Add files using upload-large-folder tool
Browse files- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/dataset_meta.json +392 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000018/ep_meta.json +286 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000024/ep_meta.json +373 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000025/ep_meta.json +346 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000033/ep_meta.json +397 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000037/ep_meta.json +397 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000049/ep_meta.json +307 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000053/ep_meta.json +406 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000056/ep_meta.json +352 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000064/ep_meta.json +367 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000075/ep_meta.json +397 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000078/ep_meta.json +361 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000079/ep_meta.json +367 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000084/ep_meta.json +361 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000087/ep_meta.json +391 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000107/ep_meta.json +373 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/meta/info.json +179 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/meta/modality.json +72 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/meta/stats.json +378 -0
- pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/meta/tasks.jsonl +2 -0
pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/dataset_meta.json
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| 1 |
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{
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| 2 |
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"date": "8-20-2025",
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| 3 |
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| 4 |
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| 164 |
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|
| 165 |
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|
| 182 |
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| 183 |
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|
| 184 |
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}
|
| 185 |
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},
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| 186 |
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|
| 187 |
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"type": "JOINT_POSITION",
|
| 188 |
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| 189 |
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|
| 190 |
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},
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| 191 |
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"base": {
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| 192 |
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"type": "JOINT_VELOCITY",
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| 193 |
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| 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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"env_info": {
|
| 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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| 206 |
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| 207 |
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| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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| 213 |
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| 214 |
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| 216 |
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| 217 |
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| 218 |
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|
pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000018/ep_meta.json
ADDED
|
@@ -0,0 +1,286 @@
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{
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| 138 |
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"stack_03_main_group_1_1": {
|
| 139 |
+
"cls": "SingleCabinet"
|
| 140 |
+
},
|
| 141 |
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"cube_14_main_group_1": {
|
| 142 |
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"cls": "Box"
|
| 143 |
+
},
|
| 144 |
+
"cube_13_main_group_1": {
|
| 145 |
+
"cls": "Box"
|
| 146 |
+
},
|
| 147 |
+
"coffee_machine_main_group_1": {
|
| 148 |
+
"cls": "CoffeeMachine"
|
| 149 |
+
},
|
| 150 |
+
"toaster_main_group_1": {
|
| 151 |
+
"cls": "Toaster"
|
| 152 |
+
},
|
| 153 |
+
"electric_kettle_main_group_1": {
|
| 154 |
+
"cls": "ElectricKettle"
|
| 155 |
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},
|
| 156 |
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"island_island_group_1": {
|
| 157 |
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"cls": "Counter"
|
| 158 |
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},
|
| 159 |
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"stack_06_island_group_1_base": {
|
| 160 |
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"cls": "Box"
|
| 161 |
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},
|
| 162 |
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"stack_06_island_group_1_1": {
|
| 163 |
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"cls": "HingeCabinet"
|
| 164 |
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},
|
| 165 |
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"stack_06_island_group_1_2": {
|
| 166 |
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"cls": "Drawer"
|
| 167 |
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},
|
| 168 |
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"stack_07_island_group_1_base": {
|
| 169 |
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"cls": "Box"
|
| 170 |
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},
|
| 171 |
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"stack_07_island_group_1_1": {
|
| 172 |
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"cls": "HingeCabinet"
|
| 173 |
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},
|
| 174 |
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"stack_07_island_group_1_2": {
|
| 175 |
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"cls": "Drawer"
|
| 176 |
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},
|
| 177 |
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"cube_1_island_group_1": {
|
| 178 |
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"cls": "Box"
|
| 179 |
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},
|
| 180 |
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"cube_7_island_group_1": {
|
| 181 |
+
"cls": "Box"
|
| 182 |
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},
|
| 183 |
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"cube_8_island_group_1": {
|
| 184 |
+
"cls": "Box"
|
| 185 |
+
},
|
| 186 |
+
"paper_towel_island_group_1": {
|
| 187 |
+
"cls": "Accessory"
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"gen_textures": {},
|
| 191 |
+
"lang": "Press down the lever to turn on the electric kettle.",
|
| 192 |
+
"fixture_refs": {
|
| 193 |
+
"electric_kettle": "electric_kettle_main_group_1"
|
| 194 |
+
},
|
| 195 |
+
"cam_configs": {
|
| 196 |
+
"robot0_agentview_center": {
|
| 197 |
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"pos": [
|
| 198 |
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-0.6,
|
| 199 |
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0.0,
|
| 200 |
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|
| 201 |
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],
|
| 202 |
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"quat": [
|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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"parent_body": "mobilebase0_support"
|
| 209 |
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|
| 210 |
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"robot0_agentview_left": {
|
| 211 |
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"pos": [
|
| 212 |
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-0.5,
|
| 213 |
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|
| 214 |
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|
| 215 |
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],
|
| 216 |
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"quat": [
|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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],
|
| 222 |
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|
| 223 |
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"fovy": "60"
|
| 224 |
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},
|
| 225 |
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"parent_body": "mobilebase0_support"
|
| 226 |
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},
|
| 227 |
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"robot0_agentview_right": {
|
| 228 |
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"pos": [
|
| 229 |
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-0.5,
|
| 230 |
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-0.35,
|
| 231 |
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1.05
|
| 232 |
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],
|
| 233 |
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"quat": [
|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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],
|
| 239 |
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"camera_attribs": {
|
| 240 |
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"fovy": "60"
|
| 241 |
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},
|
| 242 |
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"parent_body": "mobilebase0_support"
|
| 243 |
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},
|
| 244 |
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"robot0_frontview": {
|
| 245 |
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"pos": [
|
| 246 |
+
-0.5,
|
| 247 |
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0,
|
| 248 |
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|
| 249 |
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],
|
| 250 |
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"quat": [
|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
| 255 |
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|
| 256 |
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"camera_attribs": {
|
| 257 |
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"fovy": "60"
|
| 258 |
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},
|
| 259 |
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"parent_body": "mobilebase0_support"
|
| 260 |
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},
|
| 261 |
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"robot0_eye_in_hand": {
|
| 262 |
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"pos": [
|
| 263 |
+
0.05,
|
| 264 |
+
0,
|
| 265 |
+
0
|
| 266 |
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],
|
| 267 |
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"quat": [
|
| 268 |
+
0,
|
| 269 |
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0.707107,
|
| 270 |
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0.707107,
|
| 271 |
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0
|
| 272 |
+
],
|
| 273 |
+
"parent_body": "robot0_right_hand"
|
| 274 |
+
}
|
| 275 |
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},
|
| 276 |
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"init_robot_base_pos": [
|
| 277 |
+
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|
| 278 |
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|
| 279 |
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|
| 280 |
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],
|
| 281 |
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"init_robot_base_ori": [
|
| 282 |
+
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|
| 283 |
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0.0,
|
| 284 |
+
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|
| 285 |
+
]
|
| 286 |
+
}
|
pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000024/ep_meta.json
ADDED
|
@@ -0,0 +1,373 @@
|
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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": 28,
|
| 3 |
+
"style_id": 12,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_right_3_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_right_3_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_left_3_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_left_3_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"wall_left_2_room": {
|
| 37 |
+
"cls": "Wall"
|
| 38 |
+
},
|
| 39 |
+
"wall_left_2_backing_room": {
|
| 40 |
+
"cls": "Wall"
|
| 41 |
+
},
|
| 42 |
+
"wall_right_2_room": {
|
| 43 |
+
"cls": "Wall"
|
| 44 |
+
},
|
| 45 |
+
"wall_right_2_backing_room": {
|
| 46 |
+
"cls": "Wall"
|
| 47 |
+
},
|
| 48 |
+
"floor_1_room": {
|
| 49 |
+
"cls": "Floor"
|
| 50 |
+
},
|
| 51 |
+
"floor_1_backing_room": {
|
| 52 |
+
"cls": "Floor"
|
| 53 |
+
},
|
| 54 |
+
"wall_accessory_1_room": {
|
| 55 |
+
"cls": "WallAccessory"
|
| 56 |
+
},
|
| 57 |
+
"wall_accessory_2_room": {
|
| 58 |
+
"cls": "WallAccessory"
|
| 59 |
+
},
|
| 60 |
+
"light_switch_1_room": {
|
| 61 |
+
"cls": "WallAccessory"
|
| 62 |
+
},
|
| 63 |
+
"window_group_room": {
|
| 64 |
+
"cls": "Window"
|
| 65 |
+
},
|
| 66 |
+
"stool_1_room": {
|
| 67 |
+
"cls": "Stool"
|
| 68 |
+
},
|
| 69 |
+
"stool_2_room": {
|
| 70 |
+
"cls": "Stool"
|
| 71 |
+
},
|
| 72 |
+
"stool_3_room": {
|
| 73 |
+
"cls": "Stool"
|
| 74 |
+
},
|
| 75 |
+
"stool_4_room": {
|
| 76 |
+
"cls": "Stool"
|
| 77 |
+
},
|
| 78 |
+
"bottom_main_group_base": {
|
| 79 |
+
"cls": "Box"
|
| 80 |
+
},
|
| 81 |
+
"bottom_main_group_1": {
|
| 82 |
+
"cls": "HingeCabinet"
|
| 83 |
+
},
|
| 84 |
+
"microwave_main_group": {
|
| 85 |
+
"cls": "Microwave"
|
| 86 |
+
},
|
| 87 |
+
"microwave_housing_main_group": {
|
| 88 |
+
"cls": "HousingCabinet"
|
| 89 |
+
},
|
| 90 |
+
"top_main_group": {
|
| 91 |
+
"cls": "HingeCabinet"
|
| 92 |
+
},
|
| 93 |
+
"counter_1_main_group": {
|
| 94 |
+
"cls": "Counter"
|
| 95 |
+
},
|
| 96 |
+
"sink_main_group": {
|
| 97 |
+
"cls": "Sink"
|
| 98 |
+
},
|
| 99 |
+
"counter_2_main_group": {
|
| 100 |
+
"cls": "Counter"
|
| 101 |
+
},
|
| 102 |
+
"stack_1_main_group_base": {
|
| 103 |
+
"cls": "Box"
|
| 104 |
+
},
|
| 105 |
+
"stack_1_main_group_1": {
|
| 106 |
+
"cls": "SingleCabinet"
|
| 107 |
+
},
|
| 108 |
+
"stack_1_main_group_2": {
|
| 109 |
+
"cls": "Drawer"
|
| 110 |
+
},
|
| 111 |
+
"stack_2_main_group_base": {
|
| 112 |
+
"cls": "Box"
|
| 113 |
+
},
|
| 114 |
+
"stack_2_main_group_1": {
|
| 115 |
+
"cls": "SingleCabinet"
|
| 116 |
+
},
|
| 117 |
+
"stack_2_main_group_2": {
|
| 118 |
+
"cls": "Drawer"
|
| 119 |
+
},
|
| 120 |
+
"stack_3_main_group_base": {
|
| 121 |
+
"cls": "Box"
|
| 122 |
+
},
|
| 123 |
+
"stack_3_main_group_1": {
|
| 124 |
+
"cls": "SingleCabinet"
|
| 125 |
+
},
|
| 126 |
+
"stack_3_main_group_2": {
|
| 127 |
+
"cls": "Drawer"
|
| 128 |
+
},
|
| 129 |
+
"stack_4_main_group_base": {
|
| 130 |
+
"cls": "Box"
|
| 131 |
+
},
|
| 132 |
+
"stack_4_main_group_1": {
|
| 133 |
+
"cls": "SingleCabinet"
|
| 134 |
+
},
|
| 135 |
+
"stack_4_main_group_2": {
|
| 136 |
+
"cls": "Drawer"
|
| 137 |
+
},
|
| 138 |
+
"stack_5_main_group_base": {
|
| 139 |
+
"cls": "Box"
|
| 140 |
+
},
|
| 141 |
+
"stack_5_main_group_1": {
|
| 142 |
+
"cls": "HingeCabinet"
|
| 143 |
+
},
|
| 144 |
+
"oven_main_group": {
|
| 145 |
+
"cls": "Oven"
|
| 146 |
+
},
|
| 147 |
+
"stack_6_main_group_base": {
|
| 148 |
+
"cls": "Box"
|
| 149 |
+
},
|
| 150 |
+
"stack_6_main_group_1": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
+
},
|
| 153 |
+
"stack_6_main_group_2": {
|
| 154 |
+
"cls": "Drawer"
|
| 155 |
+
},
|
| 156 |
+
"stack_7_main_group_base": {
|
| 157 |
+
"cls": "Box"
|
| 158 |
+
},
|
| 159 |
+
"stack_7_main_group_1": {
|
| 160 |
+
"cls": "Drawer"
|
| 161 |
+
},
|
| 162 |
+
"stack_7_main_group_2": {
|
| 163 |
+
"cls": "HingeCabinet"
|
| 164 |
+
},
|
| 165 |
+
"stack_7_main_group_3": {
|
| 166 |
+
"cls": "SingleCabinet"
|
| 167 |
+
},
|
| 168 |
+
"cab_1_main_group": {
|
| 169 |
+
"cls": "SingleCabinet"
|
| 170 |
+
},
|
| 171 |
+
"cab_2_main_group": {
|
| 172 |
+
"cls": "HingeCabinet"
|
| 173 |
+
},
|
| 174 |
+
"cab_3_main_group": {
|
| 175 |
+
"cls": "HingeCabinet"
|
| 176 |
+
},
|
| 177 |
+
"coffee_machine_main_group": {
|
| 178 |
+
"cls": "CoffeeMachine"
|
| 179 |
+
},
|
| 180 |
+
"toaster_main_group": {
|
| 181 |
+
"cls": "Toaster"
|
| 182 |
+
},
|
| 183 |
+
"toaster_oven_main_group": {
|
| 184 |
+
"cls": "ToasterOven"
|
| 185 |
+
},
|
| 186 |
+
"electric_kettle_main_group": {
|
| 187 |
+
"cls": "ElectricKettle"
|
| 188 |
+
},
|
| 189 |
+
"paper_towel_main_group": {
|
| 190 |
+
"cls": "Accessory"
|
| 191 |
+
},
|
| 192 |
+
"fridge_right_group": {
|
| 193 |
+
"cls": "FridgeBottomFreezer"
|
| 194 |
+
},
|
| 195 |
+
"fridge_housing_right_group": {
|
| 196 |
+
"cls": "HousingCabinet"
|
| 197 |
+
},
|
| 198 |
+
"fridge_top_right_group": {
|
| 199 |
+
"cls": "HingeCabinet"
|
| 200 |
+
},
|
| 201 |
+
"stovetop_island_group": {
|
| 202 |
+
"cls": "Stovetop"
|
| 203 |
+
},
|
| 204 |
+
"counter_1_island_group": {
|
| 205 |
+
"cls": "Counter"
|
| 206 |
+
},
|
| 207 |
+
"island_island_group": {
|
| 208 |
+
"cls": "Counter"
|
| 209 |
+
},
|
| 210 |
+
"cube_island_group": {
|
| 211 |
+
"cls": "Box"
|
| 212 |
+
},
|
| 213 |
+
"panel_cab_1_island_group_base": {
|
| 214 |
+
"cls": "Box"
|
| 215 |
+
},
|
| 216 |
+
"panel_cab_1_island_group_1": {
|
| 217 |
+
"cls": "PanelCabinet"
|
| 218 |
+
},
|
| 219 |
+
"stack_1_island_group_base": {
|
| 220 |
+
"cls": "Box"
|
| 221 |
+
},
|
| 222 |
+
"stack_1_island_group_1": {
|
| 223 |
+
"cls": "SingleCabinet"
|
| 224 |
+
},
|
| 225 |
+
"stack_1_island_group_2": {
|
| 226 |
+
"cls": "Drawer"
|
| 227 |
+
},
|
| 228 |
+
"dishwasher_island_group": {
|
| 229 |
+
"cls": "Dishwasher"
|
| 230 |
+
},
|
| 231 |
+
"stack_2_island_group_base": {
|
| 232 |
+
"cls": "Box"
|
| 233 |
+
},
|
| 234 |
+
"stack_2_island_group_1": {
|
| 235 |
+
"cls": "HingeCabinet"
|
| 236 |
+
},
|
| 237 |
+
"stack_3_island_group_base": {
|
| 238 |
+
"cls": "Box"
|
| 239 |
+
},
|
| 240 |
+
"stack_3_island_group_1": {
|
| 241 |
+
"cls": "Drawer"
|
| 242 |
+
},
|
| 243 |
+
"stack_3_island_group_2": {
|
| 244 |
+
"cls": "Drawer"
|
| 245 |
+
},
|
| 246 |
+
"stack_3_island_group_3": {
|
| 247 |
+
"cls": "Drawer"
|
| 248 |
+
},
|
| 249 |
+
"stack_4_island_group_base": {
|
| 250 |
+
"cls": "Box"
|
| 251 |
+
},
|
| 252 |
+
"stack_4_island_group_1": {
|
| 253 |
+
"cls": "Drawer"
|
| 254 |
+
},
|
| 255 |
+
"stack_4_island_group_2": {
|
| 256 |
+
"cls": "Drawer"
|
| 257 |
+
},
|
| 258 |
+
"stack_4_island_group_3": {
|
| 259 |
+
"cls": "Drawer"
|
| 260 |
+
},
|
| 261 |
+
"stack_5_island_group_base": {
|
| 262 |
+
"cls": "Box"
|
| 263 |
+
},
|
| 264 |
+
"stack_5_island_group_1": {
|
| 265 |
+
"cls": "SingleCabinet"
|
| 266 |
+
},
|
| 267 |
+
"stack_5_island_group_2": {
|
| 268 |
+
"cls": "Drawer"
|
| 269 |
+
},
|
| 270 |
+
"panel_cab_2_island_group_base": {
|
| 271 |
+
"cls": "Box"
|
| 272 |
+
},
|
| 273 |
+
"panel_cab_2_island_group_1": {
|
| 274 |
+
"cls": "PanelCabinet"
|
| 275 |
+
}
|
| 276 |
+
},
|
| 277 |
+
"gen_textures": {},
|
| 278 |
+
"lang": "Press down the lever to turn on the electric kettle.",
|
| 279 |
+
"fixture_refs": {
|
| 280 |
+
"electric_kettle": "electric_kettle_main_group"
|
| 281 |
+
},
|
| 282 |
+
"cam_configs": {
|
| 283 |
+
"robot0_agentview_center": {
|
| 284 |
+
"pos": [
|
| 285 |
+
-0.6,
|
| 286 |
+
0.0,
|
| 287 |
+
1.15
|
| 288 |
+
],
|
| 289 |
+
"quat": [
|
| 290 |
+
0.636945903301239,
|
| 291 |
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0.3325185477733612,
|
| 292 |
+
-0.3199238181114197,
|
| 293 |
+
-0.6175596117973328
|
| 294 |
+
],
|
| 295 |
+
"parent_body": "mobilebase0_support"
|
| 296 |
+
},
|
| 297 |
+
"robot0_agentview_left": {
|
| 298 |
+
"pos": [
|
| 299 |
+
-0.5,
|
| 300 |
+
0.35,
|
| 301 |
+
1.05
|
| 302 |
+
],
|
| 303 |
+
"quat": [
|
| 304 |
+
0.55623853,
|
| 305 |
+
0.29935253,
|
| 306 |
+
-0.37678665,
|
| 307 |
+
-0.6775092
|
| 308 |
+
],
|
| 309 |
+
"camera_attribs": {
|
| 310 |
+
"fovy": "60"
|
| 311 |
+
},
|
| 312 |
+
"parent_body": "mobilebase0_support"
|
| 313 |
+
},
|
| 314 |
+
"robot0_agentview_right": {
|
| 315 |
+
"pos": [
|
| 316 |
+
-0.5,
|
| 317 |
+
-0.35,
|
| 318 |
+
1.05
|
| 319 |
+
],
|
| 320 |
+
"quat": [
|
| 321 |
+
0.6775091886520386,
|
| 322 |
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0.3767866790294647,
|
| 323 |
+
-0.2993525564670563,
|
| 324 |
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-0.55623859167099
|
| 325 |
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],
|
| 326 |
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"camera_attribs": {
|
| 327 |
+
"fovy": "60"
|
| 328 |
+
},
|
| 329 |
+
"parent_body": "mobilebase0_support"
|
| 330 |
+
},
|
| 331 |
+
"robot0_frontview": {
|
| 332 |
+
"pos": [
|
| 333 |
+
-0.5,
|
| 334 |
+
0,
|
| 335 |
+
0.95
|
| 336 |
+
],
|
| 337 |
+
"quat": [
|
| 338 |
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0.6088936924934387,
|
| 339 |
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0.3814677894115448,
|
| 340 |
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-0.3673907518386841,
|
| 341 |
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-0.5905545353889465
|
| 342 |
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],
|
| 343 |
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"camera_attribs": {
|
| 344 |
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"fovy": "60"
|
| 345 |
+
},
|
| 346 |
+
"parent_body": "mobilebase0_support"
|
| 347 |
+
},
|
| 348 |
+
"robot0_eye_in_hand": {
|
| 349 |
+
"pos": [
|
| 350 |
+
0.05,
|
| 351 |
+
0,
|
| 352 |
+
0
|
| 353 |
+
],
|
| 354 |
+
"quat": [
|
| 355 |
+
0,
|
| 356 |
+
0.707107,
|
| 357 |
+
0.707107,
|
| 358 |
+
0
|
| 359 |
+
],
|
| 360 |
+
"parent_body": "robot0_right_hand"
|
| 361 |
+
}
|
| 362 |
+
},
|
| 363 |
+
"init_robot_base_pos": [
|
| 364 |
+
3.9703571978052867,
|
| 365 |
+
-0.7853284781214238,
|
| 366 |
+
0.0
|
| 367 |
+
],
|
| 368 |
+
"init_robot_base_ori": [
|
| 369 |
+
0.0,
|
| 370 |
+
0.0,
|
| 371 |
+
1.5707963267948966
|
| 372 |
+
]
|
| 373 |
+
}
|
pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000025/ep_meta.json
ADDED
|
@@ -0,0 +1,346 @@
|
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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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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 48,
|
| 3 |
+
"style_id": 12,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
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"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
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},
|
| 9 |
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"wall_main_1_backing_room": {
|
| 10 |
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"cls": "Wall"
|
| 11 |
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},
|
| 12 |
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"wall_right_1_room": {
|
| 13 |
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"cls": "Wall"
|
| 14 |
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},
|
| 15 |
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"wall_right_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
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"floor_1_room": {
|
| 19 |
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"cls": "Floor"
|
| 20 |
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},
|
| 21 |
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"floor_1_backing_room": {
|
| 22 |
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"cls": "Floor"
|
| 23 |
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},
|
| 24 |
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"lightswitch_5_room": {
|
| 25 |
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"cls": "WallAccessory"
|
| 26 |
+
},
|
| 27 |
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"wallaccessory_1_room": {
|
| 28 |
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"cls": "WallAccessory"
|
| 29 |
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},
|
| 30 |
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"wallaccessory_2_room": {
|
| 31 |
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"cls": "WallAccessory"
|
| 32 |
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},
|
| 33 |
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"lightswitch_6_room": {
|
| 34 |
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"cls": "WallAccessory"
|
| 35 |
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},
|
| 36 |
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"wallaccessory_3_room": {
|
| 37 |
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"cls": "WallAccessory"
|
| 38 |
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},
|
| 39 |
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"lightswitch_1_room": {
|
| 40 |
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"cls": "WallAccessory"
|
| 41 |
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},
|
| 42 |
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"lightswitch_2_room": {
|
| 43 |
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"cls": "WallAccessory"
|
| 44 |
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},
|
| 45 |
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"lightswitch_3_room": {
|
| 46 |
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"cls": "WallAccessory"
|
| 47 |
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|
| 48 |
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|
| 49 |
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"cls": "Stool"
|
| 50 |
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|
| 51 |
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"stool_2_room": {
|
| 52 |
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"cls": "Stool"
|
| 53 |
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|
| 54 |
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|
| 55 |
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"cls": "Stool"
|
| 56 |
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|
| 57 |
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"stool_4_room": {
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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"cls": "FridgeFrenchDoor"
|
| 62 |
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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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"cls": "Drawer"
|
| 71 |
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|
| 72 |
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|
| 73 |
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"cls": "Microwave"
|
| 74 |
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|
| 75 |
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|
| 76 |
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"cls": "HingeCabinet"
|
| 77 |
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|
| 78 |
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|
| 79 |
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"cls": "HingeCabinet"
|
| 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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|
| 85 |
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"cls": "HingeCabinet"
|
| 86 |
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|
| 87 |
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|
| 88 |
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"cls": "HingeCabinet"
|
| 89 |
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|
| 90 |
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|
| 91 |
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"cls": "HingeCabinet"
|
| 92 |
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|
| 93 |
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|
| 94 |
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"cls": "HingeCabinet"
|
| 95 |
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|
| 96 |
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|
| 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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|
| 107 |
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| 108 |
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| 109 |
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"cls": "SingleCabinet"
|
| 110 |
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},
|
| 111 |
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|
| 112 |
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"cls": "Drawer"
|
| 113 |
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},
|
| 114 |
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|
| 115 |
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"cls": "Box"
