIfr5CmHO1NzAw3COhsLi/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1Qs3WEyMGrmagiHIkkFEueWNnJhkUeR1s/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1D-G2_Q0SS3M8zyJbg_XzkF2ANPw1HTuX/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1mdmJsDGO-YtJAOF_yPKl6lq4PJOIbQhT/view?usp=drive_link
|
||||
https://drive.google.com/file/d/11m9bwfop_sPmnQr_8amB6EEsrbAeG_z5/view?usp=drive_link
|
||||
https://drive.google.com/file/d/19tyYt5FMn5kru0g9o2nMJhKPnsDqkIZv/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1XvTpUdsVTZ-vydvdYYmynbma--HfUGSl/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1MO3hFu68J6NohTzr9aB_fY02VA6QSOqj/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1Lh-UjwAk__04YOTWINF_QGVU8SjetVaY/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1jkSOUwZV5GJ7rZlVeErjcu0DBQs8Np0d/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1VIN1eLI-93WrVQwCjsv6XQr353DqqBYA/view?usp=drive_link
|
||||
|
|
@ -0,0 +1,8 @@
|
|||
https://drive.google.com/drive/folders/1EgKar7rWBmTIRmeJYZciSwjZx3uP2mHO
|
||||
https://drive.google.com/file/d/12eYWQO15atK2hBjXhynPJd9MKAj_42pz/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1Ul4oEeICJDjgfYTl4H1uaisTzVYIM6wd/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1WSF-OG8lKSe2wVYCv5D1aJNipxpgddk-/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1_ppD5j5sFh26aWW0JmhLzJMeNB-lCArk/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1WUp846dgWXYhu4oJfhHxiU6YL_7N6s4W/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1HRZNAIoAQw_uYiPwnBvtBioQoqiqoXdA/view?usp=drive_link
|
||||
https://drive.google.com/file/d/1hedGq-QDMnIn8GlXXBC3GiEJ_Y-LTxyt/view?usp=drive_link
|
||||
|
|
@ -10,6 +10,8 @@ from pathlib import Path
|
|||
|
||||
import tqdm
|
||||
|
||||
ALOHA_RAW_URLS_DIR = "lerobot/common/datasets/push_dataset_to_hub/_aloha_raw_urls"
|
||||
|
||||
|
||||
def download_raw(raw_dir, dataset_id):
|
||||
if "pusht" in dataset_id:
|
||||
|
|
@ -87,66 +89,36 @@ def download_xarm(raw_dir: Path):
|
|||
|
||||
|
||||
def download_aloha(raw_dir: Path, dataset_id: str):
|
||||
# TODO(rcadene): remove gdown and use hugging face download instead
|
||||
import gdown
|
||||
|
||||
logging.warning(
|
||||
"Aloha download is broken and requires a custom version of gdown which is not limited on number of files"
|
||||
)
|
||||
subset_id = dataset_id.replace("aloha_", "")
|
||||
urls_path = Path(ALOHA_RAW_URLS_DIR) / f"{subset_id}.txt"
|
||||
assert urls_path.exists(), f"{subset_id}.txt not found in '{ALOHA_RAW_URLS_DIR}' directory."
