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Browse files- target/composite/HeatKebabSandwich/20250813/lerobot/extras/episode_000017/ep_meta.json +455 -0
- target/composite/HeatKebabSandwich/20250813/lerobot/extras/episode_000119/ep_meta.json +455 -0
- target/composite/HeatKebabSandwich/20250813/lerobot/extras/episode_000153/ep_meta.json +434 -0
- target/composite/HeatKebabSandwich/20250813/lerobot/extras/episode_000201/ep_meta.json +623 -0
- target/composite/HeatKebabSandwich/20250813/lerobot/extras/episode_000211/ep_meta.json +548 -0
- target/composite/HeatKebabSandwich/20250813/lerobot/extras/episode_000245/ep_meta.json +455 -0
- target/composite/HeatKebabSandwich/20250813/lerobot/extras/episode_000370/ep_meta.json +548 -0
- target/composite/PreSoakPan/20250809/lerobot/extras/dataset_meta.json +474 -0
- target/composite/PreSoakPan/20250809/lerobot/extras/episode_000049/ep_meta.json +450 -0
- target/composite/PreSoakPan/20250809/lerobot/extras/episode_000259/ep_meta.json +471 -0
- target/composite/PreSoakPan/20250809/lerobot/extras/episode_000306/ep_meta.json +474 -0
- target/composite/PreSoakPan/20250809/lerobot/extras/episode_000311/ep_meta.json +549 -0
- target/composite/PreSoakPan/20250809/lerobot/extras/episode_000441/ep_meta.json +471 -0
- target/composite/PreSoakPan/20250809/lerobot/meta/embodiment.json +8 -0
- target/composite/PreSoakPan/20250809/lerobot/meta/episodes.jsonl +501 -0
- target/composite/PreSoakPan/20250809/lerobot/meta/episodes_stats.jsonl +0 -0
- target/composite/PreSoakPan/20250809/lerobot/meta/info.json +179 -0
- target/composite/PreSoakPan/20250809/lerobot/meta/modality.json +72 -0
- target/composite/PreSoakPan/20250809/lerobot/meta/stats.json +378 -0
- target/composite/PreSoakPan/20250809/lerobot/meta/tasks.jsonl +2 -0
target/composite/HeatKebabSandwich/20250813/lerobot/extras/episode_000017/ep_meta.json
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| 1 |
+
{
|
| 2 |
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"layout_id": 5,
|
| 3 |
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"style_id": 5,
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| 4 |
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"object_cfgs": [
|
| 5 |
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{
|
| 6 |
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"name": "plate",
|
| 7 |
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"obj_groups": "plate",
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| 8 |
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"object_scale": 1.25,
|
| 9 |
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"init_robot_here": true,
|
| 10 |
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"placement": {
|
| 11 |
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"fixture": "counter_right_main_group",
|
| 12 |
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"sample_region_kwargs": {
|
| 13 |
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"ref": "toaster_oven_main_group",
|
| 14 |
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"loc": "left_right",
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| 15 |
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"min_size": [
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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]
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| 20 |
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},
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| 21 |
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"size": [
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| 22 |
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1.0,
|
| 23 |
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0.4
|
| 24 |
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],
|
| 25 |
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"pos": [
|
| 26 |
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"ref",
|
| 27 |
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-1.0
|
| 28 |
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]
|
| 29 |
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},
|
| 30 |
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"type": "object",
|
| 31 |
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"info": {
|
| 32 |
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"groups_containing_sampled_obj": [
|
| 33 |
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"all",
|
| 34 |
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"plate",
|
| 35 |
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"receptacle",
|
| 36 |
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"container",
|
| 37 |
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"container_set2"
|
| 38 |
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],
|
| 39 |
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"groups": [
|
| 40 |
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"plate"
|
| 41 |
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],
|
| 42 |
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"cat": "plate",
|
| 43 |
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"split": "test",
|
| 44 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
|
| 45 |
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},
|
| 46 |
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"reset_region": {
|
| 47 |
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"size": [
|
| 48 |
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1.370856355210931,
|
| 49 |
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0.65
|
| 50 |
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],
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| 51 |
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"offset": [
|
| 52 |
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-0.3145718223945345,
|
| 53 |
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0.0,
|
| 54 |
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0.46
|
| 55 |
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],
|
| 56 |
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"name": "geom_0"
|
| 57 |
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}
|
| 58 |
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},
|
| 59 |
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{
|
| 60 |
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"name": "kebab",
|
| 61 |
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"obj_groups": "kebab_skewer",
|
| 62 |
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"object_scale": [
|
| 63 |
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1.1,
|
| 64 |
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0.8,
|
| 65 |
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1
|
| 66 |
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],
|
| 67 |
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"placement": {
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| 68 |
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"size": [
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| 69 |
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| 70 |
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| 71 |
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],
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| 72 |
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"ensure_object_boundary_in_range": false,
|
| 73 |
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"sample_args": {
|
| 74 |
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"reference": "plate",
|
| 75 |
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"on_top": true
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"type": "object",
|
| 79 |
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"info": {
|
| 80 |
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"groups_containing_sampled_obj": [
|
| 81 |
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"all",
|
| 82 |
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"kebab_skewer",
|
| 83 |
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"cooked_food",
|
| 84 |
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"food",
|
| 85 |
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"in_container"
|
| 86 |
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],
|
| 87 |
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"groups": [
|
| 88 |
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"kebab_skewer"
|
| 89 |
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],
|
| 90 |
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"cat": "kebab_skewer",
|
| 91 |
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"split": "test",
|
| 92 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer005/model.xml"
|
| 93 |
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}
|
| 94 |
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},
|
| 95 |
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{
|
| 96 |
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"name": "baguette",
|
| 97 |
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"obj_groups": "baguette",
|
| 98 |
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"placement": {
|
| 99 |
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"size": [
|
| 100 |
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|
| 101 |
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| 102 |
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],
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| 103 |
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"ensure_object_boundary_in_range": false,
|
| 104 |
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"sample_args": {
|
| 105 |
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"reference": "plate",
|
| 106 |
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"on_top": true
|
| 107 |
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}
|
| 108 |
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},
|
| 109 |
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"type": "object",
|
| 110 |
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"info": {
|
| 111 |
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"groups_containing_sampled_obj": [
|
| 112 |
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"all",
|
| 113 |
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"baguette",
|
| 114 |
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"bread_food",
|
| 115 |
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"food",
|
| 116 |
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"in_container",
|
| 117 |
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"food_set1"
|
| 118 |
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],
|
| 119 |
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"groups": [
|
| 120 |
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"baguette"
|
| 121 |
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],
|
| 122 |
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"cat": "baguette",
|
| 123 |
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"split": "test",
|
| 124 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_6/model.xml"
|
| 125 |
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}
|
| 126 |
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}
|
| 127 |
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],
|
| 128 |
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"fixtures": {
|
| 129 |
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"wall_room": {
|
| 130 |
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"cls": "Wall"
|
| 131 |
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},
|
| 132 |
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"wall_backing_room": {
|
| 133 |
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"cls": "Wall"
|
| 134 |
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},
|
| 135 |
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"wall_left_room": {
|
| 136 |
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"cls": "Wall"
|
| 137 |
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},
|
| 138 |
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"wall_left_backing_room": {
|
| 139 |
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"cls": "Wall"
|
| 140 |
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},
|
| 141 |
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"wall_right_room": {
|
| 142 |
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"cls": "Wall"
|
| 143 |
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},
|
| 144 |
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"wall_right_backing_room": {
|
| 145 |
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"cls": "Wall"
|
| 146 |
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},
|
| 147 |
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"outlet_room": {
|
| 148 |
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"cls": "WallAccessory"
|
| 149 |
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},
|
| 150 |
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"outlet_2_room": {
|
| 151 |
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"cls": "WallAccessory"
|
| 152 |
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},
|
| 153 |
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"outlet_3_room": {
|
| 154 |
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"cls": "WallAccessory"
|
| 155 |
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},
|
| 156 |
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"untensil_rack_room": {
|
| 157 |
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"cls": "WallAccessory"
|
| 158 |
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},
|
| 159 |
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"light_switch_room": {
|
| 160 |
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"cls": "WallAccessory"
|
| 161 |
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},
|
| 162 |
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"light_switch_2_room": {
|
| 163 |
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"cls": "WallAccessory"
|
| 164 |
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},
|
| 165 |
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"window_group_room": {
|
| 166 |
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"cls": "Window"
|
| 167 |
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},
|
| 168 |
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"floor_room": {
|
| 169 |
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"cls": "Floor"
|
| 170 |
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},
|
| 171 |
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"floor_backing_room": {
|
| 172 |
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"cls": "Floor"
|
| 173 |
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},
|
| 174 |
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"sink_left_group": {
|
| 175 |
+
"cls": "Sink"
|
| 176 |
+
},
|
| 177 |
+
"counter_left_group": {
|
| 178 |
+
"cls": "Counter"
|
| 179 |
+
},
|
| 180 |
+
"fridge_left_group": {
|
| 181 |
+
"cls": "FridgeBottomFreezer"
|
| 182 |
+
},
|
| 183 |
+
"cab_1_left_group": {
|
| 184 |
+
"cls": "HingeCabinet"
|
| 185 |
+
},
|
| 186 |
+
"cab_2_left_group": {
|
| 187 |
+
"cls": "OpenCabinet"
|
| 188 |
+
},
|
| 189 |
+
"stack_1_left_group_base": {
|
| 190 |
+
"cls": "Box"
|
| 191 |
+
},
|
| 192 |
+
"stack_1_left_group_1": {
|
| 193 |
+
"cls": "Drawer"
|
| 194 |
+
},
|
| 195 |
+
"stack_1_left_group_2": {
|
| 196 |
+
"cls": "Drawer"
|
| 197 |
+
},
|
| 198 |
+
"stack_1_left_group_3": {
|
| 199 |
+
"cls": "Drawer"
|
| 200 |
+
},
|
| 201 |
+
"stack_1_left_group_4": {
|
| 202 |
+
"cls": "Drawer"
|
| 203 |
+
},
|
| 204 |
+
"stack_2_left_group_base": {
|
| 205 |
+
"cls": "Box"
|
| 206 |
+
},
|
| 207 |
+
"stack_2_left_group_1": {
|
| 208 |
+
"cls": "HingeCabinet"
|
| 209 |
+
},
|
| 210 |
+
"stack_2_left_group_2": {
|
| 211 |
+
"cls": "Drawer"
|
| 212 |
+
},
|
| 213 |
+
"stack_2_left_group_3": {
|
| 214 |
+
"cls": "Drawer"
|
| 215 |
+
},
|
| 216 |
+
"dishwasher_left_group": {
|
| 217 |
+
"cls": "Dishwasher"
|
| 218 |
+
},
|
| 219 |
+
"stack_3_left_group_base": {
|
| 220 |
+
"cls": "Box"
|
| 221 |
+
},
|
| 222 |
+
"stack_3_left_group_1": {
|
| 223 |
+
"cls": "HingeCabinet"
|
| 224 |
+
},
|
| 225 |
+
"stack_3_left_group_2": {
|
| 226 |
+
"cls": "PanelCabinet"
|
| 227 |
+
},
|
| 228 |
+
"stack_4_left_group_base": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
+
},
|
| 231 |
+
"stack_4_left_group_1": {
|
| 232 |
+
"cls": "SingleCabinet"
|
| 233 |
+
},
|
| 234 |
+
"stack_4_left_group_2": {
|
| 235 |
+
"cls": "Drawer"
|
| 236 |
+
},
|
| 237 |
+
"flower_vase_left_group": {
|
| 238 |
+
"cls": "Accessory"
|
| 239 |
+
},
|
| 240 |
+
"soap_dispenser_left_group": {
|
| 241 |
+
"cls": "Accessory"
|
| 242 |
+
},
|
| 243 |
+
"knife_block_left_group": {
|
| 244 |
+
"cls": "Accessory"
|
| 245 |
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},
|
| 246 |
+
"paprika_left_group": {
|
| 247 |
+
"cls": "Accessory"
|
| 248 |
+
},
|
| 249 |
+
"cinnamon_left_group": {
|
| 250 |
+
"cls": "Accessory"
|
| 251 |
+
},
|
| 252 |
+
"turmeric_left_group": {
|
| 253 |
+
"cls": "Accessory"
|
| 254 |
+
},
|
| 255 |
+
"glass_cup_left_group": {
|
| 256 |
+
"cls": "Accessory"
|
| 257 |
+
},
|
| 258 |
+
"digital_scale_left_group": {
|
| 259 |
+
"cls": "Accessory"
|
| 260 |
+
},
|
| 261 |
+
"paper_towel_left_group": {
|
| 262 |
+
"cls": "Accessory"
|
| 263 |
+
},
|
| 264 |
+
"counter_main_main_group": {
|
| 265 |
+
"cls": "Counter"
|
| 266 |
+
},
|
| 267 |
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"stove_main_group": {
|
| 268 |
+
"cls": "Stove"
|
| 269 |
+
},
|
| 270 |
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"counter_right_main_group": {
|
| 271 |
+
"cls": "Counter"
|
| 272 |
+
},
|
| 273 |
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"cab_main_main_group": {
|
| 274 |
+
"cls": "HingeCabinet"
|
| 275 |
+
},
|
| 276 |
+
"cab_1_main_group": {
|
| 277 |
+
"cls": "HingeCabinet"
|
| 278 |
+
},
|
| 279 |
+
"microwave_main_group": {
|
| 280 |
+
"cls": "Microwave"
|
| 281 |
+
},
|
| 282 |
+
"cab_micro_main_group": {
|
| 283 |
+
"cls": "HingeCabinet"
|
| 284 |
+
},
|
| 285 |
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"cab_2_main_group": {
|
| 286 |
+
"cls": "HingeCabinet"
|
| 287 |
+
},
|
| 288 |
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"cab_3_main_group": {
|
| 289 |
+
"cls": "HingeCabinet"
|
| 290 |
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},
|
| 291 |
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"stack_1_main_group_base": {
|
| 292 |
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"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"stack_1_main_group_1": {
|
| 295 |
+
"cls": "HingeCabinet"
|
| 296 |
+
},
|
| 297 |
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"stack_1_main_group_2": {
|
| 298 |
+
"cls": "Drawer"
|
| 299 |
+
},
|
| 300 |
+
"stack_1_main_group_3": {
|
| 301 |
+
"cls": "Drawer"
|
| 302 |
+
},
|
| 303 |
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"stack_2_main_group_base": {
|
| 304 |
+
"cls": "Box"
|
| 305 |
+
},
|
| 306 |
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"stack_2_main_group_1": {
|
| 307 |
+
"cls": "Drawer"
|
| 308 |
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},
|
| 309 |
+
"stack_2_main_group_2": {
|
| 310 |
+
"cls": "Drawer"
|
| 311 |
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},
|
| 312 |
+
"stack_2_main_group_3": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
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},
|
| 315 |
+
"stack_2_main_group_4": {
|
| 316 |
+
"cls": "Drawer"
|
| 317 |
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},
|
| 318 |
+
"stack_3_main_group_base": {
|
| 319 |
+
"cls": "Box"
|
| 320 |
+
},
|
| 321 |
+
"stack_3_main_group_1": {
|
| 322 |
+
"cls": "HingeCabinet"
|
| 323 |
+
},
|
| 324 |
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"stack_3_main_group_2": {
|
| 325 |
+
"cls": "Drawer"
|
| 326 |
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},
|
| 327 |
+
"stack_3_main_group_3": {
|
| 328 |
+
"cls": "Drawer"
|
| 329 |
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},
|
| 330 |
+
"stack_4_main_group_base": {
|
| 331 |
+
"cls": "Box"
|
| 332 |
+
},
|
| 333 |
+
"stack_4_main_group_1": {
|
| 334 |
+
"cls": "HingeCabinet"
|
| 335 |
+
},
|
| 336 |
+
"stack_4_main_group_2": {
|
| 337 |
+
"cls": "Drawer"
|
| 338 |
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},
|
| 339 |
+
"stack_4_main_group_3": {
|
| 340 |
+
"cls": "Drawer"
|
| 341 |
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},
|
| 342 |
+
"coffee_machine_main_group": {
|
| 343 |
+
"cls": "CoffeeMachine"
|
| 344 |
+
},
|
| 345 |
+
"utensil_set_main_group": {
|
| 346 |
+
"cls": "Accessory"
|
| 347 |
+
},
|
| 348 |
+
"toaster_main_group": {
|
| 349 |
+
"cls": "Toaster"
|
| 350 |
+
},
|
| 351 |
+
"toaster_oven_main_group": {
|
| 352 |
+
"cls": "ToasterOven"
|
| 353 |
+
},
|
| 354 |
+
"tiered_basket_main_group": {
|
| 355 |
+
"cls": "Accessory"
|
| 356 |
+
}
|
| 357 |
+
},
|
| 358 |
+
"gen_textures": {},
|
| 359 |
+
"lang": "Pick up the kebab skewer and baguette bread, and place them inside the toaster oven. Close the toaster oven door and start by setting the timer.",
|
| 360 |
+
"fixture_refs": {
|
| 361 |
+
"toaster_oven": "toaster_oven_main_group",
|
| 362 |
+
"counter": "counter_right_main_group"
|
| 363 |
+
},
|
| 364 |
+
"cam_configs": {
|
| 365 |
+
"robot0_agentview_center": {
|
| 366 |
+
"pos": [
|
| 367 |
+
-0.6,
|
| 368 |
+
0.0,
|
| 369 |
+
1.15
|
| 370 |
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],
|
| 371 |
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"quat": [
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| 372 |
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|
| 373 |
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|
| 374 |
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|
| 375 |
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|
| 376 |
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],
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| 377 |
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"parent_body": "mobilebase0_support"
|
| 378 |
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},
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| 379 |
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"robot0_agentview_left": {
|
| 380 |
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"pos": [
|
| 381 |
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-0.5,
|
| 382 |
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0.35,
|
| 383 |
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|
| 384 |
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],
|
| 385 |
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"quat": [
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| 386 |
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|
| 387 |
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|
| 388 |
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|
| 389 |
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|
| 390 |
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],
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| 391 |
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"camera_attribs": {
|
| 392 |
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"fovy": "60"
|
| 393 |
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},
|
| 394 |
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"parent_body": "mobilebase0_support"
|
| 395 |
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},
|
| 396 |
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"robot0_agentview_right": {
|
| 397 |
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"pos": [
|
| 398 |
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-0.5,
|
| 399 |
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-0.35,
|
| 400 |
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1.05
|
| 401 |
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],
|
| 402 |
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"quat": [
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| 403 |
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| 404 |
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|
| 405 |
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|
| 406 |
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|
| 407 |
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],
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| 408 |
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"camera_attribs": {
|
| 409 |
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"fovy": "60"
|
| 410 |
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},
|
| 411 |
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"parent_body": "mobilebase0_support"
|
| 412 |
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},
|
| 413 |
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"robot0_frontview": {
|
| 414 |
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"pos": [
|
| 415 |
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-0.5,
|
| 416 |
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0,
|
| 417 |
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|
| 418 |
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],
|
| 419 |
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"quat": [
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| 420 |
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|
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],
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| 425 |
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"camera_attribs": {
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| 426 |
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"fovy": "60"
|
| 427 |
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},
|
| 428 |
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"parent_body": "mobilebase0_support"
|
| 429 |
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},
|
| 430 |
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"robot0_eye_in_hand": {
|
| 431 |
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"pos": [
|
| 432 |
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0.05,
|
| 433 |
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0,
|
| 434 |
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0
|
| 435 |
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],
|
| 436 |
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"quat": [
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| 437 |
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|
| 438 |
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|
| 439 |
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0.707107,
|
| 440 |
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|
| 441 |
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],
|
| 442 |
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"parent_body": "robot0_right_hand"
|
| 443 |
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}
|
| 444 |
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},
|
| 445 |
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"init_robot_base_pos": [
|
| 446 |
+
2.370368698401649,
|
| 447 |
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-3.7714436393877975,
|
| 448 |
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0.0
|
| 449 |
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],
|
| 450 |
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"init_robot_base_ori": [
|
| 451 |
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|
| 452 |
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0.0,
|
| 453 |
+
-3.673205103416066e-06
|
| 454 |
+
]
|
| 455 |
+
}
|
target/composite/HeatKebabSandwich/20250813/lerobot/extras/episode_000119/ep_meta.json
ADDED
|
@@ -0,0 +1,455 @@
|
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|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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"style_id": 5,
|
| 4 |
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|
| 5 |
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{
|
| 6 |
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"name": "plate",
|
| 7 |
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"obj_groups": "plate",
|
| 8 |
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"object_scale": 1.25,
|
| 9 |
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|
| 10 |
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"placement": {
|
| 11 |
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"fixture": "counter_right_main_group",
|
| 12 |
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"sample_region_kwargs": {
|
| 13 |
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"ref": "toaster_oven_main_group",
|
| 14 |
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"loc": "left_right",
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| 15 |
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|
| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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|
| 23 |
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0.4
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| 24 |
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| 25 |
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| 26 |
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"ref",
|
| 27 |
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-1.0
|
| 28 |
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]
|
| 29 |
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|
| 30 |
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"type": "object",
|
| 31 |
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"info": {
|
| 32 |
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|
| 33 |
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"all",
|
| 34 |
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"plate",
|
| 35 |
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"receptacle",
|
| 36 |
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"container",
|
| 37 |
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"container_set2"
|
| 38 |
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],
|
| 39 |
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"groups": [
|
| 40 |
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"plate"
|
| 41 |
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],
|
| 42 |
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"cat": "plate",
|
| 43 |
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"split": "test",
|
| 44 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
|
| 45 |
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},
|
| 46 |
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|
| 47 |
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"size": [
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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0.0,
|
| 54 |
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| 55 |
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],
|
| 56 |
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|
| 57 |
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}
|
| 58 |
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},
|
| 59 |
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{
|
| 60 |
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"name": "kebab",
|
| 61 |
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"obj_groups": "kebab_skewer",
|
| 62 |
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"object_scale": [
|
| 63 |
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1.1,
|
| 64 |
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0.8,
|
| 65 |
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1
|
| 66 |
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],
|
| 67 |
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| 68 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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"on_top": true
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"type": "object",
|
| 79 |
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"info": {
|
| 80 |
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|
| 81 |
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"all",
|
| 82 |
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"kebab_skewer",
|
| 83 |
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"cooked_food",
|
| 84 |
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"food",
|
| 85 |
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"in_container"
|
| 86 |
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],
|
| 87 |
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|
| 88 |
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"kebab_skewer"
|
| 89 |
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],
|
| 90 |
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"cat": "kebab_skewer",
|
| 91 |
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|
| 92 |
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|
| 93 |
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}
|
| 94 |
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},
|
| 95 |
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{
|
| 96 |
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"name": "baguette",
|
| 97 |
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|
| 98 |
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| 99 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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"on_top": true
|
| 107 |
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}
|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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"all",
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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],
|
| 119 |