|
| 116 |
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},
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| 117 |
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|
| 118 |
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"cls": "Drawer"
|
| 119 |
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| 120 |
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|
| 121 |
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"cls": "Drawer"
|
| 122 |
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|
| 123 |
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|
| 124 |
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"cls": "Drawer"
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| 125 |
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},
|
| 126 |
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|
| 127 |
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"cls": "Box"
|
| 128 |
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},
|
| 129 |
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|
| 130 |
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"cls": "HingeCabinet"
|
| 131 |
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},
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| 132 |
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|
| 133 |
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"cls": "Drawer"
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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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"cls": "PanelCabinet"
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| 143 |
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| 144 |
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|
| 145 |
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| 146 |
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|
| 148 |
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| 149 |
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},
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| 150 |
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|
| 151 |
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"cls": "Dishwasher"
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| 152 |
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| 153 |
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|
| 154 |
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"cls": "CoffeeMachine"
|
| 155 |
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},
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| 156 |
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|
| 157 |
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"cls": "Toaster"
|
| 158 |
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},
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| 159 |
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|
| 160 |
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| 161 |
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},
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| 162 |
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|
| 163 |
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| 164 |
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},
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| 165 |
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|
| 166 |
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"cls": "Counter"
|
| 167 |
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},
|
| 168 |
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|
| 169 |
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"cls": "Stove"
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| 170 |
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},
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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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| 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": "HingeCabinet"
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| 188 |
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| 189 |
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|
| 190 |
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"cls": "HingeCabinet"
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| 191 |
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| 192 |
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|
| 193 |
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|
| 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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"cls": "Accessory"
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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": "Counter"
|
| 206 |
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| 207 |
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|
| 208 |
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"cls": "Box"
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| 209 |
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},
|
| 210 |
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|
| 211 |
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"cls": "Box"
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| 212 |
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| 213 |
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|
| 214 |
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"cls": "Box"
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| 215 |
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| 216 |
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| 217 |
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| 218 |
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| 219 |
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|
| 220 |
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| 221 |
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},
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| 222 |
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|
| 223 |
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"cls": "Drawer"
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| 224 |
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},
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| 225 |
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|
| 226 |
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"cls": "Drawer"
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| 227 |
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| 228 |
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| 229 |
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| 230 |
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},
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| 231 |
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| 232 |
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| 233 |
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| 234 |
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|
| 235 |
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"cls": "Drawer"
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| 236 |
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| 237 |
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| 238 |
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"cls": "Drawer"
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| 239 |
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| 240 |
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|
| 241 |
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"cls": "Box"
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| 242 |
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| 243 |
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|
| 244 |
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"cls": "Drawer"
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| 245 |
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| 246 |
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|
| 247 |
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"cls": "HingeCabinet"
|
| 248 |
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}
|
| 249 |
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},
|
| 250 |
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"gen_textures": {},
|
| 251 |
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"lang": "Press down the lever to turn on the electric kettle.",
|
| 252 |
+
"fixture_refs": {
|
| 253 |
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"electric_kettle": "electric_kettle_right_group_1"
|
| 254 |
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},
|
| 255 |
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"cam_configs": {
|
| 256 |
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"robot0_agentview_center": {
|
| 257 |
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"pos": [
|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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| 262 |
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| 263 |
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| 264 |
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|
| 269 |
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| 270 |
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|
| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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| 277 |
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|
| 278 |
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|
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| 280 |
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| 281 |
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| 284 |
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| 285 |
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| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 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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|
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|
| 296 |
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| 297 |
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|
| 300 |
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|
| 301 |
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|
| 302 |
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|
| 303 |
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|
| 304 |
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|
| 305 |
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"pos": [
|
| 306 |
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|
| 307 |
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|
| 308 |
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|
| 309 |
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|
| 310 |
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| 311 |
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|
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|
| 315 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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"parent_body": "mobilebase0_support"
|
| 320 |
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|
| 321 |
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|
| 322 |
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"pos": [
|
| 323 |
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|
| 324 |
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|
| 325 |
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|
| 326 |
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],
|
| 327 |
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"quat": [
|
| 328 |
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|
| 329 |
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|
| 330 |
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|
| 331 |
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|
| 332 |
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],
|
| 333 |
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"parent_body": "robot0_right_hand"
|
| 334 |
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}
|
| 335 |
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},
|
| 336 |
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"init_robot_base_pos": [
|
| 337 |
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|
| 338 |
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|
| 339 |
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|
| 340 |
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|
| 341 |
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"init_robot_base_ori": [
|
| 342 |
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|
| 343 |
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|
| 344 |
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|
| 345 |
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]
|
| 346 |
+
}
|
pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000033/ep_meta.json
ADDED
|
@@ -0,0 +1,397 @@
|
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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": 43,
|
| 3 |
+
"style_id": 43,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_right_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_right_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_left_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_left_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_main_2_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_main_2_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_left_2_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_right_2_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"wall_main_3_room": {
|
| 37 |
+
"cls": "Wall"
|
| 38 |
+
},
|
| 39 |
+
"floor_1_room": {
|
| 40 |
+
"cls": "Floor"
|
| 41 |
+
},
|
| 42 |
+
"floor_1_backing_room": {
|
| 43 |
+
"cls": "Floor"
|
| 44 |
+
},
|
| 45 |
+
"floor_1.001_room": {
|
| 46 |
+
"cls": "Floor"
|
| 47 |
+
},
|
| 48 |
+
"floor_1.001_backing_room": {
|
| 49 |
+
"cls": "Floor"
|
| 50 |
+
},
|
| 51 |
+
"wallaccessory.001_room": {
|
| 52 |
+
"cls": "WallAccessory"
|
| 53 |
+
},
|
| 54 |
+
"wallaccessory.005_room": {
|
| 55 |
+
"cls": "WallAccessory"
|
| 56 |
+
},
|
| 57 |
+
"wallaccessory.003_room": {
|
| 58 |
+
"cls": "WallAccessory"
|
| 59 |
+
},
|
| 60 |
+
"wallaccessory.004_room": {
|
| 61 |
+
"cls": "WallAccessory"
|
| 62 |
+
},
|
| 63 |
+
"wallaccessory.002_room": {
|
| 64 |
+
"cls": "WallAccessory"
|
| 65 |
+
},
|
| 66 |
+
"wallaccessory_room": {
|
| 67 |
+
"cls": "WallAccessory"
|
| 68 |
+
},
|
| 69 |
+
"wallaccessory.006_room": {
|
| 70 |
+
"cls": "WallAccessory"
|
| 71 |
+
},
|
| 72 |
+
"counter_corner_1_main_group_1": {
|
| 73 |
+
"cls": "Counter"
|
| 74 |
+
},
|
| 75 |
+
"counter_1_main_group_1": {
|
| 76 |
+
"cls": "Counter"
|
| 77 |
+
},
|
| 78 |
+
"counter_2_main_group_1": {
|
| 79 |
+
"cls": "Counter"
|
| 80 |
+
},
|
| 81 |
+
"stove_main_group_1": {
|
| 82 |
+
"cls": "Stove"
|
| 83 |
+
},
|
| 84 |
+
"counter_corner_2_main_group_1": {
|
| 85 |
+
"cls": "Counter"
|
| 86 |
+
},
|
| 87 |
+
"stove_hood_main_group_1": {
|
| 88 |
+
"cls": "Hood"
|
| 89 |
+
},
|
| 90 |
+
"hingecabinet_1_main_group_1": {
|
| 91 |
+
"cls": "HingeCabinet"
|
| 92 |
+
},
|
| 93 |
+
"cube_1_main_group_1": {
|
| 94 |
+
"cls": "Box"
|
| 95 |
+
},
|
| 96 |
+
"hingecabinet_2_main_group_1": {
|
| 97 |
+
"cls": "HingeCabinet"
|
| 98 |
+
},
|
| 99 |
+
"cube_2_main_group_1": {
|
| 100 |
+
"cls": "Box"
|
| 101 |
+
},
|
| 102 |
+
"coffeemachine_main_group_1": {
|
| 103 |
+
"cls": "CoffeeMachine"
|
| 104 |
+
},
|
| 105 |
+
"toaster_main_group_1": {
|
| 106 |
+
"cls": "Toaster"
|
| 107 |
+
},
|
| 108 |
+
"papertowel_main_group_1": {
|
| 109 |
+
"cls": "Accessory"
|
| 110 |
+
},
|
| 111 |
+
"plant_main_group_1": {
|
| 112 |
+
"cls": "Accessory"
|
| 113 |
+
},
|
| 114 |
+
"electric_kettle_main_group_1": {
|
| 115 |
+
"cls": "ElectricKettle"
|
| 116 |
+
},
|
| 117 |
+
"stack_1_main_group_1_base": {
|
| 118 |
+
"cls": "Box"
|
| 119 |
+
},
|
| 120 |
+
"stack_1_main_group_1_1": {
|
| 121 |
+
"cls": "HingeCabinet"
|
| 122 |
+
},
|
| 123 |
+
"stack_2_main_group_1_base": {
|
| 124 |
+
"cls": "Box"
|
| 125 |
+
},
|
| 126 |
+
"stack_2_main_group_1_1": {
|
| 127 |
+
"cls": "Drawer"
|
| 128 |
+
},
|
| 129 |
+
"stack_2_main_group_1_2": {
|
| 130 |
+
"cls": "Drawer"
|
| 131 |
+
},
|
| 132 |
+
"stack_3_main_group_1_base": {
|
| 133 |
+
"cls": "Box"
|
| 134 |
+
},
|
| 135 |
+
"stack_3_main_group_1_1": {
|
| 136 |
+
"cls": "SingleCabinet"
|
| 137 |
+
},
|
| 138 |
+
"cube_3_main_group_1": {
|
| 139 |
+
"cls": "Box"
|
| 140 |
+
},
|
| 141 |
+
"cube_4_main_group_1": {
|
| 142 |
+
"cls": "Box"
|
| 143 |
+
},
|
| 144 |
+
"counter_1_front_group_1": {
|
| 145 |
+
"cls": "Counter"
|
| 146 |
+
},
|
| 147 |
+
"stack_1_front_group_1_base": {
|
| 148 |
+
"cls": "Box"
|
| 149 |
+
},
|
| 150 |
+
"stack_1_front_group_1_1": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
+
},
|
| 153 |
+
"stack_1_front_group_1_2": {
|
| 154 |
+
"cls": "Drawer"
|
| 155 |
+
},
|
| 156 |
+
"cube_1_front_group_1": {
|
| 157 |
+
"cls": "Box"
|
| 158 |
+
},
|
| 159 |
+
"cube_2_front_group_1": {
|
| 160 |
+
"cls": "Box"
|
| 161 |
+
},
|
| 162 |
+
"stack_2_front_group_1_base": {
|
| 163 |
+
"cls": "Box"
|
| 164 |
+
},
|
| 165 |
+
"stack_2_front_group_1_1": {
|
| 166 |
+
"cls": "SingleCabinet"
|
| 167 |
+
},
|
| 168 |
+
"counter_1_right_group_1": {
|
| 169 |
+
"cls": "Counter"
|
| 170 |
+
},
|
| 171 |
+
"singlecabinet_1_right_group_1": {
|
| 172 |
+
"cls": "SingleCabinet"
|
| 173 |
+
},
|
| 174 |
+
"hingecabinet_1_right_group_1": {
|
| 175 |
+
"cls": "HingeCabinet"
|
| 176 |
+
},
|
| 177 |
+
"opencabinet_1_right_group_1": {
|
| 178 |
+
"cls": "OpenCabinet"
|
| 179 |
+
},
|
| 180 |
+
"cube_1_right_group_1": {
|
| 181 |
+
"cls": "Box"
|
| 182 |
+
},
|
| 183 |
+
"stack_1_right_group_1_base": {
|
| 184 |
+
"cls": "Box"
|
| 185 |
+
},
|
| 186 |
+
"stack_1_right_group_1_1": {
|
| 187 |
+
"cls": "SingleCabinet"
|
| 188 |
+
},
|
| 189 |
+
"stack_2_right_group_1_base": {
|
| 190 |
+
"cls": "Box"
|
| 191 |
+
},
|
| 192 |
+
"stack_2_right_group_1_1": {
|
| 193 |
+
"cls": "Drawer"
|
| 194 |
+
},
|
| 195 |
+
"stack_2_right_group_1_2": {
|
| 196 |
+
"cls": "Drawer"
|
| 197 |
+
},
|
| 198 |
+
"stack_2_right_group_1_3": {
|
| 199 |
+
"cls": "Drawer"
|
| 200 |
+
},
|
| 201 |
+
"fridgesidebyside_right_group_1": {
|
| 202 |
+
"cls": "FridgeSideBySide"
|
| 203 |
+
},
|
| 204 |
+
"fridgesidebyside_housing_right_group_1": {
|
| 205 |
+
"cls": "HousingCabinet"
|
| 206 |
+
},
|
| 207 |
+
"bottom_right_group_1_base": {
|
| 208 |
+
"cls": "Box"
|
| 209 |
+
},
|
| 210 |
+
"bottom_right_group_1_1": {
|
| 211 |
+
"cls": "Drawer"
|
| 212 |
+
},
|
| 213 |
+
"microwave_right_group_1": {
|
| 214 |
+
"cls": "Microwave"
|
| 215 |
+
},
|
| 216 |
+
"singlecabinet_3_right_group_1": {
|
| 217 |
+
"cls": "SingleCabinet"
|
| 218 |
+
},
|
| 219 |
+
"stack_3_right_group_1_base": {
|
| 220 |
+
"cls": "Box"
|
| 221 |
+
},
|
| 222 |
+
"stack_3_right_group_1_1": {
|
| 223 |
+
"cls": "SingleCabinet"
|
| 224 |
+
},
|
| 225 |
+
"oven_cabinet_right_group_1": {
|
| 226 |
+
"cls": "HingeCabinet"
|
| 227 |
+
},
|
| 228 |
+
"hingecabinet_2_right_group_1": {
|
| 229 |
+
"cls": "HingeCabinet"
|
| 230 |
+
},
|
| 231 |
+
"microwave_housing_right_group_1": {
|
| 232 |
+
"cls": "HousingCabinet"
|
| 233 |
+
},
|
| 234 |
+
"singlecabinet_2_right_group_1": {
|
| 235 |
+
"cls": "SingleCabinet"
|
| 236 |
+
},
|
| 237 |
+
"top_right_group_1": {
|
| 238 |
+
"cls": "HingeCabinet"
|
| 239 |
+
},
|
| 240 |
+
"toaster_oven_right_group_1": {
|
| 241 |
+
"cls": "ToasterOven"
|
| 242 |
+
},
|
| 243 |
+
"sink_left_group_1": {
|
| 244 |
+
"cls": "Sink"
|
| 245 |
+
},
|
| 246 |
+
"counter_1_left_group_1": {
|
| 247 |
+
"cls": "Counter"
|
| 248 |
+
},
|
| 249 |
+
"counter_corner_1_left_group_1": {
|
| 250 |
+
"cls": "Counter"
|
| 251 |
+
},
|
| 252 |
+
"counter_2_left_group_1": {
|
| 253 |
+
"cls": "Counter"
|
| 254 |
+
},
|
| 255 |
+
"singlecabinet_1_left_group_1": {
|
| 256 |
+
"cls": "SingleCabinet"
|
| 257 |
+
},
|
| 258 |
+
"hingecabinet_1_left_group_1": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
+
},
|
| 261 |
+
"stack_3_left_group_1_base": {
|
| 262 |
+
"cls": "Box"
|
| 263 |
+
},
|
| 264 |
+
"stack_3_left_group_1_1": {
|
| 265 |
+
"cls": "HingeCabinet"
|
| 266 |
+
},
|
| 267 |
+
"dishwasher_1_left_group_1": {
|
| 268 |
+
"cls": "Dishwasher"
|
| 269 |
+
},
|
| 270 |
+
"cube_3_left_group_1": {
|
| 271 |
+
"cls": "Box"
|
| 272 |
+
},
|
| 273 |
+
"stack_2_left_group_1_base": {
|
| 274 |
+
"cls": "Box"
|
| 275 |
+
},
|
| 276 |
+
"stack_2_left_group_1_1": {
|
| 277 |
+
"cls": "SingleCabinet"
|
| 278 |
+
},
|
| 279 |
+
"stack_1_left_group_1_base": {
|
| 280 |
+
"cls": "Box"
|
| 281 |
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},
|
| 282 |
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"stack_1_left_group_1_1": {
|
| 283 |
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"cls": "Drawer"
|
| 284 |
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},
|
| 285 |
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"stack_1_left_group_1_2": {
|
| 286 |
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"cls": "Drawer"
|
| 287 |
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},
|
| 288 |
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"stack_1_left_group_1_3": {
|
| 289 |
+
"cls": "Drawer"
|
| 290 |
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},
|
| 291 |
+
"cube_2_left_group_1": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
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},
|
| 294 |
+
"cube_1_left_group_1": {
|
| 295 |
+
"cls": "Box"
|
| 296 |
+
},
|
| 297 |
+
"knife_block_left_group_1": {
|
| 298 |
+
"cls": "Accessory"
|
| 299 |
+
}
|
| 300 |
+
},
|
| 301 |
+
"gen_textures": {},
|
| 302 |
+
"lang": "Press down the lever to turn on the electric kettle.",
|
| 303 |
+
"fixture_refs": {
|
| 304 |
+
"electric_kettle": "electric_kettle_main_group_1"
|
| 305 |
+
},
|
| 306 |
+
"cam_configs": {
|
| 307 |
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"robot0_agentview_center": {
|
| 308 |
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"pos": [
|
| 309 |
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-0.6,
|
| 310 |
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0.0,
|
| 311 |
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|
| 312 |
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],
|
| 313 |
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"quat": [
|
| 314 |
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|
| 315 |
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|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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"parent_body": "mobilebase0_support"
|
| 320 |
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},
|
| 321 |
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"robot0_agentview_left": {
|
| 322 |
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"pos": [
|
| 323 |
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-0.5,
|
| 324 |
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|
| 325 |
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1.05
|
| 326 |
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],
|
| 327 |
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"quat": [
|
| 328 |
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|
| 329 |
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|
| 330 |
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|
| 331 |
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|
| 332 |
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],
|
| 333 |
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"camera_attribs": {
|
| 334 |
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|
| 335 |
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},
|
| 336 |
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"parent_body": "mobilebase0_support"
|
| 337 |
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},
|
| 338 |
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"robot0_agentview_right": {
|
| 339 |
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"pos": [
|
| 340 |
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-0.5,
|
| 341 |
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-0.35,
|
| 342 |
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|
| 343 |
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],
|
| 344 |
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"quat": [
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| 345 |
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|
| 346 |
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|
| 347 |
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|
| 348 |
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|
| 349 |
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],
|
| 350 |
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"camera_attribs": {
|
| 351 |
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"fovy": "60"
|
| 352 |
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},
|
| 353 |
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"parent_body": "mobilebase0_support"
|
| 354 |
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},
|
| 355 |
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"robot0_frontview": {
|
| 356 |
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"pos": [
|
| 357 |
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-0.5,
|
| 358 |
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0,
|
| 359 |
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|
| 360 |
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],
|
| 361 |
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"quat": [
|
| 362 |
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|
| 363 |
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|
| 364 |
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|
| 365 |
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|
| 366 |
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|
| 367 |
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"camera_attribs": {
|
| 368 |
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"fovy": "60"
|
| 369 |
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},
|
| 370 |
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"parent_body": "mobilebase0_support"
|
| 371 |
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},
|
| 372 |
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"robot0_eye_in_hand": {
|
| 373 |
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"pos": [
|
| 374 |
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0.05,
|
| 375 |
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0,
|
| 376 |
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0
|
| 377 |
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],
|
| 378 |
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"quat": [
|
| 379 |
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0,
|
| 380 |
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0.707107,
|
| 381 |
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0.707107,
|
| 382 |
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0
|
| 383 |
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],
|
| 384 |
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"parent_body": "robot0_right_hand"
|
| 385 |
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}
|
| 386 |
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},
|
| 387 |
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"init_robot_base_pos": [
|
| 388 |
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|
| 389 |
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|
| 390 |
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|
| 391 |
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],
|
| 392 |
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"init_robot_base_ori": [
|
| 393 |
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|
| 394 |
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0.0,
|
| 395 |
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|
| 396 |
+
]
|
| 397 |
+
}
|
pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000037/ep_meta.json
ADDED
|
@@ -0,0 +1,397 @@
|
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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": 56,
|
| 3 |
+
"style_id": 13,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_right_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_right_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"floor_1_room": {
|
| 19 |
+
"cls": "Floor"
|
| 20 |
+
},
|
| 21 |
+
"floor_1_backing_room": {
|
| 22 |
+
"cls": "Floor"
|
| 23 |
+
},
|
| 24 |
+
"wallaccessory_1_room": {
|
| 25 |
+
"cls": "WallAccessory"
|
| 26 |
+
},
|
| 27 |
+
"wallaccessory_2_room": {
|
| 28 |
+
"cls": "WallAccessory"
|
| 29 |
+
},
|
| 30 |
+
"wallaccessory_3_room": {
|
| 31 |
+
"cls": "WallAccessory"
|
| 32 |
+
},
|
| 33 |
+
"wallaccessory_4_room": {
|
| 34 |
+
"cls": "WallAccessory"
|
| 35 |
+
},
|
| 36 |
+
"lightswitch_02_room": {
|
| 37 |
+
"cls": "WallAccessory"
|
| 38 |
+
},
|
| 39 |
+
"lightswitch_03_room": {
|
| 40 |
+
"cls": "WallAccessory"
|
| 41 |
+
},
|
| 42 |
+
"stool_3_room": {
|
| 43 |
+
"cls": "Stool"
|
| 44 |
+
},
|
| 45 |
+
"stool_2_room": {
|