|
||||
|
||||
folder_urls = {
|
||||
"aloha_sim_insertion_human": "https://drive.google.com/drive/folders/1RgyD0JgTX30H4IM5XZn8I3zSV_mr8pyF",
|
||||
"aloha_sim_insertion_scripted": "https://drive.google.com/drive/folders/1TsojQQSXtHEoGnqgJ3gmpPQR2DPLtS2N",
|
||||
"aloha_sim_transfer_cube_human": "https://drive.google.com/drive/folders/1sc-E4QYW7A0o23m1u2VWNGVq5smAsfCo",
|
||||
"aloha_sim_transfer_cube_scripted": "https://drive.google.com/drive/folders/1aRyoOhQwxhyt1J8XgEig4s6kzaw__LXj",
|
||||
}
|
||||
with open(urls_path) as f:
|
||||
# strip lines and ignore empty lines
|
||||
urls = [url.strip() for url in f if url.strip()]
|
||||
|
||||
ep48_urls = {
|
||||
"aloha_sim_insertion_human": "https://drive.google.com/file/d/18Cudl6nikDtgRolea7je8iF_gGKzynOP/view?usp=drive_link",
|
||||
"aloha_sim_insertion_scripted": "https://drive.google.com/file/d/1wfMSZ24oOh5KR_0aaP3Cnu_c4ZCveduB/view?usp=drive_link",
|
||||
"aloha_sim_transfer_cube_human": "https://drive.google.com/file/d/18smMymtr8tIxaNUQ61gW6dG50pt3MvGq/view?usp=drive_link",
|
||||
"aloha_sim_transfer_cube_scripted": "https://drive.google.com/file/d/1pnGIOd-E4-rhz2P3VxpknMKRZCoKt6eI/view?usp=drive_link",
|
||||
}
|
||||
|
||||
ep49_urls = {
|
||||
"aloha_sim_insertion_human": "https://drive.google.com/file/d/1C1kZYyROzs-PrLc0SkDgUgMi4-L3lauE/view?usp=drive_link",
|
||||
"aloha_sim_insertion_scripted": "https://drive.google.com/file/d/17EuCUWS6uCCr6yyNzpXdcdE-_TTNCKtf/view?usp=drive_link",
|
||||
"aloha_sim_transfer_cube_human": "https://drive.google.com/file/d/1Nk7l53d9sJoGDBKAOnNrExX5nLacATc6/view?usp=drive_link",
|
||||
"aloha_sim_transfer_cube_scripted": "https://drive.google.com/file/d/1GKReZHrXU73NMiC5zKCq_UtqPVtYq8eo/view?usp=drive_link",
|
||||
}
|
||||
num_episodes = { # noqa: F841 # we keep this for reference
|
||||
"aloha_sim_insertion_human": 50,
|
||||
"aloha_sim_insertion_scripted": 50,
|
||||
"aloha_sim_transfer_cube_human": 50,
|
||||
"aloha_sim_transfer_cube_scripted": 50,
|
||||
}
|
||||
|
||||
episode_len = { # noqa: F841 # we keep this for reference
|
||||
"aloha_sim_insertion_human": 500,
|
||||
"aloha_sim_insertion_scripted": 400,
|
||||
"aloha_sim_transfer_cube_human": 400,
|
||||
"aloha_sim_transfer_cube_scripted": 400,
|
||||
}
|
||||
|
||||
cameras = { # noqa: F841 # we keep this for reference
|
||||
"aloha_sim_insertion_human": ["top"],
|
||||
"aloha_sim_insertion_scripted": ["top"],
|
||||
"aloha_sim_transfer_cube_human": ["top"],
|
||||
"aloha_sim_transfer_cube_scripted": ["top"],
|
||||
}
|
||||
|
||||
assert dataset_id in folder_urls
|
||||
assert dataset_id in ep48_urls
|
||||
assert dataset_id in ep49_urls
|
||||
# sanity check
|
||||
for url in urls:
|
||||
assert (
|
||||
"drive.google.com/drive/folders" in url or "drive.google.com/file" in url
|
||||
), f"Wrong url provided '{url}' in file '{urls_path}'."
|
||||
|
||||
raw_dir = Path(raw_dir)
|
||||
raw_dir.mkdir(parents=True, exist_ok=True)
|
||||
|
||||
gdown.download_folder(folder_urls[dataset_id], output=str(raw_dir))
|
||||
logging.info(f"Start downloading from google drive for {dataset_id}")
|
||||
for url in urls:
|
||||
if "drive.google.com/drive/folders" in url:
|
||||
# when a folder url is given, download up to 50 files from the folder
|
||||
gdown.download_folder(url, output=str(raw_dir), remaining_ok=True)
|
||||
|
||||
# because of the 50 files limit per directory, two files episode 48 and 49 were missing
|
||||
gdown.download(ep48_urls[dataset_id], output=str(raw_dir / "episode_48.hdf5"), fuzzy=True)
|
||||
gdown.download(ep49_urls[dataset_id], output=str(raw_dir / "episode_49.hdf5"), fuzzy=True)
|
||||
elif "drive.google.com/file" in url:
|
||||
# because of the 50 files limit per folder, we download the remaining files (file by file)
|
||||
gdown.download(url, output=str(raw_dir), fuzzy=True)
|
||||
|
||||
logging.info(f"End downloading from google drive for {dataset_id}")
|
||||
|
||||
|
||||