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|
| 120 |
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|
| 121 |
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],
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| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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}
|
| 126 |
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}
|
| 127 |
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],
|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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"cls": "WallAccessory"
|
| 149 |
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|
| 150 |
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|
| 151 |
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"cls": "WallAccessory"
|
| 152 |
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|
| 153 |
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|
| 154 |
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"cls": "WallAccessory"
|
| 155 |
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|
| 156 |
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|
| 157 |
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"cls": "WallAccessory"
|
| 158 |
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|
| 159 |
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|
| 160 |
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"cls": "WallAccessory"
|
| 161 |
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|
| 162 |
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|
| 163 |
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"cls": "WallAccessory"
|
| 164 |
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},
|
| 165 |
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"window_group_room": {
|
| 166 |
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"cls": "Window"
|
| 167 |
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},
|
| 168 |
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|
| 169 |
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"cls": "Floor"
|
| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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| 175 |
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|
| 176 |
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| 177 |
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| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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"cls": "OpenCabinet"
|
| 188 |
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|
| 189 |
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|
| 190 |
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"cls": "Box"
|
| 191 |
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},
|
| 192 |
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|
| 193 |
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"cls": "Drawer"
|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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"cls": "Box"
|
| 206 |
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|
| 207 |
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| 208 |
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"cls": "HingeCabinet"
|
| 209 |
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},
|
| 210 |
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|
| 211 |
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"cls": "Drawer"
|
| 212 |
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},
|
| 213 |
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"stack_2_left_group_3": {
|
| 214 |
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"cls": "Drawer"
|
| 215 |
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},
|
| 216 |
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|
| 217 |
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"cls": "Dishwasher"
|
| 218 |
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},
|
| 219 |
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|
| 220 |
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"cls": "Box"
|
| 221 |
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},
|
| 222 |
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"stack_3_left_group_1": {
|
| 223 |
+
"cls": "HingeCabinet"
|
| 224 |
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},
|
| 225 |
+
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|
| 226 |
+
"cls": "PanelCabinet"
|
| 227 |
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},
|
| 228 |
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"stack_4_left_group_base": {
|
| 229 |
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"cls": "Box"
|
| 230 |
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},
|
| 231 |
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"stack_4_left_group_1": {
|
| 232 |
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"cls": "SingleCabinet"
|
| 233 |
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},
|
| 234 |
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"stack_4_left_group_2": {
|
| 235 |
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"cls": "Drawer"
|
| 236 |
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},
|
| 237 |
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"flower_vase_left_group": {
|
| 238 |
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"cls": "Accessory"
|
| 239 |
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},
|
| 240 |
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|
| 241 |
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"cls": "Accessory"
|
| 242 |
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},
|
| 243 |
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"knife_block_left_group": {
|
| 244 |
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"cls": "Accessory"
|
| 245 |
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},
|
| 246 |
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"paprika_left_group": {
|
| 247 |
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"cls": "Accessory"
|
| 248 |
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},
|
| 249 |
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"cinnamon_left_group": {
|
| 250 |
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"cls": "Accessory"
|
| 251 |
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},
|
| 252 |
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"turmeric_left_group": {
|
| 253 |
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"cls": "Accessory"
|
| 254 |
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},
|
| 255 |
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"glass_cup_left_group": {
|
| 256 |
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"cls": "Accessory"
|
| 257 |
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},
|
| 258 |
+
"digital_scale_left_group": {
|
| 259 |
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"cls": "Accessory"
|
| 260 |
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},
|
| 261 |
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"paper_towel_left_group": {
|
| 262 |
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"cls": "Accessory"
|
| 263 |
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},
|
| 264 |
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|
| 265 |
+
"cls": "Counter"
|
| 266 |
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},
|
| 267 |
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|
| 268 |
+
"cls": "Stove"
|
| 269 |
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},
|
| 270 |
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|
| 271 |
+
"cls": "Counter"
|
| 272 |
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},
|
| 273 |
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|
| 274 |
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"cls": "HingeCabinet"
|
| 275 |
+
},
|
| 276 |
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"cab_1_main_group": {
|
| 277 |
+
"cls": "HingeCabinet"
|
| 278 |
+
},
|
| 279 |
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|
| 280 |
+
"cls": "Microwave"
|
| 281 |
+
},
|
| 282 |
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|
| 283 |
+
"cls": "HingeCabinet"
|
| 284 |
+
},
|
| 285 |
+
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|
| 286 |
+
"cls": "HingeCabinet"
|
| 287 |
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},
|
| 288 |
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|
| 289 |
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"cls": "HingeCabinet"
|
| 290 |
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},
|
| 291 |
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|
| 292 |
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|
| 293 |
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},
|
| 294 |
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|
| 295 |
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"cls": "HingeCabinet"
|
| 296 |
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},
|
| 297 |
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|
| 298 |
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"cls": "Drawer"
|
| 299 |
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},
|
| 300 |
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|
| 301 |
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"cls": "Drawer"
|
| 302 |
+
},
|
| 303 |
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|
| 304 |
+
"cls": "Box"
|
| 305 |
+
},
|
| 306 |
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"stack_2_main_group_1": {
|
| 307 |
+
"cls": "Drawer"
|
| 308 |
+
},
|
| 309 |
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|
| 310 |
+
"cls": "Drawer"
|
| 311 |
+
},
|
| 312 |
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|
| 313 |
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"cls": "Drawer"
|
| 314 |
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},
|
| 315 |
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|
| 316 |
+
"cls": "Drawer"
|
| 317 |
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},
|
| 318 |
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|
| 319 |
+
"cls": "Box"
|
| 320 |
+
},
|
| 321 |
+
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|
| 322 |
+
"cls": "HingeCabinet"
|
| 323 |
+
},
|
| 324 |
+
"stack_3_main_group_2": {
|
| 325 |
+
"cls": "Drawer"
|
| 326 |
+
},
|
| 327 |
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"stack_3_main_group_3": {
|
| 328 |
+
"cls": "Drawer"
|
| 329 |
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},
|
| 330 |
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"stack_4_main_group_base": {
|
| 331 |
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"cls": "Box"
|
| 332 |
+
},
|
| 333 |
+
"stack_4_main_group_1": {
|
| 334 |
+
"cls": "HingeCabinet"
|
| 335 |
+
},
|
| 336 |
+
"stack_4_main_group_2": {
|
| 337 |
+
"cls": "Drawer"
|
| 338 |
+
},
|
| 339 |
+
"stack_4_main_group_3": {
|
| 340 |
+
"cls": "Drawer"
|
| 341 |
+
},
|
| 342 |
+
"coffee_machine_main_group": {
|
| 343 |
+
"cls": "CoffeeMachine"
|
| 344 |
+
},
|
| 345 |
+
"utensil_set_main_group": {
|
| 346 |
+
"cls": "Accessory"
|
| 347 |
+
},
|
| 348 |
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"toaster_main_group": {
|
| 349 |
+
"cls": "Toaster"
|
| 350 |
+
},
|
| 351 |
+
"toaster_oven_main_group": {
|
| 352 |
+
"cls": "ToasterOven"
|
| 353 |
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},
|
| 354 |
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"tiered_basket_main_group": {
|
| 355 |
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"cls": "Accessory"
|
| 356 |
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}
|
| 357 |
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},
|
| 358 |
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"gen_textures": {},
|
| 359 |
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"lang": "Pick up the kebab skewer and baguette bread, and place them inside the toaster oven. Close the toaster oven door and start by setting the timer.",
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| 360 |
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"fixture_refs": {
|
| 361 |
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"toaster_oven": "toaster_oven_main_group",
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| 362 |
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| 363 |
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}
|
target/composite/HeatKebabSandwich/20250813/lerobot/extras/episode_000153/ep_meta.json
ADDED
|
@@ -0,0 +1,434 @@
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|
| 1 |
+
{
|
| 2 |
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"layout_id": 3,
|
| 3 |
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"style_id": 3,
|
| 4 |
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"object_cfgs": [
|
| 5 |
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{
|
| 6 |
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"name": "plate",
|
| 7 |
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"obj_groups": "plate",
|
| 8 |
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"object_scale": 1.25,
|
| 9 |
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"init_robot_here": true,
|
| 10 |
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"placement": {
|
| 11 |
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"fixture": "counter_main_main_group",
|
| 12 |
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"sample_region_kwargs": {
|
| 13 |
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"ref": "toaster_oven_main_group",
|
| 14 |
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"loc": "left_right",
|
| 15 |
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"min_size": [
|
| 16 |
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|
| 17 |
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|
| 18 |
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| 19 |
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| 20 |
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},
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| 21 |
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"size": [
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| 22 |
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|
| 23 |
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|
| 24 |
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],
|
| 25 |
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"pos": [
|
| 26 |
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"ref",
|
| 27 |
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|
| 28 |
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]
|
| 29 |
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},
|
| 30 |
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"type": "object",
|
| 31 |
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"info": {
|
| 32 |
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"groups_containing_sampled_obj": [
|
| 33 |
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"all",
|
| 34 |
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"plate",
|
| 35 |
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"receptacle",
|
| 36 |
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|
| 37 |
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"container_set2"
|
| 38 |
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],
|
| 39 |
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"groups": [
|
| 40 |
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"plate"
|
| 41 |
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],
|
| 42 |
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"cat": "plate",
|
| 43 |
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"split": "test",
|
| 44 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
|
| 45 |
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},
|
| 46 |
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"reset_region": {
|
| 47 |
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"size": [
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| 48 |
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|
| 49 |
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|
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],
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| 51 |
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| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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],
|
| 56 |
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"name": "geom_0"
|
| 57 |
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}
|
| 58 |
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},
|
| 59 |
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{
|
| 60 |
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"name": "kebab",
|
| 61 |
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"obj_groups": "kebab_skewer",
|
| 62 |
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"object_scale": [
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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],
|
| 67 |
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| 68 |
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],
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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"on_top": true
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"type": "object",
|
| 79 |
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"info": {
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| 80 |
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"groups_containing_sampled_obj": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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],
|
| 87 |
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"groups": [
|
| 88 |
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|
| 89 |
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],
|
| 90 |
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"cat": "kebab_skewer",
|
| 91 |
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|
| 92 |
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|
| 93 |
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}
|
| 94 |
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},
|
| 95 |
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{
|
| 96 |
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"name": "baguette",
|
| 97 |
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|
| 98 |
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|
| 99 |
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],
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| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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}
|
| 108 |
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},
|
| 109 |
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"type": "object",
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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],
|
| 119 |
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|
| 120 |
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|
| 121 |
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],
|
| 122 |
+
"cat": "baguette",
|
| 123 |
+
"split": "test",
|
| 124 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_4/model.xml"
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
],
|
| 128 |
+
"fixtures": {
|
| 129 |
+
"wall_room": {
|
| 130 |
+
"cls": "Wall"
|
| 131 |
+
},
|
| 132 |
+
"wall_backing_room": {
|
| 133 |
+
"cls": "Wall"
|
| 134 |
+
},
|
| 135 |
+
"wall_right_room": {
|
| 136 |
+
"cls": "Wall"
|
| 137 |
+
},
|
| 138 |
+
"wall_right_backing_room": {
|
| 139 |
+
"cls": "Wall"
|
| 140 |
+
},
|
| 141 |
+
"floor_room": {
|
| 142 |
+
"cls": "Floor"
|
| 143 |
+
},
|
| 144 |
+
"floor_backing_room": {
|
| 145 |
+
"cls": "Floor"
|
| 146 |
+
},
|
| 147 |
+
"outlet_room": {
|
| 148 |
+
"cls": "WallAccessory"
|
| 149 |
+
},
|
| 150 |
+
"light_switch_room": {
|
| 151 |
+
"cls": "WallAccessory"
|
| 152 |
+
},
|
| 153 |
+
"light_switch_2_room": {
|
| 154 |
+
"cls": "WallAccessory"
|
| 155 |
+
},
|
| 156 |
+
"utensil_rack_room": {
|
| 157 |
+
"cls": "WallAccessory"
|
| 158 |
+
},
|
| 159 |
+
"outlet_2_room": {
|
| 160 |
+
"cls": "WallAccessory"
|
| 161 |
+
},
|
| 162 |
+
"cab_1_main_group": {
|
| 163 |
+
"cls": "HingeCabinet"
|
| 164 |
+
},
|
| 165 |
+
"cab_2_main_group": {
|
| 166 |
+
"cls": "HingeCabinet"
|
| 167 |
+
},
|
| 168 |
+
"cab_main_main_group": {
|
| 169 |
+
"cls": "HingeCabinet"
|
| 170 |
+
},
|
| 171 |
+
"cab_corner_main_group": {
|
| 172 |
+
"cls": "Box"
|
| 173 |
+
},
|
| 174 |
+
"cab_corner_2_main_group": {
|
| 175 |
+
"cls": "Box"
|
| 176 |
+
},
|
| 177 |
+
"sink_main_group": {
|
| 178 |
+
"cls": "Sink"
|
| 179 |
+
},
|
| 180 |
+
"counter_main_main_group": {
|
| 181 |
+
"cls": "Counter"
|
| 182 |
+
},
|
| 183 |
+
"counter_corner_main_main_group": {
|
| 184 |
+
"cls": "Counter"
|
| 185 |
+
},
|
| 186 |
+
"stack_1_main_group_base": {
|
| 187 |
+
"cls": "Box"
|
| 188 |
+
},
|
| 189 |
+
"stack_1_main_group_1": {
|
| 190 |
+
"cls": "Drawer"
|
| 191 |
+
},
|
| 192 |
+
"stack_1_main_group_2": {
|
| 193 |
+
"cls": "Drawer"
|
| 194 |
+
},
|
| 195 |
+
"stack_1_main_group_3": {
|
| 196 |
+
"cls": "Drawer"
|
| 197 |
+
},
|
| 198 |
+
"stack_1_main_group_4": {
|
| 199 |
+
"cls": "Drawer"
|
| 200 |
+
},
|
| 201 |
+
"stack_2_main_group_base": {
|
| 202 |
+
"cls": "Box"
|
| 203 |
+
},
|
| 204 |
+
"stack_2_main_group_1": {
|
| 205 |
+
"cls": "HingeCabinet"
|
| 206 |
+
},
|
| 207 |
+
"dishwasher_main_group": {
|
| 208 |
+
"cls": "Dishwasher"
|
| 209 |
+
},
|
| 210 |
+
"stack_3_main_group_base": {
|
| 211 |
+
"cls": "Box"
|
| 212 |
+
},
|
| 213 |
+
"stack_3_main_group_1": {
|
| 214 |
+
"cls": "SingleCabinet"
|
| 215 |
+
},
|
| 216 |
+
"toaster_oven_main_group": {
|
| 217 |
+
"cls": "ToasterOven"
|
| 218 |
+
},
|
| 219 |
+
"plant_main_group": {
|
| 220 |
+
"cls": "Accessory"
|
| 221 |
+
},
|
| 222 |
+
"knife_block_main_group": {
|
| 223 |
+
"cls": "Accessory"
|
| 224 |
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},
|
| 225 |
+
"paper_towel_main_group": {
|
| 226 |
+
"cls": "Accessory"
|
| 227 |
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},
|
| 228 |
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"soap_dispenser_main_group": {
|
| 229 |
+
"cls": "Accessory"
|
| 230 |
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},
|
| 231 |
+
"counter_1_right_group": {
|
| 232 |
+
"cls": "Counter"
|
| 233 |
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},
|
| 234 |
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"counter_corner_left_right_group": {
|
| 235 |
+
"cls": "Counter"
|
| 236 |
+
},
|
| 237 |
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"stove_right_group": {
|
| 238 |
+
"cls": "Stove"
|
| 239 |
+
},
|
| 240 |
+
"counter_2_right_group": {
|
| 241 |
+
"cls": "Counter"
|
| 242 |
+
},
|
| 243 |
+
"fridge_right_group": {
|
| 244 |
+
"cls": "FridgeBottomFreezer"
|
| 245 |
+
},
|
| 246 |
+
"fridge_housing_right_group": {
|
| 247 |
+
"cls": "HousingCabinet"
|
| 248 |
+
},
|
| 249 |
+
"stack_1_right_group_base": {
|
| 250 |
+
"cls": "Box"
|
| 251 |
+
},
|
| 252 |
+
"stack_1_right_group_1": {
|
| 253 |
+
"cls": "SingleCabinet"
|
| 254 |
+
},
|
| 255 |
+
"stack_1_right_group_2": {
|
| 256 |
+
"cls": "Drawer"
|
| 257 |
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},
|
| 258 |
+
"stack_2_right_group_base": {
|
| 259 |
+
"cls": "Box"
|
| 260 |
+
},
|
| 261 |
+
"stack_2_right_group_1": {
|
| 262 |
+
"cls": "HingeCabinet"
|
| 263 |
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},
|
| 264 |
+
"stack_2_right_group_2": {
|
| 265 |
+
"cls": "Drawer"
|
| 266 |
+
},
|
| 267 |
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"stack_2_right_group_3": {
|
| 268 |
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"cls": "Drawer"
|
| 269 |
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},
|
| 270 |
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"stack_3_right_group_base": {
|
| 271 |
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"cls": "Box"
|
| 272 |
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},
|
| 273 |
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"stack_3_right_group_1": {
|
| 274 |
+
"cls": "Drawer"
|
| 275 |
+
},
|
| 276 |
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"stack_3_right_group_2": {
|
| 277 |
+
"cls": "Drawer"
|
| 278 |
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},
|
| 279 |
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"stack_3_right_group_3": {
|
| 280 |
+
"cls": "Drawer"
|
| 281 |
+
},
|
| 282 |
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"stack_3_right_group_4": {
|
| 283 |
+
"cls": "Drawer"
|
| 284 |
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},
|
| 285 |
+
"cab_1_right_group": {
|
| 286 |
+
"cls": "SingleCabinet"
|
| 287 |
+
},
|
| 288 |
+
"microwave_right_group": {
|
| 289 |
+
"cls": "Microwave"
|
| 290 |
+
},
|
| 291 |
+
"cab_micro_right_group": {
|
| 292 |
+
"cls": "HingeCabinet"
|
| 293 |
+
},
|
| 294 |
+
"cab_2_right_group": {
|
| 295 |
+
"cls": "SingleCabinet"
|
| 296 |
+
},
|
| 297 |
+
"shelves_right_group": {
|
| 298 |
+
"cls": "OpenCabinet"
|
| 299 |
+
},
|
| 300 |
+
"cab_3_right_group": {
|
| 301 |
+
"cls": "HingeCabinet"
|
| 302 |
+
},
|
| 303 |
+
"toaster_right_group": {
|
| 304 |
+
"cls": "Toaster"
|
| 305 |
+
},
|
| 306 |
+
"coffee_machine_right_group": {
|
| 307 |
+
"cls": "CoffeeMachine"
|
| 308 |
+
},
|
| 309 |
+
"oil_bottle_right_group": {
|
| 310 |
+
"cls": "Accessory"
|
| 311 |
+
},
|
| 312 |
+
"tiered_basket_right_group": {
|
| 313 |
+
"cls": "Accessory"
|
| 314 |
+
},
|
| 315 |
+
"jar_right_group": {
|
| 316 |
+
"cls": "Accessory"
|
| 317 |
+
},
|
| 318 |
+
"salt_shaker_right_group": {
|
| 319 |
+
"cls": "Accessory"
|
| 320 |
+
},
|
| 321 |
+
"paprika_right_group": {
|
| 322 |
+
"cls": "Accessory"
|
| 323 |
+
},
|
| 324 |
+
"turmeric_right_group": {
|
| 325 |
+
"cls": "Accessory"
|
| 326 |
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},
|
| 327 |
+
"oil_bottle_right_group_auxiliary_right_group": {
|
| 328 |
+
"cls": "Accessory"
|
| 329 |
+
},
|
| 330 |
+
"jar_right_group_auxiliary_right_group": {
|
| 331 |
+
"cls": "Accessory"
|
| 332 |
+
},
|
| 333 |
+
"salt_shaker_right_group_auxiliary_right_group": {
|
| 334 |
+
"cls": "Accessory"
|
| 335 |
+
}
|
| 336 |
+
},
|
| 337 |
+
"gen_textures": {},
|
| 338 |
+
"lang": "Pick up the kebab skewer and baguette bread, and place them inside the toaster oven. Close the toaster oven door and start by setting the timer.",
|
| 339 |
+
"fixture_refs": {
|
| 340 |
+
"toaster_oven": "toaster_oven_main_group",
|
| 341 |
+
"counter": "counter_main_main_group"
|
| 342 |
+
},
|
| 343 |
+
"cam_configs": {
|
| 344 |
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"robot0_agentview_center": {
|
| 345 |
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"pos": [
|
| 346 |
+
-0.6,
|
| 347 |
+
0.0,
|
| 348 |
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|
| 349 |
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],
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| 350 |
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"quat": [
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| 351 |
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],
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| 356 |
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"parent_body": "mobilebase0_support"
|
| 357 |
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},
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| 358 |
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"robot0_agentview_left": {
|
| 359 |
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"pos": [
|
| 360 |
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-0.5,
|
| 361 |
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|
| 362 |
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|
| 363 |
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],
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| 364 |
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| 365 |
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|
| 366 |
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|
| 367 |
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|
| 368 |
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|
| 369 |
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],
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| 370 |
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|
| 371 |
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| 372 |
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},
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| 373 |
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"parent_body": "mobilebase0_support"
|
| 374 |
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},
|
| 375 |
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"robot0_agentview_right": {
|
| 376 |
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"pos": [
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| 377 |
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-0.5,
|
| 378 |
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-0.35,
|
| 379 |
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|
| 380 |
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],
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| 381 |
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|
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],
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|
| 388 |
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|
| 389 |
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},
|
| 390 |
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"parent_body": "mobilebase0_support"
|
| 391 |
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},
|
| 392 |
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"robot0_frontview": {
|
| 393 |
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"pos": [
|
| 394 |
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-0.5,
|
| 395 |
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|
| 396 |
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|
| 397 |
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],
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| 398 |
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| 399 |
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|
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|
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| 404 |
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|
| 405 |
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"fovy": "60"
|
| 406 |
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},
|
| 407 |
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"parent_body": "mobilebase0_support"
|
| 408 |
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},
|
| 409 |
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"robot0_eye_in_hand": {
|
| 410 |
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"pos": [
|
| 411 |
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0.05,
|
| 412 |
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|
| 413 |
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|
| 414 |
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],
|
| 415 |
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"quat": [
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| 416 |
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|
| 417 |
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|
| 418 |
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0.707107,
|
| 419 |
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|
| 420 |
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],
|
| 421 |
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"parent_body": "robot0_right_hand"
|
| 422 |
+
}
|
| 423 |
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},
|
| 424 |
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"init_robot_base_pos": [
|
| 425 |
+
1.7310206779880597,
|
| 426 |
+
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|
| 427 |
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|
| 428 |
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],
|
| 429 |
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"init_robot_base_ori": [
|
| 430 |
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0.0,
|
| 431 |
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0.0,
|
| 432 |
+
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|
| 433 |
+
]
|
| 434 |
+
}
|
target/composite/HeatKebabSandwich/20250813/lerobot/extras/episode_000201/ep_meta.json
ADDED
|
@@ -0,0 +1,623 @@
|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
|
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|
|
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|
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|
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|
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|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 7,
|
| 3 |
+
"style_id": 7,
|
| 4 |
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"object_cfgs": [
|
| 5 |
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{
|
| 6 |
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"name": "plate",
|
| 7 |
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"obj_groups": "plate",
|
| 8 |
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"object_scale": 1.25,
|
| 9 |
+
"init_robot_here": true,
|
| 10 |
+
"placement": {
|
| 11 |
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"fixture": "counter_1_left_group",
|
| 12 |
+
"sample_region_kwargs": {
|
| 13 |
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"ref": "toaster_oven_left_group",
|
| 14 |
+
"loc": "left_right",
|
| 15 |
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"min_size": [
|
| 16 |
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0.29100356578125,
|
| 17 |
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0.29108299893749995,
|
| 18 |