| 46 |
+
"cls": "Stool"
|
| 47 |
+
},
|
| 48 |
+
"stool_1_room": {
|
| 49 |
+
"cls": "Stool"
|
| 50 |
+
},
|
| 51 |
+
"stack_13_island_group_2_base": {
|
| 52 |
+
"cls": "Box"
|
| 53 |
+
},
|
| 54 |
+
"stack_13_island_group_2_1": {
|
| 55 |
+
"cls": "HingeCabinet"
|
| 56 |
+
},
|
| 57 |
+
"stack_04_island_group_2_base": {
|
| 58 |
+
"cls": "Box"
|
| 59 |
+
},
|
| 60 |
+
"stack_04_island_group_2_1": {
|
| 61 |
+
"cls": "HingeCabinet"
|
| 62 |
+
},
|
| 63 |
+
"stack_12_island_group_2_base": {
|
| 64 |
+
"cls": "Box"
|
| 65 |
+
},
|
| 66 |
+
"stack_12_island_group_2_1": {
|
| 67 |
+
"cls": "HingeCabinet"
|
| 68 |
+
},
|
| 69 |
+
"singlecabinet_2_main_group_1": {
|
| 70 |
+
"cls": "SingleCabinet"
|
| 71 |
+
},
|
| 72 |
+
"hingecabinet_5_main_group_1": {
|
| 73 |
+
"cls": "HingeCabinet"
|
| 74 |
+
},
|
| 75 |
+
"hingecabinet_4_main_group_1": {
|
| 76 |
+
"cls": "HingeCabinet"
|
| 77 |
+
},
|
| 78 |
+
"opencabinet_2_main_group_1": {
|
| 79 |
+
"cls": "OpenCabinet"
|
| 80 |
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},
|
| 81 |
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"opencabinet_3_main_group_1": {
|
| 82 |
+
"cls": "OpenCabinet"
|
| 83 |
+
},
|
| 84 |
+
"counter_2_main_group_1": {
|
| 85 |
+
"cls": "Counter"
|
| 86 |
+
},
|
| 87 |
+
"counter_corner_1_main_group_1": {
|
| 88 |
+
"cls": "Counter"
|
| 89 |
+
},
|
| 90 |
+
"counter_3_main_group_1": {
|
| 91 |
+
"cls": "Counter"
|
| 92 |
+
},
|
| 93 |
+
"stove_main_group_1": {
|
| 94 |
+
"cls": "Stove"
|
| 95 |
+
},
|
| 96 |
+
"stove_hood_main_group_1": {
|
| 97 |
+
"cls": "Hood"
|
| 98 |
+
},
|
| 99 |
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"cube_4_main_group_1": {
|
| 100 |
+
"cls": "Box"
|
| 101 |
+
},
|
| 102 |
+
"stack_11_main_group_1_base": {
|
| 103 |
+
"cls": "Box"
|
| 104 |
+
},
|
| 105 |
+
"stack_11_main_group_1_1": {
|
| 106 |
+
"cls": "SingleCabinet"
|
| 107 |
+
},
|
| 108 |
+
"stack_03_main_group_1_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_03_main_group_1_1": {
|
| 112 |
+
"cls": "HingeCabinet"
|
| 113 |
+
},
|
| 114 |
+
"stack_03_main_group_1_2": {
|
| 115 |
+
"cls": "Drawer"
|
| 116 |
+
},
|
| 117 |
+
"stack_02_main_group_1_base": {
|
| 118 |
+
"cls": "Box"
|
| 119 |
+
},
|
| 120 |
+
"stack_02_main_group_1_1": {
|
| 121 |
+
"cls": "SingleCabinet"
|
| 122 |
+
},
|
| 123 |
+
"stack_04_main_group_1_base": {
|
| 124 |
+
"cls": "Box"
|
| 125 |
+
},
|
| 126 |
+
"stack_04_main_group_1_1": {
|
| 127 |
+
"cls": "Drawer"
|
| 128 |
+
},
|
| 129 |
+
"stack_04_main_group_1_2": {
|
| 130 |
+
"cls": "Drawer"
|
| 131 |
+
},
|
| 132 |
+
"stack_04_main_group_1_3": {
|
| 133 |
+
"cls": "Drawer"
|
| 134 |
+
},
|
| 135 |
+
"stack_08_main_group_1_base": {
|
| 136 |
+
"cls": "Box"
|
| 137 |
+
},
|
| 138 |
+
"stack_08_main_group_1_1": {
|
| 139 |
+
"cls": "HingeCabinet"
|
| 140 |
+
},
|
| 141 |
+
"stack_08_main_group_1_2": {
|
| 142 |
+
"cls": "Drawer"
|
| 143 |
+
},
|
| 144 |
+
"stack_06_main_group_1_base": {
|
| 145 |
+
"cls": "Box"
|
| 146 |
+
},
|
| 147 |
+
"stack_06_main_group_1_1": {
|
| 148 |
+
"cls": "SingleCabinet"
|
| 149 |
+
},
|
| 150 |
+
"stack_07_main_group_1_base": {
|
| 151 |
+
"cls": "Box"
|
| 152 |
+
},
|
| 153 |
+
"stack_07_main_group_1_1": {
|
| 154 |
+
"cls": "Drawer"
|
| 155 |
+
},
|
| 156 |
+
"stack_07_main_group_1_2": {
|
| 157 |
+
"cls": "Drawer"
|
| 158 |
+
},
|
| 159 |
+
"stack_07_main_group_1_3": {
|
| 160 |
+
"cls": "Drawer"
|
| 161 |
+
},
|
| 162 |
+
"cube_8_main_group_1": {
|
| 163 |
+
"cls": "Box"
|
| 164 |
+
},
|
| 165 |
+
"coffee_machine_main_group_1": {
|
| 166 |
+
"cls": "CoffeeMachine"
|
| 167 |
+
},
|
| 168 |
+
"papertowel_main_group_1": {
|
| 169 |
+
"cls": "Accessory"
|
| 170 |
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},
|
| 171 |
+
"plant_main_group_1": {
|
| 172 |
+
"cls": "Accessory"
|
| 173 |
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},
|
| 174 |
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"toaster_oven_main_group_1": {
|
| 175 |
+
"cls": "ToasterOven"
|
| 176 |
+
},
|
| 177 |
+
"singlecabinet_1_right_group_1": {
|
| 178 |
+
"cls": "SingleCabinet"
|
| 179 |
+
},
|
| 180 |
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"hingecabinet_1_right_group_1": {
|
| 181 |
+
"cls": "HingeCabinet"
|
| 182 |
+
},
|
| 183 |
+
"hingecabinet_9_right_group_1": {
|
| 184 |
+
"cls": "HingeCabinet"
|
| 185 |
+
},
|
| 186 |
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"counter_1_right_group_1": {
|
| 187 |
+
"cls": "Counter"
|
| 188 |
+
},
|
| 189 |
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"counter_8_right_group_1": {
|
| 190 |
+
"cls": "Counter"
|
| 191 |
+
},
|
| 192 |
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"stack_6_right_group_1_base": {
|
| 193 |
+
"cls": "Box"
|
| 194 |
+
},
|
| 195 |
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"stack_6_right_group_1_1": {
|
| 196 |
+
"cls": "Drawer"
|
| 197 |
+
},
|
| 198 |
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"stack_6_right_group_1_2": {
|
| 199 |
+
"cls": "HingeCabinet"
|
| 200 |
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},
|
| 201 |
+
"stack_4_right_group_1_base": {
|
| 202 |
+
"cls": "Box"
|
| 203 |
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},
|
| 204 |
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"stack_4_right_group_1_1": {
|
| 205 |
+
"cls": "SingleCabinet"
|
| 206 |
+
},
|
| 207 |
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"cube_11_right_group_1": {
|
| 208 |
+
"cls": "Box"
|
| 209 |
+
},
|
| 210 |
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"stack_7_right_group_1_base": {
|
| 211 |
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"cls": "Box"
|
| 212 |
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},
|
| 213 |
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"stack_7_right_group_1_1": {
|
| 214 |
+
"cls": "HingeCabinet"
|
| 215 |
+
},
|
| 216 |
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"stack_7_right_group_1_2": {
|
| 217 |
+
"cls": "Drawer"
|
| 218 |
+
},
|
| 219 |
+
"cube_12_right_group_1": {
|
| 220 |
+
"cls": "Box"
|
| 221 |
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},
|
| 222 |
+
"fridgefrenchdoor_right_group_1": {
|
| 223 |
+
"cls": "FridgeFrenchDoor"
|
| 224 |
+
},
|
| 225 |
+
"fridgefrenchdoor_housing_right_group_1": {
|
| 226 |
+
"cls": "HousingCabinet"
|
| 227 |
+
},
|
| 228 |
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"bottom_right_group_1_base": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
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},
|
| 231 |
+
"bottom_right_group_1_1": {
|
| 232 |
+
"cls": "Drawer"
|
| 233 |
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},
|
| 234 |
+
"oven_cabinet_right_group_1": {
|
| 235 |
+
"cls": "HingeCabinet"
|
| 236 |
+
},
|
| 237 |
+
"microwave_right_group_1": {
|
| 238 |
+
"cls": "Microwave"
|
| 239 |
+
},
|
| 240 |
+
"microwave_housing_right_group_1": {
|
| 241 |
+
"cls": "HousingCabinet"
|
| 242 |
+
},
|
| 243 |
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"top_right_group_1": {
|
| 244 |
+
"cls": "HingeCabinet"
|
| 245 |
+
},
|
| 246 |
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"hingecabinet_2_right_group_1": {
|
| 247 |
+
"cls": "HingeCabinet"
|
| 248 |
+
},
|
| 249 |
+
"toaster_right_group_1": {
|
| 250 |
+
"cls": "Toaster"
|
| 251 |
+
},
|
| 252 |
+
"sink_island_group_1": {
|
| 253 |
+
"cls": "Sink"
|
| 254 |
+
},
|
| 255 |
+
"island_island_group_1": {
|
| 256 |
+
"cls": "Counter"
|
| 257 |
+
},
|
| 258 |
+
"stack_11_island_group_1_base": {
|
| 259 |
+
"cls": "Box"
|
| 260 |
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},
|
| 261 |
+
"stack_11_island_group_1_1": {
|
| 262 |
+
"cls": "HingeCabinet"
|
| 263 |
+
},
|
| 264 |
+
"stack_11_island_group_1_2": {
|
| 265 |
+
"cls": "PanelCabinet"
|
| 266 |
+
},
|
| 267 |
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"stack_09_island_group_1_base": {
|
| 268 |
+
"cls": "Box"
|
| 269 |
+
},
|
| 270 |
+
"stack_09_island_group_1_1": {
|
| 271 |
+
"cls": "Drawer"
|
| 272 |
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},
|
| 273 |
+
"stack_09_island_group_1_2": {
|
| 274 |
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"cls": "Drawer"
|
| 275 |
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},
|
| 276 |
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"stack_09_island_group_1_3": {
|
| 277 |
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"cls": "Drawer"
|
| 278 |
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},
|
| 279 |
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"stack_10_island_group_1_base": {
|
| 280 |
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"cls": "Box"
|
| 281 |
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},
|
| 282 |
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"stack_10_island_group_1_1": {
|
| 283 |
+
"cls": "SingleCabinet"
|
| 284 |
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},
|
| 285 |
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"stack_10_island_group_1_2": {
|
| 286 |
+
"cls": "Drawer"
|
| 287 |
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},
|
| 288 |
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"dishwasher_1_island_group_1": {
|
| 289 |
+
"cls": "Dishwasher"
|
| 290 |
+
},
|
| 291 |
+
"cube_1_island_group_1": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"cube_2_island_group_1": {
|
| 295 |
+
"cls": "Box"
|
| 296 |
+
},
|
| 297 |
+
"electric_kettle_island_group_1": {
|
| 298 |
+
"cls": "ElectricKettle"
|
| 299 |
+
}
|
| 300 |
+
},
|
| 301 |
+
"gen_textures": {},
|
| 302 |
+
"lang": "Press down the lever to turn on the electric kettle.",
|
| 303 |
+
"fixture_refs": {
|
| 304 |
+
"electric_kettle": "electric_kettle_island_group_1"
|
| 305 |
+
},
|
| 306 |
+
"cam_configs": {
|
| 307 |
+
"robot0_agentview_center": {
|
| 308 |
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"pos": [
|
| 309 |
+
-0.6,
|
| 310 |
+
0.0,
|
| 311 |
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|
| 312 |
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],
|
| 313 |
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"quat": [
|
| 314 |
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|
| 315 |
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|
| 316 |
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|
| 317 |
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|
| 318 |
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],
|
| 319 |
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"parent_body": "mobilebase0_support"
|
| 320 |
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},
|
| 321 |
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"robot0_agentview_left": {
|
| 322 |
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"pos": [
|
| 323 |
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-0.5,
|
| 324 |
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|
| 325 |
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1.05
|
| 326 |
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],
|
| 327 |
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"quat": [
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| 328 |
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|
| 329 |
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|
| 330 |
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|
| 331 |
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|
| 332 |
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],
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| 333 |
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"camera_attribs": {
|
| 334 |
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"fovy": "60"
|
| 335 |
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},
|
| 336 |
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"parent_body": "mobilebase0_support"
|
| 337 |
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},
|
| 338 |
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"robot0_agentview_right": {
|
| 339 |
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"pos": [
|
| 340 |
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-0.5,
|
| 341 |
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-0.35,
|
| 342 |
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1.05
|
| 343 |
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],
|
| 344 |
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"quat": [
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| 345 |
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|
| 346 |
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|
| 347 |
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|
| 348 |
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|
| 349 |
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],
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| 350 |
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|
| 351 |
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|
| 352 |
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},
|
| 353 |
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"parent_body": "mobilebase0_support"
|
| 354 |
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},
|
| 355 |
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"robot0_frontview": {
|
| 356 |
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"pos": [
|
| 357 |
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-0.5,
|
| 358 |
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0,
|
| 359 |
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|
| 360 |
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],
|
| 361 |
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"quat": [
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| 362 |
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|
| 363 |
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|
| 364 |
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|
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|
| 366 |
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| 367 |
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|
| 368 |
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"fovy": "60"
|
| 369 |
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},
|
| 370 |
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"parent_body": "mobilebase0_support"
|
| 371 |
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},
|
| 372 |
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"robot0_eye_in_hand": {
|
| 373 |
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"pos": [
|
| 374 |
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0.05,
|
| 375 |
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|
| 376 |
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0
|
| 377 |
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],
|
| 378 |
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"quat": [
|
| 379 |
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|
| 380 |
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|
| 381 |
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0.707107,
|
| 382 |
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0
|
| 383 |
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],
|
| 384 |
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"parent_body": "robot0_right_hand"
|
| 385 |
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}
|
| 386 |
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},
|
| 387 |
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"init_robot_base_pos": [
|
| 388 |
+
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|
| 389 |
+
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|
| 390 |
+
0.0
|
| 391 |
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],
|
| 392 |
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"init_robot_base_ori": [
|
| 393 |
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|
| 394 |
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0.0,
|
| 395 |
+
4.7122340957374185
|
| 396 |
+
]
|
| 397 |
+
}
|
pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000049/ep_meta.json
ADDED
|
@@ -0,0 +1,307 @@
|
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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": 41,
|
| 3 |
+
"style_id": 47,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
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|
| 8 |
+
},
|
| 9 |
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"wall_main_1_backing_room": {
|
| 10 |
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"cls": "Wall"
|
| 11 |
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},
|
| 12 |
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"wall_right_1_room": {
|
| 13 |
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"cls": "Wall"
|
| 14 |
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|
| 15 |
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"wall_right_1_backing_room": {
|
| 16 |
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"cls": "Wall"
|
| 17 |
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},
|
| 18 |
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"wall_right_2_room": {
|
| 19 |
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"cls": "Wall"
|
| 20 |
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},
|
| 21 |
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"wall_right_2_backing_room": {
|
| 22 |
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"cls": "Wall"
|
| 23 |
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|
| 24 |
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"wall_right_3_room": {
|
| 25 |
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"cls": "Wall"
|
| 26 |
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|
| 27 |
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"wall_right_3_backing_room": {
|
| 28 |
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"cls": "Wall"
|
| 29 |
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},
|
| 30 |
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"floor_1_room": {
|
| 31 |
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"cls": "Floor"
|
| 32 |
+
},
|
| 33 |
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"floor_1_backing_room": {
|
| 34 |
+
"cls": "Floor"
|
| 35 |
+
},
|
| 36 |
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"lightswitch_room": {
|
| 37 |
+
"cls": "WallAccessory"
|
| 38 |
+
},
|
| 39 |
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"wallaccessory.003_room": {
|
| 40 |
+
"cls": "WallAccessory"
|
| 41 |
+
},
|
| 42 |
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"wallaccessory.001_room": {
|
| 43 |
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"cls": "WallAccessory"
|
| 44 |
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},
|
| 45 |
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"window_group_room": {
|
| 46 |
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"cls": "Window"
|
| 47 |
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|
| 48 |
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|
| 49 |
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"cls": "Stool"
|
| 50 |
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|
| 51 |
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"stool_2_room": {
|
| 52 |
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"cls": "Stool"
|
| 53 |
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},
|
| 54 |
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"sink_main_group_1": {
|
| 55 |
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"cls": "Sink"
|
| 56 |
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|
| 57 |
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|
| 58 |
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"cls": "Counter"
|
| 59 |
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},
|
| 60 |
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|
| 61 |
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"cls": "SingleCabinet"
|
| 62 |
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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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"cls": "HingeCabinet"
|
| 71 |
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|
| 72 |
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|
| 73 |
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"cls": "Drawer"
|
| 74 |
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|
| 75 |
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"stack_2_main_group_1_base": {
|
| 76 |
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"cls": "Box"
|
| 77 |
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},
|
| 78 |
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"stack_2_main_group_1_1": {
|
| 79 |
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"cls": "HingeCabinet"
|
| 80 |
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},
|
| 81 |
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"stack_2_main_group_1_2": {
|
| 82 |
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"cls": "PanelCabinet"
|
| 83 |
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},
|
| 84 |
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"cube_1_main_group_1": {
|
| 85 |
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"cls": "Box"
|
| 86 |
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},
|
| 87 |
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"dishwasher_1_main_group_1": {
|
| 88 |
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"cls": "Dishwasher"
|
| 89 |
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},
|
| 90 |
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|
| 91 |
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"cls": "Box"
|
| 92 |
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},
|
| 93 |
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"bottom_main_group_1_1": {
|
| 94 |
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"cls": "Drawer"
|
| 95 |
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},
|
| 96 |
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|
| 97 |
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"cls": "Microwave"
|
| 98 |
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},
|
| 99 |
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"fridgesidebyside_main_group_1": {
|
| 100 |
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"cls": "FridgeSideBySide"
|
| 101 |
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},
|
| 102 |
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"fridgesidebyside_housing_main_group_1": {
|
| 103 |
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"cls": "HousingCabinet"
|
| 104 |
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},
|
| 105 |
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|
| 106 |
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"cls": "HingeCabinet"
|
| 107 |
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},
|
| 108 |
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|
| 109 |
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"cls": "HingeCabinet"
|
| 110 |
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},
|
| 111 |
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"microwave_housing_main_group_1": {
|
| 112 |
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"cls": "HousingCabinet"
|
| 113 |
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},
|
| 114 |
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|
| 115 |
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"cls": "HingeCabinet"
|
| 116 |
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},
|
| 117 |
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|
| 118 |
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"cls": "CoffeeMachine"
|
| 119 |
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},
|
| 120 |
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|
| 121 |
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"cls": "Accessory"
|
| 122 |
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},
|
| 123 |
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|
| 124 |
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"cls": "ElectricKettle"
|
| 125 |
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},
|
| 126 |
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|
| 127 |
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"cls": "Counter"
|
| 128 |
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},
|
| 129 |
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"counter_2_right_group_1": {
|
| 130 |
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"cls": "Counter"
|
| 131 |
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},
|
| 132 |
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"stove_right_group_1": {
|
| 133 |
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"cls": "Stove"
|
| 134 |
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},
|
| 135 |
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"stove_hood_right_group_1": {
|
| 136 |
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"cls": "Hood"
|
| 137 |
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},
|
| 138 |
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|
| 139 |
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"cls": "SingleCabinet"
|
| 140 |
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},
|
| 141 |
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|
| 142 |
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"cls": "SingleCabinet"
|
| 143 |
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},
|
| 144 |
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|
| 145 |
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"cls": "Box"
|
| 146 |
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},
|
| 147 |
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|
| 148 |
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"cls": "HingeCabinet"
|
| 149 |
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},
|
| 150 |
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|
| 151 |
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"cls": "Drawer"
|
| 152 |
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},
|
| 153 |
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"stack_2_right_group_1_base": {
|
| 154 |
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"cls": "Box"
|
| 155 |
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},
|
| 156 |
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"stack_2_right_group_1_1": {
|
| 157 |
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"cls": "HingeCabinet"
|
| 158 |
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},
|
| 159 |
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"stack_2_right_group_1_2": {
|
| 160 |
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"cls": "Drawer"
|
| 161 |
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},
|
| 162 |
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"toaster_right_group_1": {
|
| 163 |
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"cls": "Toaster"
|
| 164 |
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},
|
| 165 |
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"stack_1_island_group_1_base": {
|
| 166 |
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"cls": "Box"
|
| 167 |
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},
|
| 168 |
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"stack_1_island_group_1_1": {
|
| 169 |
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"cls": "HingeCabinet"
|
| 170 |
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},
|
| 171 |
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"stack_1_island_group_1_2": {
|
| 172 |
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"cls": "Drawer"
|
| 173 |
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},
|
| 174 |
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"stack_2_island_group_1_base": {
|
| 175 |
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"cls": "Box"
|
| 176 |
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},
|
| 177 |
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"stack_2_island_group_1_1": {
|
| 178 |
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"cls": "HingeCabinet"
|
| 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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"cls": "Box"
|
| 185 |
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},
|
| 186 |
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"stack_3_island_group_1_1": {
|
| 187 |
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"cls": "Drawer"
|
| 188 |
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},
|
| 189 |
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|
| 190 |
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"cls": "Drawer"
|
| 191 |
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},
|
| 192 |
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|
| 193 |
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"cls": "Counter"
|
| 194 |
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},
|
| 195 |
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"stack_4_island_group_2_base": {
|
| 196 |
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"cls": "Box"
|