def download_umi(raw_dir: Path):
|
||||
|
|
@ -166,10 +138,31 @@ if __name__ == "__main__":
|
|||
"xarm_lift_medium_replay",
|
||||
"xarm_push_medium",
|
||||
"xarm_push_medium_replay",
|
||||
"aloha_mobile_cabinet",
|
||||
"aloha_mobile_chair",
|
||||
"aloha_mobile_elevator",
|
||||
"aloha_mobile_shrimp",
|
||||
"aloha_mobile_wash_pan",
|
||||
"aloha_mobile_wipe_wine",
|
||||
"aloha_sim_insertion_human",
|
||||
"aloha_sim_insertion_scripted",
|
||||
"aloha_sim_transfer_cube_human",
|
||||
"aloha_sim_transfer_cube_scripted",
|
||||
"aloha_static_battery",
|
||||
"aloha_static_candy",
|
||||
"aloha_static_coffee",
|
||||
"aloha_static_coffee_new",
|
||||
"aloha_static_cups_open",
|
||||
"aloha_static_fork_pick_up",
|
||||
"aloha_static_pingpong_test",
|
||||
"aloha_static_pro_pencil",
|
||||
"aloha_static_screw_driver",
|
||||
"aloha_static_tape",
|
||||
"aloha_static_thread_velcro",
|
||||
"aloha_static_towel",
|
||||
"aloha_static_vinh_cup",
|
||||
"aloha_static_vinh_cup_left",
|
||||
"aloha_static_ziploc_slide",
|
||||
"umi_cup_in_the_wild",
|
||||
]
|
||||
for dataset_id in dataset_ids:
|
||||
|
|
|
|||
|
|
@ -7,6 +7,7 @@ import shutil
|
|||
from pathlib import Path
|
||||
|
||||
import h5py
|
||||
import numpy as np
|
||||
import torch
|
||||
import tqdm
|
||||
from datasets import Dataset, Features, Image, Sequence, Value
|
||||
|
|
@ -19,41 +20,52 @@ from lerobot.common.datasets.utils import (
|
|||
from lerobot.common.datasets.video_utils import VideoFrame, encode_video_frames
|
||||
|
||||
|
||||
def get_cameras(hdf5_data):
|
||||
# ignore depth channel, not currently handled
|
||||
# TODO(rcadene): add depth
|
||||
rgb_cameras = [key for key in hdf5_data["/observations/images"].keys() if "depth" not in key] # noqa: SIM118
|
||||
return rgb_cameras
|
||||
|
||||
|
||||
def check_format(raw_dir) -> bool:
|
||||
cameras = ["top"]
|
||||
# only frames from simulation are uncompressed
|
||||
compressed_images = "sim" not in raw_dir.name
|
||||
|
||||
hdf5_files: list[Path] = list(raw_dir.glob("episode_*.hdf5"))
|
||||
assert len(hdf5_files) != 0
|
||||
hdf5_files = sorted(hdf5_files, key=lambda x: int(re.search(r"episode_(\d+).hdf5", x.name).group(1)))
|
||||
hdf5_paths = list(raw_dir.glob("episode_*.hdf5"))
|
||||
assert len(hdf5_paths) != 0
|
||||
for hdf5_path in hdf5_paths:
|
||||
with h5py.File(hdf5_path, "r") as data:
|
||||
assert "/action" in data
|
||||
assert "/observations/qpos" in data
|
||||
|
||||
# Check if the sequence is consecutive eg episode_0, episode_1, episode_2, etc.
|
||||
previous_number = None
|
||||
for file in hdf5_files:
|
||||
current_number = int(re.search(r"episode_(\d+).hdf5", file.name).group(1))
|
||||
if previous_number is not None:
|
||||
assert current_number - previous_number == 1
|
||||
previous_number = current_number
|
||||
assert data["/action"].ndim == 2
|
||||
assert data["/observations/qpos"].ndim == 2
|
||||
|
||||
for file in hdf5_files:
|
||||
with h5py.File(file, "r") as file:
|
||||
# Check for the expected datasets within the HDF5 file
|
||||
required_datasets = ["/action", "/observations/qpos"]
|
||||
# Add camera-specific image datasets to the required datasets
|
||||
camera_datasets = [f"/observations/images/{cam}" for cam in cameras]
|
||||
required_datasets.extend(camera_datasets)
|
||||
num_frames = data["/action"].shape[0]
|
||||
assert num_frames == data["/observations/qpos"].shape[0]
|
||||
|
||||
assert all(dataset in file for dataset in required_datasets)
|
||||
for camera in get_cameras(data):
|
||||
assert num_frames == data[f"/observations/images/{camera}"].shape[0]
|
||||
|
||||
if compressed_images:
|
||||
assert data[f"/observations/images/{camera}"].ndim == 2
|
||||
else:
|
||||
assert data[f"/observations/images/{camera}"].ndim == 4
|
||||
b, h, w, c = data[f"/observations/images/{camera}"].shape
|
||||
assert c < h and c < w, f"Expect (h,w,c) image format but ({h=},{w=},{c=}) provided."