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0.01844893378125
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| 19 |
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]
|
| 20 |
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},
|
| 21 |
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"size": [
|
| 22 |
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1.0,
|
| 23 |
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0.4
|
| 24 |
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],
|
| 25 |
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"pos": [
|
| 26 |
+
"ref",
|
| 27 |
+
-1.0
|
| 28 |
+
]
|
| 29 |
+
},
|
| 30 |
+
"type": "object",
|
| 31 |
+
"info": {
|
| 32 |
+
"groups_containing_sampled_obj": [
|
| 33 |
+
"all",
|
| 34 |
+
"plate",
|
| 35 |
+
"receptacle",
|
| 36 |
+
"container",
|
| 37 |
+
"container_set2"
|
| 38 |
+
],
|
| 39 |
+
"groups": [
|
| 40 |
+
"plate"
|
| 41 |
+
],
|
| 42 |
+
"cat": "plate",
|
| 43 |
+
"split": "test",
|
| 44 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
|
| 45 |
+
},
|
| 46 |
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"reset_region": {
|
| 47 |
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"size": [
|
| 48 |
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0.7110690551144332,
|
| 49 |
+
0.65
|
| 50 |
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],
|
| 51 |
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"offset": [
|
| 52 |
+
-0.6444654724427834,
|
| 53 |
+
0.0,
|
| 54 |
+
0.46
|
| 55 |
+
],
|
| 56 |
+
"name": "geom_0"
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"name": "kebab",
|
| 61 |
+
"obj_groups": "kebab_skewer",
|
| 62 |
+
"object_scale": [
|
| 63 |
+
1.1,
|
| 64 |
+
0.8,
|
| 65 |
+
1
|
| 66 |
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],
|
| 67 |
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"placement": {
|
| 68 |
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"size": [
|
| 69 |
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0.145501782890625,
|
| 70 |
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0.145501782890625
|
| 71 |
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],
|
| 72 |
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"ensure_object_boundary_in_range": false,
|
| 73 |
+
"sample_args": {
|
| 74 |
+
"reference": "plate",
|
| 75 |
+
"on_top": true
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"type": "object",
|
| 79 |
+
"info": {
|
| 80 |
+
"groups_containing_sampled_obj": [
|
| 81 |
+
"all",
|
| 82 |
+
"kebab_skewer",
|
| 83 |
+
"cooked_food",
|
| 84 |
+
"food",
|
| 85 |
+
"in_container"
|
| 86 |
+
],
|
| 87 |
+
"groups": [
|
| 88 |
+
"kebab_skewer"
|
| 89 |
+
],
|
| 90 |
+
"cat": "kebab_skewer",
|
| 91 |
+
"split": "test",
|
| 92 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer006/model.xml"
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
{
|
| 96 |
+
"name": "baguette",
|
| 97 |
+
"obj_groups": "baguette",
|
| 98 |
+
"placement": {
|
| 99 |
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"size": [
|
| 100 |
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0.145501782890625,
|
| 101 |
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0.145501782890625
|
| 102 |
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],
|
| 103 |
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"ensure_object_boundary_in_range": false,
|
| 104 |
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"sample_args": {
|
| 105 |
+
"reference": "plate",
|
| 106 |
+
"on_top": true
|
| 107 |
+
}
|
| 108 |
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},
|
| 109 |
+
"type": "object",
|
| 110 |
+
"info": {
|
| 111 |
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"groups_containing_sampled_obj": [
|
| 112 |
+
"all",
|
| 113 |
+
"baguette",
|
| 114 |
+
"bread_food",
|
| 115 |
+
"food",
|
| 116 |
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"in_container",
|
| 117 |
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"food_set1"
|
| 118 |
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],
|
| 119 |
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"groups": [
|
| 120 |
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"baguette"
|
| 121 |
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],
|
| 122 |
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"cat": "baguette",
|
| 123 |
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"split": "test",
|
| 124 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_4/model.xml"
|
| 125 |
+
}
|
| 126 |
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}
|
| 127 |
+
],
|
| 128 |
+
"fixtures": {
|
| 129 |
+
"wall_room": {
|
| 130 |
+
"cls": "Wall"
|
| 131 |
+
},
|
| 132 |
+
"wall_backing_room": {
|
| 133 |
+
"cls": "Wall"
|
| 134 |
+
},
|
| 135 |
+
"wall_left_room": {
|
| 136 |
+
"cls": "Wall"
|
| 137 |
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},
|
| 138 |
+
"wall_left_backing_room": {
|
| 139 |
+
"cls": "Wall"
|
| 140 |
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},
|
| 141 |
+
"wall_right_room": {
|
| 142 |
+
"cls": "Wall"
|
| 143 |
+
},
|
| 144 |
+
"wall_right_backing_room": {
|
| 145 |
+
"cls": "Wall"
|
| 146 |
+
},
|
| 147 |
+
"floor_room": {
|
| 148 |
+
"cls": "Floor"
|
| 149 |
+
},
|
| 150 |
+
"floor_backing_room": {
|
| 151 |
+
"cls": "Floor"
|
| 152 |
+
},
|
| 153 |
+
"utensil_rack_room": {
|
| 154 |
+
"cls": "WallAccessory"
|
| 155 |
+
},
|
| 156 |
+
"light_switch_room": {
|
| 157 |
+
"cls": "WallAccessory"
|
| 158 |
+
},
|
| 159 |
+
"light_switch_2_room": {
|
| 160 |
+
"cls": "WallAccessory"
|
| 161 |
+
},
|
| 162 |
+
"outlet_room": {
|
| 163 |
+
"cls": "WallAccessory"
|
| 164 |
+
},
|
| 165 |
+
"outlet_2_room": {
|
| 166 |
+
"cls": "WallAccessory"
|
| 167 |
+
},
|
| 168 |
+
"outlet_3_room": {
|
| 169 |
+
"cls": "WallAccessory"
|
| 170 |
+
},
|
| 171 |
+
"window_group_room": {
|
| 172 |
+
"cls": "Window"
|
| 173 |
+
},
|
| 174 |
+
"stool_1_room": {
|
| 175 |
+
"cls": "Stool"
|
| 176 |
+
},
|
| 177 |
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"stool_2_room": {
|
| 178 |
+
"cls": "Stool"
|
| 179 |
+
},
|
| 180 |
+
"stool_3_room": {
|
| 181 |
+
"cls": "Stool"
|
| 182 |
+
},
|
| 183 |
+
"counter_corner_main_group": {
|
| 184 |
+
"cls": "Counter"
|
| 185 |
+
},
|
| 186 |
+
"counter_1_main_group": {
|
| 187 |
+
"cls": "Counter"
|
| 188 |
+
},
|
| 189 |
+
"stovetop_main_group": {
|
| 190 |
+
"cls": "Stovetop"
|
| 191 |
+
},
|
| 192 |
+
"counter_main_main_group": {
|
| 193 |
+
"cls": "Counter"
|
| 194 |
+
},
|
| 195 |
+
"counter_corner_2_main_group": {
|
| 196 |
+
"cls": "Counter"
|
| 197 |
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},
|
| 198 |
+
"cab_corner_main_group": {
|
| 199 |
+
"cls": "Box"
|
| 200 |
+
},
|
| 201 |
+
"cab_corner_2_main_group": {
|
| 202 |
+
"cls": "Box"
|
| 203 |
+
},
|
| 204 |
+
"cab_1_main_group": {
|
| 205 |
+
"cls": "SingleCabinet"
|
| 206 |
+
},
|
| 207 |
+
"hood_main_group": {
|
| 208 |
+
"cls": "Hood"
|
| 209 |
+
},
|
| 210 |
+
"shelves_main_group": {
|
| 211 |
+
"cls": "OpenCabinet"
|
| 212 |
+
},
|
| 213 |
+
"cab_main_main_group": {
|
| 214 |
+
"cls": "SingleCabinet"
|
| 215 |
+
},
|
| 216 |
+
"cab_corner_3_main_group": {
|
| 217 |
+
"cls": "Box"
|
| 218 |
+
},
|
| 219 |
+
"cab_corner_4_main_group": {
|
| 220 |
+
"cls": "Box"
|
| 221 |
+
},
|
| 222 |
+
"stack_1_main_group_base": {
|
| 223 |
+
"cls": "Box"
|
| 224 |
+
},
|
| 225 |
+
"stack_1_main_group_1": {
|
| 226 |
+
"cls": "HingeCabinet"
|
| 227 |
+
},
|
| 228 |
+
"stack_1_main_group_2": {
|
| 229 |
+
"cls": "Drawer"
|
| 230 |
+
},
|
| 231 |
+
"stack_1_main_group_3": {
|
| 232 |
+
"cls": "Drawer"
|
| 233 |
+
},
|
| 234 |
+
"stack_2_main_group_base": {
|
| 235 |
+
"cls": "Box"
|
| 236 |
+
},
|
| 237 |
+
"stack_2_main_group_1": {
|
| 238 |
+
"cls": "HingeCabinet"
|
| 239 |
+
},
|
| 240 |
+
"stack_2_main_group_2": {
|
| 241 |
+
"cls": "Drawer"
|
| 242 |
+
},
|
| 243 |
+
"stack_2_main_group_3": {
|
| 244 |
+
"cls": "Drawer"
|
| 245 |
+
},
|
| 246 |
+
"stack_3_main_group_base": {
|
| 247 |
+
"cls": "Box"
|
| 248 |
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},
|
| 249 |
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"stack_3_main_group_1": {
|
| 250 |
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"cls": "Drawer"
|
| 251 |
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},
|
| 252 |
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"stack_3_main_group_2": {
|
| 253 |
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"cls": "Drawer"
|
| 254 |
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},
|
| 255 |
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"stack_3_main_group_3": {
|
| 256 |
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"cls": "Drawer"
|
| 257 |
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},
|
| 258 |
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"stack_3_main_group_4": {
|
| 259 |
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"cls": "Drawer"
|
| 260 |
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},
|
| 261 |
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"stack_4_main_group_base": {
|
| 262 |
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"cls": "Box"
|
| 263 |
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},
|
| 264 |
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"stack_4_main_group_1": {
|
| 265 |
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"cls": "HingeCabinet"
|
| 266 |
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},
|
| 267 |
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"stack_5_main_group_base": {
|
| 268 |
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"cls": "Box"
|
| 269 |
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|
| 270 |
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"stack_5_main_group_1": {
|
| 271 |
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"cls": "HingeCabinet"
|
| 272 |
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},
|
| 273 |
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"stack_5_main_group_2": {
|
| 274 |
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"cls": "Drawer"
|
| 275 |
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},
|
| 276 |
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"stack_5_main_group_3": {
|
| 277 |
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"cls": "Drawer"
|
| 278 |
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},
|
| 279 |
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"stack_6_main_group_base": {
|
| 280 |
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"cls": "Box"
|
| 281 |
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},
|
| 282 |
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"stack_6_main_group_1": {
|
| 283 |
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"cls": "SingleCabinet"
|
| 284 |
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},
|
| 285 |
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"stack_6_main_group_2": {
|
| 286 |
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"cls": "Drawer"
|
| 287 |
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},
|
| 288 |
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"knife_block_main_group": {
|
| 289 |
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"cls": "Accessory"
|
| 290 |
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},
|
| 291 |
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"paper_towel_main_group": {
|
| 292 |
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"cls": "Accessory"
|
| 293 |
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},
|
| 294 |
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"utensil_set_main_group": {
|
| 295 |
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"cls": "Accessory"
|
| 296 |
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},
|
| 297 |
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"oil_bottle_main_group": {
|
| 298 |
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"cls": "Accessory"
|
| 299 |
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},
|
| 300 |
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"glass_cup_main_group": {
|
| 301 |
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"cls": "Accessory"
|
| 302 |
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},
|
| 303 |
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"glass_cup_2_main_group": {
|
| 304 |
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"cls": "Accessory"
|
| 305 |
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},
|
| 306 |
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"oil_bottle_main_group_auxiliary_main_group": {
|
| 307 |
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"cls": "Accessory"
|
| 308 |
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},
|
| 309 |
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"sink_island_group": {
|
| 310 |
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"cls": "Sink"
|
| 311 |
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|
| 312 |
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"island_island_group": {
|
| 313 |
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"cls": "Counter"
|
| 314 |
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|
| 315 |
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|
| 316 |
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"cls": "Box"
|
| 317 |
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|
| 318 |
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|
| 319 |
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"cls": "HingeCabinet"
|
| 320 |
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},
|
| 321 |
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|
| 322 |
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"cls": "PanelCabinet"
|
| 323 |
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|
| 324 |
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"dishwasher_island_group": {
|
| 325 |
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"cls": "Dishwasher"
|
| 326 |
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|
| 327 |
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|
| 328 |
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"cls": "Box"
|
| 329 |
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|
| 330 |
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| 331 |
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"cls": "PanelCabinet"
|
| 332 |
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|
| 334 |
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"cls": "Box"
|
| 335 |
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|
| 337 |
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"cls": "Drawer"
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|
| 340 |
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"cls": "Drawer"
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| 341 |
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|
| 343 |
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"cls": "Drawer"
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| 344 |
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| 345 |
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|
| 346 |
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"cls": "Drawer"
|
| 347 |
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},
|
| 348 |
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|
| 349 |
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"cls": "Box"
|
| 350 |
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},
|
| 351 |
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"island_panel_cab_left_island_group_1": {
|
| 352 |
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"cls": "PanelCabinet"
|
| 353 |
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},
|
| 354 |
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"island_base_box_island_group": {
|
| 355 |
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"cls": "Box"
|
| 356 |
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},
|
| 357 |
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"plant_island_group": {
|
| 358 |
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"cls": "Accessory"
|
| 359 |
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|
| 360 |
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|
| 361 |
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"cls": "Accessory"
|
| 362 |
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|
| 363 |
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|
| 364 |
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"cls": "Accessory"
|
| 365 |
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},
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| 366 |
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|
| 367 |
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"cls": "Accessory"
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| 368 |
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|
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|
| 370 |
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"cls": "Accessory"
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| 371 |
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},
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| 372 |
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|
| 373 |
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"cls": "Counter"
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| 374 |
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|
| 376 |
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| 385 |
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"cls": "Drawer"
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| 386 |
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},
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|
| 388 |
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"cls": "Oven"
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| 389 |
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},
|
| 390 |
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|
| 391 |
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"cls": "HousingCabinet"
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| 392 |
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},
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| 394 |
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"cls": "Microwave"
|
| 395 |
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},
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| 396 |
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|
| 397 |
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"cls": "HousingCabinet"
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| 398 |
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},
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"top_left_group": {
|
| 400 |
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"cls": "HingeCabinet"
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| 401 |
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},
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| 403 |
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"cls": "Box"
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| 404 |
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| 406 |
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"cls": "SingleCabinet"
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| 407 |
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| 409 |
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"cls": "Drawer"
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},
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| 412 |
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"cls": "Box"
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| 413 |
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},
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| 415 |
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"cls": "HingeCabinet"
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| 416 |
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},
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| 418 |
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"cls": "Drawer"
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| 419 |
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},
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| 421 |
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"cls": "Drawer"
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},
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| 424 |
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"cls": "Box"
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| 425 |
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},
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| 427 |
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"cls": "Drawer"
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| 428 |
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},
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| 430 |
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"cls": "Drawer"
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},
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| 433 |
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"cls": "Drawer"
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| 434 |
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},
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| 436 |
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"cls": "Drawer"
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| 437 |
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},
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| 438 |
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| 439 |
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"cls": "OpenCabinet"
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| 440 |
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},
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| 441 |
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| 442 |
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"cls": "SingleCabinet"
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| 443 |
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},
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| 444 |
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| 445 |
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"cls": "ToasterOven"
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| 446 |
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},
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| 447 |
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| 448 |
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"cls": "Accessory"
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| 449 |
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},
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| 451 |
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"cls": "Accessory"
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| 452 |
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},
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| 454 |
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"cls": "Accessory"
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| 455 |
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},
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| 457 |
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"cls": "Accessory"
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| 458 |
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},
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| 460 |
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"cls": "Accessory"
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| 461 |
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},
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| 462 |
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| 463 |
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"cls": "Counter"
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| 464 |
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},
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| 465 |
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|
| 466 |
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"cls": "Counter"
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| 467 |
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},
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| 468 |
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|
| 469 |
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"cls": "FridgeSideBySide"
|
| 470 |
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},
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| 471 |
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|
| 472 |
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"cls": "HousingCabinet"
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| 473 |
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},
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| 474 |
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| 475 |
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"cls": "Box"
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| 476 |
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},
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| 477 |
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| 478 |
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"cls": "HingeCabinet"
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| 479 |
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| 480 |
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| 481 |
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"cls": "Drawer"
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| 482 |
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},
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| 483 |
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| 484 |
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"cls": "Drawer"
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| 485 |
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},
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| 486 |
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"stack_2_right_group_base": {
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| 487 |
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"cls": "Box"
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| 488 |
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},
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| 489 |
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| 490 |
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"cls": "SingleCabinet"
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| 491 |
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},
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| 492 |
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| 493 |
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"cls": "Drawer"
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| 494 |
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},
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| 495 |
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"stack_3_right_group_base": {
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| 496 |
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"cls": "Box"
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| 497 |
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},
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| 499 |
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"cls": "Drawer"
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| 500 |
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},
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| 501 |
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| 502 |
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"cls": "Drawer"
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| 503 |
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},
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| 505 |
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"cls": "Drawer"
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},
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| 508 |
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"cls": "Drawer"
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| 509 |
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},
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| 510 |
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| 511 |
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"cls": "HingeCabinet"
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| 512 |
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},
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"cab_2_right_group": {
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| 514 |
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"cls": "HingeCabinet"
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| 515 |
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},
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| 517 |
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"cls": "HingeCabinet"
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| 518 |
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},
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"coffee_machine_right_group": {
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| 520 |
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"cls": "CoffeeMachine"
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| 521 |
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},
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| 522 |
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"toaster_right_group": {
|
| 523 |
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"cls": "Toaster"
|
| 524 |
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}
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| 525 |
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},
|
| 526 |
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"gen_textures": {},
|
| 527 |
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"lang": "Pick up the kebab skewer and baguette bread, and place them inside the toaster oven. Close the toaster oven door and start by setting the timer.",
|
| 528 |
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"fixture_refs": {
|
| 529 |
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"toaster_oven": "toaster_oven_left_group",
|
| 530 |
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"counter": "counter_1_left_group"
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| 531 |
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},
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| 532 |
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"cam_configs": {
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| 534 |
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"pos": [
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| 535 |
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| 599 |
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| 603 |
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],
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|
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"parent_body": "robot0_right_hand"
|
| 611 |
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}
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| 612 |
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},
|
| 613 |
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|
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|
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"init_robot_base_ori": [
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| 619 |
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|
| 622 |
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]
|
| 623 |
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}
|
target/composite/HeatKebabSandwich/20250813/lerobot/extras/episode_000211/ep_meta.json
ADDED
|
@@ -0,0 +1,548 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 9,
|
| 3 |
+
"style_id": 9,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "plate",
|
| 7 |
+
"obj_groups": "plate",
|
| 8 |
+
"object_scale": 1.25,
|
| 9 |
+
"init_robot_here": true,
|
| 10 |
+
"placement": {
|
| 11 |
+
"fixture": "counter_main_main_group",
|
| 12 |
+
"sample_region_kwargs": {
|
| 13 |
+
"ref": "toaster_oven_main_group",
|
| 14 |
+
"loc": "left_right",
|
| 15 |
+
"min_size": [
|
| 16 |
+
0.30900310008750004,
|
| 17 |
+
0.30715758495,
|
| 18 |
+
0.01616790965625
|
| 19 |
+
]
|
| 20 |
+
},
|
| 21 |
+
"size": [
|
| 22 |
+
1.0,
|
| 23 |
+
0.4
|
| 24 |
+
],
|
| 25 |
+
"pos": [
|
| 26 |
+
"ref",
|
| 27 |
+
-1.0
|
| 28 |
+
]
|
| 29 |
+
},
|
| 30 |
+
"type": "object",
|
| 31 |
+
"info": {
|
| 32 |
+
"groups_containing_sampled_obj": [
|
| 33 |
+
"all",
|
| 34 |
+
"plate",
|
| 35 |
+
"receptacle",
|
| 36 |
+
"container",
|
| 37 |
+
"container_set2"
|
| 38 |
+
],
|
| 39 |
+
"groups": [
|
| 40 |
+
"plate"
|
| 41 |
+
],
|
| 42 |
+
"cat": "plate",
|
| 43 |
+
"split": "test",
|
| 44 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
|
| 45 |
+
},
|
| 46 |
+
"reset_region": {
|
| 47 |
+
"size": [
|
| 48 |
+
2.4607005910089113,
|
| 49 |
+
0.65
|
| 50 |
+
],
|
| 51 |
+
"offset": [
|
| 52 |
+
-0.26964970449554426,
|
| 53 |
+
0.0,
|
| 54 |
+
0.46
|
| 55 |
+
],
|
| 56 |
+
"name": "geom_0"
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"name": "kebab",
|
| 61 |
+
"obj_groups": "kebab_skewer",
|
| 62 |
+
"object_scale": [
|
| 63 |
+
1.1,
|
| 64 |
+
0.8,
|
| 65 |
+
1
|
| 66 |
+
],
|
| 67 |
+
"placement": {
|
| 68 |
+
"size": [
|
| 69 |
+
0.153578792475,
|
| 70 |
+
0.153578792475
|
| 71 |
+
],
|
| 72 |
+