| 197 |
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},
|
| 198 |
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|
| 199 |
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"cls": "SingleCabinet"
|
| 200 |
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},
|
| 201 |
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|
| 202 |
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"cls": "Box"
|
| 203 |
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},
|
| 204 |
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"stack_5_island_group_2_1": {
|
| 205 |
+
"cls": "SingleCabinet"
|
| 206 |
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},
|
| 207 |
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"paper_towel_island_group_2": {
|
| 208 |
+
"cls": "Accessory"
|
| 209 |
+
}
|
| 210 |
+
},
|
| 211 |
+
"gen_textures": {},
|
| 212 |
+
"lang": "Press down the lever to turn on the electric kettle.",
|
| 213 |
+
"fixture_refs": {
|
| 214 |
+
"electric_kettle": "electric_kettle_main_group_1"
|
| 215 |
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},
|
| 216 |
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"cam_configs": {
|
| 217 |
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"robot0_agentview_center": {
|
| 218 |
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"pos": [
|
| 219 |
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-0.6,
|
| 220 |
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0.0,
|
| 221 |
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|
| 222 |
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],
|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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"pos": [
|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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],
|
| 237 |
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"quat": [
|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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],
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| 243 |
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|
| 244 |
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|
| 245 |
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},
|
| 246 |
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"parent_body": "mobilebase0_support"
|
| 247 |
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},
|
| 248 |
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"robot0_agentview_right": {
|
| 249 |
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"pos": [
|
| 250 |
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-0.5,
|
| 251 |
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|
| 252 |
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1.05
|
| 253 |
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],
|
| 254 |
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"quat": [
|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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|
| 262 |
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},
|
| 263 |
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"parent_body": "mobilebase0_support"
|
| 264 |
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},
|
| 265 |
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"robot0_frontview": {
|
| 266 |
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"pos": [
|
| 267 |
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-0.5,
|
| 268 |
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|
| 269 |
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|
| 270 |
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],
|
| 271 |
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"quat": [
|
| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
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"parent_body": "mobilebase0_support"
|
| 281 |
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},
|
| 282 |
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"robot0_eye_in_hand": {
|
| 283 |
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"pos": [
|
| 284 |
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0.05,
|
| 285 |
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0,
|
| 286 |
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0
|
| 287 |
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],
|
| 288 |
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"quat": [
|
| 289 |
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|
| 290 |
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|
| 291 |
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0.707107,
|
| 292 |
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0
|
| 293 |
+
],
|
| 294 |
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"parent_body": "robot0_right_hand"
|
| 295 |
+
}
|
| 296 |
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},
|
| 297 |
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"init_robot_base_pos": [
|
| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
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|
| 302 |
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"init_robot_base_ori": [
|
| 303 |
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|
| 304 |
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0.0,
|
| 305 |
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|
| 306 |
+
]
|
| 307 |
+
}
|
pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000053/ep_meta.json
ADDED
|
@@ -0,0 +1,406 @@
|
|
|
|
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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": 22,
|
| 3 |
+
"style_id": 11,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_front_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_front_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_left_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_left_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_main_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_main_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_main_3_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_main_3_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_main_2_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_main_2_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"wall_right_1_room": {
|
| 37 |
+
"cls": "Wall"
|
| 38 |
+
},
|
| 39 |
+
"wall_right_1_backing_room": {
|
| 40 |
+
"cls": "Wall"
|
| 41 |
+
},
|
| 42 |
+
"wall_right_2_room": {
|
| 43 |
+
"cls": "Wall"
|
| 44 |
+
},
|
| 45 |
+
"wall_right_2_backing_room": {
|
| 46 |
+
"cls": "Wall"
|
| 47 |
+
},
|
| 48 |
+
"wall_front_2_room": {
|
| 49 |
+
"cls": "Wall"
|
| 50 |
+
},
|
| 51 |
+
"wall_front_2_backing_room": {
|
| 52 |
+
"cls": "Wall"
|
| 53 |
+
},
|
| 54 |
+
"wall_main_4_room": {
|
| 55 |
+
"cls": "Wall"
|
| 56 |
+
},
|
| 57 |
+
"wall_main_4_backing_room": {
|
| 58 |
+
"cls": "Wall"
|
| 59 |
+
},
|
| 60 |
+
"floor_1_room": {
|
| 61 |
+
"cls": "Floor"
|
| 62 |
+
},
|
| 63 |
+
"floor_1_backing_room": {
|
| 64 |
+
"cls": "Floor"
|
| 65 |
+
},
|
| 66 |
+
"floor_2_room": {
|
| 67 |
+
"cls": "Floor"
|
| 68 |
+
},
|
| 69 |
+
"floor_2_backing_room": {
|
| 70 |
+
"cls": "Floor"
|
| 71 |
+
},
|
| 72 |
+
"floor_3_room": {
|
| 73 |
+
"cls": "Floor"
|
| 74 |
+
},
|
| 75 |
+
"floor_3_backing_room": {
|
| 76 |
+
"cls": "Floor"
|
| 77 |
+
},
|
| 78 |
+
"floor_4_room": {
|
| 79 |
+
"cls": "Floor"
|
| 80 |
+
},
|
| 81 |
+
"floor_4_backing_room": {
|
| 82 |
+
"cls": "Floor"
|
| 83 |
+
},
|
| 84 |
+
"wall_accessory_1_room": {
|
| 85 |
+
"cls": "WallAccessory"
|
| 86 |
+
},
|
| 87 |
+
"wall_accessory_2_room": {
|
| 88 |
+
"cls": "WallAccessory"
|
| 89 |
+
},
|
| 90 |
+
"wall_accessory_3_room": {
|
| 91 |
+
"cls": "WallAccessory"
|
| 92 |
+
},
|
| 93 |
+
"wall_accessory_4_room": {
|
| 94 |
+
"cls": "WallAccessory"
|
| 95 |
+
},
|
| 96 |
+
"light_switch_1_room": {
|
| 97 |
+
"cls": "WallAccessory"
|
| 98 |
+
},
|
| 99 |
+
"window_group_room": {
|
| 100 |
+
"cls": "Window"
|
| 101 |
+
},
|
| 102 |
+
"stool_1_room": {
|
| 103 |
+
"cls": "Stool"
|
| 104 |
+
},
|
| 105 |
+
"stool_2_room": {
|
| 106 |
+
"cls": "Stool"
|
| 107 |
+
},
|
| 108 |
+
"stool_3_room": {
|
| 109 |
+
"cls": "Stool"
|
| 110 |
+
},
|
| 111 |
+
"stool_4_room": {
|
| 112 |
+
"cls": "Stool"
|
| 113 |
+
},
|
| 114 |
+
"stool_5_room": {
|
| 115 |
+
"cls": "Stool"
|
| 116 |
+
},
|
| 117 |
+
"stool_6_room": {
|
| 118 |
+
"cls": "Stool"
|
| 119 |
+
},
|
| 120 |
+
"sink_1_left_group": {
|
| 121 |
+
"cls": "Sink"
|
| 122 |
+
},
|
| 123 |
+
"counter_1_left_group": {
|
| 124 |
+
"cls": "Counter"
|
| 125 |
+
},
|
| 126 |
+
"stack_1_left_group_base": {
|
| 127 |
+
"cls": "Box"
|
| 128 |
+
},
|
| 129 |
+
"stack_1_left_group_1": {
|
| 130 |
+
"cls": "SingleCabinet"
|
| 131 |
+
},
|
| 132 |
+
"stack_1_left_group_2": {
|
| 133 |
+
"cls": "Drawer"
|
| 134 |
+
},
|
| 135 |
+
"stack_2_left_group_base": {
|
| 136 |
+
"cls": "Box"
|
| 137 |
+
},
|
| 138 |
+
"stack_2_left_group_1": {
|
| 139 |
+
"cls": "HingeCabinet"
|
| 140 |
+
},
|
| 141 |
+
"stack_2_left_group_2": {
|
| 142 |
+
"cls": "Drawer"
|
| 143 |
+
},
|
| 144 |
+
"oven_left_group": {
|
| 145 |
+
"cls": "Oven"
|
| 146 |
+
},
|
| 147 |
+
"stack_3_left_group_base": {
|
| 148 |
+
"cls": "Box"
|
| 149 |
+
},
|
| 150 |
+
"stack_3_left_group_1": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
+
},
|
| 153 |
+
"dishwasher_left_group": {
|
| 154 |
+
"cls": "Dishwasher"
|
| 155 |
+
},
|
| 156 |
+
"stack_4_left_group_base": {
|
| 157 |
+
"cls": "Box"
|
| 158 |
+
},
|
| 159 |
+
"stack_4_left_group_1": {
|
| 160 |
+
"cls": "HingeCabinet"
|
| 161 |
+
},
|
| 162 |
+
"stack_4_left_group_2": {
|
| 163 |
+
"cls": "Drawer"
|
| 164 |
+
},
|
| 165 |
+
"cab_1_left_group": {
|
| 166 |
+
"cls": "HingeCabinet"
|
| 167 |
+
},
|
| 168 |
+
"cab_2_left_group": {
|
| 169 |
+
"cls": "HingeCabinet"
|
| 170 |
+
},
|
| 171 |
+
"toaster_left_group": {
|
| 172 |
+
"cls": "Toaster"
|
| 173 |
+
},
|
| 174 |
+
"coffee_machine_left_group": {
|
| 175 |
+
"cls": "CoffeeMachine"
|
| 176 |
+
},
|
| 177 |
+
"paper_towel_left_group": {
|
| 178 |
+
"cls": "Accessory"
|
| 179 |
+
},
|
| 180 |
+
"electric_kettle_left_group": {
|
| 181 |
+
"cls": "ElectricKettle"
|
| 182 |
+
},
|
| 183 |
+
"knife_block_left_group": {
|
| 184 |
+
"cls": "Accessory"
|
| 185 |
+
},
|
| 186 |
+
"fridge_main_group": {
|
| 187 |
+
"cls": "FridgeFrenchDoor"
|
| 188 |
+
},
|
| 189 |
+
"fridge_housing_main_group": {
|
| 190 |
+
"cls": "HousingCabinet"
|
| 191 |
+
},
|
| 192 |
+
"counter_1_main_group": {
|
| 193 |
+
"cls": "Counter"
|
| 194 |
+
},
|
| 195 |
+
"stack_1_main_group_base": {
|
| 196 |
+
"cls": "Box"
|
| 197 |
+
},
|
| 198 |
+
"stack_1_main_group_1": {
|
| 199 |
+
"cls": "HingeCabinet"
|
| 200 |
+
},
|
| 201 |
+
"stack_1_main_group_2": {
|
| 202 |
+
"cls": "Drawer"
|
| 203 |
+
},
|
| 204 |
+
"stack_1_main_group_3": {
|
| 205 |
+
"cls": "Drawer"
|
| 206 |
+
},
|
| 207 |
+
"stack_2_main_group_base": {
|
| 208 |
+
"cls": "Box"
|
| 209 |
+
},
|
| 210 |
+
"stack_2_main_group_1": {
|
| 211 |
+
"cls": "HingeCabinet"
|
| 212 |
+
},
|
| 213 |
+
"stack_2_main_group_2": {
|
| 214 |
+
"cls": "Drawer"
|
| 215 |
+
},
|
| 216 |
+
"stack_2_main_group_3": {
|
| 217 |
+
"cls": "Drawer"
|
| 218 |
+
},
|
| 219 |
+
"cab_1_main_group": {
|
| 220 |
+
"cls": "HingeCabinet"
|
| 221 |
+
},
|
| 222 |
+
"cab_2_main_group": {
|
| 223 |
+
"cls": "HingeCabinet"
|
| 224 |
+
},
|
| 225 |
+
"cab_3_main_group": {
|
| 226 |
+
"cls": "HingeCabinet"
|
| 227 |
+
},
|
| 228 |
+
"toaster_oven_main_group": {
|
| 229 |
+
"cls": "ToasterOven"
|
| 230 |
+
},
|
| 231 |
+
"stovetop_dining_area_group_1": {
|
| 232 |
+
"cls": "Stovetop"
|
| 233 |
+
},
|
| 234 |
+
"dining_dining_area_group_1": {
|
| 235 |
+
"cls": "Counter"
|
| 236 |
+
},
|
| 237 |
+
"stack_1_dining_area_group_1_base": {
|
| 238 |
+
"cls": "Box"
|
| 239 |
+
},
|
| 240 |
+
"stack_1_dining_area_group_1_1": {
|
| 241 |
+
"cls": "SingleCabinet"
|
| 242 |
+
},
|
| 243 |
+
"stack_1_dining_area_group_1_2": {
|
| 244 |
+
"cls": "Drawer"
|
| 245 |
+
},
|
| 246 |
+
"stack_2_dining_area_group_1_base": {
|
| 247 |
+
"cls": "Box"
|
| 248 |
+
},
|
| 249 |
+
"stack_2_dining_area_group_1_1": {
|
| 250 |
+
"cls": "HingeCabinet"
|
| 251 |
+
},
|
| 252 |
+
"stack_3_dining_area_group_1_base": {
|
| 253 |
+
"cls": "Box"
|
| 254 |
+
},
|
| 255 |
+
"stack_3_dining_area_group_1_1": {
|
| 256 |
+
"cls": "SingleCabinet"
|
| 257 |
+
},
|
| 258 |
+
"stack_3_dining_area_group_1_2": {
|
| 259 |
+
"cls": "Drawer"
|
| 260 |
+
},
|
| 261 |
+
"dining_dining_area_group_2": {
|
| 262 |
+
"cls": "Counter"
|
| 263 |
+
},
|
| 264 |
+
"stack_1_dining_area_group_2_base": {
|
| 265 |
+
"cls": "Box"
|
| 266 |
+
},
|
| 267 |
+
"stack_1_dining_area_group_2_1": {
|
| 268 |
+
"cls": "SingleCabinet"
|
| 269 |
+
},
|
| 270 |
+
"stack_1_dining_area_group_2_2": {
|
| 271 |
+
"cls": "Drawer"
|
| 272 |
+
},
|
| 273 |
+
"stack_2_dining_area_group_2_base": {
|
| 274 |
+
"cls": "Box"
|
| 275 |
+
},
|
| 276 |
+
"stack_2_dining_area_group_2_1": {
|
| 277 |
+
"cls": "HingeCabinet"
|
| 278 |
+
},
|
| 279 |
+
"stack_2_dining_area_group_2_2": {
|
| 280 |
+
"cls": "Drawer"
|
| 281 |
+
},
|
| 282 |
+
"stack_3_dining_area_group_2_base": {
|
| 283 |
+
"cls": "Box"
|
| 284 |
+
},
|
| 285 |
+
"stack_3_dining_area_group_2_1": {
|
| 286 |
+
"cls": "SingleCabinet"
|
| 287 |
+
},
|
| 288 |
+
"stack_3_dining_area_group_2_2": {
|
| 289 |
+
"cls": "Drawer"
|
| 290 |
+
},
|
| 291 |
+
"bottom_front_group_base": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"bottom_front_group_1": {
|
| 295 |
+
"cls": "Drawer"
|
| 296 |
+
},
|
| 297 |
+
"middle_front_group": {
|
| 298 |
+
"cls": "HingeCabinet"
|
| 299 |
+
},
|
| 300 |
+
"microwave_front_group": {
|
| 301 |
+
"cls": "Microwave"
|
| 302 |
+
},
|
| 303 |
+
"microwave_housing_front_group": {
|
| 304 |
+
"cls": "HousingCabinet"
|
| 305 |
+
},
|
| 306 |
+
"top_front_group": {
|
| 307 |
+
"cls": "HingeCabinet"
|
| 308 |
+
}
|
| 309 |
+
},
|
| 310 |
+
"gen_textures": {},
|
| 311 |
+
"lang": "Press down the lever to turn on the electric kettle.",
|
| 312 |
+
"fixture_refs": {
|
| 313 |
+
"electric_kettle": "electric_kettle_left_group"
|
| 314 |
+
},
|
| 315 |
+
"cam_configs": {
|
| 316 |
+
"robot0_agentview_center": {
|
| 317 |
+
"pos": [
|
| 318 |
+
-0.6,
|
| 319 |
+
0.0,
|
| 320 |
+
1.15
|
| 321 |
+
],
|
| 322 |
+
"quat": [
|
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|
| 406 |
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}
|
pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000056/ep_meta.json
ADDED
|
@@ -0,0 +1,352 @@
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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 |
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"layout_id": 47,
|
| 3 |
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"style_id": 29,
|
| 4 |
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"object_cfgs": [],
|
| 5 |
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"fixtures": {
|
| 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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"wall_main_1_backing_room": {
|
| 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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|
| 24 |
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|
| 25 |
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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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"wall_left_1_room": {
|
| 31 |
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|
| 32 |
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|
| 33 |
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"wall_left_1_backing_room": {
|
| 34 |
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"cls": "Wall"
|
| 35 |
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|
| 36 |
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|
| 37 |
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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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|
| 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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"wallaccessory_2_room": {
|
| 55 |
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|
| 56 |
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|
| 57 |
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"wallaccessory_5_room": {
|
| 58 |
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|
| 59 |
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|
| 60 |
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"lightswitch_02_room": {
|
| 61 |
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|
| 62 |
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|
| 63 |
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"wallaccessory_3_room": {
|
| 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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"wallaccessory_1_room": {
|
| 70 |
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|
| 71 |
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|
| 72 |
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"lightswitch_01_room": {
|
| 73 |
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|
| 74 |
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|
| 75 |
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"wallaccessory_6.001_room": {
|
| 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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"hingecabinet_4_right_group_1": {
|
| 85 |
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|
| 86 |
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|
| 87 |
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"sink_right_group_1": {
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 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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|
| 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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|
| 107 |
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|
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|
| 109 |
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|
| 110 |
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|
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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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|
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|
| 122 |
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|
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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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|
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|
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|
| 134 |
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|
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|
| 136 |
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|
| 137 |
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|
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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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|
| 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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|
| 168 |
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|
| 169 |
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"cls": "HousingCabinet"
|
| 170 |
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},
|
| 171 |
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"hingecabinet_6_main_group_1": {
|
| 172 |
+
"cls": "HingeCabinet"
|
| 173 |
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},
|
| 174 |
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"counter_02_main_group_1": {
|
| 175 |
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"cls": "Counter"
|
| 176 |
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},
|
| 177 |
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"counter_01_main_group_1": {
|
| 178 |
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"cls": "Counter"
|
| 179 |
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},
|
| 180 |
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"counter_corner_2_main_group_1": {
|
| 181 |
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"cls": "Counter"
|
| 182 |
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},
|
| 183 |
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|
| 184 |
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"cls": "Stove"
|
| 185 |
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},
|
| 186 |
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"microwave_main_group_1": {
|
| 187 |
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"cls": "Microwave"
|
| 188 |
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},
|
| 189 |
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"micro_cab_main_group_1": {
|
| 190 |
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"cls": "HingeCabinet"
|
| 191 |
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},
|
| 192 |
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"singlecabinet_1_main_group_1": {
|
| 193 |
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"cls": "SingleCabinet"
|
| 194 |
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},
|
| 195 |
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|
| 196 |
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"cls": "SingleCabinet"
|
| 197 |
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},
|
| 198 |
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|
| 199 |
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"cls": "Box"
|
| 200 |
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},
|
| 201 |
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"stack_03_main_group_1_base": {
|
| 202 |
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"cls": "Box"
|
| 203 |
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},
|
| 204 |
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"stack_03_main_group_1_1": {
|
| 205 |
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"cls": "SingleCabinet"
|
| 206 |
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|
| 207 |
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"stack_03_main_group_1_2": {
|
| 208 |
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"cls": "Drawer"
|
| 209 |
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},
|
| 210 |
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"stack_04_main_group_1_base": {
|
| 211 |
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"cls": "Box"
|
| 212 |
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},
|
| 213 |
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"stack_04_main_group_1_1": {
|
| 214 |
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"cls": "SingleCabinet"
|
| 215 |
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},
|
| 216 |
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"stack_04_main_group_1_2": {
|
| 217 |
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"cls": "Drawer"
|
| 218 |
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},
|
| 219 |
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"papertowel_main_group_1": {
|
| 220 |
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"cls": "Accessory"
|
| 221 |
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},
|
| 222 |
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"toaster_oven_main_group_1": {
|
| 223 |
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"cls": "ToasterOven"
|
| 224 |
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},
|
| 225 |
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"counter_04_front_group_2": {
|
| 226 |
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"cls": "Counter"
|
| 227 |
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},
|
| 228 |
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"stack_10_front_group_2_base": {
|
| 229 |
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"cls": "Box"
|
| 230 |
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},
|
| 231 |
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"stack_10_front_group_2_1": {
|
| 232 |
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"cls": "Drawer"
|
| 233 |
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},
|
| 234 |
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"stack_10_front_group_2_2": {
|
| 235 |
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"cls": "Drawer"
|
| 236 |
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},
|
| 237 |
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"stack_10_front_group_2_3": {
|
| 238 |
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"cls": "Drawer"
|
| 239 |
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},
|
| 240 |
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"stack_10_front_group_2_4": {
|
| 241 |
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"cls": "Drawer"
|
| 242 |
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},
|
| 243 |
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"stack_09_front_group_2_base": {
|
| 244 |
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"cls": "Box"
|
| 245 |
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},
|
| 246 |
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"stack_09_front_group_2_1": {
|
| 247 |
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"cls": "SingleCabinet"
|
| 248 |
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},
|
| 249 |
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"stack_09_front_group_2_2": {
|
| 250 |
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"cls": "Drawer"
|
| 251 |
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},
|
| 252 |
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"cube_front_group_2": {
|
| 253 |
+
"cls": "Box"
|
| 254 |
+
}
|
| 255 |
+
},
|
| 256 |
+
"gen_textures": {},
|
| 257 |
+
"lang": "Press down the lever to turn on the electric kettle.",
|
| 258 |
+
"fixture_refs": {
|
| 259 |
+
"electric_kettle": "electric_kettle_right_group_1"
|
| 260 |
+
},
|
| 261 |
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"cam_configs": {
|
| 262 |
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"robot0_agentview_center": {
|
| 263 |
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"pos": [
|
| 264 |
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-0.6,
|
| 265 |
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0.0,
|
| 266 |
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|
| 267 |
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],
|
| 268 |
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"quat": [
|
| 269 |
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|
| 270 |
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|
| 271 |
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|
| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
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|
| 276 |
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|
| 277 |
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"pos": [
|
| 278 |
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-0.5,
|
| 279 |
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|
| 280 |
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|
| 281 |
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],
|
| 282 |
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"quat": [
|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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],
|
| 288 |
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|
| 289 |
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|
| 290 |
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},
|
| 291 |
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"parent_body": "mobilebase0_support"
|
| 292 |
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|
| 293 |
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"robot0_agentview_right": {
|
| 294 |
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"pos": [
|
| 295 |
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-0.5,
|
| 296 |
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-0.35,
|
| 297 |
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|
| 298 |
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],
|
| 299 |
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"quat": [
|
| 300 |
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|
| 301 |
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|
| 302 |
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|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
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"fovy": "60"
|
| 307 |
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},
|
| 308 |
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"parent_body": "mobilebase0_support"
|
| 309 |
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},
|
| 310 |
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"robot0_frontview": {
|
| 311 |
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"pos": [
|
| 312 |
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-0.5,
|
| 313 |
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0,
|
| 314 |
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|
| 315 |