|
||||
|
||||
|
||||
def load_from_raw(raw_dir, out_dir, fps, video, debug):
|
||||
# only frames from simulation are uncompressed
|
||||
compressed_images = "sim" not in raw_dir.name
|
||||
|
||||
hdf5_files = list(raw_dir.glob("*.hdf5"))
|
||||
hdf5_files = sorted(hdf5_files, key=lambda x: int(re.search(r"episode_(\d+)", x.name).group(1)))
|
||||
ep_dicts = []
|
||||
episode_data_index = {"from": [], "to": []}
|
||||
|
||||
id_from = 0
|
||||
|
||||
for ep_path in tqdm.tqdm(hdf5_files):
|
||||
for ep_path in tqdm.tqdm(hdf5_files, total=len(hdf5_files)):
|
||||
with h5py.File(ep_path, "r") as ep:
|
||||
ep_idx = int(re.search(r"episode_(\d+)", ep_path.name).group(1))
|
||||
num_frames = ep["/action"].shape[0]
|
||||
|
|
@ -67,10 +79,22 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug):
|
|||
|
||||
ep_dict = {}
|
||||
|
||||
cameras = list(ep["/observations/images"].keys())
|
||||
for cam in cameras:
|
||||
img_key = f"observation.images.{cam}"
|
||||
imgs_array = ep[f"/observations/images/{cam}"][:] # b h w c
|
||||
for camera in get_cameras(ep):
|
||||
img_key = f"observation.images.{camera}"
|
||||
|
||||
if compressed_images:
|
||||
import cv2
|
||||
|
||||
# load one compressed image after the other in RAM and uncompress
|
||||
imgs_array = []
|
||||
for data in ep[f"/observations/images/{camera}"]:
|
||||
imgs_array.append(cv2.imdecode(data, 1))
|
||||
imgs_array = np.array(imgs_array)
|
||||
|
||||
else:
|
||||
# load all images in RAM
|
||||
imgs_array = ep[f"/observations/images/{camera}"][:]
|
||||
|
||||
if video:
|
||||
# save png images in temporary directory
|
||||
tmp_imgs_dir = out_dir / "tmp_images"
|
||||
|
|
@ -97,9 +121,7 @@ def load_from_raw(raw_dir, out_dir, fps, video, debug):
|
|||
ep_dict["frame_index"] = torch.arange(0, num_frames, 1)
|
||||
ep_dict["timestamp"] = torch.arange(0, num_frames, 1) / fps
|
||||
ep_dict["next.done"] = done
|
||||
# TODO(rcadene): compute reward and success
|
||||
# ep_dict[""next.reward"] = reward
|
||||
# ep_dict[""next.success"] = success
|
||||
# TODO(rcadene): add reward and success by computing them in sim
|
||||
|
||||
assert isinstance(ep_idx, int)
|
||||
ep_dicts.append(ep_dict)
|
||||
|
|
@ -138,9 +160,6 @@ def to_hf_dataset(data_dict, video) -> Dataset:
|
|||
features["timestamp"] = Value(dtype="float32", id=None)
|
||||
features["next.done"] = Value(dtype="bool", id=None)
|
||||
features["index"] = Value(dtype="int64", id=None)
|
||||
# TODO(rcadene): add reward and success
|
||||
# features["next.reward"] = Value(dtype="float32", id=None)
|
||||
# features["next.success"] = Value(dtype="bool", id=None)
|
||||
|
||||
hf_dataset = Dataset.from_dict(data_dict, features=Features(features))
|
||||
hf_dataset.set_transform(hf_transform_to_torch)
|
||||
|
|
|
|||
|
|
@ -43,5 +43,6 @@ def test_print():
|
|||
print(lerobot.available_tasks_per_env)
|
||||
print(lerobot.available_datasets)
|
||||
print(lerobot.available_datasets_per_env)
|
||||
print(lerobot.available_real_world_datasets)
|
||||
print(lerobot.available_policies)
|
||||
print(lerobot.available_policies_per_env)
|
||||
|
|
|
|||
Loading…
Reference in New Issue