"ensure_object_boundary_in_range": false,
|
| 73 |
+
"sample_args": {
|
| 74 |
+
"reference": "plate",
|
| 75 |
+
"on_top": true
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"type": "object",
|
| 79 |
+
"info": {
|
| 80 |
+
"groups_containing_sampled_obj": [
|
| 81 |
+
"all",
|
| 82 |
+
"kebab_skewer",
|
| 83 |
+
"cooked_food",
|
| 84 |
+
"food",
|
| 85 |
+
"in_container"
|
| 86 |
+
],
|
| 87 |
+
"groups": [
|
| 88 |
+
"kebab_skewer"
|
| 89 |
+
],
|
| 90 |
+
"cat": "kebab_skewer",
|
| 91 |
+
"split": "test",
|
| 92 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer004/model.xml"
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
{
|
| 96 |
+
"name": "baguette",
|
| 97 |
+
"obj_groups": "baguette",
|
| 98 |
+
"placement": {
|
| 99 |
+
"size": [
|
| 100 |
+
0.153578792475,
|
| 101 |
+
0.153578792475
|
| 102 |
+
],
|
| 103 |
+
"ensure_object_boundary_in_range": false,
|
| 104 |
+
"sample_args": {
|
| 105 |
+
"reference": "plate",
|
| 106 |
+
"on_top": true
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"type": "object",
|
| 110 |
+
"info": {
|
| 111 |
+
"groups_containing_sampled_obj": [
|
| 112 |
+
"all",
|
| 113 |
+
"baguette",
|
| 114 |
+
"bread_food",
|
| 115 |
+
"food",
|
| 116 |
+
"in_container",
|
| 117 |
+
"food_set1"
|
| 118 |
+
],
|
| 119 |
+
"groups": [
|
| 120 |
+
"baguette"
|
| 121 |
+
],
|
| 122 |
+
"cat": "baguette",
|
| 123 |
+
"split": "test",
|
| 124 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_4/model.xml"
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
],
|
| 128 |
+
"fixtures": {
|
| 129 |
+
"wall_room": {
|
| 130 |
+
"cls": "Wall"
|
| 131 |
+
},
|
| 132 |
+
"wall_backing_room": {
|
| 133 |
+
"cls": "Wall"
|
| 134 |
+
},
|
| 135 |
+
"wall_left_room": {
|
| 136 |
+
"cls": "Wall"
|
| 137 |
+
},
|
| 138 |
+
"wall_left_backing_room": {
|
| 139 |
+
"cls": "Wall"
|
| 140 |
+
},
|
| 141 |
+
"wall_right_room": {
|
| 142 |
+
"cls": "Wall"
|
| 143 |
+
},
|
| 144 |
+
"wall_right_backing_room": {
|
| 145 |
+
"cls": "Wall"
|
| 146 |
+
},
|
| 147 |
+
"outlet_room": {
|
| 148 |
+
"cls": "WallAccessory"
|
| 149 |
+
},
|
| 150 |
+
"utensil_rack_room": {
|
| 151 |
+
"cls": "WallAccessory"
|
| 152 |
+
},
|
| 153 |
+
"light_switch_room": {
|
| 154 |
+
"cls": "WallAccessory"
|
| 155 |
+
},
|
| 156 |
+
"light_switch_2_room": {
|
| 157 |
+
"cls": "WallAccessory"
|
| 158 |
+
},
|
| 159 |
+
"outlet_2_room": {
|
| 160 |
+
"cls": "WallAccessory"
|
| 161 |
+
},
|
| 162 |
+
"outlet_3_room": {
|
| 163 |
+
"cls": "WallAccessory"
|
| 164 |
+
},
|
| 165 |
+
"window_group_room": {
|
| 166 |
+
"cls": "Window"
|
| 167 |
+
},
|
| 168 |
+
"floor_room": {
|
| 169 |
+
"cls": "Floor"
|
| 170 |
+
},
|
| 171 |
+
"floor_backing_room": {
|
| 172 |
+
"cls": "Floor"
|
| 173 |
+
},
|
| 174 |
+
"stool_1_room": {
|
| 175 |
+
"cls": "Stool"
|
| 176 |
+
},
|
| 177 |
+
"stool_2_room": {
|
| 178 |
+
"cls": "Stool"
|
| 179 |
+
},
|
| 180 |
+
"stool_3_room": {
|
| 181 |
+
"cls": "Stool"
|
| 182 |
+
},
|
| 183 |
+
"counter_corner_main_group": {
|
| 184 |
+
"cls": "Counter"
|
| 185 |
+
},
|
| 186 |
+
"counter_main_main_group": {
|
| 187 |
+
"cls": "Counter"
|
| 188 |
+
},
|
| 189 |
+
"stovetop_main_group": {
|
| 190 |
+
"cls": "Stovetop"
|
| 191 |
+
},
|
| 192 |
+
"counter_1_main_group": {
|
| 193 |
+
"cls": "Counter"
|
| 194 |
+
},
|
| 195 |
+
"counter_corner_2_main_group": {
|
| 196 |
+
"cls": "Counter"
|
| 197 |
+
},
|
| 198 |
+
"cab_corner_main_group": {
|
| 199 |
+
"cls": "Box"
|
| 200 |
+
},
|
| 201 |
+
"cab_corner_2_main_group": {
|
| 202 |
+
"cls": "Box"
|
| 203 |
+
},
|
| 204 |
+
"cab_1_main_group": {
|
| 205 |
+
"cls": "HingeCabinet"
|
| 206 |
+
},
|
| 207 |
+
"cab_main_main_group": {
|
| 208 |
+
"cls": "HingeCabinet"
|
| 209 |
+
},
|
| 210 |
+
"cab_2_main_group": {
|
| 211 |
+
"cls": "SingleCabinet"
|
| 212 |
+
},
|
| 213 |
+
"shelves_1_main_group": {
|
| 214 |
+
"cls": "OpenCabinet"
|
| 215 |
+
},
|
| 216 |
+
"hood_main_group": {
|
| 217 |
+
"cls": "Hood"
|
| 218 |
+
},
|
| 219 |
+
"shelves_2_main_group": {
|
| 220 |
+
"cls": "OpenCabinet"
|
| 221 |
+
},
|
| 222 |
+
"stack_1_main_group_base": {
|
| 223 |
+
"cls": "Box"
|
| 224 |
+
},
|
| 225 |
+
"stack_1_main_group_1": {
|
| 226 |
+
"cls": "Drawer"
|
| 227 |
+
},
|
| 228 |
+
"stack_1_main_group_2": {
|
| 229 |
+
"cls": "Drawer"
|
| 230 |
+
},
|
| 231 |
+
"stack_1_main_group_3": {
|
| 232 |
+
"cls": "Drawer"
|
| 233 |
+
},
|
| 234 |
+
"stack_1_main_group_4": {
|
| 235 |
+
"cls": "Drawer"
|
| 236 |
+
},
|
| 237 |
+
"stack_2_main_group_base": {
|
| 238 |
+
"cls": "Box"
|
| 239 |
+
},
|
| 240 |
+
"stack_2_main_group_1": {
|
| 241 |
+
"cls": "HingeCabinet"
|
| 242 |
+
},
|
| 243 |
+
"stack_2_main_group_2": {
|
| 244 |
+
"cls": "Drawer"
|
| 245 |
+
},
|
| 246 |
+
"stack_2_main_group_3": {
|
| 247 |
+
"cls": "Drawer"
|
| 248 |
+
},
|
| 249 |
+
"stack_3_main_group_base": {
|
| 250 |
+
"cls": "Box"
|
| 251 |
+
},
|
| 252 |
+
"stack_3_main_group_1": {
|
| 253 |
+
"cls": "HingeCabinet"
|
| 254 |
+
},
|
| 255 |
+
"stack_3_main_group_2": {
|
| 256 |
+
"cls": "Drawer"
|
| 257 |
+
},
|
| 258 |
+
"stack_3_main_group_3": {
|
| 259 |
+
"cls": "Drawer"
|
| 260 |
+
},
|
| 261 |
+
"stack_4_main_group_base": {
|
| 262 |
+
"cls": "Box"
|
| 263 |
+
},
|
| 264 |
+
"stack_4_main_group_1": {
|
| 265 |
+
"cls": "HingeCabinet"
|
| 266 |
+
},
|
| 267 |
+
"stack_5_main_group_base": {
|
| 268 |
+
"cls": "Box"
|
| 269 |
+
},
|
| 270 |
+
"stack_5_main_group_1": {
|
| 271 |
+
"cls": "SingleCabinet"
|
| 272 |
+
},
|
| 273 |
+
"stack_5_main_group_2": {
|
| 274 |
+
"cls": "Drawer"
|
| 275 |
+
},
|
| 276 |
+
"coffee_machine_main_group": {
|
| 277 |
+
"cls": "CoffeeMachine"
|
| 278 |
+
},
|
| 279 |
+
"paper_towel_main_group": {
|
| 280 |
+
"cls": "Accessory"
|
| 281 |
+
},
|
| 282 |
+
"toaster_main_group": {
|
| 283 |
+
"cls": "Toaster"
|
| 284 |
+
},
|
| 285 |
+
"toaster_oven_main_group": {
|
| 286 |
+
"cls": "ToasterOven"
|
| 287 |
+
},
|
| 288 |
+
"utensil_set_main_group": {
|
| 289 |
+
"cls": "Accessory"
|
| 290 |
+
},
|
| 291 |
+
"oil_bottle_main_group": {
|
| 292 |
+
"cls": "Accessory"
|
| 293 |
+
},
|
| 294 |
+
"knife_block_main_group": {
|
| 295 |
+
"cls": "Accessory"
|
| 296 |
+
},
|
| 297 |
+
"jar_main_group": {
|
| 298 |
+
"cls": "Accessory"
|
| 299 |
+
},
|
| 300 |
+
"cinnamon_main_group": {
|
| 301 |
+
"cls": "Accessory"
|
| 302 |
+
},
|
| 303 |
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"turmeric_main_group": {
|
| 304 |
+
"cls": "Accessory"
|
| 305 |
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},
|
| 306 |
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"paprika_main_group": {
|
| 307 |
+
"cls": "Accessory"
|
| 308 |
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},
|
| 309 |
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"oil_bottle_main_group_auxiliary_main_group": {
|
| 310 |
+
"cls": "Accessory"
|
| 311 |
+
},
|
| 312 |
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"jar_main_group_auxiliary_main_group": {
|
| 313 |
+
"cls": "Accessory"
|
| 314 |
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},
|
| 315 |
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"counter_1_front_group": {
|
| 316 |
+
"cls": "Counter"
|
| 317 |
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},
|
| 318 |
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"counter_corner_front_group": {
|
| 319 |
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"cls": "Counter"
|
| 320 |
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},
|
| 321 |
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"salt_shaker_front_group": {
|
| 322 |
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"cls": "Accessory"
|
| 323 |
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},
|
| 324 |
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"salt_shaker_front_group_auxiliary_front_group": {
|
| 325 |
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"cls": "Accessory"
|
| 326 |
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},
|
| 327 |
+
"counter_corner_left_group": {
|
| 328 |
+
"cls": "Counter"
|
| 329 |
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},
|
| 330 |
+
"sink_left_group": {
|
| 331 |
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"cls": "Sink"
|
| 332 |
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},
|
| 333 |
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"counter_1_left_group": {
|
| 334 |
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"cls": "Counter"
|
| 335 |
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},
|
| 336 |
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"counter_corner_right_left_group": {
|
| 337 |
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"cls": "Counter"
|
| 338 |
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},
|
| 339 |
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"stack_1_left_group_base": {
|
| 340 |
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"cls": "Box"
|
| 341 |
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},
|
| 342 |
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"stack_1_left_group_1": {
|
| 343 |
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"cls": "HingeCabinet"
|
| 344 |
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},
|
| 345 |
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"stack_1_left_group_2": {
|
| 346 |
+
"cls": "Drawer"
|
| 347 |
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},
|
| 348 |
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"stack_1_left_group_3": {
|
| 349 |
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"cls": "Drawer"
|
| 350 |
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},
|
| 351 |
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"stack_2_left_group_base": {
|
| 352 |
+
"cls": "Box"
|
| 353 |
+
},
|
| 354 |
+
"stack_2_left_group_1": {
|
| 355 |
+
"cls": "HingeCabinet"
|
| 356 |
+
},
|
| 357 |
+
"dishwasher_left_group": {
|
| 358 |
+
"cls": "Dishwasher"
|
| 359 |
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},
|
| 360 |
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"stack_3_left_group_base": {
|
| 361 |
+
"cls": "Box"
|
| 362 |
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},
|
| 363 |
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"stack_3_left_group_1": {
|
| 364 |
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"cls": "SingleCabinet"
|
| 365 |
+
},
|
| 366 |
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"cab_1_left_group": {
|
| 367 |
+
"cls": "HingeCabinet"
|
| 368 |
+
},
|
| 369 |
+
"cab_2_left_group": {
|
| 370 |
+
"cls": "SingleCabinet"
|
| 371 |
+
},
|
| 372 |
+
"plant_left_group": {
|
| 373 |
+
"cls": "Accessory"
|
| 374 |
+
},
|
| 375 |
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"soap_dispenser_left_group": {
|
| 376 |
+
"cls": "Accessory"
|
| 377 |
+
},
|
| 378 |
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"fruit_bowl_left_group": {
|
| 379 |
+
"cls": "Accessory"
|
| 380 |
+
},
|
| 381 |
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"stack_left_right_group_base": {
|
| 382 |
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"cls": "Box"
|
| 383 |
+
},
|
| 384 |
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"stack_left_right_group_1": {
|
| 385 |
+
"cls": "SingleCabinet"
|
| 386 |
+
},
|
| 387 |
+
"stack_left_right_group_2": {
|
| 388 |
+
"cls": "SingleCabinet"
|
| 389 |
+
},
|
| 390 |
+
"fridge_right_group": {
|
| 391 |
+
"cls": "FridgeSideBySide"
|
| 392 |
+
},
|
| 393 |
+
"fridge_housing_right_group": {
|
| 394 |
+
"cls": "HousingCabinet"
|
| 395 |
+
},
|
| 396 |
+
"fridge_top_right_group": {
|
| 397 |
+
"cls": "HingeCabinet"
|
| 398 |
+
},
|
| 399 |
+
"stack_right_right_group_base": {
|
| 400 |
+
"cls": "Box"
|
| 401 |
+
},
|
| 402 |
+
"stack_right_right_group_1": {
|
| 403 |
+
"cls": "SingleCabinet"
|
| 404 |
+
},
|
| 405 |
+
"stack_right_right_group_2": {
|
| 406 |
+
"cls": "SingleCabinet"
|
| 407 |
+
},
|
| 408 |
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"cab_top_corner_right_group": {
|
| 409 |
+
"cls": "Box"
|
| 410 |
+
},
|
| 411 |
+
"bottom_corner_right_group": {
|
| 412 |
+
"cls": "Box"
|
| 413 |
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},
|
| 414 |
+
"bottom_right_group_base": {
|
| 415 |
+
"cls": "Box"
|
| 416 |
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},
|
| 417 |
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"bottom_right_group_1": {
|
| 418 |
+
"cls": "Drawer"
|
| 419 |
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},
|
| 420 |
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"bottom_right_group_2": {
|
| 421 |
+
"cls": "Drawer"
|
| 422 |
+
},
|
| 423 |
+
"oven_right_group": {
|
| 424 |
+
"cls": "Oven"
|
| 425 |
+
},
|
| 426 |
+
"oven_housing_right_group": {
|
| 427 |
+
"cls": "HousingCabinet"
|
| 428 |
+
},
|
| 429 |
+
"microwave_right_group": {
|
| 430 |
+
"cls": "Microwave"
|
| 431 |
+
},
|
| 432 |
+
"micro_housing_right_group": {
|
| 433 |
+
"cls": "HousingCabinet"
|
| 434 |
+
},
|
| 435 |
+
"top_right_group": {
|
| 436 |
+
"cls": "HingeCabinet"
|
| 437 |
+
},
|
| 438 |
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"side_bottom_right_group_base": {
|
| 439 |
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"cls": "Box"
|
| 440 |
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},
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| 441 |
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"side_bottom_right_group_1": {
|
| 442 |
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"cls": "Drawer"
|
| 443 |
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},
|
| 444 |
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"side_bottom_right_group_2": {
|
| 445 |
+
"cls": "Drawer"
|
| 446 |
+
},
|
| 447 |
+
"side_bottom_right_group_3": {
|
| 448 |
+
"cls": "HingeCabinet"
|
| 449 |
+
}
|
| 450 |
+
},
|
| 451 |
+
"gen_textures": {},
|
| 452 |
+
"lang": "Pick up the kebab skewer and baguette bread, and place them inside the toaster oven. Close the toaster oven door and start by setting the timer.",
|
| 453 |
+
"fixture_refs": {
|
| 454 |
+
"toaster_oven": "toaster_oven_main_group",
|
| 455 |
+
"counter": "counter_main_main_group"
|
| 456 |
+
},
|
| 457 |
+
"cam_configs": {
|
| 458 |
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"robot0_agentview_center": {
|
| 459 |
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"pos": [
|
| 460 |
+
-0.6,
|
| 461 |
+
0.0,
|
| 462 |
+
1.15
|
| 463 |
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],
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| 464 |
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"quat": [
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| 465 |
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| 468 |
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|
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],
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| 470 |
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"parent_body": "mobilebase0_support"
|
| 471 |
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},
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| 472 |
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"robot0_agentview_left": {
|
| 473 |
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"pos": [
|
| 474 |
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-0.5,
|
| 475 |
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|
| 476 |
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|
| 477 |
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],
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| 478 |
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| 479 |
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|
| 480 |
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|
| 481 |
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|
| 482 |
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],
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| 484 |
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| 485 |
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"fovy": "60"
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| 486 |
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},
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| 487 |
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"parent_body": "mobilebase0_support"
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| 488 |
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},
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| 489 |
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"robot0_agentview_right": {
|
| 490 |
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"pos": [
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| 491 |
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-0.5,
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| 492 |
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-0.35,
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| 493 |
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|
| 494 |
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],
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| 495 |
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|
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|
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],
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| 501 |
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| 502 |
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|
| 503 |
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},
|
| 504 |
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"parent_body": "mobilebase0_support"
|
| 505 |
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},
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| 506 |
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"robot0_frontview": {
|
| 507 |
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"pos": [
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| 508 |
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-0.5,
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| 509 |
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| 510 |
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| 511 |
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],
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| 512 |
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| 513 |
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|
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],
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"camera_attribs": {
|
| 519 |
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"fovy": "60"
|
| 520 |
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},
|
| 521 |
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"parent_body": "mobilebase0_support"
|
| 522 |
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},
|
| 523 |
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"robot0_eye_in_hand": {
|
| 524 |
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"pos": [
|
| 525 |
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0.05,
|
| 526 |
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|
| 527 |
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|
| 528 |
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],
|
| 529 |
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"quat": [
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| 530 |
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|
| 531 |
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|
| 532 |
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0.707107,
|
| 533 |
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|
| 534 |
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],
|
| 535 |
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"parent_body": "robot0_right_hand"
|
| 536 |
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}
|
| 537 |
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},
|
| 538 |
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"init_robot_base_pos": [
|
| 539 |
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|
| 540 |
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|
| 541 |
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|
| 542 |
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],
|
| 543 |
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"init_robot_base_ori": [
|
| 544 |
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|
| 545 |
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0.0,
|
| 546 |
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|
| 547 |
+
]
|
| 548 |
+
}
|
target/composite/HeatKebabSandwich/20250813/lerobot/extras/episode_000245/ep_meta.json
ADDED
|
@@ -0,0 +1,455 @@
|
|
|
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|
|
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|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
| 1 |
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{
|
| 2 |
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| 3 |
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| 4 |
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| 5 |
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{
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| 6 |
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| 7 |
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"obj_groups": "plate",
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| 8 |
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"object_scale": 1.25,
|
| 9 |
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|
| 10 |
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"placement": {
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| 11 |
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"fixture": "counter_right_main_group",
|
| 12 |
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"sample_region_kwargs": {
|
| 13 |
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"ref": "toaster_oven_main_group",
|
| 14 |
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"loc": "left_right",
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| 15 |
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|
| 16 |
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|
| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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"size": [
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| 22 |
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1.0,
|
| 23 |
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0.4
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| 24 |
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],
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| 25 |
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| 26 |
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"ref",
|
| 27 |
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-1.0
|
| 28 |
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]
|
| 29 |
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},
|
| 30 |
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"type": "object",
|
| 31 |
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"info": {
|
| 32 |
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"groups_containing_sampled_obj": [
|
| 33 |
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"all",
|
| 34 |
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"plate",
|
| 35 |
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"receptacle",
|
| 36 |
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"container",
|
| 37 |
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"container_set2"
|
| 38 |
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],
|
| 39 |
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"groups": [
|
| 40 |
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"plate"
|
| 41 |
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],
|
| 42 |
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"cat": "plate",
|
| 43 |
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"split": "test",
|
| 44 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
|
| 45 |
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},
|
| 46 |
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"reset_region": {
|
| 47 |
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"size": [
|
| 48 |
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| 49 |
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0.65
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| 50 |
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],
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| 51 |
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"offset": [
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| 52 |
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|
| 53 |
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0.0,
|
| 54 |
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0.46
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| 55 |
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],
|
| 56 |
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"name": "geom_0"
|
| 57 |
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}
|
| 58 |
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},
|
| 59 |
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{
|
| 60 |
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"name": "kebab",
|
| 61 |
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"obj_groups": "kebab_skewer",
|
| 62 |
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"object_scale": [
|
| 63 |
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1.1,
|
| 64 |
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0.8,
|
| 65 |
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1
|
| 66 |
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],
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| 67 |
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| 68 |
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| 69 |
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| 70 |
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| 71 |
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],
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| 72 |
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"ensure_object_boundary_in_range": false,
|
| 73 |
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|
| 74 |
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"reference": "plate",
|
| 75 |
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"on_top": true
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"type": "object",
|
| 79 |
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"info": {
|
| 80 |
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|
| 81 |
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"all",
|
| 82 |
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"kebab_skewer",
|
| 83 |
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"cooked_food",
|
| 84 |
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"food",
|
| 85 |
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"in_container"
|
| 86 |
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],
|
| 87 |
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"groups": [
|
| 88 |
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"kebab_skewer"
|
| 89 |
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],
|
| 90 |
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"cat": "kebab_skewer",
|
| 91 |
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"split": "test",
|
| 92 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer004/model.xml"
|
| 93 |
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}
|
| 94 |
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},
|
| 95 |
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{
|
| 96 |
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"name": "baguette",
|
| 97 |
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"obj_groups": "baguette",
|
| 98 |
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"placement": {
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| 99 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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"on_top": true
|
| 107 |
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}
|
| 108 |
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},
|
| 109 |
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"type": "object",
|
| 110 |
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"info": {
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| 111 |
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| 112 |
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"all",
|
| 113 |
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|
| 114 |
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|
| 115 |
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"food",
|
| 116 |
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|
| 117 |
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|
| 118 |
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],
|
| 119 |
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|
| 120 |
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|
| 121 |
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],
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| 122 |
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"cat": "baguette",
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| 123 |
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"split": "test",
|
| 124 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_4/model.xml"
|
| 125 |
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}
|
| 126 |
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}
|
| 127 |
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],
|
| 128 |
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|
| 129 |
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|
| 130 |
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"cls": "Wall"
|
| 131 |
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},
|
| 132 |
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|
| 133 |
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"cls": "Wall"
|
| 134 |
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},
|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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"cls": "Wall"
|
| 143 |
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|
| 144 |
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|
| 145 |
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"cls": "Wall"
|
| 146 |
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},
|
| 147 |
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|
| 148 |
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"cls": "WallAccessory"
|
| 149 |
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},
|
| 150 |
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|
| 151 |
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"cls": "WallAccessory"
|
| 152 |
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},
|
| 153 |
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|
| 154 |
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"cls": "WallAccessory"
|
| 155 |
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},
|
| 156 |
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|
| 157 |
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"cls": "WallAccessory"
|
| 158 |
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},
|
| 159 |
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|
| 160 |
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"cls": "WallAccessory"
|
| 161 |
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},
|
| 162 |
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|
| 163 |
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"cls": "WallAccessory"
|
| 164 |
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},
|
| 165 |
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"window_group_room": {
|
| 166 |
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"cls": "Window"
|
| 167 |
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},
|
| 168 |
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|
| 169 |
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"cls": "Floor"
|
| 170 |
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},
|
| 171 |
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|
| 172 |
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"cls": "Floor"
|
| 173 |
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},
|
| 174 |
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|
| 175 |
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"cls": "Sink"
|
| 176 |
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|
| 177 |
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|
| 178 |
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"cls": "Counter"
|
| 179 |
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},
|
| 180 |
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|
| 181 |
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"cls": "FridgeBottomFreezer"
|
| 182 |
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},
|
| 183 |
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"cab_1_left_group": {
|
| 184 |
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"cls": "HingeCabinet"
|
| 185 |
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|
| 186 |
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|
| 187 |
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"cls": "OpenCabinet"
|
| 188 |
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},
|
| 189 |
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|
| 190 |
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"cls": "Box"
|
| 191 |
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},
|
| 192 |
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"stack_1_left_group_1": {
|
| 193 |
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"cls": "Drawer"
|
| 194 |
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},
|
| 195 |
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|