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],
|
| 316 |
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"quat": [
|
| 317 |
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|
| 318 |
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|
| 319 |
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|
| 320 |
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|
| 321 |
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|
| 322 |
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|
| 323 |
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"fovy": "60"
|
| 324 |
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},
|
| 325 |
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"parent_body": "mobilebase0_support"
|
| 326 |
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},
|
| 327 |
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"robot0_eye_in_hand": {
|
| 328 |
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"pos": [
|
| 329 |
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|
| 330 |
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0,
|
| 331 |
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0
|
| 332 |
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],
|
| 333 |
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"quat": [
|
| 334 |
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|
| 335 |
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|
| 336 |
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0.707107,
|
| 337 |
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0
|
| 338 |
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],
|
| 339 |
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"parent_body": "robot0_right_hand"
|
| 340 |
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}
|
| 341 |
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},
|
| 342 |
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"init_robot_base_pos": [
|
| 343 |
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|
| 344 |
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|
| 345 |
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|
| 346 |
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],
|
| 347 |
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"init_robot_base_ori": [
|
| 348 |
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|
| 349 |
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|
| 350 |
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|
| 351 |
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]
|
| 352 |
+
}
|
pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000064/ep_meta.json
ADDED
|
@@ -0,0 +1,367 @@
|
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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": 50,
|
| 3 |
+
"style_id": 32,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_right_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_right_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_left_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_left_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_main_2_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_main_2_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_left_2_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_left_2_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"wall_main_3_room": {
|
| 37 |
+
"cls": "Wall"
|
| 38 |
+
},
|
| 39 |
+
"wall_main_3_backing_room": {
|
| 40 |
+
"cls": "Wall"
|
| 41 |
+
},
|
| 42 |
+
"wall_main_3.001_room": {
|
| 43 |
+
"cls": "Wall"
|
| 44 |
+
},
|
| 45 |
+
"wall_main_3.001_backing_room": {
|
| 46 |
+
"cls": "Wall"
|
| 47 |
+
},
|
| 48 |
+
"floor_1_room": {
|
| 49 |
+
"cls": "Floor"
|
| 50 |
+
},
|
| 51 |
+
"floor_1_backing_room": {
|
| 52 |
+
"cls": "Floor"
|
| 53 |
+
},
|
| 54 |
+
"floor_2_room": {
|
| 55 |
+
"cls": "Floor"
|
| 56 |
+
},
|
| 57 |
+
"floor_2_backing_room": {
|
| 58 |
+
"cls": "Floor"
|
| 59 |
+
},
|
| 60 |
+
"window_group_1_room": {
|
| 61 |
+
"cls": "Window"
|
| 62 |
+
},
|
| 63 |
+
"window_group_2_room": {
|
| 64 |
+
"cls": "Window"
|
| 65 |
+
},
|
| 66 |
+
"window_group_3_room": {
|
| 67 |
+
"cls": "Window"
|
| 68 |
+
},
|
| 69 |
+
"sink_main_group_1": {
|
| 70 |
+
"cls": "Sink"
|
| 71 |
+
},
|
| 72 |
+
"counter_1_main_group_1": {
|
| 73 |
+
"cls": "Counter"
|
| 74 |
+
},
|
| 75 |
+
"counter_corner_1_main_group_1": {
|
| 76 |
+
"cls": "Counter"
|
| 77 |
+
},
|
| 78 |
+
"stack_02_main_group_1_base": {
|
| 79 |
+
"cls": "Box"
|
| 80 |
+
},
|
| 81 |
+
"stack_02_main_group_1_1": {
|
| 82 |
+
"cls": "HingeCabinet"
|
| 83 |
+
},
|
| 84 |
+
"stack_02_main_group_1_2": {
|
| 85 |
+
"cls": "PanelCabinet"
|
| 86 |
+
},
|
| 87 |
+
"stack_01_main_group_1_base": {
|
| 88 |
+
"cls": "Box"
|
| 89 |
+
},
|
| 90 |
+
"stack_01_main_group_1_1": {
|
| 91 |
+
"cls": "SingleCabinet"
|
| 92 |
+
},
|
| 93 |
+
"stack_01_main_group_1_2": {
|
| 94 |
+
"cls": "Drawer"
|
| 95 |
+
},
|
| 96 |
+
"stack_03_main_group_1_base": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"stack_03_main_group_1_1": {
|
| 100 |
+
"cls": "SingleCabinet"
|
| 101 |
+
},
|
| 102 |
+
"stack_03_main_group_1_2": {
|
| 103 |
+
"cls": "Drawer"
|
| 104 |
+
},
|
| 105 |
+
"cube_09_main_group_1": {
|
| 106 |
+
"cls": "Box"
|
| 107 |
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},
|
| 108 |
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"dishwasher_1_main_group_1": {
|
| 109 |
+
"cls": "Dishwasher"
|
| 110 |
+
},
|
| 111 |
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"papertowel_main_group_1": {
|
| 112 |
+
"cls": "Accessory"
|
| 113 |
+
},
|
| 114 |
+
"electric_kettle_main_group_1": {
|
| 115 |
+
"cls": "ElectricKettle"
|
| 116 |
+
},
|
| 117 |
+
"island_island_group_1": {
|
| 118 |
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"cls": "Counter"
|
| 119 |
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},
|
| 120 |
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"cube_01_island_group_1": {
|
| 121 |
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"cls": "Box"
|
| 122 |
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},
|
| 123 |
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"stack_10_island_group_1_base": {
|
| 124 |
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"cls": "Box"
|
| 125 |
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},
|
| 126 |
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"stack_10_island_group_1_1": {
|
| 127 |
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"cls": "HingeCabinet"
|
| 128 |
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},
|
| 129 |
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"stack_10_island_group_1_2": {
|
| 130 |
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"cls": "Drawer"
|
| 131 |
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},
|
| 132 |
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"cube_07_island_group_1": {
|
| 133 |
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"cls": "Box"
|
| 134 |
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},
|
| 135 |
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"cube_08_island_group_1": {
|
| 136 |
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"cls": "Box"
|
| 137 |
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},
|
| 138 |
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"plant_island_group_1": {
|
| 139 |
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"cls": "Accessory"
|
| 140 |
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},
|
| 141 |
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"hingecabinet_5_left_group_1": {
|
| 142 |
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"cls": "HingeCabinet"
|
| 143 |
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},
|
| 144 |
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"counter_2_left_group_1": {
|
| 145 |
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"cls": "Counter"
|
| 146 |
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},
|
| 147 |
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"stack_13_left_group_1_base": {
|
| 148 |
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"cls": "Box"
|
| 149 |
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},
|
| 150 |
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"stack_13_left_group_1_1": {
|
| 151 |
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"cls": "SingleCabinet"
|
| 152 |
+
},
|
| 153 |
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"stack_13_left_group_1_2": {
|
| 154 |
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"cls": "Drawer"
|
| 155 |
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},
|
| 156 |
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|
| 157 |
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"cls": "Box"
|
| 158 |
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},
|
| 159 |
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"stack_12_left_group_1_1": {
|
| 160 |
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"cls": "SingleCabinet"
|
| 161 |
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},
|
| 162 |
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"stack_12_left_group_1_2": {
|
| 163 |
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"cls": "Drawer"
|
| 164 |
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},
|
| 165 |
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"fridgefrenchdoor_left_group_1": {
|
| 166 |
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"cls": "FridgeFrenchDoor"
|
| 167 |
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},
|
| 168 |
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"fridgefrenchdoor_housing_left_group_1": {
|
| 169 |
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"cls": "HousingCabinet"
|
| 170 |
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},
|
| 171 |
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"bottom_left_group_1_base": {
|
| 172 |
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"cls": "Box"
|
| 173 |
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},
|
| 174 |
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"bottom_left_group_1_1": {
|
| 175 |
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"cls": "Drawer"
|
| 176 |
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},
|
| 177 |
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"microwave_left_group_1": {
|
| 178 |
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"cls": "Microwave"
|
| 179 |
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},
|
| 180 |
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"oven_cabinet_left_group_1": {
|
| 181 |
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"cls": "HingeCabinet"
|
| 182 |
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},
|
| 183 |
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"hingecabinet_4_left_group_1": {
|
| 184 |
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"cls": "HingeCabinet"
|
| 185 |
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},
|
| 186 |
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"microwave_housing_left_group_1": {
|
| 187 |
+
"cls": "HousingCabinet"
|
| 188 |
+
},
|
| 189 |
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"top_left_group_1": {
|
| 190 |
+
"cls": "HingeCabinet"
|
| 191 |
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},
|
| 192 |
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"toaster_oven_left_group_1": {
|
| 193 |
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"cls": "ToasterOven"
|
| 194 |
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},
|
| 195 |
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"hingecabinet_2_right_group_1": {
|
| 196 |
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"cls": "HingeCabinet"
|
| 197 |
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},
|
| 198 |
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"hingecabinet_1_right_group_1": {
|
| 199 |
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"cls": "HingeCabinet"
|
| 200 |
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},
|
| 201 |
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"hingecabinet_3_right_group_1": {
|
| 202 |
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"cls": "HingeCabinet"
|
| 203 |
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},
|
| 204 |
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"singlecabinet_1_right_group_1": {
|
| 205 |
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"cls": "SingleCabinet"
|
| 206 |
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},
|
| 207 |
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"counter_4_right_group_1": {
|
| 208 |
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"cls": "Counter"
|
| 209 |
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},
|
| 210 |
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"counter_3_right_group_1": {
|
| 211 |
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"cls": "Counter"
|
| 212 |
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},
|
| 213 |
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"stove_right_group_1": {
|
| 214 |
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"cls": "Stove"
|
| 215 |
+
},
|
| 216 |
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"stove_hood_right_group_1": {
|
| 217 |
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"cls": "Hood"
|
| 218 |
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},
|
| 219 |
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"stack_06_right_group_1_base": {
|
| 220 |
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"cls": "Box"
|
| 221 |
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},
|
| 222 |
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"stack_06_right_group_1_1": {
|
| 223 |
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"cls": "SingleCabinet"
|
| 224 |
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},
|
| 225 |
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"stack_06_right_group_1_2": {
|
| 226 |
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"cls": "Drawer"
|
| 227 |
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},
|
| 228 |
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"stack_04_right_group_1_base": {
|
| 229 |
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"cls": "Box"
|
| 230 |
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},
|
| 231 |
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"stack_04_right_group_1_1": {
|
| 232 |
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"cls": "SingleCabinet"
|
| 233 |
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},
|
| 234 |
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"stack_04_right_group_1_2": {
|
| 235 |
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"cls": "Drawer"
|
| 236 |
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},
|
| 237 |
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"stack_05_right_group_1_base": {
|
| 238 |
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"cls": "Box"
|
| 239 |
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},
|
| 240 |
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"stack_05_right_group_1_1": {
|
| 241 |
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"cls": "Drawer"
|
| 242 |
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},
|
| 243 |
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"stack_05_right_group_1_2": {
|
| 244 |
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"cls": "Drawer"
|
| 245 |
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},
|
| 246 |
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"stack_05_right_group_1_3": {
|
| 247 |
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"cls": "Drawer"
|
| 248 |
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},
|
| 249 |
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"stack_07_right_group_1_base": {
|
| 250 |
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"cls": "Box"
|
| 251 |
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},
|
| 252 |
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"stack_07_right_group_1_1": {
|
| 253 |
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"cls": "HingeCabinet"
|
| 254 |
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},
|
| 255 |
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"stack_07_right_group_1_2": {
|
| 256 |
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"cls": "Drawer"
|
| 257 |
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},
|
| 258 |
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"cube_02_right_group_1": {
|
| 259 |
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"cls": "Box"
|
| 260 |
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},
|
| 261 |
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"cube_11_right_group_1": {
|
| 262 |
+
"cls": "Box"
|
| 263 |
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},
|
| 264 |
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"coffee_machine_right_group_1": {
|
| 265 |
+
"cls": "CoffeeMachine"
|
| 266 |
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},
|
| 267 |
+
"toaster_right_group_1": {
|
| 268 |
+
"cls": "Toaster"
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"gen_textures": {},
|
| 272 |
+
"lang": "Press down the lever to turn on the electric kettle.",
|
| 273 |
+
"fixture_refs": {
|
| 274 |
+
"electric_kettle": "electric_kettle_main_group_1"
|
| 275 |
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},
|
| 276 |
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"cam_configs": {
|
| 277 |
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"robot0_agentview_center": {
|
| 278 |
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"pos": [
|
| 279 |
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-0.6,
|
| 280 |
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0.0,
|
| 281 |
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|
| 282 |
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],
|
| 283 |
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| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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],
|
| 289 |
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"parent_body": "mobilebase0_support"
|
| 290 |
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},
|
| 291 |
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|
| 292 |
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"pos": [
|
| 293 |
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|
| 294 |
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|
| 295 |
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|
| 296 |
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],
|
| 297 |
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| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
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|
| 302 |
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],
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| 303 |
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|
| 304 |
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|
| 305 |
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},
|
| 306 |
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"parent_body": "mobilebase0_support"
|
| 307 |
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},
|
| 308 |
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"robot0_agentview_right": {
|
| 309 |
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"pos": [
|
| 310 |
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-0.5,
|
| 311 |
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|
| 312 |
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|
| 313 |
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],
|
| 314 |
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| 315 |
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|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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|
| 320 |
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|
| 321 |
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|
| 322 |
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},
|
| 323 |
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"parent_body": "mobilebase0_support"
|
| 324 |
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},
|
| 325 |
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"robot0_frontview": {
|
| 326 |
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"pos": [
|
| 327 |
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-0.5,
|
| 328 |
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|
| 329 |
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|
| 330 |
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],
|
| 331 |
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| 332 |
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|
| 333 |
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|
| 334 |
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|
| 335 |
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|
| 336 |
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| 337 |
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| 338 |
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|
| 339 |
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},
|
| 340 |
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"parent_body": "mobilebase0_support"
|
| 341 |
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},
|
| 342 |
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"robot0_eye_in_hand": {
|
| 343 |
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"pos": [
|
| 344 |
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|
| 345 |
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|
| 346 |
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|
| 347 |
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],
|
| 348 |
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"quat": [
|
| 349 |
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|
| 350 |
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|
| 351 |
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|
| 352 |
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|
| 353 |
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],
|
| 354 |
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"parent_body": "robot0_right_hand"
|
| 355 |
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}
|
| 356 |
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},
|
| 357 |
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"init_robot_base_pos": [
|
| 358 |
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|
| 359 |
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|
| 360 |
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|
| 361 |
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],
|
| 362 |
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"init_robot_base_ori": [
|
| 363 |
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|
| 364 |
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|
| 365 |
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|
| 366 |
+
]
|
| 367 |
+
}
|
pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000075/ep_meta.json
ADDED
|
@@ -0,0 +1,397 @@
|
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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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|
|
|
|
|
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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": 43,
|
| 3 |
+
"style_id": 51,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_right_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_right_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_left_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_left_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_main_2_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_main_2_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_left_2_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_right_2_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"wall_main_3_room": {
|
| 37 |
+
"cls": "Wall"
|
| 38 |
+
},
|
| 39 |
+
"floor_1_room": {
|
| 40 |
+
"cls": "Floor"
|
| 41 |
+
},
|
| 42 |
+
"floor_1_backing_room": {
|
| 43 |
+
"cls": "Floor"
|
| 44 |
+
},
|
| 45 |
+
"floor_1.001_room": {
|
| 46 |
+
"cls": "Floor"
|
| 47 |
+
},
|
| 48 |
+
"floor_1.001_backing_room": {
|
| 49 |
+
"cls": "Floor"
|
| 50 |
+
},
|
| 51 |
+
"wallaccessory.001_room": {
|
| 52 |
+
"cls": "WallAccessory"
|
| 53 |
+
},
|
| 54 |
+
"wallaccessory.005_room": {
|
| 55 |
+
"cls": "WallAccessory"
|
| 56 |
+
},
|
| 57 |
+
"wallaccessory.003_room": {
|
| 58 |
+
"cls": "WallAccessory"
|
| 59 |
+
},
|
| 60 |
+
"wallaccessory.004_room": {
|
| 61 |
+
"cls": "WallAccessory"
|
| 62 |
+
},
|
| 63 |
+
"wallaccessory.002_room": {
|
| 64 |
+
"cls": "WallAccessory"
|
| 65 |
+
},
|
| 66 |
+
"wallaccessory_room": {
|
| 67 |
+
"cls": "WallAccessory"
|
| 68 |
+
},
|
| 69 |
+
"wallaccessory.006_room": {
|
| 70 |
+
"cls": "WallAccessory"
|
| 71 |
+
},
|
| 72 |
+
"counter_corner_1_main_group_1": {
|
| 73 |
+
"cls": "Counter"
|
| 74 |
+
},
|
| 75 |
+
"counter_1_main_group_1": {
|
| 76 |
+
"cls": "Counter"
|
| 77 |
+
},
|
| 78 |
+
"counter_2_main_group_1": {
|
| 79 |
+
"cls": "Counter"
|
| 80 |
+
},
|
| 81 |
+
"stove_main_group_1": {
|
| 82 |
+
"cls": "Stove"
|
| 83 |
+
},
|
| 84 |
+
"counter_corner_2_main_group_1": {
|
| 85 |
+
"cls": "Counter"
|
| 86 |
+
},
|
| 87 |
+
"stove_hood_main_group_1": {
|
| 88 |
+
"cls": "Hood"
|
| 89 |
+
},
|
| 90 |
+
"hingecabinet_1_main_group_1": {
|
| 91 |
+
"cls": "HingeCabinet"
|
| 92 |
+
},
|
| 93 |
+
"cube_1_main_group_1": {
|
| 94 |
+
"cls": "Box"
|
| 95 |
+
},
|
| 96 |
+
"hingecabinet_2_main_group_1": {
|
| 97 |
+
"cls": "HingeCabinet"
|
| 98 |
+
},
|
| 99 |
+
"cube_2_main_group_1": {
|
| 100 |
+
"cls": "Box"
|
| 101 |
+
},
|
| 102 |
+
"coffeemachine_main_group_1": {
|
| 103 |
+
"cls": "CoffeeMachine"
|
| 104 |
+
},
|
| 105 |
+
"toaster_main_group_1": {
|
| 106 |
+
"cls": "Toaster"
|
| 107 |
+
},
|
| 108 |
+
"papertowel_main_group_1": {
|
| 109 |
+
"cls": "Accessory"
|
| 110 |
+
},
|
| 111 |
+
"plant_main_group_1": {
|
| 112 |
+
"cls": "Accessory"
|
| 113 |
+
},
|
| 114 |
+
"electric_kettle_main_group_1": {
|
| 115 |
+
"cls": "ElectricKettle"
|
| 116 |
+
},
|
| 117 |
+
"stack_1_main_group_1_base": {
|
| 118 |
+
"cls": "Box"
|
| 119 |
+
},
|
| 120 |
+
"stack_1_main_group_1_1": {
|
| 121 |
+
"cls": "HingeCabinet"
|
| 122 |
+
},
|
| 123 |
+
"stack_2_main_group_1_base": {
|
| 124 |
+
"cls": "Box"
|
| 125 |
+
},
|
| 126 |
+
"stack_2_main_group_1_1": {
|
| 127 |
+
"cls": "Drawer"
|
| 128 |
+
},
|
| 129 |
+
"stack_2_main_group_1_2": {
|
| 130 |
+
"cls": "Drawer"
|
| 131 |
+
},
|
| 132 |
+
"stack_3_main_group_1_base": {
|
| 133 |
+
"cls": "Box"
|
| 134 |
+
},
|
| 135 |
+
"stack_3_main_group_1_1": {
|
| 136 |
+
"cls": "SingleCabinet"
|
| 137 |
+
},
|
| 138 |
+
"cube_3_main_group_1": {
|
| 139 |
+
"cls": "Box"
|
| 140 |
+
},
|
| 141 |
+
"cube_4_main_group_1": {
|
| 142 |
+
"cls": "Box"
|
| 143 |
+
},
|
| 144 |
+
"counter_1_front_group_1": {
|
| 145 |
+
"cls": "Counter"
|
| 146 |
+
},
|
| 147 |
+
"stack_1_front_group_1_base": {
|
| 148 |
+
"cls": "Box"
|
| 149 |
+
},
|
| 150 |
+
"stack_1_front_group_1_1": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
+
},
|
| 153 |
+
"stack_1_front_group_1_2": {
|
| 154 |
+
"cls": "Drawer"
|
| 155 |
+
},
|
| 156 |
+
"cube_1_front_group_1": {
|
| 157 |
+
"cls": "Box"
|
| 158 |
+
},
|
| 159 |
+
"cube_2_front_group_1": {
|
| 160 |
+
"cls": "Box"
|
| 161 |
+
},
|
| 162 |
+
"stack_2_front_group_1_base": {
|
| 163 |
+
"cls": "Box"
|
| 164 |
+
},
|
| 165 |
+
"stack_2_front_group_1_1": {
|
| 166 |
+
"cls": "SingleCabinet"
|
| 167 |
+
},
|
| 168 |
+
"counter_1_right_group_1": {
|
| 169 |
+
"cls": "Counter"
|
| 170 |
+
},
|
| 171 |
+
"singlecabinet_1_right_group_1": {
|
| 172 |
+
"cls": "SingleCabinet"
|
| 173 |
+
},
|
| 174 |
+
"hingecabinet_1_right_group_1": {
|
| 175 |
+
"cls": "HingeCabinet"
|
| 176 |
+
},
|
| 177 |
+
"opencabinet_1_right_group_1": {
|
| 178 |
+
"cls": "OpenCabinet"
|
| 179 |
+
},
|
| 180 |
+
"cube_1_right_group_1": {
|
| 181 |
+
"cls": "Box"
|
| 182 |
+
},
|
| 183 |
+
"stack_1_right_group_1_base": {
|
| 184 |
+
"cls": "Box"
|
| 185 |
+
},
|
| 186 |
+
"stack_1_right_group_1_1": {
|
| 187 |
+
"cls": "SingleCabinet"
|
| 188 |
+
},
|
| 189 |
+
"stack_2_right_group_1_base": {
|
| 190 |
+
"cls": "Box"
|
| 191 |
+
},
|
| 192 |
+
"stack_2_right_group_1_1": {
|
| 193 |
+
"cls": "Drawer"
|
| 194 |
+
},
|
| 195 |
+
"stack_2_right_group_1_2": {
|
| 196 |
+
"cls": "Drawer"
|
| 197 |
+
},
|
| 198 |
+
"stack_2_right_group_1_3": {
|
| 199 |
+
"cls": "Drawer"
|
| 200 |
+
},
|
| 201 |
+
"fridgesidebyside_right_group_1": {
|
| 202 |
+
"cls": "FridgeSideBySide"
|
| 203 |
+
},
|
| 204 |
+
"fridgesidebyside_housing_right_group_1": {
|
| 205 |
+
"cls": "HousingCabinet"
|
| 206 |
+
},
|
| 207 |
+
"bottom_right_group_1_base": {
|
| 208 |
+
"cls": "Box"
|
| 209 |
+
},
|
| 210 |
+
"bottom_right_group_1_1": {
|
| 211 |
+
"cls": "Drawer"
|
| 212 |
+
},
|
| 213 |
+
"microwave_right_group_1": {
|
| 214 |
+
"cls": "Microwave"
|
| 215 |
+
},
|
| 216 |
+
"singlecabinet_3_right_group_1": {
|
| 217 |