| 196 |
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"cls": "Drawer"
|
| 197 |
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},
|
| 198 |
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|
| 199 |
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"cls": "Drawer"
|
| 200 |
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},
|
| 201 |
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|
| 202 |
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"cls": "Drawer"
|
| 203 |
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},
|
| 204 |
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|
| 205 |
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"cls": "Box"
|
| 206 |
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},
|
| 207 |
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"stack_2_left_group_1": {
|
| 208 |
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"cls": "HingeCabinet"
|
| 209 |
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},
|
| 210 |
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"stack_2_left_group_2": {
|
| 211 |
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"cls": "Drawer"
|
| 212 |
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},
|
| 213 |
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"stack_2_left_group_3": {
|
| 214 |
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"cls": "Drawer"
|
| 215 |
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},
|
| 216 |
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|
| 217 |
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"cls": "Dishwasher"
|
| 218 |
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},
|
| 219 |
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"stack_3_left_group_base": {
|
| 220 |
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"cls": "Box"
|
| 221 |
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},
|
| 222 |
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"stack_3_left_group_1": {
|
| 223 |
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"cls": "HingeCabinet"
|
| 224 |
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},
|
| 225 |
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"stack_3_left_group_2": {
|
| 226 |
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"cls": "PanelCabinet"
|
| 227 |
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},
|
| 228 |
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"stack_4_left_group_base": {
|
| 229 |
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"cls": "Box"
|
| 230 |
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},
|
| 231 |
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"stack_4_left_group_1": {
|
| 232 |
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"cls": "SingleCabinet"
|
| 233 |
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},
|
| 234 |
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"stack_4_left_group_2": {
|
| 235 |
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"cls": "Drawer"
|
| 236 |
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},
|
| 237 |
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"flower_vase_left_group": {
|
| 238 |
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"cls": "Accessory"
|
| 239 |
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},
|
| 240 |
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"soap_dispenser_left_group": {
|
| 241 |
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"cls": "Accessory"
|
| 242 |
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},
|
| 243 |
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"knife_block_left_group": {
|
| 244 |
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"cls": "Accessory"
|
| 245 |
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},
|
| 246 |
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"paprika_left_group": {
|
| 247 |
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"cls": "Accessory"
|
| 248 |
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},
|
| 249 |
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"cinnamon_left_group": {
|
| 250 |
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"cls": "Accessory"
|
| 251 |
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},
|
| 252 |
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"turmeric_left_group": {
|
| 253 |
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"cls": "Accessory"
|
| 254 |
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},
|
| 255 |
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"glass_cup_left_group": {
|
| 256 |
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"cls": "Accessory"
|
| 257 |
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},
|
| 258 |
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"digital_scale_left_group": {
|
| 259 |
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"cls": "Accessory"
|
| 260 |
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},
|
| 261 |
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"paper_towel_left_group": {
|
| 262 |
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"cls": "Accessory"
|
| 263 |
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},
|
| 264 |
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"counter_main_main_group": {
|
| 265 |
+
"cls": "Counter"
|
| 266 |
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},
|
| 267 |
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"stove_main_group": {
|
| 268 |
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"cls": "Stove"
|
| 269 |
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},
|
| 270 |
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"counter_right_main_group": {
|
| 271 |
+
"cls": "Counter"
|
| 272 |
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},
|
| 273 |
+
"cab_main_main_group": {
|
| 274 |
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"cls": "HingeCabinet"
|
| 275 |
+
},
|
| 276 |
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"cab_1_main_group": {
|
| 277 |
+
"cls": "HingeCabinet"
|
| 278 |
+
},
|
| 279 |
+
"microwave_main_group": {
|
| 280 |
+
"cls": "Microwave"
|
| 281 |
+
},
|
| 282 |
+
"cab_micro_main_group": {
|
| 283 |
+
"cls": "HingeCabinet"
|
| 284 |
+
},
|
| 285 |
+
"cab_2_main_group": {
|
| 286 |
+
"cls": "HingeCabinet"
|
| 287 |
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},
|
| 288 |
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"cab_3_main_group": {
|
| 289 |
+
"cls": "HingeCabinet"
|
| 290 |
+
},
|
| 291 |
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"stack_1_main_group_base": {
|
| 292 |
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"cls": "Box"
|
| 293 |
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},
|
| 294 |
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"stack_1_main_group_1": {
|
| 295 |
+
"cls": "HingeCabinet"
|
| 296 |
+
},
|
| 297 |
+
"stack_1_main_group_2": {
|
| 298 |
+
"cls": "Drawer"
|
| 299 |
+
},
|
| 300 |
+
"stack_1_main_group_3": {
|
| 301 |
+
"cls": "Drawer"
|
| 302 |
+
},
|
| 303 |
+
"stack_2_main_group_base": {
|
| 304 |
+
"cls": "Box"
|
| 305 |
+
},
|
| 306 |
+
"stack_2_main_group_1": {
|
| 307 |
+
"cls": "Drawer"
|
| 308 |
+
},
|
| 309 |
+
"stack_2_main_group_2": {
|
| 310 |
+
"cls": "Drawer"
|
| 311 |
+
},
|
| 312 |
+
"stack_2_main_group_3": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
+
},
|
| 315 |
+
"stack_2_main_group_4": {
|
| 316 |
+
"cls": "Drawer"
|
| 317 |
+
},
|
| 318 |
+
"stack_3_main_group_base": {
|
| 319 |
+
"cls": "Box"
|
| 320 |
+
},
|
| 321 |
+
"stack_3_main_group_1": {
|
| 322 |
+
"cls": "HingeCabinet"
|
| 323 |
+
},
|
| 324 |
+
"stack_3_main_group_2": {
|
| 325 |
+
"cls": "Drawer"
|
| 326 |
+
},
|
| 327 |
+
"stack_3_main_group_3": {
|
| 328 |
+
"cls": "Drawer"
|
| 329 |
+
},
|
| 330 |
+
"stack_4_main_group_base": {
|
| 331 |
+
"cls": "Box"
|
| 332 |
+
},
|
| 333 |
+
"stack_4_main_group_1": {
|
| 334 |
+
"cls": "HingeCabinet"
|
| 335 |
+
},
|
| 336 |
+
"stack_4_main_group_2": {
|
| 337 |
+
"cls": "Drawer"
|
| 338 |
+
},
|
| 339 |
+
"stack_4_main_group_3": {
|
| 340 |
+
"cls": "Drawer"
|
| 341 |
+
},
|
| 342 |
+
"coffee_machine_main_group": {
|
| 343 |
+
"cls": "CoffeeMachine"
|
| 344 |
+
},
|
| 345 |
+
"utensil_set_main_group": {
|
| 346 |
+
"cls": "Accessory"
|
| 347 |
+
},
|
| 348 |
+
"toaster_main_group": {
|
| 349 |
+
"cls": "Toaster"
|
| 350 |
+
},
|
| 351 |
+
"toaster_oven_main_group": {
|
| 352 |
+
"cls": "ToasterOven"
|
| 353 |
+
},
|
| 354 |
+
"tiered_basket_main_group": {
|
| 355 |
+
"cls": "Accessory"
|
| 356 |
+
}
|
| 357 |
+
},
|
| 358 |
+
"gen_textures": {},
|
| 359 |
+
"lang": "Pick up the kebab skewer and baguette bread, and place them inside the toaster oven. Close the toaster oven door and start by setting the timer.",
|
| 360 |
+
"fixture_refs": {
|
| 361 |
+
"toaster_oven": "toaster_oven_main_group",
|
| 362 |
+
"counter": "counter_right_main_group"
|
| 363 |
+
},
|
| 364 |
+
"cam_configs": {
|
| 365 |
+
"robot0_agentview_center": {
|
| 366 |
+
"pos": [
|
| 367 |
+
-0.6,
|
| 368 |
+
0.0,
|
| 369 |
+
1.15
|
| 370 |
+
],
|
| 371 |
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"quat": [
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| 372 |
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|
| 373 |
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|
| 374 |
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|
| 375 |
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|
| 376 |
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],
|
| 377 |
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"parent_body": "mobilebase0_support"
|
| 378 |
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},
|
| 379 |
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"robot0_agentview_left": {
|
| 380 |
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"pos": [
|
| 381 |
+
-0.5,
|
| 382 |
+
0.35,
|
| 383 |
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1.05
|
| 384 |
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],
|
| 385 |
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"quat": [
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| 386 |
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|
| 387 |
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|
| 388 |
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|
| 389 |
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|
| 390 |
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],
|
| 391 |
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"camera_attribs": {
|
| 392 |
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"fovy": "60"
|
| 393 |
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},
|
| 394 |
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"parent_body": "mobilebase0_support"
|
| 395 |
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},
|
| 396 |
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"robot0_agentview_right": {
|
| 397 |
+
"pos": [
|
| 398 |
+
-0.5,
|
| 399 |
+
-0.35,
|
| 400 |
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|
| 401 |
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],
|
| 402 |
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"quat": [
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| 403 |
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|
| 404 |
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|
| 405 |
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|
| 406 |
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|
| 407 |
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],
|
| 408 |
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"camera_attribs": {
|
| 409 |
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"fovy": "60"
|
| 410 |
+
},
|
| 411 |
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"parent_body": "mobilebase0_support"
|
| 412 |
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},
|
| 413 |
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"robot0_frontview": {
|
| 414 |
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"pos": [
|
| 415 |
+
-0.5,
|
| 416 |
+
0,
|
| 417 |
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|
| 418 |
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],
|
| 419 |
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"quat": [
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| 420 |
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|
| 421 |
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|
| 422 |
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|
| 423 |
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|
| 424 |
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],
|
| 425 |
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"camera_attribs": {
|
| 426 |
+
"fovy": "60"
|
| 427 |
+
},
|
| 428 |
+
"parent_body": "mobilebase0_support"
|
| 429 |
+
},
|
| 430 |
+
"robot0_eye_in_hand": {
|
| 431 |
+
"pos": [
|
| 432 |
+
0.05,
|
| 433 |
+
0,
|
| 434 |
+
0
|
| 435 |
+
],
|
| 436 |
+
"quat": [
|
| 437 |
+
0,
|
| 438 |
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0.707107,
|
| 439 |
+
0.707107,
|
| 440 |
+
0
|
| 441 |
+
],
|
| 442 |
+
"parent_body": "robot0_right_hand"
|
| 443 |
+
}
|
| 444 |
+
},
|
| 445 |
+
"init_robot_base_pos": [
|
| 446 |
+
2.388831394212044,
|
| 447 |
+
-3.583777755961255,
|
| 448 |
+
0.0
|
| 449 |
+
],
|
| 450 |
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"init_robot_base_ori": [
|
| 451 |
+
0.0,
|
| 452 |
+
0.0,
|
| 453 |
+
-3.673205103416066e-06
|
| 454 |
+
]
|
| 455 |
+
}
|
target/composite/HeatKebabSandwich/20250813/lerobot/extras/episode_000370/ep_meta.json
ADDED
|
@@ -0,0 +1,548 @@
|
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 9,
|
| 3 |
+
"style_id": 9,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
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| 7 |
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|
| 284 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 320 |
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|
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|
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|
| 323 |
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|
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|
| 326 |
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|
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|
| 328 |
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|
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|
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|
| 332 |
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|
| 334 |
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|
| 335 |
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|
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|
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|
| 341 |
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|
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| 343 |
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|
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|
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|
| 346 |
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|
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|
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|
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|
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|
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|
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| 358 |
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|
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|
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|
| 361 |
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|
| 362 |
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|
| 364 |
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|
| 365 |
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|
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|
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|
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|
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|
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|
| 371 |
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|
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|
| 373 |
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|
| 374 |
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},
|
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|
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|
| 377 |
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},
|
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|
| 379 |
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|
| 380 |
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|
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|
| 382 |
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|
| 383 |
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|
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|
| 385 |
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|
| 386 |
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|
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|
| 388 |
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|
| 389 |
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},
|
| 390 |
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|
| 391 |
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"cls": "FridgeSideBySide"
|
| 392 |
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},
|
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|
| 394 |
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|
| 395 |
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|
| 396 |
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|
| 397 |
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|
| 398 |
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},
|
| 399 |
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|
| 400 |
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|
| 401 |
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|
| 402 |
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|
| 403 |
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|
| 404 |
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},
|
| 405 |
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|
| 406 |
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|
| 407 |
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|
| 408 |
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|
| 409 |
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|
| 410 |
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},
|
| 411 |
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|
| 412 |
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|
| 413 |
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|
| 414 |
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|
| 415 |
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|
| 416 |
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},
|
| 417 |
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|
| 418 |
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|
| 419 |
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|
| 420 |
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|
| 421 |
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"cls": "Drawer"
|
| 422 |
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},
|
| 423 |
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|
| 424 |
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"cls": "Oven"
|
| 425 |
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},
|
| 426 |
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|
| 427 |
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|
| 428 |
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},
|
| 429 |
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|
| 430 |
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"cls": "Microwave"
|
| 431 |
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},
|
| 432 |
+
"micro_housing_right_group": {
|
| 433 |
+
"cls": "HousingCabinet"
|
| 434 |
+
},
|
| 435 |
+
"top_right_group": {
|
| 436 |
+
"cls": "HingeCabinet"
|
| 437 |
+
},
|
| 438 |
+
"side_bottom_right_group_base": {
|
| 439 |
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"cls": "Box"
|
| 440 |
+
},
|
| 441 |
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"side_bottom_right_group_1": {
|
| 442 |
+
"cls": "Drawer"
|
| 443 |
+
},
|
| 444 |
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"side_bottom_right_group_2": {
|
| 445 |
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"cls": "Drawer"
|
| 446 |
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},
|
| 447 |
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"side_bottom_right_group_3": {
|
| 448 |
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"cls": "HingeCabinet"
|
| 449 |
+
}
|
| 450 |
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},
|
| 451 |
+
"gen_textures": {},
|
| 452 |
+
"lang": "Pick up the kebab skewer and baguette bread, and place them inside the toaster oven. Close the toaster oven door and start by setting the timer.",
|
| 453 |
+
"fixture_refs": {
|
| 454 |
+
"toaster_oven": "toaster_oven_main_group",
|
| 455 |
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"counter": "counter_main_main_group"
|
| 456 |
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},
|
| 457 |
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"cam_configs": {
|
| 458 |
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"robot0_agentview_center": {
|
| 459 |
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"pos": [
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| 460 |
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| 461 |
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| 462 |
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| 463 |
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| 468 |
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| 469 |
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| 470 |
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| 471 |
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| 472 |
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| 473 |
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| 474 |
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| 475 |
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| 482 |
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| 484 |
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| 485 |
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|
| 486 |
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| 487 |
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"parent_body": "mobilebase0_support"
|
| 488 |
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| 489 |
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| 490 |
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| 491 |
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| 492 |
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| 493 |
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| 494 |
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| 495 |
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| 499 |
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| 500 |
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| 501 |
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| 502 |
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| 503 |
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},
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| 504 |
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"parent_body": "mobilebase0_support"
|
| 505 |
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},
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| 506 |
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"robot0_frontview": {
|
| 507 |
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"pos": [
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| 508 |
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| 509 |
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| 510 |
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| 519 |
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|
| 520 |
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},
|
| 521 |
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"parent_body": "mobilebase0_support"
|
| 522 |
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},
|
| 523 |
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"robot0_eye_in_hand": {
|
| 524 |
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"pos": [
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| 525 |
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|
| 526 |
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| 527 |
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| 528 |
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| 529 |
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"quat": [
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| 530 |
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| 532 |
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| 534 |
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],
|
| 535 |
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"parent_body": "robot0_right_hand"
|
| 536 |
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}
|
| 537 |
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},
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| 538 |
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"init_robot_base_pos": [
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| 539 |
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|
| 540 |
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"init_robot_base_ori": [
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| 546 |
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|
| 547 |
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]
|
| 548 |
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}
|
target/composite/PreSoakPan/20250809/lerobot/extras/dataset_meta.json
ADDED
|
@@ -0,0 +1,474 @@
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
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|
|
|
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|
|
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|
|
|
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|
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|
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|
|
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|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"date": "8-9-2025",
|
| 3 |
+
"env": "PreSoakPan",
|
| 4 |
+
"env_args": {
|
| 5 |
+
"type": 1,
|
| 6 |
+
"env_name": "PreSoakPan",
|
| 7 |
+
"env_version": "0.5.1",
|
| 8 |
+
"robosuite_version": "1.5.2",
|
| 9 |
+
"mujoco_version": "3.3.1",
|
| 10 |
+
"env_kwargs": {
|
| 11 |
+
"env_name": "PreSoakPan",
|
| 12 |
+
"robots": "PandaOmron",
|
| 13 |
+
"layout_ids": null,
|
| 14 |
+
"style_ids": null,
|
| 15 |
+
"obj_instance_split": "target",
|
| 16 |
+
"clutter_mode": 1,
|
| 17 |
+
"translucent_robot": false,
|
| 18 |
+
"layout_and_style_ids": [
|
| 19 |
+
[
|
| 20 |
+
1,
|
| 21 |
+
1
|
| 22 |
+
],
|
| 23 |
+
[
|
| 24 |
+
2,
|
| 25 |
+
2
|
| 26 |
+
],
|
| 27 |
+
[
|
| 28 |
+
3,
|
| 29 |
+
3
|
| 30 |
+
],
|
| 31 |
+
[
|
| 32 |
+
4,
|
| 33 |
+
4
|
| 34 |
+
],
|
| 35 |
+
[
|
| 36 |
+
5,
|
| 37 |
+
5
|
| 38 |
+
],
|
| 39 |
+
[
|
| 40 |
+
6,
|
| 41 |
+
6
|
| 42 |
+
],
|
| 43 |
+
[
|
| 44 |
+
7,
|
| 45 |
+
7
|
| 46 |
+
],
|
| 47 |
+
[
|
| 48 |
+
8,
|
| 49 |
+
8
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
9,
|
| 53 |
+
9
|
| 54 |
+
],
|
| 55 |
+
[
|
| 56 |
+
10,
|
| 57 |
+
10
|
| 58 |
+
]
|
| 59 |
+
],
|
| 60 |
+
"controller_configs": {
|
| 61 |
+
"type": "HYBRID_MOBILE_BASE",
|
| 62 |
+
"composite_controller_specific_configs": {
|
| 63 |
+
"left_offset": [
|
| 64 |
+
0.0,
|
| 65 |
+
0.0,
|
| 66 |
+
0.0
|
| 67 |
+
],
|
| 68 |
+
"right_offset": [
|
| 69 |
+
-0.15,
|
| 70 |
+
0.0,
|
| 71 |
+
0.35
|
| 72 |
+
],
|
| 73 |
+
"left2arm_transform": [
|
| 74 |
+
[
|
| 75 |
+
1,
|
| 76 |
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0,
|
| 77 |
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0,
|
| 78 |
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0
|
| 79 |
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],
|
| 80 |
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[
|
| 81 |
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0,
|
| 82 |
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1,
|
| 83 |
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0,
|
| 84 |
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0
|
| 85 |
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],
|
| 86 |
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[
|
| 87 |
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0,
|
| 88 |
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0,
|
| 89 |
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1,
|
| 90 |
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0
|
| 91 |
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],
|
| 92 |
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|
| 93 |
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0,
|
| 94 |
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0,
|
| 95 |
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0,
|
| 96 |
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1
|
| 97 |
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]
|
| 98 |
+
],
|
| 99 |
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target/composite/PreSoakPan/20250809/lerobot/extras/episode_000049/ep_meta.json
ADDED
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@@ -0,0 +1,450 @@
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 5,
|
| 3 |
+
"style_id": 5,
|
| 4 |
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"object_cfgs": [
|
| 5 |
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{
|
| 6 |
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"name": "obj1",
|
| 7 |
+
"obj_groups": "pan",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"washable": true,
|
| 10 |
+
"placement": {
|
| 11 |
+
"fixture": "counter_left_group",
|
| 12 |
+
"sample_region_kwargs": {
|
| 13 |
+
"ref": "sink_left_group",
|
| 14 |
+
"loc": "left_right",
|
| 15 |
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"top_size": [
|
| 16 |
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0.6,
|
| 17 |
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0.4
|
| 18 |
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],
|
| 19 |
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"min_size": [
|
| 20 |
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0.25440655584,
|
| 21 |
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0.40393499808000005,
|
| 22 |
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|
| 23 |
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]
|
| 24 |
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},
|
| 25 |
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"size": [
|
| 26 |
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0.35,
|
| 27 |
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0.55
|
| 28 |
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],
|
| 29 |
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"pos": [
|
| 30 |
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"ref",
|
| 31 |
+
-1.0
|
| 32 |
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]
|
| 33 |
+
},
|
| 34 |
+
"max_size": [
|
| 35 |
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0.35,
|
| 36 |
+
0.45,
|
| 37 |
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null
|
| 38 |
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],
|
| 39 |
+
"type": "object",
|
| 40 |
+
"info": {
|
| 41 |
+
"groups_containing_sampled_obj": [
|
| 42 |
+
"all",
|
| 43 |
+
"pan",
|
| 44 |
+
"receptacle",
|
| 45 |
+
"cookware",
|
| 46 |
+
"pots_and_pans"
|
| 47 |
+
],
|
| 48 |
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"groups": [
|
| 49 |
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"pan"
|
| 50 |
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],
|
| 51 |
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"cat": "pan",
|
| 52 |
+
"split": "test",
|
| 53 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_4/model.xml"
|
| 54 |
+
},
|
| 55 |
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"reset_region": {
|
| 56 |
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"size": [
|
| 57 |
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2.4729331449141125,
|
| 58 |
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0.65
|
| 59 |
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],
|
| 60 |
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"offset": [
|
| 61 |
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-0.6635334275429436,
|
| 62 |
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-3.469446951953614e-17,
|
| 63 |
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0.46
|
| 64 |
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],
|
| 65 |
+
"name": "geom_1"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"name": "obj2",
|
| 70 |
+
"obj_groups": "sponge",
|
| 71 |
+
"placement": {
|
| 72 |
+
"fixture": "counter_left_group",
|
| 73 |
+
"sample_region_kwargs": {
|
| 74 |
+
"ref": "sink_left_group",
|
| 75 |
+
"loc": "left_right",
|
| 76 |
+
"min_size": [
|
| 77 |
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0.05987461299413682,
|
| 78 |
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0.08473327675669531,
|
| 79 |
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0.02488372325999999
|
| 80 |
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]
|
| 81 |
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},
|
| 82 |
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"size": [
|
| 83 |
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0.2,
|
| 84 |
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0.3
|
| 85 |
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],
|
| 86 |
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"pos": [
|
| 87 |
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"ref",
|
| 88 |
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-1.0
|
| 89 |
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],
|
| 90 |
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"offset": [
|
| 91 |
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0.0,
|
| 92 |
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0.05
|
| 93 |
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]
|
| 94 |
+
},
|
| 95 |
+
"type": "object",
|
| 96 |
+
"info": {
|
| 97 |
+
"groups_containing_sampled_obj": [
|
| 98 |
+
"all",
|
| 99 |
+
"sponge",
|
| 100 |
+
"cleaner"
|
| 101 |
+
],
|
| 102 |
+
"groups": [
|
| 103 |
+
"sponge"
|
| 104 |
+
],
|
| 105 |
+
"cat": "sponge",
|
| 106 |
+
"split": "test",
|
| 107 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_4/model.xml"
|
| 108 |
+
},
|
| 109 |
+
"reset_region": {
|
| 110 |
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"size": [
|
| 111 |
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0.6869331449141127,
|
| 112 |
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0.65
|
| 113 |
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],
|
| 114 |
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"offset": [
|
| 115 |
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1.5565334275429432,
|
| 116 |
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-3.469446951953614e-17,
|
| 117 |
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0.46
|
| 118 |
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],
|
| 119 |
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"name": "geom_0"
|
| 120 |
+
}
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"fixtures": {
|
| 124 |
+
"wall_room": {
|
| 125 |
+
"cls": "Wall"
|
| 126 |
+
},
|
| 127 |
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"wall_backing_room": {
|
| 128 |
+
"cls": "Wall"
|
| 129 |
+
},
|
| 130 |
+
"wall_left_room": {
|
| 131 |
+
"cls": "Wall"
|
| 132 |
+
},
|
| 133 |
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"wall_left_backing_room": {
|
| 134 |
+
"cls": "Wall"
|
| 135 |
+
},
|
| 136 |
+
"wall_right_room": {
|
| 137 |
+
"cls": "Wall"
|
| 138 |
+
},
|
| 139 |
+
"wall_right_backing_room": {
|
| 140 |
+
"cls": "Wall"
|
| 141 |
+
},
|
| 142 |
+
"outlet_room": {
|
| 143 |
+
"cls": "WallAccessory"
|
| 144 |
+
},
|
| 145 |
+
"outlet_2_room": {
|
| 146 |
+
"cls": "WallAccessory"
|
| 147 |
+
},
|
| 148 |
+
"outlet_3_room": {
|
| 149 |
+
"cls": "WallAccessory"
|
| 150 |
+
},
|
| 151 |
+
"untensil_rack_room": {
|
| 152 |
+
"cls": "WallAccessory"
|
| 153 |
+
},
|
| 154 |
+
"light_switch_room": {
|
| 155 |
+
"cls": "WallAccessory"
|
| 156 |
+
},
|
| 157 |
+
"light_switch_2_room": {
|
| 158 |
+
"cls": "WallAccessory"
|
| 159 |
+
},
|
| 160 |
+
"window_group_room": {
|
| 161 |
+
"cls": "Window"
|
| 162 |
+
},
|
| 163 |
+
"floor_room": {
|
| 164 |
+
"cls": "Floor"
|
| 165 |
+
},
|
| 166 |
+
"floor_backing_room": {
|
| 167 |
+
"cls": "Floor"
|
| 168 |
+
},
|
| 169 |
+
"sink_left_group": {
|
| 170 |
+
"cls": "Sink"
|
| 171 |
+
},
|
| 172 |
+
"counter_left_group": {
|
| 173 |
+
"cls": "Counter"
|
| 174 |
+
},
|
| 175 |
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"fridge_left_group": {
|
| 176 |
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"cls": "FridgeBottomFreezer"
|
| 177 |
+
},
|
| 178 |
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"cab_1_left_group": {
|
| 179 |
+
"cls": "HingeCabinet"
|
| 180 |
+
},
|
| 181 |
+
"cab_2_left_group": {
|
| 182 |
+
"cls": "OpenCabinet"
|
| 183 |
+
},
|
| 184 |
+
"stack_1_left_group_base": {
|
| 185 |
+
"cls": "Box"
|
| 186 |
+
},
|
| 187 |
+
"stack_1_left_group_1": {
|
| 188 |
+
"cls": "Drawer"
|
| 189 |
+
},
|
| 190 |
+
"stack_1_left_group_2": {
|
| 191 |
+
"cls": "Drawer"
|
| 192 |
+
},
|
| 193 |
+
"stack_1_left_group_3": {
|
| 194 |
+
"cls": "Drawer"
|
| 195 |
+
},
|
| 196 |
+
"stack_1_left_group_4": {
|
| 197 |
+
"cls": "Drawer"
|
| 198 |
+
},
|
| 199 |
+
"stack_2_left_group_base": {
|
| 200 |
+
"cls": "Box"
|
| 201 |
+
},
|
| 202 |
+
"stack_2_left_group_1": {
|
| 203 |
+
"cls": "HingeCabinet"
|
| 204 |
+
},
|
| 205 |
+
"stack_2_left_group_2": {
|
| 206 |
+
"cls": "Drawer"
|
| 207 |
+
},
|
| 208 |
+
"stack_2_left_group_3": {
|
| 209 |
+
"cls": "Drawer"
|
| 210 |
+
},
|
| 211 |
+
"dishwasher_left_group": {
|
| 212 |
+
"cls": "Dishwasher"
|
| 213 |
+
},
|
| 214 |
+
"stack_3_left_group_base": {
|
| 215 |
+
"cls": "Box"
|
| 216 |
+
},
|
| 217 |
+
"stack_3_left_group_1": {
|
| 218 |
+
"cls": "HingeCabinet"
|
| 219 |
+
},
|
| 220 |
+
"stack_3_left_group_2": {
|
| 221 |
+
"cls": "PanelCabinet"
|
| 222 |
+
},
|
| 223 |
+
"stack_4_left_group_base": {
|
| 224 |
+
"cls": "Box"
|
| 225 |
+
},
|
| 226 |
+
"stack_4_left_group_1": {
|
| 227 |
+
"cls": "SingleCabinet"
|
| 228 |
+
},
|
| 229 |
+
"stack_4_left_group_2": {
|
| 230 |
+
"cls": "Drawer"
|
| 231 |
+
},
|
| 232 |
+
"flower_vase_left_group": {
|
| 233 |
+
"cls": "Accessory"
|
| 234 |
+
},
|
| 235 |
+
"soap_dispenser_left_group": {
|
| 236 |
+
"cls": "Accessory"
|
| 237 |
+
},
|
| 238 |
+
"knife_block_left_group": {
|
| 239 |
+
"cls": "Accessory"
|
| 240 |
+
},
|
| 241 |
+
"paprika_left_group": {
|
| 242 |
+
"cls": "Accessory"
|
| 243 |
+
},
|
| 244 |
+
"cinnamon_left_group": {
|
| 245 |
+
"cls": "Accessory"
|
| 246 |
+
},
|
| 247 |
+
"turmeric_left_group": {
|
| 248 |
+
"cls": "Accessory"
|
| 249 |
+
},
|
| 250 |
+
"glass_cup_left_group": {
|
| 251 |
+
"cls": "Accessory"
|
| 252 |
+
},
|
| 253 |
+
"digital_scale_left_group": {
|
| 254 |
+
"cls": "Accessory"
|
| 255 |
+
},
|
| 256 |
+
"paper_towel_left_group": {
|
| 257 |
+
"cls": "Accessory"
|
| 258 |
+
},
|
| 259 |
+
"counter_main_main_group": {
|
| 260 |
+
"cls": "Counter"
|
| 261 |
+
},
|
| 262 |
+
"stove_main_group": {
|
| 263 |
+
"cls": "Stove"
|
| 264 |
+
},
|
| 265 |
+
"counter_right_main_group": {
|
| 266 |
+
"cls": "Counter"
|
| 267 |
+
},
|
| 268 |
+
"cab_main_main_group": {
|
| 269 |
+
"cls": "HingeCabinet"
|
| 270 |
+
},
|
| 271 |
+
"cab_1_main_group": {
|
| 272 |
+
"cls": "HingeCabinet"
|
| 273 |
+
},
|
| 274 |
+
"microwave_main_group": {
|
| 275 |
+
"cls": "Microwave"
|
| 276 |
+
},
|
| 277 |
+
"cab_micro_main_group": {
|
| 278 |
+
"cls": "HingeCabinet"
|
| 279 |
+
},
|
| 280 |
+
"cab_2_main_group": {
|
| 281 |
+
"cls": "HingeCabinet"
|
| 282 |
+
},
|
| 283 |
+
"cab_3_main_group": {
|
| 284 |
+
"cls": "HingeCabinet"
|
| 285 |
+
},
|
| 286 |
+
"stack_1_main_group_base": {
|
| 287 |
+
"cls": "Box"
|
| 288 |
+
},
|
| 289 |
+
"stack_1_main_group_1": {
|
| 290 |
+
"cls": "HingeCabinet"
|
| 291 |
+
},
|
| 292 |
+
"stack_1_main_group_2": {
|
| 293 |
+
"cls": "Drawer"
|
| 294 |
+
},
|
| 295 |
+
"stack_1_main_group_3": {
|
| 296 |
+
"cls": "Drawer"
|
| 297 |
+
},
|
| 298 |
+
"stack_2_main_group_base": {
|
| 299 |
+
"cls": "Box"
|
| 300 |
+
},
|
| 301 |
+
"stack_2_main_group_1": {
|
| 302 |
+
"cls": "Drawer"
|
| 303 |
+
},
|
| 304 |
+
"stack_2_main_group_2": {
|
| 305 |
+
"cls": "Drawer"
|
| 306 |
+
},
|
| 307 |
+
"stack_2_main_group_3": {
|
| 308 |
+
"cls": "Drawer"
|
| 309 |
+
},
|
| 310 |
+
"stack_2_main_group_4": {
|
| 311 |
+
"cls": "Drawer"
|
| 312 |
+
},
|
| 313 |
+
"stack_3_main_group_base": {
|
| 314 |
+
"cls": "Box"
|
| 315 |
+
},
|
| 316 |
+
"stack_3_main_group_1": {
|
| 317 |
+
"cls": "HingeCabinet"
|
| 318 |
+
},
|
| 319 |
+
"stack_3_main_group_2": {
|
| 320 |
+
"cls": "Drawer"
|
| 321 |
+
},
|
| 322 |
+
"stack_3_main_group_3": {
|
| 323 |
+
"cls": "Drawer"
|
| 324 |
+
},
|
| 325 |
+
"stack_4_main_group_base": {
|
| 326 |
+
"cls": "Box"
|
| 327 |
+
},
|
| 328 |
+
"stack_4_main_group_1": {
|
| 329 |
+
"cls": "HingeCabinet"
|
| 330 |
+
},
|
| 331 |
+
"stack_4_main_group_2": {
|
| 332 |
+
"cls": "Drawer"
|
| 333 |
+
},
|
| 334 |
+
"stack_4_main_group_3": {
|
| 335 |
+
"cls": "Drawer"
|
| 336 |
+
},
|
| 337 |
+
"coffee_machine_main_group": {
|
| 338 |
+
"cls": "CoffeeMachine"
|
| 339 |
+
},
|
| 340 |
+
"utensil_set_main_group": {
|
| 341 |
+
"cls": "Accessory"
|
| 342 |
+
},
|
| 343 |
+
"toaster_main_group": {
|
| 344 |
+
"cls": "Toaster"
|
| 345 |
+
},
|
| 346 |
+
"toaster_oven_main_group": {
|
| 347 |
+
"cls": "ToasterOven"
|
| 348 |
+
},
|
| 349 |
+
"tiered_basket_main_group": {
|
| 350 |
+
"cls": "Accessory"
|
| 351 |
+
}
|
| 352 |
+
},
|
| 353 |
+
"gen_textures": {},
|
| 354 |
+
"lang": "Pick the pan and sponge and place them into the sink. Then turn on the water.",
|
| 355 |
+
"fixture_refs": {
|
| 356 |
+
"sink": "sink_left_group",
|
| 357 |
+
"counter": "counter_left_group"
|
| 358 |
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},
|
| 359 |
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"cam_configs": {
|
| 360 |
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"robot0_agentview_center": {
|
| 361 |
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"pos": [
|
| 362 |
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-0.6,
|
| 363 |
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|
| 364 |
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| 365 |
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],
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| 366 |
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"quat": [
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| 367 |
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| 368 |
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| 369 |
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| 370 |
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| 371 |
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| 372 |
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"parent_body": "mobilebase0_support"
|
| 373 |
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| 374 |
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"robot0_agentview_left": {
|
| 375 |
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"pos": [
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| 376 |
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|
| 377 |
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| 378 |
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|
| 379 |
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| 380 |
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| 381 |
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| 382 |
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| 383 |
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|
| 384 |
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| 385 |
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],
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| 386 |
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"camera_attribs": {
|
| 387 |
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"fovy": "60"
|
| 388 |
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},
|
| 389 |
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"parent_body": "mobilebase0_support"
|
| 390 |
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},
|
| 391 |
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"robot0_agentview_right": {
|
| 392 |
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"pos": [
|
| 393 |
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-0.5,
|
| 394 |
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|
| 395 |
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|
| 396 |
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],
|
| 397 |
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"quat": [
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| 398 |
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| 399 |
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|
| 400 |
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|
| 401 |
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| 402 |
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],
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| 403 |
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"camera_attribs": {
|
| 404 |
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"fovy": "60"
|
| 405 |
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},
|
| 406 |
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"parent_body": "mobilebase0_support"
|
| 407 |
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},
|
| 408 |
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"robot0_frontview": {
|
| 409 |
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"pos": [
|
| 410 |
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|
| 411 |
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|
| 412 |
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| 413 |
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],
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| 414 |
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"quat": [
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| 415 |
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| 416 |
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| 417 |
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| 418 |
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| 419 |
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| 420 |
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"camera_attribs": {
|
| 421 |
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"fovy": "60"
|
| 422 |
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},
|
| 423 |
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"parent_body": "mobilebase0_support"
|
| 424 |
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},
|
| 425 |
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"robot0_eye_in_hand": {
|
| 426 |
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"pos": [
|
| 427 |
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|
| 428 |
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|
| 429 |
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| 430 |
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],
|
| 431 |
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"quat": [
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| 432 |
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| 433 |
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|
| 434 |
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|
| 435 |
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| 436 |
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],
|
| 437 |
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"parent_body": "robot0_right_hand"
|
| 438 |
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}
|
| 439 |
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},
|
| 440 |
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"init_robot_base_pos": [
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| 441 |
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|
| 442 |
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|
| 443 |
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| 444 |
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],
|
| 445 |
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"init_robot_base_ori": [
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| 446 |
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| 447 |
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|
| 448 |
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|
| 449 |
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]
|
| 450 |
+
}
|
target/composite/PreSoakPan/20250809/lerobot/extras/episode_000259/ep_meta.json
ADDED
|
@@ -0,0 +1,471 @@
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|
|
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|
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|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
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|
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|
|
|
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|
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|
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|
|
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|
|
|
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|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 2,
|
| 3 |
+
"style_id": 2,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "obj1",
|
| 7 |
+
"obj_groups": "pan",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"washable": true,
|
| 10 |
+
"placement": {
|
| 11 |
+
"fixture": "island_island_group",
|
| 12 |
+
"sample_region_kwargs": {
|
| 13 |
+
"ref": "sink_island_group",
|
| 14 |
+
"loc": "left_right",
|
| 15 |
+
"top_size": [
|
| 16 |
+
0.6,
|
| 17 |
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0.4
|
| 18 |
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],
|
| 19 |
+
"min_size": [
|
| 20 |
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|
| 21 |
+
0.41746872800000007,
|
| 22 |
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|
| 23 |
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]
|
| 24 |
+
},
|
| 25 |
+
"size": [
|
| 26 |
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0.35,
|
| 27 |
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0.55
|
| 28 |
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],
|
| 29 |
+
"pos": [
|
| 30 |
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"ref",
|
| 31 |
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-1.0
|
| 32 |
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]
|
| 33 |
+
},
|
| 34 |
+
"max_size": [
|
| 35 |
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0.35,
|
| 36 |
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0.45,
|
| 37 |
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null
|
| 38 |
+
],
|
| 39 |
+
"type": "object",
|
| 40 |
+
"info": {
|
| 41 |
+
"groups_containing_sampled_obj": [
|
| 42 |
+
"all",
|
| 43 |
+
"pan",
|
| 44 |
+
"receptacle",
|
| 45 |
+
"cookware",
|
| 46 |
+
"pots_and_pans"
|
| 47 |
+
],
|
| 48 |
+
"groups": [
|
| 49 |
+
"pan"
|
| 50 |
+
],
|
| 51 |
+
"cat": "pan",
|
| 52 |
+
"split": "test",
|
| 53 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_8/model.xml"
|
| 54 |
+
},
|
| 55 |
+
"reset_region": {
|
| 56 |
+
"size": [
|
| 57 |
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1.0332000093435987,
|
| 58 |
+
1.4
|
| 59 |
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],
|
| 60 |
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"offset": [
|
| 61 |
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0.8583999953282007,
|
| 62 |
+
2.0816681711721685e-17,
|
| 63 |
+
0.46
|
| 64 |
+
],
|
| 65 |
+
"name": "geom_0"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"name": "obj2",
|
| 70 |
+
"obj_groups": "sponge",
|
| 71 |
+
"placement": {
|
| 72 |
+
"fixture": "island_island_group",
|
| 73 |
+
"sample_region_kwargs": {
|
| 74 |
+
"ref": "sink_island_group",
|
| 75 |
+
"loc": "left_right",
|
| 76 |
+
"min_size": [
|
| 77 |
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|
| 78 |
+
0.08473327675669531,
|
| 79 |
+
0.02488372325999999
|
| 80 |
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]
|
| 81 |
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},
|
| 82 |
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"size": [
|
| 83 |
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0.2,
|
| 84 |
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|
| 85 |
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],
|
| 86 |
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|
| 87 |
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"ref",
|
| 88 |
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|
| 89 |
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],
|
| 90 |
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|
| 91 |
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0.0,
|
| 92 |
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|
| 93 |
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]
|
| 94 |
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},
|
| 95 |
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"type": "object",
|
| 96 |
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"info": {
|
| 97 |
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"groups_containing_sampled_obj": [
|
| 98 |
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"all",
|
| 99 |
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"sponge",
|
| 100 |
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"cleaner"
|
| 101 |
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],
|
| 102 |
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"groups": [
|
| 103 |
+
"sponge"
|
| 104 |
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],
|
| 105 |
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"cat": "sponge",
|
| 106 |
+
"split": "test",
|
| 107 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_4/model.xml"
|
| 108 |
+
},
|
| 109 |
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"reset_region": {
|
| 110 |
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"size": [
|
| 111 |
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|
| 112 |
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|
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"offset": [
|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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],
|
| 119 |
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"name": "geom_0"
|
| 120 |
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}
|
| 121 |
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}
|
| 122 |
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],
|
| 123 |
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"fixtures": {
|
| 124 |
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"wall_room": {
|
| 125 |
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"cls": "Wall"
|
| 126 |
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},
|
| 127 |
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"wall_backing_room": {
|
| 128 |
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"cls": "Wall"
|
| 129 |
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},
|
| 130 |
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"wall_left_room": {
|
| 131 |
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"cls": "Wall"
|
| 132 |
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},
|
| 133 |
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"wall_left_backing_room": {
|
| 134 |
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"cls": "Wall"
|
| 135 |
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},
|
| 136 |
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"wall_right_room": {
|
| 137 |
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"cls": "Wall"
|
| 138 |
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},
|
| 139 |
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"wall_right_backing_room": {
|
| 140 |
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"cls": "Wall"
|
| 141 |
+
},
|
| 142 |
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"floor_room": {
|
| 143 |
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"cls": "Floor"
|
| 144 |
+
},
|
| 145 |
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"floor_backing_room": {
|
| 146 |
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"cls": "Floor"
|
| 147 |
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},
|
| 148 |
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"outlet_room": {
|
| 149 |
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"cls": "WallAccessory"
|
| 150 |
+
},
|
| 151 |
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"outlet_2_room": {
|
| 152 |
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"cls": "WallAccessory"
|
| 153 |
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},
|
| 154 |
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"light_switch_room": {
|
| 155 |
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"cls": "WallAccessory"
|
| 156 |
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},
|
| 157 |
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"light_switch_2_room": {
|
| 158 |
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"cls": "WallAccessory"
|
| 159 |
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},
|
| 160 |
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"utensil_rack_room": {
|
| 161 |
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"cls": "WallAccessory"
|
| 162 |
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},
|
| 163 |
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"stool_1_room": {
|
| 164 |
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"cls": "Stool"
|
| 165 |
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},
|
| 166 |
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"stool_2_room": {
|
| 167 |
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"cls": "Stool"
|
| 168 |
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},
|
| 169 |
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"stool_3_room": {
|
| 170 |
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"cls": "Stool"
|
| 171 |
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},
|
| 172 |
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"stovetop_main_group": {
|
| 173 |
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"cls": "Stovetop"
|
| 174 |
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},
|
| 175 |
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"counter_main_main_group": {
|
| 176 |
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"cls": "Counter"
|
| 177 |
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},
|
| 178 |
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"bottom_main_group_base": {
|
| 179 |
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"cls": "Box"
|
| 180 |
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},
|
| 181 |
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"bottom_main_group_1": {
|
| 182 |
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"cls": "Drawer"
|
| 183 |
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},
|
| 184 |
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"bottom_main_group_2": {
|
| 185 |
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"cls": "Drawer"
|
| 186 |
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},
|
| 187 |
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"oven_main_group": {
|
| 188 |
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"cls": "Oven"
|
| 189 |
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},
|
| 190 |
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"oven_housing_main_group": {
|
| 191 |
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"cls": "HousingCabinet"
|
| 192 |
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},
|
| 193 |
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"microwave_main_group": {
|
| 194 |
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"cls": "Microwave"
|
| 195 |
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},
|
| 196 |
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"micro_housing_main_group": {
|
| 197 |
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"cls": "HousingCabinet"
|
| 198 |
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},
|
| 199 |
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"top_main_group": {
|
| 200 |
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"cls": "HingeCabinet"
|
| 201 |
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},
|
| 202 |
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"fridge_main_group": {
|
| 203 |
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"cls": "FridgeSideBySide"
|
| 204 |
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},
|
| 205 |
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"fridge_housing_main_group": {
|
| 206 |
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"cls": "HousingCabinet"
|
| 207 |
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},
|
| 208 |
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"fridge_top_main_group": {
|
| 209 |
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"cls": "HingeCabinet"
|
| 210 |
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},
|
| 211 |
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"cab_main_main_group": {
|
| 212 |
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"cls": "HingeCabinet"
|
| 213 |
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|
| 214 |
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|
| 215 |
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"cls": "Hood"
|
| 216 |
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},
|
| 217 |
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"shelves_main_group": {
|
| 218 |
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"cls": "OpenCabinet"
|
| 219 |
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},
|
| 220 |
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"cab_2_main_group": {
|
| 221 |
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"cls": "HingeCabinet"
|
| 222 |
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},
|
| 223 |
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"stack_3_main_group_base": {
|
| 224 |
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"cls": "Box"
|
| 225 |
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},
|
| 226 |
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|
| 227 |
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"cls": "HingeCabinet"
|
| 228 |
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},
|
| 229 |
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|
| 230 |
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"cls": "Drawer"
|
| 231 |
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},
|
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|
| 233 |
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|
| 234 |
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},
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"stack_4_main_group_base": {
|
| 236 |
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"cls": "Box"
|
| 237 |
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},
|
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|
| 239 |
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"cls": "HingeCabinet"
|
| 240 |
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},
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| 241 |
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"stack_4_main_group_2": {
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| 242 |
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"cls": "Drawer"
|
| 243 |
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},
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"stack_4_main_group_3": {
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| 245 |
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"cls": "Drawer"
|
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},
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"stack_5_main_group_base": {
|
| 248 |
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"cls": "Box"
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| 249 |
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},
|
| 250 |
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"stack_5_main_group_1": {
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| 251 |
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"cls": "HingeCabinet"
|
| 252 |
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},
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| 253 |
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"stack_5_main_group_2": {
|
| 254 |
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"cls": "Drawer"
|
| 255 |
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},
|
| 256 |
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"stack_5_main_group_3": {
|
| 257 |
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"cls": "Drawer"
|
| 258 |
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},
|
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|
| 260 |
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"cls": "Box"
|
| 261 |
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},
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"stack_6_main_group_1": {
|
| 263 |
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"cls": "Drawer"
|
| 264 |
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},
|
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|
| 266 |
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"cls": "Drawer"
|
| 267 |
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},
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| 270 |
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},
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| 272 |
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"cls": "Drawer"
|
| 273 |
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},
|
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"toaster_main_group": {
|
| 275 |
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"cls": "Toaster"
|
| 276 |
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},
|
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"knife_block_main_group": {
|
| 278 |
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"cls": "Accessory"
|
| 279 |
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},
|
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"paper_towel_main_group": {
|
| 281 |
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"cls": "Accessory"
|
| 282 |
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},
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"coffee_machine_main_group": {
|
| 284 |
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"cls": "CoffeeMachine"
|
| 285 |
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},
|
| 286 |
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"digital_scale_main_group": {
|
| 287 |
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"cls": "Accessory"
|
| 288 |