+
"cls": "SingleCabinet"
|
| 218 |
+
},
|
| 219 |
+
"stack_3_right_group_1_base": {
|
| 220 |
+
"cls": "Box"
|
| 221 |
+
},
|
| 222 |
+
"stack_3_right_group_1_1": {
|
| 223 |
+
"cls": "SingleCabinet"
|
| 224 |
+
},
|
| 225 |
+
"oven_cabinet_right_group_1": {
|
| 226 |
+
"cls": "HingeCabinet"
|
| 227 |
+
},
|
| 228 |
+
"hingecabinet_2_right_group_1": {
|
| 229 |
+
"cls": "HingeCabinet"
|
| 230 |
+
},
|
| 231 |
+
"microwave_housing_right_group_1": {
|
| 232 |
+
"cls": "HousingCabinet"
|
| 233 |
+
},
|
| 234 |
+
"singlecabinet_2_right_group_1": {
|
| 235 |
+
"cls": "SingleCabinet"
|
| 236 |
+
},
|
| 237 |
+
"top_right_group_1": {
|
| 238 |
+
"cls": "HingeCabinet"
|
| 239 |
+
},
|
| 240 |
+
"toaster_oven_right_group_1": {
|
| 241 |
+
"cls": "ToasterOven"
|
| 242 |
+
},
|
| 243 |
+
"sink_left_group_1": {
|
| 244 |
+
"cls": "Sink"
|
| 245 |
+
},
|
| 246 |
+
"counter_1_left_group_1": {
|
| 247 |
+
"cls": "Counter"
|
| 248 |
+
},
|
| 249 |
+
"counter_corner_1_left_group_1": {
|
| 250 |
+
"cls": "Counter"
|
| 251 |
+
},
|
| 252 |
+
"counter_2_left_group_1": {
|
| 253 |
+
"cls": "Counter"
|
| 254 |
+
},
|
| 255 |
+
"singlecabinet_1_left_group_1": {
|
| 256 |
+
"cls": "SingleCabinet"
|
| 257 |
+
},
|
| 258 |
+
"hingecabinet_1_left_group_1": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
+
},
|
| 261 |
+
"stack_3_left_group_1_base": {
|
| 262 |
+
"cls": "Box"
|
| 263 |
+
},
|
| 264 |
+
"stack_3_left_group_1_1": {
|
| 265 |
+
"cls": "HingeCabinet"
|
| 266 |
+
},
|
| 267 |
+
"dishwasher_1_left_group_1": {
|
| 268 |
+
"cls": "Dishwasher"
|
| 269 |
+
},
|
| 270 |
+
"cube_3_left_group_1": {
|
| 271 |
+
"cls": "Box"
|
| 272 |
+
},
|
| 273 |
+
"stack_2_left_group_1_base": {
|
| 274 |
+
"cls": "Box"
|
| 275 |
+
},
|
| 276 |
+
"stack_2_left_group_1_1": {
|
| 277 |
+
"cls": "SingleCabinet"
|
| 278 |
+
},
|
| 279 |
+
"stack_1_left_group_1_base": {
|
| 280 |
+
"cls": "Box"
|
| 281 |
+
},
|
| 282 |
+
"stack_1_left_group_1_1": {
|
| 283 |
+
"cls": "Drawer"
|
| 284 |
+
},
|
| 285 |
+
"stack_1_left_group_1_2": {
|
| 286 |
+
"cls": "Drawer"
|
| 287 |
+
},
|
| 288 |
+
"stack_1_left_group_1_3": {
|
| 289 |
+
"cls": "Drawer"
|
| 290 |
+
},
|
| 291 |
+
"cube_2_left_group_1": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"cube_1_left_group_1": {
|
| 295 |
+
"cls": "Box"
|
| 296 |
+
},
|
| 297 |
+
"knife_block_left_group_1": {
|
| 298 |
+
"cls": "Accessory"
|
| 299 |
+
}
|
| 300 |
+
},
|
| 301 |
+
"gen_textures": {},
|
| 302 |
+
"lang": "Press down the lever to turn on the electric kettle.",
|
| 303 |
+
"fixture_refs": {
|
| 304 |
+
"electric_kettle": "electric_kettle_main_group_1"
|
| 305 |
+
},
|
| 306 |
+
"cam_configs": {
|
| 307 |
+
"robot0_agentview_center": {
|
| 308 |
+
"pos": [
|
| 309 |
+
-0.6,
|
| 310 |
+
0.0,
|
| 311 |
+
1.15
|
| 312 |
+
],
|
| 313 |
+
"quat": [
|
| 314 |
+
0.636945903301239,
|
| 315 |
+
0.3325185477733612,
|
| 316 |
+
-0.3199238181114197,
|
| 317 |
+
-0.6175596117973328
|
| 318 |
+
],
|
| 319 |
+
"parent_body": "mobilebase0_support"
|
| 320 |
+
},
|
| 321 |
+
"robot0_agentview_left": {
|
| 322 |
+
"pos": [
|
| 323 |
+
-0.5,
|
| 324 |
+
0.35,
|
| 325 |
+
1.05
|
| 326 |
+
],
|
| 327 |
+
"quat": [
|
| 328 |
+
0.55623853,
|
| 329 |
+
0.29935253,
|
| 330 |
+
-0.37678665,
|
| 331 |
+
-0.6775092
|
| 332 |
+
],
|
| 333 |
+
"camera_attribs": {
|
| 334 |
+
"fovy": "60"
|
| 335 |
+
},
|
| 336 |
+
"parent_body": "mobilebase0_support"
|
| 337 |
+
},
|
| 338 |
+
"robot0_agentview_right": {
|
| 339 |
+
"pos": [
|
| 340 |
+
-0.5,
|
| 341 |
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-0.35,
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| 342 |
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|
| 343 |
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],
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| 344 |
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"quat": [
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| 345 |
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| 346 |
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| 347 |
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| 348 |
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| 350 |
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| 351 |
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| 352 |
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|
| 353 |
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"parent_body": "mobilebase0_support"
|
| 354 |
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| 355 |
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"robot0_frontview": {
|
| 356 |
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"pos": [
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| 357 |
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|
| 358 |
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| 359 |
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| 360 |
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| 361 |
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| 362 |
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| 363 |
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| 364 |
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| 367 |
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| 368 |
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| 369 |
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| 370 |
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"parent_body": "mobilebase0_support"
|
| 371 |
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| 372 |
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"robot0_eye_in_hand": {
|
| 373 |
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"pos": [
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| 374 |
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0.05,
|
| 375 |
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|
| 376 |
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0
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| 377 |
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| 378 |
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"quat": [
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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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"parent_body": "robot0_right_hand"
|
| 385 |
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|
| 386 |
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| 387 |
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"init_robot_base_pos": [
|
| 388 |
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|
| 389 |
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|
| 390 |
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| 391 |
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| 392 |
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"init_robot_base_ori": [
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| 393 |
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| 394 |
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| 395 |
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|
| 396 |
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]
|
| 397 |
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}
|
pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000078/ep_meta.json
ADDED
|
@@ -0,0 +1,361 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 31,
|
| 3 |
+
"style_id": 18,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
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},
|
| 12 |
+
"wall_right_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
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},
|
| 15 |
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"wall_right_1_backing_room": {
|
| 16 |
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"cls": "Wall"
|
| 17 |
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},
|
| 18 |
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"wall_main_2_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
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},
|
| 21 |
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"wall_main_2_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_left_1_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_left_1_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_main_3_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_main_3_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"floor_1_room": {
|
| 37 |
+
"cls": "Floor"
|
| 38 |
+
},
|
| 39 |
+
"floor_1_backing_room": {
|
| 40 |
+
"cls": "Floor"
|
| 41 |
+
},
|
| 42 |
+
"floor_2_room": {
|
| 43 |
+
"cls": "Floor"
|
| 44 |
+
},
|
| 45 |
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"floor_2_backing_room": {
|
| 46 |
+
"cls": "Floor"
|
| 47 |
+
},
|
| 48 |
+
"stool_3_room": {
|
| 49 |
+
"cls": "Stool"
|
| 50 |
+
},
|
| 51 |
+
"stool_2_room": {
|
| 52 |
+
"cls": "Stool"
|
| 53 |
+
},
|
| 54 |
+
"stool_1_room": {
|
| 55 |
+
"cls": "Stool"
|
| 56 |
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},
|
| 57 |
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"stack_1_main_group_1_base": {
|
| 58 |
+
"cls": "Box"
|
| 59 |
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},
|
| 60 |
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"stack_1_main_group_1_1": {
|
| 61 |
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"cls": "HingeCabinet"
|
| 62 |
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},
|
| 63 |
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"fridgebottomfreezer_main_group_1": {
|
| 64 |
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"cls": "FridgeBottomFreezer"
|
| 65 |
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},
|
| 66 |
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"fridgebottomfreezer_housing_main_group_1": {
|
| 67 |
+
"cls": "HousingCabinet"
|
| 68 |
+
},
|
| 69 |
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"bottom_main_group_1_base": {
|
| 70 |
+
"cls": "Box"
|
| 71 |
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},
|
| 72 |
+
"bottom_main_group_1_1": {
|
| 73 |
+
"cls": "Drawer"
|
| 74 |
+
},
|
| 75 |
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"oven_main_group_1": {
|
| 76 |
+
"cls": "Oven"
|
| 77 |
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},
|
| 78 |
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"microwave_main_group_1": {
|
| 79 |
+
"cls": "Microwave"
|
| 80 |
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},
|
| 81 |
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"hingecabinet_2_main_group_1": {
|
| 82 |
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"cls": "HingeCabinet"
|
| 83 |
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},
|
| 84 |
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"hingecabinet_3_main_group_1": {
|
| 85 |
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"cls": "HingeCabinet"
|
| 86 |
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},
|
| 87 |
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"cube_2_main_group_1": {
|
| 88 |
+
"cls": "Box"
|
| 89 |
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},
|
| 90 |
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"cube_3_main_group_1": {
|
| 91 |
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"cls": "Box"
|
| 92 |
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},
|
| 93 |
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"cube_1_main_group_1": {
|
| 94 |
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"cls": "Box"
|
| 95 |
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},
|
| 96 |
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"oven_housing_main_group_1": {
|
| 97 |
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"cls": "HousingCabinet"
|
| 98 |
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},
|
| 99 |
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"hingecabinet_1_main_group_1": {
|
| 100 |
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"cls": "HingeCabinet"
|
| 101 |
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},
|
| 102 |
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"microwave_housing_main_group_1": {
|
| 103 |
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"cls": "HousingCabinet"
|
| 104 |
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},
|
| 105 |
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"top_main_group_1": {
|
| 106 |
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"cls": "HingeCabinet"
|
| 107 |
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|
| 108 |
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"stovetop_right_group_1": {
|
| 109 |
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"cls": "Stovetop"
|
| 110 |
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|
| 111 |
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|
| 112 |
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"cls": "Counter"
|
| 113 |
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|
| 114 |
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|
| 115 |
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"cls": "HingeCabinet"
|
| 116 |
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|
| 117 |
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"hingecabinet_2_right_group_1": {
|
| 118 |
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"cls": "HingeCabinet"
|
| 119 |
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|
| 120 |
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"hingecabinet_3_right_group_1": {
|
| 121 |
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"cls": "HingeCabinet"
|
| 122 |
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|
| 123 |
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"hingecabinet_4_right_group_1": {
|
| 124 |
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"cls": "HingeCabinet"
|
| 125 |
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|
| 126 |
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|
| 127 |
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"cls": "Hood"
|
| 128 |
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|
| 129 |
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|
| 130 |
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"cls": "Box"
|
| 131 |
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|
| 132 |
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"stack_2_right_group_1_1": {
|
| 133 |
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"cls": "HingeCabinet"
|
| 134 |
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},
|
| 135 |
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"stack_2_right_group_1_2": {
|
| 136 |
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"cls": "Drawer"
|
| 137 |
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},
|
| 138 |
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"stack_1_right_group_1_base": {
|
| 139 |
+
"cls": "Box"
|
| 140 |
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},
|
| 141 |
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"stack_1_right_group_1_1": {
|
| 142 |
+
"cls": "HingeCabinet"
|
| 143 |
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},
|
| 144 |
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"stack_1_right_group_1_2": {
|
| 145 |
+
"cls": "Drawer"
|
| 146 |
+
},
|
| 147 |
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"stack_4_right_group_1_base": {
|
| 148 |
+
"cls": "Box"
|
| 149 |
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},
|
| 150 |
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"stack_4_right_group_1_1": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
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},
|
| 153 |
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"stack_4_right_group_1_2": {
|
| 154 |
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"cls": "Drawer"
|
| 155 |
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},
|
| 156 |
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"stack_3_right_group_1_base": {
|
| 157 |
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"cls": "Box"
|
| 158 |
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},
|
| 159 |
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"stack_3_right_group_1_1": {
|
| 160 |
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"cls": "Drawer"
|
| 161 |
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},
|
| 162 |
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"stack_3_right_group_1_2": {
|
| 163 |
+
"cls": "Drawer"
|
| 164 |
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},
|
| 165 |
+
"stack_3_right_group_1_3": {
|
| 166 |
+
"cls": "PanelCabinet"
|
| 167 |
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},
|
| 168 |
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"stack_5_right_group_1_base": {
|
| 169 |
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"cls": "Box"
|
| 170 |
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},
|
| 171 |
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"stack_5_right_group_1_1": {
|
| 172 |
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"cls": "HingeCabinet"
|
| 173 |
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},
|
| 174 |
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"stack_5_right_group_1_2": {
|
| 175 |
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"cls": "Drawer"
|
| 176 |
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},
|
| 177 |
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|
| 178 |
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"cls": "CoffeeMachine"
|
| 179 |
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},
|
| 180 |
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"toaster_right_group_1": {
|
| 181 |
+
"cls": "Toaster"
|
| 182 |
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},
|
| 183 |
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"papertowel_right_group_1": {
|
| 184 |
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"cls": "Accessory"
|
| 185 |
+
},
|
| 186 |
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"toaster_oven_right_group_1": {
|
| 187 |
+
"cls": "ToasterOven"
|
| 188 |
+
},
|
| 189 |
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"electric_kettle_right_group_1": {
|
| 190 |
+
"cls": "ElectricKettle"
|
| 191 |
+
},
|
| 192 |
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|
| 193 |
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"cls": "Sink"
|
| 194 |
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},
|
| 195 |
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"island_island_group_1": {
|
| 196 |
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"cls": "Counter"
|
| 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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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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"stack_1_island_group_1_2": {
|
| 220 |
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"cls": "Drawer"
|
| 221 |
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},
|
| 222 |
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"stack_1_island_group_1_3": {
|
| 223 |
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"cls": "Drawer"
|
| 224 |
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|
| 225 |
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"stack_2_island_group_1_base": {
|
| 226 |
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|
| 227 |
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},
|
| 228 |
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"stack_2_island_group_1_1": {
|
| 229 |
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"cls": "HingeCabinet"
|
| 230 |
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|
| 231 |
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|
| 232 |
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"cls": "Box"
|
| 233 |
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},
|
| 234 |
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"stack_3_island_group_1_1": {
|
| 235 |
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"cls": "SingleCabinet"
|
| 236 |
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|
| 237 |
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|
| 238 |
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"cls": "Box"
|
| 239 |
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|
| 240 |
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"stack_4_island_group_1_1": {
|
| 241 |
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"cls": "SingleCabinet"
|
| 242 |
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|
| 243 |
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|
| 244 |
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"cls": "Box"
|
| 245 |
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|
| 246 |
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|
| 247 |
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"cls": "Drawer"
|
| 248 |
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|
| 249 |
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"stack_5_island_group_1_2": {
|
| 250 |
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"cls": "Drawer"
|
| 251 |
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},
|
| 252 |
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"stack_5_island_group_1_3": {
|
| 253 |
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"cls": "Drawer"
|
| 254 |
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},
|
| 255 |
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|
| 256 |
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"cls": "Box"
|
| 257 |
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},
|
| 258 |
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"cube_7_island_group_1": {
|
| 259 |
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"cls": "Box"
|
| 260 |
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},
|
| 261 |
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"dishwasher_1_island_group_1": {
|
| 262 |
+
"cls": "Dishwasher"
|
| 263 |
+
}
|
| 264 |
+
},
|
| 265 |
+
"gen_textures": {},
|
| 266 |
+
"lang": "Press down the lever to turn on the electric kettle.",
|
| 267 |
+
"fixture_refs": {
|
| 268 |
+
"electric_kettle": "electric_kettle_right_group_1"
|
| 269 |
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},
|
| 270 |
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"cam_configs": {
|
| 271 |
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"robot0_agentview_center": {
|
| 272 |
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"pos": [
|
| 273 |
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-0.6,
|
| 274 |
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0.0,
|
| 275 |
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|
| 276 |
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],
|
| 277 |
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| 278 |
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|
| 279 |
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|
| 280 |
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|
| 281 |
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|
| 282 |
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|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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"pos": [
|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 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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|
| 296 |
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|
| 297 |
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|
| 298 |
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|
| 299 |
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|
| 300 |
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"parent_body": "mobilebase0_support"
|
| 301 |
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|
| 302 |
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"robot0_agentview_right": {
|
| 303 |
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"pos": [
|
| 304 |
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-0.5,
|
| 305 |
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|
| 306 |
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|
| 307 |
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],
|
| 308 |
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"quat": [
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| 309 |
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|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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"fovy": "60"
|
| 316 |
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},
|
| 317 |
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"parent_body": "mobilebase0_support"
|
| 318 |
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},
|
| 319 |
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"robot0_frontview": {
|
| 320 |
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"pos": [
|
| 321 |
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-0.5,
|
| 322 |
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0,
|
| 323 |
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|
| 324 |
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],
|
| 325 |
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"quat": [
|
| 326 |
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|
| 327 |
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|
| 328 |
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|
| 329 |
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|
| 330 |
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|
| 331 |
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|
| 332 |
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|
| 333 |
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},
|
| 334 |
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"parent_body": "mobilebase0_support"
|
| 335 |
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},
|
| 336 |
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"robot0_eye_in_hand": {
|
| 337 |
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"pos": [
|
| 338 |
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|
| 339 |
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|
| 340 |
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0
|
| 341 |
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],
|
| 342 |
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"quat": [
|
| 343 |
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|
| 344 |
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|
| 345 |
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|
| 346 |
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|
| 347 |
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],
|
| 348 |
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"parent_body": "robot0_right_hand"
|
| 349 |
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}
|
| 350 |
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},
|
| 351 |
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"init_robot_base_pos": [
|
| 352 |
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|
| 353 |
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|
| 354 |
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|
| 355 |
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],
|
| 356 |
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"init_robot_base_ori": [
|
| 357 |
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|
| 358 |
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|
| 359 |
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|
| 360 |
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]
|
| 361 |
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}
|
pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000079/ep_meta.json
ADDED
|
@@ -0,0 +1,367 @@
|
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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": 50,
|
| 3 |
+
"style_id": 46,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_right_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_right_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_left_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_left_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_main_2_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_main_2_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_left_2_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_left_2_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"wall_main_3_room": {
|
| 37 |
+
"cls": "Wall"
|
| 38 |
+
},
|
| 39 |
+
"wall_main_3_backing_room": {
|
| 40 |
+
"cls": "Wall"
|
| 41 |
+
},
|
| 42 |
+
"wall_main_3.001_room": {
|
| 43 |
+
"cls": "Wall"
|
| 44 |
+
},
|
| 45 |
+
"wall_main_3.001_backing_room": {
|
| 46 |
+
"cls": "Wall"
|
| 47 |
+
},
|
| 48 |
+
"floor_1_room": {
|
| 49 |
+
"cls": "Floor"
|
| 50 |
+
},
|
| 51 |
+
"floor_1_backing_room": {
|
| 52 |
+
"cls": "Floor"
|
| 53 |
+
},
|
| 54 |
+
"floor_2_room": {
|
| 55 |
+
"cls": "Floor"
|
| 56 |
+
},
|
| 57 |
+
"floor_2_backing_room": {
|
| 58 |
+
"cls": "Floor"
|
| 59 |
+
},
|
| 60 |
+
"window_group_1_room": {
|
| 61 |
+
"cls": "Window"
|
| 62 |
+
},
|