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},
|
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"oil_bottle_main_group": {
|
| 290 |
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"cls": "Accessory"
|
| 291 |
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},
|
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"jar_main_group": {
|
| 293 |
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"cls": "Accessory"
|
| 294 |
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},
|
| 295 |
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"paprika_main_group": {
|
| 296 |
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"cls": "Accessory"
|
| 297 |
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},
|
| 298 |
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"cinnamon_main_group": {
|
| 299 |
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"cls": "Accessory"
|
| 300 |
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},
|
| 301 |
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"turmeric_main_group": {
|
| 302 |
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"cls": "Accessory"
|
| 303 |
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},
|
| 304 |
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"oil_bottle_main_group_auxiliary_main_group": {
|
| 305 |
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"cls": "Accessory"
|
| 306 |
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},
|
| 307 |
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"jar_main_group_auxiliary_main_group": {
|
| 308 |
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"cls": "Accessory"
|
| 309 |
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},
|
| 310 |
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"sink_island_group": {
|
| 311 |
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"cls": "Sink"
|
| 312 |
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},
|
| 313 |
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"island_island_group": {
|
| 314 |
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"cls": "Counter"
|
| 315 |
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},
|
| 316 |
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"island_stack_1_island_group_base": {
|
| 317 |
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"cls": "Box"
|
| 318 |
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},
|
| 319 |
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"island_stack_1_island_group_1": {
|
| 320 |
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"cls": "HingeCabinet"
|
| 321 |
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},
|
| 322 |
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"island_stack_1_island_group_2": {
|
| 323 |
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"cls": "PanelCabinet"
|
| 324 |
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},
|
| 325 |
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"dishwasher_island_group": {
|
| 326 |
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"cls": "Dishwasher"
|
| 327 |
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},
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"island_panel_cab_right_island_group_base": {
|
| 329 |
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"cls": "Box"
|
| 330 |
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},
|
| 331 |
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"island_panel_cab_right_island_group_1": {
|
| 332 |
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"cls": "PanelCabinet"
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| 333 |
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},
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"island_cab_left_island_group_base": {
|
| 335 |
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"cls": "Box"
|
| 336 |
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},
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"island_cab_left_island_group_1": {
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| 338 |
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"cls": "Drawer"
|
| 339 |
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},
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"island_cab_left_island_group_2": {
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| 341 |
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"cls": "Drawer"
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},
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"island_cab_left_island_group_3": {
|
| 344 |
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"cls": "Drawer"
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},
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"island_cab_left_island_group_4": {
|
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"cls": "Drawer"
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},
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"island_panel_cab_left_island_group_base": {
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"cls": "Box"
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},
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"island_panel_cab_left_island_group_1": {
|
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"cls": "PanelCabinet"
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| 354 |
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},
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"island_base_box_island_group": {
|
| 356 |
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"cls": "Box"
|
| 357 |
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},
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"plant_island_group": {
|
| 359 |
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"cls": "Accessory"
|
| 360 |
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},
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"soap_dispenser_island_group": {
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| 362 |
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"cls": "Accessory"
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| 363 |
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},
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| 364 |
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"fruit_bowl_island_group": {
|
| 365 |
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"cls": "Accessory"
|
| 366 |
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},
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| 367 |
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"salt_shaker_island_group": {
|
| 368 |
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"cls": "Accessory"
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| 369 |
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},
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| 370 |
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"salt_shaker_island_group_auxiliary_island_group": {
|
| 371 |
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"cls": "Accessory"
|
| 372 |
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}
|
| 373 |
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},
|
| 374 |
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"gen_textures": {},
|
| 375 |
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"lang": "Pick the pan and sponge and place them into the sink. Then turn on the water.",
|
| 376 |
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"fixture_refs": {
|
| 377 |
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"sink": "sink_island_group",
|
| 378 |
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"counter": "island_island_group"
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| 379 |
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},
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| 380 |
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"cam_configs": {
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"pos": [
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|
| 459 |
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|
| 460 |
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},
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]
|
| 471 |
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}
|
target/composite/PreSoakPan/20250809/lerobot/extras/episode_000306/ep_meta.json
ADDED
|
@@ -0,0 +1,474 @@
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 6,
|
| 3 |
+
"style_id": 6,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "obj1",
|
| 7 |
+
"obj_groups": "pan",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"washable": true,
|
| 10 |
+
"placement": {
|
| 11 |
+
"fixture": "counter_main_main_group",
|
| 12 |
+
"sample_region_kwargs": {
|
| 13 |
+
"ref": "sink_main_group",
|
| 14 |
+
"loc": "left_right",
|
| 15 |
+
"top_size": [
|
| 16 |
+
0.6,
|
| 17 |
+
0.4
|
| 18 |
+
],
|
| 19 |
+
"min_size": [
|
| 20 |
+
0.2004208288400001,
|
| 21 |
+
0.3858642071800001,
|
| 22 |
+
0.03231069164
|
| 23 |
+
]
|
| 24 |
+
},
|
| 25 |
+
"size": [
|
| 26 |
+
0.35,
|
| 27 |
+
0.55
|
| 28 |
+
],
|
| 29 |
+
"pos": [
|
| 30 |
+
"ref",
|
| 31 |
+
-1.0
|
| 32 |
+
]
|
| 33 |
+
},
|
| 34 |
+
"max_size": [
|
| 35 |
+
0.35,
|
| 36 |
+
0.45,
|
| 37 |
+
null
|
| 38 |
+
],
|
| 39 |
+
"type": "object",
|
| 40 |
+
"info": {
|
| 41 |
+
"groups_containing_sampled_obj": [
|
| 42 |
+
"all",
|
| 43 |
+
"pan",
|
| 44 |
+
"receptacle",
|
| 45 |
+
"cookware",
|
| 46 |
+
"pots_and_pans"
|
| 47 |
+
],
|
| 48 |
+
"groups": [
|
| 49 |
+
"pan"
|
| 50 |
+
],
|
| 51 |
+
"cat": "pan",
|
| 52 |
+
"split": "test",
|
| 53 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_7/model.xml"
|
| 54 |
+
},
|
| 55 |
+
"reset_region": {
|
| 56 |
+
"size": [
|
| 57 |
+
1.5670704714618844,
|
| 58 |
+
0.65
|
| 59 |
+
],
|
| 60 |
+
"offset": [
|
| 61 |
+
0.716464764269058,
|
| 62 |
+
-3.469446951953614e-17,
|
| 63 |
+
0.46
|
| 64 |
+
],
|
| 65 |
+
"name": "geom_0"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
{
|
| 69 |
+
"name": "obj2",
|
| 70 |
+
"obj_groups": "sponge",
|
| 71 |
+
"placement": {
|
| 72 |
+
"fixture": "counter_main_main_group",
|
| 73 |
+
"sample_region_kwargs": {
|
| 74 |
+
"ref": "sink_main_group",
|
| 75 |
+
"loc": "left_right",
|
| 76 |
+
"min_size": [
|
| 77 |
+
0.05987461299413682,
|
| 78 |
+
0.08473327675669531,
|
| 79 |
+
0.02488372325999999
|
| 80 |
+
]
|
| 81 |
+
},
|
| 82 |
+
"size": [
|
| 83 |
+
0.2,
|
| 84 |
+
0.3
|
| 85 |
+
],
|
| 86 |
+
"pos": [
|
| 87 |
+
"ref",
|
| 88 |
+
-1.0
|
| 89 |
+
],
|
| 90 |
+
"offset": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.05
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
"type": "object",
|
| 96 |
+
"info": {
|
| 97 |
+
"groups_containing_sampled_obj": [
|
| 98 |
+
"all",
|
| 99 |
+
"sponge",
|
| 100 |
+
"cleaner"
|
| 101 |
+
],
|
| 102 |
+
"groups": [
|
| 103 |
+
"sponge"
|
| 104 |
+
],
|
| 105 |
+
"cat": "sponge",
|
| 106 |
+
"split": "test",
|
| 107 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_4/model.xml"
|
| 108 |
+
},
|
| 109 |
+
"reset_region": {
|
| 110 |
+
"size": [
|
| 111 |
+
0.5470704714618846,
|
| 112 |
+
0.65
|
| 113 |
+
],
|
| 114 |
+
"offset": [
|
| 115 |
+
-1.2264647642690578,
|
| 116 |
+
-3.469446951953614e-17,
|
| 117 |
+
0.46
|
| 118 |
+
],
|
| 119 |
+
"name": "geom_0"
|
| 120 |
+
}
|
| 121 |
+
}
|
| 122 |
+
],
|
| 123 |
+
"fixtures": {
|
| 124 |
+
"wall_room": {
|
| 125 |
+
"cls": "Wall"
|
| 126 |
+
},
|
| 127 |
+
"wall_backing_room": {
|
| 128 |
+
"cls": "Wall"
|
| 129 |
+
},
|
| 130 |
+
"wall_left_room": {
|
| 131 |
+
"cls": "Wall"
|
| 132 |
+
},
|
| 133 |
+
"wall_left_backing_room": {
|
| 134 |
+
"cls": "Wall"
|
| 135 |
+
},
|
| 136 |
+
"wall_right_room": {
|
| 137 |
+
"cls": "Wall"
|
| 138 |
+
},
|
| 139 |
+
"wall_right_backing_room": {
|
| 140 |
+
"cls": "Wall"
|
| 141 |
+
},
|
| 142 |
+
"outlet_room": {
|
| 143 |
+
"cls": "WallAccessory"
|
| 144 |
+
},
|
| 145 |
+
"outlet_2_room": {
|
| 146 |
+
"cls": "WallAccessory"
|
| 147 |
+
},
|
| 148 |
+
"outlet_3_room": {
|
| 149 |
+
"cls": "WallAccessory"
|
| 150 |
+
},
|
| 151 |
+
"light_switch_room": {
|
| 152 |
+
"cls": "WallAccessory"
|
| 153 |
+
},
|
| 154 |
+
"light_switch_2_room": {
|
| 155 |
+
"cls": "WallAccessory"
|
| 156 |
+
},
|
| 157 |
+
"utensil_rack_room": {
|
| 158 |
+
"cls": "WallAccessory"
|
| 159 |
+
},
|
| 160 |
+
"window_group_room": {
|
| 161 |
+
"cls": "Window"
|
| 162 |
+
},
|
| 163 |
+
"floor_room": {
|
| 164 |
+
"cls": "Floor"
|
| 165 |
+
},
|
| 166 |
+
"floor_backing_room": {
|
| 167 |
+
"cls": "Floor"
|
| 168 |
+
},
|
| 169 |
+
"cab_main_main_group": {
|
| 170 |
+
"cls": "HingeCabinet"
|
| 171 |
+
},
|
| 172 |
+
"cab_corner_main_group": {
|
| 173 |
+
"cls": "Box"
|
| 174 |
+
},
|
| 175 |
+
"cab_corner_2_main_group": {
|
| 176 |
+
"cls": "Box"
|
| 177 |
+
},
|
| 178 |
+
"counter_corner_left_main_group": {
|
| 179 |
+
"cls": "Counter"
|
| 180 |
+
},
|
| 181 |
+
"sink_main_group": {
|
| 182 |
+
"cls": "Sink"
|
| 183 |
+
},
|
| 184 |
+
"counter_main_main_group": {
|
| 185 |
+
"cls": "Counter"
|
| 186 |
+
},
|
| 187 |
+
"counter_corner_right_main_group": {
|
| 188 |
+
"cls": "Counter"
|
| 189 |
+
},
|
| 190 |
+
"stack_1_main_group_base": {
|
| 191 |
+
"cls": "Box"
|
| 192 |
+
},
|
| 193 |
+
"stack_1_main_group_1": {
|
| 194 |
+
"cls": "Drawer"
|
| 195 |
+
},
|
| 196 |
+
"stack_1_main_group_2": {
|
| 197 |
+
"cls": "Drawer"
|
| 198 |
+
},
|
| 199 |
+
"stack_1_main_group_3": {
|
| 200 |
+
"cls": "Drawer"
|
| 201 |
+
},
|
| 202 |
+
"stack_1_main_group_4": {
|
| 203 |
+
"cls": "Drawer"
|
| 204 |
+
},
|
| 205 |
+
"stack_2_main_group_base": {
|
| 206 |
+
"cls": "Box"
|
| 207 |
+
},
|
| 208 |
+
"stack_2_main_group_1": {
|
| 209 |
+
"cls": "HingeCabinet"
|
| 210 |
+
},
|
| 211 |
+
"stack_2_main_group_2": {
|
| 212 |
+
"cls": "PanelCabinet"
|
| 213 |
+
},
|
| 214 |
+
"dishwasher_main_group": {
|
| 215 |
+
"cls": "Dishwasher"
|
| 216 |
+
},
|
| 217 |
+
"stack_3_main_group_base": {
|
| 218 |
+
"cls": "Box"
|
| 219 |
+
},
|
| 220 |
+
"stack_3_main_group_1": {
|
| 221 |
+
"cls": "HingeCabinet"
|
| 222 |
+
},
|
| 223 |
+
"stack_3_main_group_2": {
|
| 224 |
+
"cls": "Drawer"
|
| 225 |
+
},
|
| 226 |
+
"stack_3_main_group_3": {
|
| 227 |
+
"cls": "Drawer"
|
| 228 |
+
},
|
| 229 |
+
"toaster_oven_main_group": {
|
| 230 |
+
"cls": "ToasterOven"
|
| 231 |
+
},
|
| 232 |
+
"knife_block_main_group": {
|
| 233 |
+
"cls": "Accessory"
|
| 234 |
+
},
|
| 235 |
+
"utensil_set_main_group": {
|
| 236 |
+
"cls": "Accessory"
|
| 237 |
+
},
|
| 238 |
+
"tiered_basket_main_group": {
|
| 239 |
+
"cls": "Accessory"
|
| 240 |
+
},
|
| 241 |
+
"paper_towel_main_group": {
|
| 242 |
+
"cls": "Accessory"
|
| 243 |
+
},
|
| 244 |
+
"soap_dispenser_main_group": {
|
| 245 |
+
"cls": "Accessory"
|
| 246 |
+
},
|
| 247 |
+
"counter_1_right_group": {
|
| 248 |
+
"cls": "Counter"
|
| 249 |
+
},
|
| 250 |
+
"stove_right_group": {
|
| 251 |
+
"cls": "Stove"
|
| 252 |
+
},
|
| 253 |
+
"counter_2_right_group": {
|
| 254 |
+
"cls": "Counter"
|
| 255 |
+
},
|
| 256 |
+
"fridge_right_group": {
|
| 257 |
+
"cls": "FridgeFrenchDoor"
|
| 258 |
+
},
|
| 259 |
+
"fridge_housing_right_group": {
|
| 260 |
+
"cls": "HousingCabinet"
|
| 261 |
+
},
|
| 262 |
+
"counter_corner_right_group": {
|
| 263 |
+
"cls": "Counter"
|
| 264 |
+
},
|
| 265 |
+
"stack_1_right_group_base": {
|
| 266 |
+
"cls": "Box"
|
| 267 |
+
},
|
| 268 |
+
"stack_1_right_group_1": {
|
| 269 |
+
"cls": "SingleCabinet"
|
| 270 |
+
},
|
| 271 |
+
"stack_1_right_group_2": {
|
| 272 |
+
"cls": "Drawer"
|
| 273 |
+
},
|
| 274 |
+
"stack_2_right_group_base": {
|
| 275 |
+
"cls": "Box"
|
| 276 |
+
},
|
| 277 |
+
"stack_2_right_group_1": {
|
| 278 |
+
"cls": "SingleCabinet"
|
| 279 |
+
},
|
| 280 |
+
"stack_2_right_group_2": {
|
| 281 |
+
"cls": "Drawer"
|
| 282 |
+
},
|
| 283 |
+
"cab_1_right_group": {
|
| 284 |
+
"cls": "SingleCabinet"
|
| 285 |
+
},
|
| 286 |
+
"microwave_right_group": {
|
| 287 |
+
"cls": "Microwave"
|
| 288 |
+
},
|
| 289 |
+
"cab_micro_right_group": {
|
| 290 |
+
"cls": "HingeCabinet"
|
| 291 |
+
},
|
| 292 |
+
"cab_2_right_group": {
|
| 293 |
+
"cls": "SingleCabinet"
|
| 294 |
+
},
|
| 295 |
+
"cab_3_right_group": {
|
| 296 |
+
"cls": "HingeCabinet"
|
| 297 |
+
},
|
| 298 |
+
"toaster_right_group": {
|
| 299 |
+
"cls": "Toaster"
|
| 300 |
+
},
|
| 301 |
+
"counter_1_left_group": {
|
| 302 |
+
"cls": "Counter"
|
| 303 |
+
},
|
| 304 |
+
"counter_corner_left_group": {
|
| 305 |
+
"cls": "Counter"
|
| 306 |
+
},
|
| 307 |
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"stack_1_left_group_base": {
|
| 308 |
+
"cls": "Box"
|
| 309 |
+
},
|
| 310 |
+
"stack_1_left_group_1": {
|
| 311 |
+
"cls": "Drawer"
|
| 312 |
+
},
|
| 313 |
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"stack_1_left_group_2": {
|
| 314 |
+
"cls": "Drawer"
|
| 315 |
+
},
|
| 316 |
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"stack_1_left_group_3": {
|
| 317 |
+
"cls": "Drawer"
|
| 318 |
+
},
|
| 319 |
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"stack_1_left_group_4": {
|
| 320 |
+
"cls": "Drawer"
|
| 321 |
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},
|
| 322 |
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"stack_2_left_group_base": {
|
| 323 |
+
"cls": "Box"
|
| 324 |
+
},
|
| 325 |
+
"stack_2_left_group_1": {
|
| 326 |
+
"cls": "HingeCabinet"
|
| 327 |
+
},
|
| 328 |
+
"stack_2_left_group_2": {
|
| 329 |
+
"cls": "Drawer"
|
| 330 |
+
},
|
| 331 |
+
"stack_2_left_group_3": {
|
| 332 |
+
"cls": "Drawer"
|
| 333 |
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},
|
| 334 |
+
"stack_3_left_group_base": {
|
| 335 |
+
"cls": "Box"
|
| 336 |
+
},
|
| 337 |
+
"stack_3_left_group_1": {
|
| 338 |
+
"cls": "HingeCabinet"
|
| 339 |
+
},
|
| 340 |
+
"stack_3_left_group_2": {
|
| 341 |
+
"cls": "Drawer"
|
| 342 |
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},
|
| 343 |
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"cab_1_left_group": {
|
| 344 |
+
"cls": "HingeCabinet"
|
| 345 |
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},
|
| 346 |
+
"shelves_left_group": {
|
| 347 |
+
"cls": "OpenCabinet"
|
| 348 |
+
},
|
| 349 |
+
"coffee_machine_left_group": {
|
| 350 |
+
"cls": "CoffeeMachine"
|
| 351 |
+
},
|
| 352 |
+
"plant_left_group": {
|
| 353 |
+
"cls": "Accessory"
|
| 354 |
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},
|
| 355 |
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"oil_bottle_left_group": {
|
| 356 |
+
"cls": "Accessory"
|
| 357 |
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},
|
| 358 |
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"salt_shaker_left_group": {
|
| 359 |
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"cls": "Accessory"
|
| 360 |
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},
|
| 361 |
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"paprika_left_group": {
|
| 362 |
+
"cls": "Accessory"
|
| 363 |
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},
|
| 364 |
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"cinnamon_left_group": {
|
| 365 |
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"cls": "Accessory"
|
| 366 |
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},
|
| 367 |
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"turmeric_left_group": {
|
| 368 |
+
"cls": "Accessory"
|
| 369 |
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},
|
| 370 |
+
"oil_bottle_left_group_auxiliary_left_group": {
|
| 371 |
+
"cls": "Accessory"
|
| 372 |
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},
|
| 373 |
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"salt_shaker_left_group_auxiliary_left_group": {
|
| 374 |
+
"cls": "Accessory"
|
| 375 |
+
}
|
| 376 |
+
},
|
| 377 |
+
"gen_textures": {},
|
| 378 |
+
"lang": "Pick the pan and sponge and place them into the sink. Then turn on the water.",
|
| 379 |
+
"fixture_refs": {
|
| 380 |
+
"sink": "sink_main_group",
|
| 381 |
+
"counter": "counter_main_main_group"
|
| 382 |
+
},
|
| 383 |
+
"cam_configs": {
|
| 384 |
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"robot0_agentview_center": {
|
| 385 |
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"pos": [
|
| 386 |
+
-0.6,
|
| 387 |
+
0.0,
|
| 388 |
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1.15
|
| 389 |
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],
|
| 390 |
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"quat": [
|
| 391 |
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|
| 392 |
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|
| 393 |
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|
| 394 |
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|
| 395 |
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],
|
| 396 |
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"parent_body": "mobilebase0_support"
|
| 397 |
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},
|
| 398 |
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"robot0_agentview_left": {
|
| 399 |
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"pos": [
|
| 400 |
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-0.5,
|
| 401 |
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0.35,
|
| 402 |
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1.05
|
| 403 |
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],
|
| 404 |
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"quat": [
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| 405 |
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|
| 406 |
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|
| 407 |
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|
| 408 |
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|
| 409 |
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],
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| 410 |
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"camera_attribs": {
|
| 411 |
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"fovy": "60"
|
| 412 |
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},
|
| 413 |
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"parent_body": "mobilebase0_support"
|
| 414 |
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},
|
| 415 |
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"robot0_agentview_right": {
|
| 416 |
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"pos": [
|
| 417 |
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-0.5,
|
| 418 |
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-0.35,
|
| 419 |
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|
| 420 |
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],
|
| 421 |
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"quat": [
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| 422 |
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| 423 |
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|
| 424 |
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|
| 425 |
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|
| 426 |
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],
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| 427 |
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"camera_attribs": {
|
| 428 |
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|
| 429 |
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},
|
| 430 |
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"parent_body": "mobilebase0_support"
|
| 431 |
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},
|
| 432 |
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"robot0_frontview": {
|
| 433 |
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"pos": [
|
| 434 |
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-0.5,
|
| 435 |
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0,
|
| 436 |
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|
| 437 |
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],
|
| 438 |
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"quat": [
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| 439 |
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|
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|
| 445 |
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|
| 446 |
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},
|
| 447 |
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"parent_body": "mobilebase0_support"
|
| 448 |
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},
|
| 449 |
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"robot0_eye_in_hand": {
|
| 450 |
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"pos": [
|
| 451 |
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0.05,
|
| 452 |
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0,
|
| 453 |
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|
| 454 |
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],
|
| 455 |
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"quat": [
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| 456 |
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|
| 457 |
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|
| 458 |
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|
| 459 |
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|
| 460 |
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],
|
| 461 |
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"parent_body": "robot0_right_hand"
|
| 462 |
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}
|
| 463 |
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},
|
| 464 |
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"init_robot_base_pos": [
|
| 465 |
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|
| 466 |
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|
| 467 |
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|
| 468 |
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],
|
| 469 |
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"init_robot_base_ori": [
|
| 470 |
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|
| 471 |
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|
| 472 |
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|
| 473 |
+
]
|
| 474 |
+
}
|
target/composite/PreSoakPan/20250809/lerobot/extras/episode_000311/ep_meta.json
ADDED
|
@@ -0,0 +1,549 @@
|
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| 1 |
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{
|
| 2 |
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| 3 |
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| 4 |
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| 5 |
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{
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| 6 |
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| 7 |
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|
| 8 |
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| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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0.4
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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-1.0
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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null
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| 38 |
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| 39 |
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|
| 40 |
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| 41 |
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|
| 42 |
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"all",
|
| 43 |
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|
| 44 |
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|
| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 58 |
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| 61 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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|
| 68 |
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{
|
| 69 |
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|
| 70 |
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|
| 71 |
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| 72 |
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|
| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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0.3
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| 85 |
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| 86 |
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| 87 |
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"ref",
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| 88 |
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-1.0
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| 89 |
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| 90 |
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| 91 |
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0.0,
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| 92 |
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| 93 |
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|
| 94 |
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| 95 |
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"type": "object",
|
| 96 |
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|
| 97 |
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| 98 |
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"all",
|
| 99 |
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"sponge",
|
| 100 |
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"cleaner"
|
| 101 |
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],
|
| 102 |
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| 103 |
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|
| 104 |
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],
|
| 105 |
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"cat": "sponge",
|
| 106 |
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"split": "test",
|
| 107 |
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|
| 108 |
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| 109 |
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| 110 |
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| 112 |
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| 120 |
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| 121 |
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|
| 122 |
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],
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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| 127 |
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|
| 128 |
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|
| 129 |
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| 130 |
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|
| 131 |
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|
| 132 |
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| 133 |
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| 134 |
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|
| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 140 |
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|
| 141 |
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| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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|
| 150 |
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|
| 151 |
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| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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},
|
| 157 |
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|
| 158 |
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|
| 159 |
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| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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"cls": "WallAccessory"
|
| 168 |
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|
| 169 |
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| 170 |
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"cls": "WallAccessory"
|
| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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|
| 177 |
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| 178 |
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| 179 |
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|
| 180 |
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| 181 |
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|
| 182 |
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"cls": "Floor"
|
| 183 |
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},
|
| 184 |
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|
| 185 |
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"cls": "Floor"
|
| 186 |
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},
|
| 187 |
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|
| 188 |
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"cls": "Stool"
|
| 189 |
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},
|
| 190 |
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|
| 191 |
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"cls": "Stool"
|
| 192 |
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},
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| 193 |
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|
| 194 |
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"cls": "Stool"
|
| 195 |
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|
| 196 |
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|
| 197 |
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"cls": "Counter"
|
| 198 |
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},
|
| 199 |
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|
| 200 |
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|
| 201 |
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},
|
| 202 |
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|
| 203 |
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"cls": "Stove"
|
| 204 |
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},
|
| 205 |
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"counter_1_main_group": {