| 63 |
+
"window_group_2_room": {
|
| 64 |
+
"cls": "Window"
|
| 65 |
+
},
|
| 66 |
+
"window_group_3_room": {
|
| 67 |
+
"cls": "Window"
|
| 68 |
+
},
|
| 69 |
+
"sink_main_group_1": {
|
| 70 |
+
"cls": "Sink"
|
| 71 |
+
},
|
| 72 |
+
"counter_1_main_group_1": {
|
| 73 |
+
"cls": "Counter"
|
| 74 |
+
},
|
| 75 |
+
"counter_corner_1_main_group_1": {
|
| 76 |
+
"cls": "Counter"
|
| 77 |
+
},
|
| 78 |
+
"stack_02_main_group_1_base": {
|
| 79 |
+
"cls": "Box"
|
| 80 |
+
},
|
| 81 |
+
"stack_02_main_group_1_1": {
|
| 82 |
+
"cls": "HingeCabinet"
|
| 83 |
+
},
|
| 84 |
+
"stack_02_main_group_1_2": {
|
| 85 |
+
"cls": "PanelCabinet"
|
| 86 |
+
},
|
| 87 |
+
"stack_01_main_group_1_base": {
|
| 88 |
+
"cls": "Box"
|
| 89 |
+
},
|
| 90 |
+
"stack_01_main_group_1_1": {
|
| 91 |
+
"cls": "SingleCabinet"
|
| 92 |
+
},
|
| 93 |
+
"stack_01_main_group_1_2": {
|
| 94 |
+
"cls": "Drawer"
|
| 95 |
+
},
|
| 96 |
+
"stack_03_main_group_1_base": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"stack_03_main_group_1_1": {
|
| 100 |
+
"cls": "SingleCabinet"
|
| 101 |
+
},
|
| 102 |
+
"stack_03_main_group_1_2": {
|
| 103 |
+
"cls": "Drawer"
|
| 104 |
+
},
|
| 105 |
+
"cube_09_main_group_1": {
|
| 106 |
+
"cls": "Box"
|
| 107 |
+
},
|
| 108 |
+
"dishwasher_1_main_group_1": {
|
| 109 |
+
"cls": "Dishwasher"
|
| 110 |
+
},
|
| 111 |
+
"papertowel_main_group_1": {
|
| 112 |
+
"cls": "Accessory"
|
| 113 |
+
},
|
| 114 |
+
"electric_kettle_main_group_1": {
|
| 115 |
+
"cls": "ElectricKettle"
|
| 116 |
+
},
|
| 117 |
+
"island_island_group_1": {
|
| 118 |
+
"cls": "Counter"
|
| 119 |
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},
|
| 120 |
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"cube_01_island_group_1": {
|
| 121 |
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"cls": "Box"
|
| 122 |
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},
|
| 123 |
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"stack_10_island_group_1_base": {
|
| 124 |
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"cls": "Box"
|
| 125 |
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},
|
| 126 |
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"stack_10_island_group_1_1": {
|
| 127 |
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"cls": "HingeCabinet"
|
| 128 |
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},
|
| 129 |
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"stack_10_island_group_1_2": {
|
| 130 |
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"cls": "Drawer"
|
| 131 |
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},
|
| 132 |
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"cube_07_island_group_1": {
|
| 133 |
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"cls": "Box"
|
| 134 |
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},
|
| 135 |
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"cube_08_island_group_1": {
|
| 136 |
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"cls": "Box"
|
| 137 |
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},
|
| 138 |
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"plant_island_group_1": {
|
| 139 |
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"cls": "Accessory"
|
| 140 |
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},
|
| 141 |
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"hingecabinet_5_left_group_1": {
|
| 142 |
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"cls": "HingeCabinet"
|
| 143 |
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},
|
| 144 |
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"counter_2_left_group_1": {
|
| 145 |
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"cls": "Counter"
|
| 146 |
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},
|
| 147 |
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"stack_13_left_group_1_base": {
|
| 148 |
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"cls": "Box"
|
| 149 |
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},
|
| 150 |
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"stack_13_left_group_1_1": {
|
| 151 |
+
"cls": "SingleCabinet"
|
| 152 |
+
},
|
| 153 |
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"stack_13_left_group_1_2": {
|
| 154 |
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"cls": "Drawer"
|
| 155 |
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},
|
| 156 |
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"stack_12_left_group_1_base": {
|
| 157 |
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"cls": "Box"
|
| 158 |
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},
|
| 159 |
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"stack_12_left_group_1_1": {
|
| 160 |
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"cls": "SingleCabinet"
|
| 161 |
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},
|
| 162 |
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"stack_12_left_group_1_2": {
|
| 163 |
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"cls": "Drawer"
|
| 164 |
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},
|
| 165 |
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"fridgefrenchdoor_left_group_1": {
|
| 166 |
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"cls": "FridgeFrenchDoor"
|
| 167 |
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},
|
| 168 |
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"fridgefrenchdoor_housing_left_group_1": {
|
| 169 |
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"cls": "HousingCabinet"
|
| 170 |
+
},
|
| 171 |
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"bottom_left_group_1_base": {
|
| 172 |
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"cls": "Box"
|
| 173 |
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},
|
| 174 |
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"bottom_left_group_1_1": {
|
| 175 |
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"cls": "Drawer"
|
| 176 |
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},
|
| 177 |
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"microwave_left_group_1": {
|
| 178 |
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"cls": "Microwave"
|
| 179 |
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},
|
| 180 |
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"oven_cabinet_left_group_1": {
|
| 181 |
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"cls": "HingeCabinet"
|
| 182 |
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},
|
| 183 |
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"hingecabinet_4_left_group_1": {
|
| 184 |
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"cls": "HingeCabinet"
|
| 185 |
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},
|
| 186 |
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"microwave_housing_left_group_1": {
|
| 187 |
+
"cls": "HousingCabinet"
|
| 188 |
+
},
|
| 189 |
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"top_left_group_1": {
|
| 190 |
+
"cls": "HingeCabinet"
|
| 191 |
+
},
|
| 192 |
+
"toaster_oven_left_group_1": {
|
| 193 |
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"cls": "ToasterOven"
|
| 194 |
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},
|
| 195 |
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"hingecabinet_2_right_group_1": {
|
| 196 |
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"cls": "HingeCabinet"
|
| 197 |
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},
|
| 198 |
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"hingecabinet_1_right_group_1": {
|
| 199 |
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"cls": "HingeCabinet"
|
| 200 |
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},
|
| 201 |
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"hingecabinet_3_right_group_1": {
|
| 202 |
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"cls": "HingeCabinet"
|
| 203 |
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},
|
| 204 |
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"singlecabinet_1_right_group_1": {
|
| 205 |
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"cls": "SingleCabinet"
|
| 206 |
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},
|
| 207 |
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"counter_4_right_group_1": {
|
| 208 |
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"cls": "Counter"
|
| 209 |
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},
|
| 210 |
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"counter_3_right_group_1": {
|
| 211 |
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"cls": "Counter"
|
| 212 |
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},
|
| 213 |
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"stove_right_group_1": {
|
| 214 |
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"cls": "Stove"
|
| 215 |
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},
|
| 216 |
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"stove_hood_right_group_1": {
|
| 217 |
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"cls": "Hood"
|
| 218 |
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},
|
| 219 |
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"stack_06_right_group_1_base": {
|
| 220 |
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"cls": "Box"
|
| 221 |
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},
|
| 222 |
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"stack_06_right_group_1_1": {
|
| 223 |
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"cls": "SingleCabinet"
|
| 224 |
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},
|
| 225 |
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"stack_06_right_group_1_2": {
|
| 226 |
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"cls": "Drawer"
|
| 227 |
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},
|
| 228 |
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"stack_04_right_group_1_base": {
|
| 229 |
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"cls": "Box"
|
| 230 |
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},
|
| 231 |
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"stack_04_right_group_1_1": {
|
| 232 |
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"cls": "SingleCabinet"
|
| 233 |
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},
|
| 234 |
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"stack_04_right_group_1_2": {
|
| 235 |
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"cls": "Drawer"
|
| 236 |
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},
|
| 237 |
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"stack_05_right_group_1_base": {
|
| 238 |
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"cls": "Box"
|
| 239 |
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},
|
| 240 |
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"stack_05_right_group_1_1": {
|
| 241 |
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"cls": "Drawer"
|
| 242 |
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},
|
| 243 |
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"stack_05_right_group_1_2": {
|
| 244 |
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"cls": "Drawer"
|
| 245 |
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},
|
| 246 |
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"stack_05_right_group_1_3": {
|
| 247 |
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"cls": "Drawer"
|
| 248 |
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},
|
| 249 |
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"stack_07_right_group_1_base": {
|
| 250 |
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"cls": "Box"
|
| 251 |
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},
|
| 252 |
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"stack_07_right_group_1_1": {
|
| 253 |
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"cls": "HingeCabinet"
|
| 254 |
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},
|
| 255 |
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"stack_07_right_group_1_2": {
|
| 256 |
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"cls": "Drawer"
|
| 257 |
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},
|
| 258 |
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"cube_02_right_group_1": {
|
| 259 |
+
"cls": "Box"
|
| 260 |
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},
|
| 261 |
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"cube_11_right_group_1": {
|
| 262 |
+
"cls": "Box"
|
| 263 |
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},
|
| 264 |
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"coffee_machine_right_group_1": {
|
| 265 |
+
"cls": "CoffeeMachine"
|
| 266 |
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},
|
| 267 |
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"toaster_right_group_1": {
|
| 268 |
+
"cls": "Toaster"
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"gen_textures": {},
|
| 272 |
+
"lang": "Press down the lever to turn on the electric kettle.",
|
| 273 |
+
"fixture_refs": {
|
| 274 |
+
"electric_kettle": "electric_kettle_main_group_1"
|
| 275 |
+
},
|
| 276 |
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"cam_configs": {
|
| 277 |
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"robot0_agentview_center": {
|
| 278 |
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"pos": [
|
| 279 |
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-0.6,
|
| 280 |
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0.0,
|
| 281 |
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|
| 282 |
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],
|
| 283 |
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| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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],
|
| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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"pos": [
|
| 293 |
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|
| 294 |
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|
| 295 |
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|
| 296 |
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],
|
| 297 |
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| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
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|
| 302 |
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],
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| 303 |
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|
| 304 |
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|
| 305 |
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},
|
| 306 |
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"parent_body": "mobilebase0_support"
|
| 307 |
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},
|
| 308 |
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"robot0_agentview_right": {
|
| 309 |
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"pos": [
|
| 310 |
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-0.5,
|
| 311 |
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|
| 312 |
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|
| 313 |
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],
|
| 314 |
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"quat": [
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| 315 |
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|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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|
| 320 |
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|
| 321 |
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|
| 322 |
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},
|
| 323 |
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"parent_body": "mobilebase0_support"
|
| 324 |
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|
| 325 |
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"robot0_frontview": {
|
| 326 |
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"pos": [
|
| 327 |
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-0.5,
|
| 328 |
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|
| 329 |
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|
| 330 |
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],
|
| 331 |
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| 332 |
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|
| 333 |
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|
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|
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|
| 336 |
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| 337 |
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|
| 338 |
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|
| 339 |
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},
|
| 340 |
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"parent_body": "mobilebase0_support"
|
| 341 |
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},
|
| 342 |
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"robot0_eye_in_hand": {
|
| 343 |
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"pos": [
|
| 344 |
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|
| 345 |
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|
| 346 |
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|
| 347 |
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],
|
| 348 |
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"quat": [
|
| 349 |
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|
| 350 |
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|
| 351 |
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|
| 352 |
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|
| 353 |
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],
|
| 354 |
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"parent_body": "robot0_right_hand"
|
| 355 |
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}
|
| 356 |
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},
|
| 357 |
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"init_robot_base_pos": [
|
| 358 |
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|
| 359 |
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|
| 360 |
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|
| 361 |
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],
|
| 362 |
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"init_robot_base_ori": [
|
| 363 |
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|
| 364 |
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|
| 365 |
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|
| 366 |
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]
|
| 367 |
+
}
|
pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000084/ep_meta.json
ADDED
|
@@ -0,0 +1,361 @@
|
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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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|
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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": 26,
|
| 3 |
+
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|
| 4 |
+
"object_cfgs": [],
|
| 5 |
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"fixtures": {
|
| 6 |
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"wall_left_1_room": {
|
| 7 |
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"cls": "Wall"
|
| 8 |
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},
|
| 9 |
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"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
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},
|
| 12 |
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"wall_main_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
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|
| 15 |
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"wall_main_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
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|
| 18 |
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"wall_right_1_room": {
|
| 19 |
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"cls": "Wall"
|
| 20 |
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|
| 21 |
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"wall_right_1_backing_room": {
|
| 22 |
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"cls": "Wall"
|
| 23 |
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|
| 24 |
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"wall_right_3_room": {
|
| 25 |
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"cls": "Wall"
|
| 26 |
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|
| 27 |
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"wall_right_3_backing_room": {
|
| 28 |
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"cls": "Wall"
|
| 29 |
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},
|
| 30 |
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"wall_right_2_room": {
|
| 31 |
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"cls": "Wall"
|
| 32 |
+
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|
| 33 |
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"wall_right_2_backing_room": {
|
| 34 |
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"cls": "Wall"
|
| 35 |
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|
| 36 |
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"wall_front_1_room": {
|
| 37 |
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"cls": "Wall"
|
| 38 |
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|
| 39 |
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"wall_front_1_backing_room": {
|
| 40 |
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"cls": "Wall"
|
| 41 |
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|
| 42 |
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"floor_1_room": {
|
| 43 |
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"cls": "Floor"
|
| 44 |
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|
| 45 |
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"floor_1_backing_room": {
|
| 46 |
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"cls": "Floor"
|
| 47 |
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|
| 48 |
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"wall_accessory_1_room": {
|
| 49 |
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"cls": "WallAccessory"
|
| 50 |
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},
|
| 51 |
+
"light_switch_1_room": {
|
| 52 |
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"cls": "WallAccessory"
|
| 53 |
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},
|
| 54 |
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"wall_accessory_2_room": {
|
| 55 |
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"cls": "WallAccessory"
|
| 56 |
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|
| 57 |
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"light_switch_2_room": {
|
| 58 |
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"cls": "WallAccessory"
|
| 59 |
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|
| 60 |
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"wall_accessory_3_room": {
|
| 61 |
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"cls": "WallAccessory"
|
| 62 |
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|
| 63 |
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"light_switch_3_room": {
|
| 64 |
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"cls": "WallAccessory"
|
| 65 |
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|
| 66 |
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"light_switch_4_room": {
|
| 67 |
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"cls": "WallAccessory"
|
| 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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"cls": "Window"
|
| 74 |
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|
| 75 |
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|
| 76 |
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"cls": "Stool"
|
| 77 |
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|
| 78 |
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|
| 79 |
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"cls": "Stool"
|
| 80 |
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|
| 81 |
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|
| 82 |
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"cls": "Stool"
|
| 83 |
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|
| 84 |
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"counter_1_main_group": {
|
| 85 |
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"cls": "Counter"
|
| 86 |
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|
| 87 |
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"stove_main_group": {
|
| 88 |
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"cls": "Stove"
|
| 89 |
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|
| 90 |
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"counter_2_main_group": {
|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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"cls": "Box"
|
| 95 |
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|
| 96 |
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|
| 97 |
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"cls": "HingeCabinet"
|
| 98 |
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|
| 99 |
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|
| 100 |
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"cls": "Box"
|
| 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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|
| 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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|
| 113 |
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|
| 114 |
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|
| 115 |
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"cls": "HingeCabinet"
|
| 116 |
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|
| 117 |
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|
| 118 |
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"cls": "Drawer"
|
| 119 |
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|
| 120 |
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|
| 121 |
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"cls": "FridgeFrenchDoor"
|
| 122 |
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|
| 123 |
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|
| 124 |
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"cls": "HousingCabinet"
|
| 125 |
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|
| 126 |
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|
| 127 |
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"cls": "Box"
|
| 128 |
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|
| 129 |
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|
| 130 |
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"cls": "Drawer"
|
| 131 |
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},
|
| 132 |
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|
| 133 |
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"cls": "Drawer"
|
| 134 |
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},
|
| 135 |
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|
| 136 |
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"cls": "HingeCabinet"
|
| 137 |
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},
|
| 138 |
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|
| 139 |
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"cls": "HingeCabinet"
|
| 140 |
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},
|
| 141 |
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"cab_1_main_group": {
|
| 142 |
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"cls": "HingeCabinet"
|
| 143 |
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},
|
| 144 |
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|
| 145 |
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"cls": "Microwave"
|
| 146 |
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},
|
| 147 |
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|
| 148 |
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"cls": "HingeCabinet"
|
| 149 |
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},
|
| 150 |
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|
| 151 |
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"cls": "OpenCabinet"
|
| 152 |
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},
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| 153 |
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"toaster_oven_main_group": {
|
| 154 |
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"cls": "ToasterOven"
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| 155 |
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},
|
| 156 |
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|
| 157 |
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"cls": "Sink"
|
| 158 |
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},
|