|
| 206 |
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"cls": "Counter"
|
| 207 |
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|
| 208 |
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|
| 209 |
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"cls": "Counter"
|
| 210 |
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},
|
| 211 |
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"cab_corner_main_group": {
|
| 212 |
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"cls": "Box"
|
| 213 |
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},
|
| 214 |
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"cab_main_main_group": {
|
| 215 |
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"cls": "HingeCabinet"
|
| 216 |
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},
|
| 217 |
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"cab_1_main_group": {
|
| 218 |
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"cls": "HingeCabinet"
|
| 219 |
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},
|
| 220 |
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|
| 221 |
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"cls": "Hood"
|
| 222 |
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},
|
| 223 |
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"shelves_main_group": {
|
| 224 |
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"cls": "OpenCabinet"
|
| 225 |
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},
|
| 226 |
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|
| 227 |
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"cls": "Box"
|
| 228 |
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},
|
| 229 |
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"cab_corner_4_main_group": {
|
| 230 |
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"cls": "Box"
|
| 231 |
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},
|
| 232 |
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"stack_1_main_group_base": {
|
| 233 |
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"cls": "Box"
|
| 234 |
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},
|
| 235 |
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"stack_1_main_group_1": {
|
| 236 |
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"cls": "HingeCabinet"
|
| 237 |
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},
|
| 238 |
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|
| 239 |
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"cls": "Drawer"
|
| 240 |
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},
|
| 241 |
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|
| 242 |
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"cls": "Drawer"
|
| 243 |
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},
|
| 244 |
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|
| 245 |
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"cls": "Box"
|
| 246 |
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},
|
| 247 |
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"stack_2_main_group_1": {
|
| 248 |
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"cls": "HingeCabinet"
|
| 249 |
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},
|
| 250 |
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|
| 251 |
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"cls": "Drawer"
|
| 252 |
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},
|
| 253 |
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|
| 254 |
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"cls": "Drawer"
|
| 255 |
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},
|
| 256 |
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|
| 257 |
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"cls": "Box"
|
| 258 |
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},
|
| 259 |
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|
| 260 |
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"cls": "Box"
|
| 261 |
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},
|
| 262 |
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"stack_3_main_group_1": {
|
| 263 |
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"cls": "HingeCabinet"
|
| 264 |
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},
|
| 265 |
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|
| 266 |
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"cls": "Drawer"
|
| 267 |
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},
|
| 268 |
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|
| 269 |
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"cls": "Drawer"
|
| 270 |
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},
|
| 271 |
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|
| 272 |
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"cls": "Box"
|
| 273 |
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},
|
| 274 |
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|
| 275 |
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"cls": "Drawer"
|
| 276 |
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},
|
| 277 |
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|
| 278 |
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"cls": "Drawer"
|
| 279 |
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},
|
| 280 |
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|
| 281 |
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"cls": "Drawer"
|
| 282 |
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},
|
| 283 |
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|
| 284 |
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"cls": "Drawer"
|
| 285 |
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},
|
| 286 |
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|
| 287 |
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"cls": "CoffeeMachine"
|
| 288 |
+
},
|
| 289 |
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|
| 290 |
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"cls": "Accessory"
|
| 291 |
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},
|
| 292 |
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"plant_main_group": {
|
| 293 |
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"cls": "Accessory"
|
| 294 |
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},
|
| 295 |
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|
| 296 |
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"cls": "Toaster"
|
| 297 |
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},
|
| 298 |
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|
| 299 |
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"cls": "ToasterOven"
|
| 300 |
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},
|
| 301 |
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|
| 302 |
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"cls": "Accessory"
|
| 303 |
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},
|
| 304 |
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"jar_main_group": {
|
| 305 |
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"cls": "Accessory"
|
| 306 |
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},
|
| 307 |
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"paprika_main_group": {
|
| 308 |
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"cls": "Accessory"
|
| 309 |
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},
|
| 310 |
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|
| 311 |
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"cls": "Accessory"
|
| 312 |
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},
|
| 313 |
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|
| 314 |
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"cls": "Accessory"
|
| 315 |
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},
|
| 316 |
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|
| 317 |
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"cls": "Accessory"
|
| 318 |
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},
|
| 319 |
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|
| 320 |
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"cls": "Accessory"
|
| 321 |
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},
|
| 322 |
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"salt_shaker_main_group_auxiliary_main_group": {
|
| 323 |
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"cls": "Accessory"
|
| 324 |
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},
|
| 325 |
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|
| 326 |
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"cls": "FridgeFrenchDoor"
|
| 327 |
+
},
|
| 328 |
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"fridge_housing_left_group": {
|
| 329 |
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"cls": "HousingCabinet"
|
| 330 |
+
},
|
| 331 |
+
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|
| 332 |
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"cls": "HingeCabinet"
|
| 333 |
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},
|
| 334 |
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|
| 335 |
+
"cls": "Box"
|
| 336 |
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},
|
| 337 |
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|
| 338 |
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"cls": "SingleCabinet"
|
| 339 |
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},
|
| 340 |
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"stack_left_left_group_2": {
|
| 341 |
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"cls": "SingleCabinet"
|
| 342 |
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},
|
| 343 |
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"stack_right_left_group_base": {
|
| 344 |
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"cls": "Box"
|
| 345 |
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},
|
| 346 |
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"stack_right_left_group_1": {
|
| 347 |
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"cls": "SingleCabinet"
|
| 348 |
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},
|
| 349 |
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"stack_right_left_group_2": {
|
| 350 |
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"cls": "SingleCabinet"
|
| 351 |
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},
|
| 352 |
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"box_left_top_left_group": {
|
| 353 |
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"cls": "Box"
|
| 354 |
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},
|
| 355 |
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"box_left_bottom_left_group": {
|
| 356 |
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"cls": "Box"
|
| 357 |
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},
|
| 358 |
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"box_right_top_left_group": {
|
| 359 |
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"cls": "Box"
|
| 360 |
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},
|
| 361 |
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"box_right_bottom_left_group": {
|
| 362 |
+
"cls": "Box"
|
| 363 |
+
},
|
| 364 |
+
"sink_right_group": {
|
| 365 |
+
"cls": "Sink"
|
| 366 |
+
},
|
| 367 |
+
"counter_1_right_group": {
|
| 368 |
+
"cls": "Counter"
|
| 369 |
+
},
|
| 370 |
+
"counter_corner_right_group": {
|
| 371 |
+
"cls": "Counter"
|
| 372 |
+
},
|
| 373 |
+
"stack_1_right_group_base": {
|
| 374 |
+
"cls": "Box"
|
| 375 |
+
},
|
| 376 |
+
"stack_1_right_group_1": {
|
| 377 |
+
"cls": "HingeCabinet"
|
| 378 |
+
},
|
| 379 |
+
"stack_1_right_group_2": {
|
| 380 |
+
"cls": "PanelCabinet"
|
| 381 |
+
},
|
| 382 |
+
"dishwasher_right_group": {
|
| 383 |
+
"cls": "Dishwasher"
|
| 384 |
+
},
|
| 385 |
+
"stack_2_right_group_base": {
|
| 386 |
+
"cls": "Box"
|
| 387 |
+
},
|
| 388 |
+
"stack_2_right_group_1": {
|
| 389 |
+
"cls": "SingleCabinet"
|
| 390 |
+
},
|
| 391 |
+
"cab_1_right_group": {
|
| 392 |
+
"cls": "HingeCabinet"
|
| 393 |
+
},
|
| 394 |
+
"cab_2_right_group": {
|
| 395 |
+
"cls": "SingleCabinet"
|
| 396 |
+
},
|
| 397 |
+
"soap_dispenser_right_group": {
|
| 398 |
+
"cls": "Accessory"
|
| 399 |
+
},
|
| 400 |
+
"counter_corner_1_front_group": {
|
| 401 |
+
"cls": "Counter"
|
| 402 |
+
},
|
| 403 |
+
"counter_1_front_group": {
|
| 404 |
+
"cls": "Counter"
|
| 405 |
+
},
|
| 406 |
+
"stack_1_front_group_base": {
|
| 407 |
+
"cls": "Box"
|
| 408 |
+
},
|
| 409 |
+
"stack_1_front_group_1": {
|
| 410 |
+
"cls": "HingeCabinet"
|
| 411 |
+
},
|
| 412 |
+
"stack_1_front_group_2": {
|
| 413 |
+
"cls": "Drawer"
|
| 414 |
+
},
|
| 415 |
+
"shelves_front_group": {
|
| 416 |
+
"cls": "OpenCabinet"
|
| 417 |
+
},
|
| 418 |
+
"bottom_front_group_base": {
|
| 419 |
+
"cls": "Box"
|
| 420 |
+
},
|
| 421 |
+
"bottom_front_group_1": {
|
| 422 |
+
"cls": "Drawer"
|
| 423 |
+
},
|
| 424 |
+
"bottom_front_group_2": {
|
| 425 |
+
"cls": "Drawer"
|
| 426 |
+
},
|
| 427 |
+
"cab_middle_front_group": {
|
| 428 |
+
"cls": "HingeCabinet"
|
| 429 |
+
},
|
| 430 |
+
"microwave_front_group": {
|
| 431 |
+
"cls": "Microwave"
|
| 432 |
+
},
|
| 433 |
+
"micro_housing_front_group": {
|
| 434 |
+
"cls": "HousingCabinet"
|
| 435 |
+
},
|
| 436 |
+
"top_front_group": {
|
| 437 |
+
"cls": "HingeCabinet"
|
| 438 |
+
},
|
| 439 |
+
"utensil_set_front_group": {
|
| 440 |
+
"cls": "Accessory"
|
| 441 |
+
},
|
| 442 |
+
"counter_1_dining_area_group": {
|
| 443 |
+
"cls": "Counter"
|
| 444 |
+
},
|
| 445 |
+
"paper_towel_dining_area_group": {
|
| 446 |
+
"cls": "Accessory"
|
| 447 |
+
},
|
| 448 |
+
"fruit_bowl_dining_area_group": {
|
| 449 |
+
"cls": "Accessory"
|
| 450 |
+
}
|
| 451 |
+
},
|
| 452 |
+
"gen_textures": {},
|
| 453 |
+
"lang": "Pick the pan and sponge and place them into the sink. Then turn on the water.",
|
| 454 |
+
"fixture_refs": {
|
| 455 |
+
"sink": "sink_right_group",
|
| 456 |
+
"counter": "counter_1_right_group"
|
| 457 |
+
},
|
| 458 |
+
"cam_configs": {
|
| 459 |
+
"robot0_agentview_center": {
|
| 460 |
+
"pos": [
|
| 461 |
+
-0.6,
|
| 462 |
+
0.0,
|
| 463 |
+
1.15
|
| 464 |
+
],
|
| 465 |
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"quat": [
|
| 466 |
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|
| 467 |
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|
| 468 |
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|
| 469 |
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-0.6175596117973328
|
| 470 |
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],
|
| 471 |
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"parent_body": "mobilebase0_support"
|
| 472 |
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},
|
| 473 |
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"robot0_agentview_left": {
|
| 474 |
+
"pos": [
|
| 475 |
+
-0.5,
|
| 476 |
+
0.35,
|
| 477 |
+
1.05
|
| 478 |
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],
|
| 479 |
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"quat": [
|
| 480 |
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|
| 481 |
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|
| 482 |
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-0.37678665,
|
| 483 |
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-0.6775092
|
| 484 |
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],
|
| 485 |
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"camera_attribs": {
|
| 486 |
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"fovy": "60"
|
| 487 |
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},
|
| 488 |
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"parent_body": "mobilebase0_support"
|
| 489 |
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},
|
| 490 |
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"robot0_agentview_right": {
|
| 491 |
+
"pos": [
|
| 492 |
+
-0.5,
|
| 493 |
+
-0.35,
|
| 494 |
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1.05
|
| 495 |
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],
|
| 496 |
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"quat": [
|
| 497 |
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|
| 498 |
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|
| 499 |
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|
| 500 |
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|
| 501 |
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],
|
| 502 |
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"camera_attribs": {
|
| 503 |
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"fovy": "60"
|
| 504 |
+
},
|
| 505 |
+
"parent_body": "mobilebase0_support"
|
| 506 |
+
},
|
| 507 |
+
"robot0_frontview": {
|
| 508 |
+
"pos": [
|
| 509 |
+
-0.5,
|
| 510 |
+
0,
|
| 511 |
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0.95
|
| 512 |
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],
|
| 513 |
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"quat": [
|
| 514 |
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|
| 515 |
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|
| 516 |
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|
| 517 |
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-0.5905545353889465
|
| 518 |
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],
|
| 519 |
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"camera_attribs": {
|
| 520 |
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"fovy": "60"
|
| 521 |
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},
|
| 522 |
+
"parent_body": "mobilebase0_support"
|
| 523 |
+
},
|
| 524 |
+
"robot0_eye_in_hand": {
|
| 525 |
+
"pos": [
|
| 526 |
+
0.05,
|
| 527 |
+
0,
|
| 528 |
+
0
|
| 529 |
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],
|
| 530 |
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"quat": [
|
| 531 |
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0,
|
| 532 |
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0.707107,
|
| 533 |
+
0.707107,
|
| 534 |
+
0
|
| 535 |
+
],
|
| 536 |
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"parent_body": "robot0_right_hand"
|
| 537 |
+
}
|
| 538 |
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},
|
| 539 |
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"init_robot_base_pos": [
|
| 540 |
+
5.112565170813489,
|
| 541 |
+
-2.156793580353218,
|
| 542 |
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0.0
|
| 543 |
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],
|
| 544 |
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"init_robot_base_ori": [
|
| 545 |
+
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|
| 546 |
+
0.0,
|
| 547 |
+
-3.673205103416066e-06
|
| 548 |
+
]
|
| 549 |
+
}
|
target/composite/PreSoakPan/20250809/lerobot/extras/episode_000441/ep_meta.json
ADDED
|
@@ -0,0 +1,471 @@
|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
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|
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|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 2,
|
| 3 |
+
"style_id": 2,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "obj1",
|
| 7 |
+
"obj_groups": "pan",
|
| 8 |
+
"graspable": true,
|
| 9 |
+
"washable": true,
|
| 10 |
+
"placement": {
|
| 11 |
+
"fixture": "island_island_group",
|
| 12 |
+
"sample_region_kwargs": {
|
| 13 |
+
"ref": "sink_island_group",
|
| 14 |
+
"loc": "left_right",
|
| 15 |
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"camera_attribs": {
|
| 442 |
+
"fovy": "60"
|
| 443 |
+
},
|
| 444 |
+
"parent_body": "mobilebase0_support"
|
| 445 |
+
},
|
| 446 |
+
"robot0_eye_in_hand": {
|
| 447 |
+
"pos": [
|
| 448 |
+
0.05,
|
| 449 |
+
0,
|
| 450 |
+
0
|
| 451 |
+
],
|
| 452 |
+
"quat": [
|
| 453 |
+
0,
|
| 454 |
+
0.707107,
|
| 455 |
+
0.707107,
|
| 456 |
+
0
|
| 457 |
+
],
|
| 458 |
+
"parent_body": "robot0_right_hand"
|
| 459 |
+
}
|
| 460 |
+
},
|
| 461 |
+
"init_robot_base_pos": [
|
| 462 |
+
2.6109607499926506,
|
| 463 |
+
-1.788541150634077,
|
| 464 |
+
0.0
|
| 465 |
+
],
|
| 466 |
+
"init_robot_base_ori": [
|
| 467 |
+
0.0,
|
| 468 |
+
0.0,
|
| 469 |
+
4.712296326794897
|
| 470 |
+
]
|
| 471 |
+
}
|
target/composite/PreSoakPan/20250809/lerobot/meta/embodiment.json
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_name": "PandaOmron",
|
| 3 |
+
"robot_type": "PandaOmron",
|
| 4 |
+
"record_frequency": 20.0,
|
| 5 |
+
"body_controller_frequency": 20.0,
|
| 6 |
+
"hand_controller_frequency": 20.0,
|
| 7 |
+
"embodiment_tag": "robocasa_panda_omron"
|
| 8 |
+
}
|
target/composite/PreSoakPan/20250809/lerobot/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,501 @@
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 549}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 863}
|
| 3 |
+
{"episode_index": 2, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 776}
|
| 4 |
+
{"episode_index": 3, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 614}
|
| 5 |
+
{"episode_index": 4, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 712}
|
| 6 |
+
{"episode_index": 5, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 649}
|
| 7 |
+
{"episode_index": 6, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 772}
|
| 8 |
+
{"episode_index": 7, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 821}
|
| 9 |
+
{"episode_index": 8, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 923}
|
| 10 |
+
{"episode_index": 9, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 805}
|
| 11 |
+
{"episode_index": 10, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 903}
|
| 12 |
+
{"episode_index": 11, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 815}
|
| 13 |
+
{"episode_index": 12, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 684}
|
| 14 |
+
{"episode_index": 13, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 794}
|
| 15 |
+
{"episode_index": 14, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 814}
|
| 16 |
+
{"episode_index": 15, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 585}
|
| 17 |
+
{"episode_index": 16, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 748}
|
| 18 |
+
{"episode_index": 17, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 668}
|
| 19 |
+
{"episode_index": 18, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 580}
|
| 20 |
+
{"episode_index": 19, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 479}
|
| 21 |
+
{"episode_index": 20, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 728}
|
| 22 |
+
{"episode_index": 21, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 643}
|
| 23 |
+
{"episode_index": 22, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 570}
|
| 24 |
+
{"episode_index": 23, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 720}
|
| 25 |
+
{"episode_index": 24, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 632}
|
| 26 |
+
{"episode_index": 25, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 982}
|
| 27 |
+
{"episode_index": 26, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 714}
|
| 28 |
+
{"episode_index": 27, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 773}
|
| 29 |
+
{"episode_index": 28, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 755}
|
| 30 |
+
{"episode_index": 29, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 645}
|
| 31 |
+
{"episode_index": 30, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 778}
|
| 32 |
+
{"episode_index": 31, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 938}
|
| 33 |
+
{"episode_index": 32, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 578}
|
| 34 |
+
{"episode_index": 33, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 698}
|
| 35 |
+
{"episode_index": 34, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 686}
|
| 36 |
+
{"episode_index": 35, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 681}
|
| 37 |
+
{"episode_index": 36, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 761}
|
| 38 |
+
{"episode_index": 37, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 627}
|
| 39 |
+
{"episode_index": 38, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 646}
|
| 40 |
+
{"episode_index": 39, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 813}
|
| 41 |
+
{"episode_index": 40, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 943}
|
| 42 |
+
{"episode_index": 41, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 682}
|
| 43 |
+
{"episode_index": 42, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 786}
|
| 44 |
+
{"episode_index": 43, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 776}
|
| 45 |
+
{"episode_index": 44, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 673}
|
| 46 |
+
{"episode_index": 45, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 714}
|
| 47 |
+
{"episode_index": 46, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 643}
|
| 48 |
+
{"episode_index": 47, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 623}
|
| 49 |
+
{"episode_index": 48, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 670}
|
| 50 |
+
{"episode_index": 49, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 1068}
|
| 51 |
+
{"episode_index": 50, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 862}
|
| 52 |
+
{"episode_index": 51, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 592}
|
| 53 |
+
{"episode_index": 52, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 1269}
|
| 54 |
+
{"episode_index": 53, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 674}
|
| 55 |
+
{"episode_index": 54, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 854}
|
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| 483 |
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| 484 |
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| 488 |
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|
| 489 |
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| 490 |
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|
| 491 |
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|
| 492 |
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|
| 493 |
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{"episode_index": 492, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 946}
|
| 494 |
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|
| 495 |
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|
| 496 |
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|
| 497 |
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{"episode_index": 496, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 885}
|
| 498 |
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{"episode_index": 497, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 968}
|
| 499 |
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{"episode_index": 498, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 729}
|
| 500 |
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{"episode_index": 499, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 834}
|
| 501 |
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{"episode_index": 500, "tasks": ["Pick the pan and sponge and place them into the sink. Then turn on the water."], "length": 585}
|
target/composite/PreSoakPan/20250809/lerobot/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
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|
target/composite/PreSoakPan/20250809/lerobot/meta/info.json
ADDED
|
@@ -0,0 +1,179 @@
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "PandaOmron",
|
| 4 |
+
"total_episodes": 501,
|
| 5 |
+
"total_frames": 395501,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"total_videos": 1503,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 20,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:501"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.images.robot0_eye_in_hand": {
|
| 18 |
+
"dtype": "video",
|
| 19 |
+
"shape": [
|
| 20 |
+
256,
|
| 21 |
+
256,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channel"
|
| 28 |
+
],
|
| 29 |
+
"video_info": {
|
| 30 |
+
"video.fps": 20,
|
| 31 |
+
"video.codec": "h264",
|
| 32 |
+
"video.pix_fmt": "yuv420p",
|
| 33 |
+
"video.is_depth_map": false,
|
| 34 |
+
"has_audio": false
|
| 35 |
+
},
|
| 36 |
+
"info": {
|
| 37 |
+
"video.height": 256,
|
| 38 |
+
"video.width": 256,
|
| 39 |
+
"video.codec": "h264",
|
| 40 |
+
"video.pix_fmt": "yuv420p",
|
| 41 |
+
"video.is_depth_map": false,
|
| 42 |
+
"video.fps": 20,
|
| 43 |
+
"video.channels": 3,
|
| 44 |
+
"has_audio": false
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"observation.images.robot0_agentview_left": {
|
| 48 |
+
"dtype": "video",
|
| 49 |
+
"shape": [
|
| 50 |
+
256,
|
| 51 |
+
256,
|
| 52 |
+
3
|
| 53 |
+
],
|
| 54 |
+
"names": [
|
| 55 |
+
"height",
|
| 56 |
+
"width",
|
| 57 |
+
"channel"
|
| 58 |
+
],
|
| 59 |
+
"video_info": {
|
| 60 |
+
"video.fps": 20,
|
| 61 |
+
"video.codec": "h264",
|
| 62 |
+
"video.pix_fmt": "yuv420p",
|
| 63 |
+
"video.is_depth_map": false,
|
| 64 |
+
"has_audio": false
|
| 65 |
+
},
|
| 66 |
+
"info": {
|
| 67 |
+
"video.height": 256,
|
| 68 |
+
"video.width": 256,
|
| 69 |
+
"video.codec": "h264",
|
| 70 |
+
"video.pix_fmt": "yuv420p",
|
| 71 |
+
"video.is_depth_map": false,
|
| 72 |
+
"video.fps": 20,
|
| 73 |
+
"video.channels": 3,
|
| 74 |
+
"has_audio": false
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"observation.images.robot0_agentview_right": {
|
| 78 |
+
"dtype": "video",
|
| 79 |
+
"shape": [
|
| 80 |
+
256,
|
| 81 |
+
256,
|
| 82 |
+
3
|
| 83 |
+
],
|
| 84 |
+
"names": [
|
| 85 |
+
"height",
|
| 86 |
+
"width",
|
| 87 |
+
"channel"
|
| 88 |
+
],
|
| 89 |
+
"video_info": {
|
| 90 |
+
"video.fps": 20,
|
| 91 |
+
"video.codec": "h264",
|
| 92 |
+
"video.pix_fmt": "yuv420p",
|
| 93 |
+
"video.is_depth_map": false,
|
| 94 |
+
"has_audio": false
|
| 95 |
+
},
|
| 96 |
+
"info": {
|
| 97 |
+
"video.height": 256,
|
| 98 |
+
"video.width": 256,
|
| 99 |
+
"video.codec": "h264",
|
| 100 |
+
"video.pix_fmt": "yuv420p",
|
| 101 |
+
"video.is_depth_map": false,
|
| 102 |
+
"video.fps": 20,
|
| 103 |
+
"video.channels": 3,
|
| 104 |
+
"has_audio": false
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"annotation.human.task_description": {
|
| 108 |
+
"dtype": "int64",
|
| 109 |
+
"shape": [
|
| 110 |
+
1
|
| 111 |
+
]
|
| 112 |
+
},
|
| 113 |
+
"annotation.human.task_name": {
|
| 114 |
+
"dtype": "int64",
|
| 115 |
+
"shape": [
|
| 116 |
+
1
|
| 117 |
+
]
|
| 118 |
+
},
|
| 119 |
+
"observation.state": {
|
| 120 |
+
"dtype": "float64",
|
| 121 |
+
"shape": [
|
| 122 |
+
16
|
| 123 |
+
]
|
| 124 |
+
},
|
| 125 |
+
"action": {
|
| 126 |
+
"dtype": "float64",
|
| 127 |
+
"shape": [
|
| 128 |
+
12
|
| 129 |
+
]
|
| 130 |
+
},
|
| 131 |
+
"next.reward": {
|
| 132 |
+
"dtype": "float32",
|
| 133 |
+
"shape": [
|
| 134 |
+
1
|
| 135 |
+
]
|
| 136 |
+
},
|
| 137 |
+
"next.done": {
|
| 138 |
+
"dtype": "bool",
|
| 139 |
+
"shape": [
|
| 140 |
+
1
|
| 141 |
+
]
|
| 142 |
+
},
|
| 143 |
+
"timestamp": {
|
| 144 |
+
"dtype": "float32",
|
| 145 |
+
"shape": [
|
| 146 |
+
1
|
| 147 |
+
],
|
| 148 |
+
"names": null
|
| 149 |
+
},
|
| 150 |
+
"frame_index": {
|
| 151 |
+
"dtype": "int64",
|
| 152 |
+
"shape": [
|
| 153 |
+
1
|
| 154 |
+
],
|
| 155 |
+
"names": null
|
| 156 |
+
},
|
| 157 |
+
"episode_index": {
|
| 158 |
+
"dtype": "int64",
|
| 159 |
+
"shape": [
|
| 160 |
+
1
|
| 161 |
+
],
|
| 162 |
+
"names": null
|
| 163 |
+
},
|
| 164 |
+
"index": {
|
| 165 |
+
"dtype": "int64",
|
| 166 |
+
"shape": [
|
| 167 |
+
1
|
| 168 |
+
],
|
| 169 |
+
"names": null
|
| 170 |
+
},
|
| 171 |
+
"task_index": {
|
| 172 |
+
"dtype": "int64",
|
| 173 |
+
"shape": [
|
| 174 |
+
1
|
| 175 |
+
],
|
| 176 |
+
"names": null
|
| 177 |
+
}
|
| 178 |
+
}
|
| 179 |
+
}
|
target/composite/PreSoakPan/20250809/lerobot/meta/modality.json
ADDED
|
@@ -0,0 +1,72 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"base_position": {
|
| 4 |
+
"original_key": "observation.state",
|
| 5 |
+
"start": 0,
|
| 6 |
+
"end": 3
|
| 7 |
+
},
|
| 8 |
+
"base_rotation": {
|
| 9 |
+
"original_key": "observation.state",
|
| 10 |
+
"start": 3,
|
| 11 |
+
"end": 7
|
| 12 |
+
},
|
| 13 |
+
"end_effector_position_relative": {
|
| 14 |
+
"original_key": "observation.state",
|
| 15 |
+
"start": 7,
|
| 16 |
+
"end": 10
|
| 17 |
+
},
|
| 18 |
+
"end_effector_rotation_relative": {
|
| 19 |
+
"original_key": "observation.state",
|
| 20 |
+
"start": 10,
|
| 21 |
+
"end": 14
|
| 22 |
+
},
|
| 23 |
+
"gripper_qpos": {
|
| 24 |
+
"original_key": "observation.state",
|
| 25 |
+
"start": 14,
|
| 26 |
+
"end": 16
|
| 27 |
+
}
|
| 28 |
+
},
|
| 29 |
+
"action": {
|
| 30 |
+
"base_motion": {
|
| 31 |
+
"original_key": "action",
|
| 32 |
+
"start": 0,
|
| 33 |
+
"end": 4
|
| 34 |
+
},
|
| 35 |
+
"control_mode": {
|
| 36 |
+
"original_key": "action",
|
| 37 |
+
"start": 4,
|
| 38 |
+
"end": 5
|
| 39 |
+
},
|
| 40 |
+
"end_effector_position": {
|
| 41 |
+
"original_key": "action",
|
| 42 |
+
"start": 5,
|
| 43 |
+
"end": 8
|
| 44 |
+
},
|
| 45 |
+
"end_effector_rotation": {
|
| 46 |
+
"original_key": "action",
|
| 47 |
+
"start": 8,
|
| 48 |
+
"end": 11
|
| 49 |
+
},
|
| 50 |
+
"gripper_close": {
|
| 51 |
+
"original_key": "action",
|
| 52 |
+
"start": 11,
|
| 53 |
+
"end": 12
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"robot0_eye_in_hand": {
|
| 58 |
+
"original_key": "observation.images.robot0_eye_in_hand"
|
| 59 |
+
},
|
| 60 |
+
"robot0_agentview_left": {
|
| 61 |
+
"original_key": "observation.images.robot0_agentview_left"
|
| 62 |
+
},
|
| 63 |
+
"robot0_agentview_right": {
|
| 64 |
+
"original_key": "observation.images.robot0_agentview_right"
|
| 65 |
+
}
|
| 66 |
+
},
|
| 67 |
+
"annotation": {
|
| 68 |
+
"human.task_description": {
|
| 69 |
+
"original_key": "annotation.human.task_description"
|
| 70 |
+
}
|
| 71 |
+
}
|
| 72 |
+
}
|
target/composite/PreSoakPan/20250809/lerobot/meta/stats.json
ADDED
|
@@ -0,0 +1,378 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
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target/composite/PreSoakPan/20250809/lerobot/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Pick the pan and sponge and place them into the sink. Then turn on the water."}
|
| 2 |
+
{"task_index": 1, "task": "PreSoakPan"}
|