| 159 |
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"counter_1_front_group": {
|
| 160 |
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"cls": "Counter"
|
| 161 |
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},
|
| 162 |
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|
| 163 |
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"cls": "Box"
|
| 164 |
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},
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| 165 |
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|
| 166 |
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"cls": "Box"
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| 167 |
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},
|
| 168 |
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|
| 169 |
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"cls": "HingeCabinet"
|
| 170 |
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},
|
| 171 |
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|
| 172 |
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"cls": "Dishwasher"
|
| 173 |
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},
|
| 174 |
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|
| 175 |
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"cls": "Box"
|
| 176 |
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},
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| 177 |
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|
| 178 |
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"cls": "SingleCabinet"
|
| 179 |
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},
|
| 180 |
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|
| 181 |
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"cls": "Drawer"
|
| 182 |
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},
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| 183 |
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"cab_1_front_group": {
|
| 184 |
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"cls": "HingeCabinet"
|
| 185 |
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},
|
| 186 |
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|
| 187 |
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"cls": "ElectricKettle"
|
| 188 |
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},
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| 189 |
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|
| 190 |
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| 191 |
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},
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| 192 |
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| 193 |
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| 194 |
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},
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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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"cls": "Box"
|
| 200 |
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},
|
| 201 |
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|
| 202 |
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"cls": "SingleCabinet"
|
| 203 |
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|
| 204 |
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|
| 205 |
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"cls": "Drawer"
|
| 206 |
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},
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| 207 |
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|
| 208 |
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"cls": "Box"
|
| 209 |
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},
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| 210 |
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|
| 211 |
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"cls": "SingleCabinet"
|
| 212 |
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},
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| 213 |
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|
| 214 |
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"cls": "Drawer"
|
| 215 |
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},
|
| 216 |
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|
| 217 |
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"cls": "Box"
|
| 218 |
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},
|
| 219 |
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"stack_3_right_group_1": {
|
| 220 |
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"cls": "Drawer"
|
| 221 |
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},
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| 222 |
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|
| 223 |
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"cls": "Drawer"
|
| 224 |
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},
|
| 225 |
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|
| 226 |
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"cls": "Drawer"
|
| 227 |
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},
|
| 228 |
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|
| 229 |
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"cls": "HingeCabinet"
|
| 230 |
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},
|
| 231 |
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"cab_2_right_group": {
|
| 232 |
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"cls": "HingeCabinet"
|
| 233 |
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},
|
| 234 |
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"coffee_machine_right_group": {
|
| 235 |
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"cls": "CoffeeMachine"
|
| 236 |
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},
|
| 237 |
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"toaster_right_group": {
|
| 238 |
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"cls": "Toaster"
|
| 239 |
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},
|
| 240 |
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"paper_towel_right_group": {
|
| 241 |
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"cls": "Accessory"
|
| 242 |
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},
|
| 243 |
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"island_island_group": {
|
| 244 |
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"cls": "Counter"
|
| 245 |
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},
|
| 246 |
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"stack_1_island_group_base": {
|
| 247 |
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"cls": "Box"
|
| 248 |
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},
|
| 249 |
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"stack_1_island_group_1": {
|
| 250 |
+
"cls": "SingleCabinet"
|
| 251 |
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},
|
| 252 |
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"stack_2_island_group_base": {
|
| 253 |
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"cls": "Box"
|
| 254 |
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},
|
| 255 |
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"stack_2_island_group_1": {
|
| 256 |
+
"cls": "HingeCabinet"
|
| 257 |
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},
|
| 258 |
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"box_1_island_group": {
|
| 259 |
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"cls": "Box"
|
| 260 |
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},
|
| 261 |
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"box_2_island_group": {
|
| 262 |
+
"cls": "Box"
|
| 263 |
+
}
|
| 264 |
+
},
|
| 265 |
+
"gen_textures": {},
|
| 266 |
+
"lang": "Press down the lever to turn on the electric kettle.",
|
| 267 |
+
"fixture_refs": {
|
| 268 |
+
"electric_kettle": "electric_kettle_front_group"
|
| 269 |
+
},
|
| 270 |
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|
| 271 |
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"robot0_agentview_center": {
|
| 272 |
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"pos": [
|
| 273 |
+
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|
| 274 |
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0.0,
|
| 275 |
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|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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|
| 280 |
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|
| 281 |
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|
| 282 |
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|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 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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|
| 296 |
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|
| 297 |
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|
| 298 |
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|
| 299 |
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},
|
| 300 |
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"parent_body": "mobilebase0_support"
|
| 301 |
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},
|
| 302 |
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"robot0_agentview_right": {
|
| 303 |
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"pos": [
|
| 304 |
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|
| 305 |
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|
| 306 |
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|
| 307 |
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|
| 308 |
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| 309 |
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|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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|
| 316 |
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},
|
| 317 |
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"parent_body": "mobilebase0_support"
|
| 318 |
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|
| 319 |
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"robot0_frontview": {
|
| 320 |
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"pos": [
|
| 321 |
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-0.5,
|
| 322 |
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|
| 323 |
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|
| 324 |
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],
|
| 325 |
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|
| 326 |
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|
| 327 |
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|
| 328 |
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|
| 329 |
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|
| 330 |
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|
| 331 |
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|
| 332 |
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|
| 333 |
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},
|
| 334 |
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"parent_body": "mobilebase0_support"
|
| 335 |
+
},
|
| 336 |
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"robot0_eye_in_hand": {
|
| 337 |
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"pos": [
|
| 338 |
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0.05,
|
| 339 |
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0,
|
| 340 |
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0
|
| 341 |
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],
|
| 342 |
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"quat": [
|
| 343 |
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0,
|
| 344 |
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0.707107,
|
| 345 |
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0.707107,
|
| 346 |
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0
|
| 347 |
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],
|
| 348 |
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"parent_body": "robot0_right_hand"
|
| 349 |
+
}
|
| 350 |
+
},
|
| 351 |
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"init_robot_base_pos": [
|
| 352 |
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2.628993557227698,
|
| 353 |
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-4.304059877997234,
|
| 354 |
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0.0
|
| 355 |
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],
|
| 356 |
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"init_robot_base_ori": [
|
| 357 |
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0.0,
|
| 358 |
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0.0,
|
| 359 |
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|
| 360 |
+
]
|
| 361 |
+
}
|
pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000087/ep_meta.json
ADDED
|
@@ -0,0 +1,391 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 23,
|
| 3 |
+
"style_id": 57,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"floor_1_room": {
|
| 25 |
+
"cls": "Floor"
|
| 26 |
+
},
|
| 27 |
+
"floor_1_backing_room": {
|
| 28 |
+
"cls": "Floor"
|
| 29 |
+
},
|
| 30 |
+
"wall_accessory_1_room": {
|
| 31 |
+
"cls": "WallAccessory"
|
| 32 |
+
},
|
| 33 |
+
"wall_accessory_2_room": {
|
| 34 |
+
"cls": "WallAccessory"
|
| 35 |
+
},
|
| 36 |
+
"wall_accessory_3_room": {
|
| 37 |
+
"cls": "WallAccessory"
|
| 38 |
+
},
|
| 39 |
+
"wall_accessory_4_room": {
|
| 40 |
+
"cls": "WallAccessory"
|
| 41 |
+
},
|
| 42 |
+
"wall_accessory_5_room": {
|
| 43 |
+
"cls": "WallAccessory"
|
| 44 |
+
},
|
| 45 |
+
"wall_accessory_6_room": {
|
| 46 |
+
"cls": "WallAccessory"
|
| 47 |
+
},
|
| 48 |
+
"wall_accessory_7_room": {
|
| 49 |
+
"cls": "WallAccessory"
|
| 50 |
+
},
|
| 51 |
+
"window_group_1_room": {
|
| 52 |
+
"cls": "Window"
|
| 53 |
+
},
|
| 54 |
+
"window_group_2_room": {
|
| 55 |
+
"cls": "Window"
|
| 56 |
+
},
|
| 57 |
+
"stool_1_room": {
|
| 58 |
+
"cls": "Stool"
|
| 59 |
+
},
|
| 60 |
+
"stool_2_room": {
|
| 61 |
+
"cls": "Stool"
|
| 62 |
+
},
|
| 63 |
+
"counter_corner_1_main_group": {
|
| 64 |
+
"cls": "Counter"
|
| 65 |
+
},
|
| 66 |
+
"sink_1_main_group": {
|
| 67 |
+
"cls": "Sink"
|
| 68 |
+
},
|
| 69 |
+
"counter_1_main_group": {
|
| 70 |
+
"cls": "Counter"
|
| 71 |
+
},
|
| 72 |
+
"counter_corner_2_main_group": {
|
| 73 |
+
"cls": "Counter"
|
| 74 |
+
},
|
| 75 |
+
"box_1_main_group": {
|
| 76 |
+
"cls": "Box"
|
| 77 |
+
},
|
| 78 |
+
"stack_1_main_group_base": {
|
| 79 |
+
"cls": "Box"
|
| 80 |
+
},
|
| 81 |
+
"stack_1_main_group_1": {
|
| 82 |
+
"cls": "HingeCabinet"
|
| 83 |
+
},
|
| 84 |
+
"dishwasher_main_group": {
|
| 85 |
+
"cls": "Dishwasher"
|
| 86 |
+
},
|
| 87 |
+
"stack_2_main_group_base": {
|
| 88 |
+
"cls": "Box"
|
| 89 |
+
},
|
| 90 |
+
"stack_2_main_group_1": {
|
| 91 |
+
"cls": "HingeCabinet"
|
| 92 |
+
},
|
| 93 |
+
"stack_3_main_group_base": {
|
| 94 |
+
"cls": "Box"
|
| 95 |
+
},
|
| 96 |
+
"stack_3_main_group_1": {
|
| 97 |
+
"cls": "SingleCabinet"
|
| 98 |
+
},
|
| 99 |
+
"stack_4_main_group_base": {
|
| 100 |
+
"cls": "Box"
|
| 101 |
+
},
|
| 102 |
+
"stack_4_main_group_1": {
|
| 103 |
+
"cls": "HingeCabinet"
|
| 104 |
+
},
|
| 105 |
+
"box_2_main_group": {
|
| 106 |
+
"cls": "Box"
|
| 107 |
+
},
|
| 108 |
+
"cab_1_main_group": {
|
| 109 |
+
"cls": "SingleCabinet"
|
| 110 |
+
},
|
| 111 |
+
"cab_2_main_group": {
|
| 112 |
+
"cls": "HingeCabinet"
|
| 113 |
+
},
|
| 114 |
+
"cab_3_main_group": {
|
| 115 |
+
"cls": "SingleCabinet"
|
| 116 |
+
},
|
| 117 |
+
"cab_4_main_group": {
|
| 118 |
+
"cls": "HingeCabinet"
|
| 119 |
+
},
|
| 120 |
+
"top_corner_box_main_group": {
|
| 121 |
+
"cls": "Box"
|
| 122 |
+
},
|
| 123 |
+
"coffee_machine_main_group": {
|
| 124 |
+
"cls": "CoffeeMachine"
|
| 125 |
+
},
|
| 126 |
+
"paper_towel_main_group": {
|
| 127 |
+
"cls": "Accessory"
|
| 128 |
+
},
|
| 129 |
+
"electric_kettle_main_group": {
|
| 130 |
+
"cls": "ElectricKettle"
|
| 131 |
+
},
|
| 132 |
+
"plant_main_group": {
|
| 133 |
+
"cls": "Accessory"
|
| 134 |
+
},
|
| 135 |
+
"knife_block_main_group": {
|
| 136 |
+
"cls": "Accessory"
|
| 137 |
+
},
|
| 138 |
+
"counter_1_left_group": {
|
| 139 |
+
"cls": "Counter"
|
| 140 |
+
},
|
| 141 |
+
"stove_left_group": {
|
| 142 |
+
"cls": "Stove"
|
| 143 |
+
},
|
| 144 |
+
"counter_2_left_group": {
|
| 145 |
+
"cls": "Counter"
|
| 146 |
+
},
|
| 147 |
+
"stack_1_left_group_base": {
|
| 148 |
+
"cls": "Box"
|
| 149 |
+
},
|
| 150 |
+
"stack_1_left_group_1": {
|
| 151 |
+
"cls": "Drawer"
|
| 152 |
+
},
|
| 153 |
+
"stack_1_left_group_2": {
|
| 154 |
+
"cls": "Drawer"
|
| 155 |
+
},
|
| 156 |
+
"stack_1_left_group_3": {
|
| 157 |
+
"cls": "Drawer"
|
| 158 |
+
},
|
| 159 |
+
"stack_2_left_group_base": {
|
| 160 |
+
"cls": "Box"
|
| 161 |
+
},
|
| 162 |
+
"stack_2_left_group_1": {
|
| 163 |
+
"cls": "HingeCabinet"
|
| 164 |
+
},
|
| 165 |
+
"box_left_group": {
|
| 166 |
+
"cls": "Box"
|
| 167 |
+
},
|
| 168 |
+
"stack_3_left_group_base": {
|
| 169 |
+
"cls": "Box"
|
| 170 |
+
},
|
| 171 |
+
"stack_3_left_group_1": {
|
| 172 |
+
"cls": "Drawer"
|
| 173 |
+
},
|
| 174 |
+
"stack_3_left_group_2": {
|
| 175 |
+
"cls": "Drawer"
|
| 176 |
+
},
|
| 177 |
+
"stack_3_left_group_3": {
|
| 178 |
+
"cls": "Drawer"
|
| 179 |
+
},
|
| 180 |
+
"stack_4_left_group_base": {
|
| 181 |
+
"cls": "Box"
|
| 182 |
+
},
|
| 183 |
+
"stack_4_left_group_1": {
|
| 184 |
+
"cls": "HingeCabinet"
|
| 185 |
+
},
|
| 186 |
+
"hood_left_group": {
|
| 187 |
+
"cls": "Hood"
|
| 188 |
+
},
|
| 189 |
+
"cab_1_left_group": {
|
| 190 |
+
"cls": "OpenCabinet"
|
| 191 |
+
},
|
| 192 |
+
"cab_2_left_group": {
|
| 193 |
+
"cls": "OpenCabinet"
|
| 194 |
+
},
|
| 195 |
+
"toaster_oven_left_group": {
|
| 196 |
+
"cls": "ToasterOven"
|
| 197 |
+
},
|
| 198 |
+
"toaster_left_group": {
|
| 199 |
+
"cls": "Toaster"
|
| 200 |
+
},
|
| 201 |
+
"counter_1_right_group": {
|
| 202 |
+
"cls": "Counter"
|
| 203 |
+
},
|
| 204 |
+
"box_right_group": {
|
| 205 |
+
"cls": "Box"
|
| 206 |
+
},
|
| 207 |
+
"stack_1_right_group_base": {
|
| 208 |
+
"cls": "Box"
|
| 209 |
+
},
|
| 210 |
+
"stack_1_right_group_1": {
|
| 211 |
+
"cls": "SingleCabinet"
|
| 212 |
+
},
|
| 213 |
+
"stack_2_right_group_base": {
|
| 214 |
+
"cls": "Box"
|
| 215 |
+
},
|
| 216 |
+
"stack_2_right_group_1": {
|
| 217 |
+
"cls": "HingeCabinet"
|
| 218 |
+
},
|
| 219 |
+
"stack_3_right_group_base": {
|
| 220 |
+
"cls": "Box"
|
| 221 |
+
},
|
| 222 |
+
"stack_3_right_group_1": {
|
| 223 |
+
"cls": "Drawer"
|
| 224 |
+
},
|
| 225 |
+
"stack_3_right_group_2": {
|
| 226 |
+
"cls": "Drawer"
|
| 227 |
+
},
|
| 228 |
+
"stack_3_right_group_3": {
|
| 229 |
+
"cls": "Drawer"
|
| 230 |
+
},
|
| 231 |
+
"bottom_right_group_base": {
|
| 232 |
+
"cls": "Box"
|
| 233 |
+
},
|
| 234 |
+
"bottom_right_group_1": {
|
| 235 |
+
"cls": "HingeCabinet"
|
| 236 |
+
},
|
| 237 |
+
"bottom_right_group_2": {
|
| 238 |
+
"cls": "Drawer"
|
| 239 |
+
},
|
| 240 |
+
"microwave_right_group": {
|
| 241 |
+
"cls": "Microwave"
|
| 242 |
+
},
|
| 243 |
+
"microwave_housing_right_group": {
|
| 244 |
+
"cls": "HousingCabinet"
|
| 245 |
+
},
|
| 246 |
+
"top_right_group": {
|
| 247 |
+
"cls": "HingeCabinet"
|
| 248 |
+
},
|
| 249 |
+
"fridge_right_group": {
|
| 250 |
+
"cls": "FridgeBottomFreezer"
|
| 251 |
+
},
|
| 252 |
+
"fridge_housing_right_group": {
|
| 253 |
+
"cls": "HousingCabinet"
|
| 254 |
+
},
|
| 255 |
+
"cab_1_right_group": {
|
| 256 |
+
"cls": "HingeCabinet"
|
| 257 |
+
},
|
| 258 |
+
"cab_2_right_group": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
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},
|
| 261 |
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"island_1_island_group": {
|
| 262 |
+
"cls": "Counter"
|
| 263 |
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},
|
| 264 |
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"island_box_island_group": {
|
| 265 |
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"cls": "Box"
|
| 266 |
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},
|
| 267 |
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"island_2_island_group": {
|
| 268 |
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"cls": "Counter"
|
| 269 |
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},
|
| 270 |
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"panel_stack_1_island_group_base": {
|
| 271 |
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"cls": "Box"
|
| 272 |
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},
|
| 273 |
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"panel_stack_1_island_group_1": {
|
| 274 |
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"cls": "PanelCabinet"
|
| 275 |
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},
|
| 276 |
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"stack_1_island_group_base": {
|
| 277 |
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"cls": "Box"
|
| 278 |
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},
|
| 279 |
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"stack_1_island_group_1": {
|
| 280 |
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"cls": "HingeCabinet"
|
| 281 |
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},
|
| 282 |
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"stack_2_island_group_base": {
|
| 283 |
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"cls": "Box"
|
| 284 |
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},
|
| 285 |
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"stack_2_island_group_1": {
|
| 286 |
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"cls": "HingeCabinet"
|
| 287 |
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},
|
| 288 |
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"panel_stack_2_island_group_base": {
|
| 289 |
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"cls": "Box"
|
| 290 |
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},
|
| 291 |
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"panel_stack_2_island_group_1": {
|
| 292 |
+
"cls": "PanelCabinet"
|
| 293 |
+
}
|
| 294 |
+
},
|
| 295 |
+
"gen_textures": {},
|
| 296 |
+
"lang": "Press down the lever to turn on the electric kettle.",
|
| 297 |
+
"fixture_refs": {
|
| 298 |
+
"electric_kettle": "electric_kettle_main_group"
|
| 299 |
+
},
|
| 300 |
+
"cam_configs": {
|
| 301 |
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"robot0_agentview_center": {
|
| 302 |
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"pos": [
|
| 303 |
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-0.6,
|
| 304 |
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0.0,
|
| 305 |
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1.15
|
| 306 |
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],
|
| 307 |
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"quat": [
|
| 308 |
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|
| 309 |
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|
| 310 |
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| 311 |
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|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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|
| 316 |
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"pos": [
|
| 317 |
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|
| 318 |
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|
| 319 |
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1.05
|
| 320 |
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],
|
| 321 |
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"quat": [
|
| 322 |
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|
| 323 |
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|
| 324 |
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|
| 325 |
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|
| 326 |
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],
|
| 327 |
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|
| 328 |
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|
| 329 |
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},
|
| 330 |
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"parent_body": "mobilebase0_support"
|
| 331 |
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},
|
| 332 |
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"robot0_agentview_right": {
|
| 333 |
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"pos": [
|
| 334 |
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-0.5,
|
| 335 |
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|
| 336 |
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|
| 337 |
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],
|
| 338 |
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"quat": [
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| 339 |
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|
| 340 |
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|
| 341 |
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|
| 342 |
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|
| 343 |
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|
| 344 |
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|
| 345 |
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"fovy": "60"
|
| 346 |
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},
|
| 347 |
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"parent_body": "mobilebase0_support"
|
| 348 |
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},
|
| 349 |
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"robot0_frontview": {
|
| 350 |
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"pos": [
|
| 351 |
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-0.5,
|
| 352 |
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0,
|
| 353 |
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|
| 354 |
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],
|
| 355 |
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"quat": [
|
| 356 |
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|
| 357 |
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|
| 358 |
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|
| 359 |
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|
| 360 |
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|
| 361 |
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|
| 362 |
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"fovy": "60"
|
| 363 |
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},
|
| 364 |
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"parent_body": "mobilebase0_support"
|
| 365 |
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},
|
| 366 |
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"robot0_eye_in_hand": {
|
| 367 |
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"pos": [
|
| 368 |
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0.05,
|
| 369 |
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0,
|
| 370 |
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0
|
| 371 |
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],
|
| 372 |
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"quat": [
|
| 373 |
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0,
|
| 374 |
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|
| 375 |
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0.707107,
|
| 376 |
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0
|
| 377 |
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],
|
| 378 |
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"parent_body": "robot0_right_hand"
|
| 379 |
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}
|
| 380 |
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},
|
| 381 |
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"init_robot_base_pos": [
|
| 382 |
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|
| 383 |
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|
| 384 |
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|
| 385 |
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],
|
| 386 |
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"init_robot_base_ori": [
|
| 387 |
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|
| 388 |
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0.0,
|
| 389 |
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|
| 390 |
+
]
|
| 391 |
+
}
|
pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000107/ep_meta.json
ADDED
|
@@ -0,0 +1,373 @@
|
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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": 28,
|
| 3 |
+
"style_id": 60,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_right_3_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_right_3_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_left_3_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_left_3_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"wall_left_2_room": {
|
| 37 |
+
"cls": "Wall"
|
| 38 |
+
},
|
| 39 |
+
"wall_left_2_backing_room": {
|
| 40 |
+
"cls": "Wall"
|
| 41 |
+
},
|
| 42 |
+
"wall_right_2_room": {
|
| 43 |
+
"cls": "Wall"
|
| 44 |
+
},
|
| 45 |
+
"wall_right_2_backing_room": {
|
| 46 |
+
"cls": "Wall"
|
| 47 |
+
},
|
| 48 |
+
"floor_1_room": {
|
| 49 |
+
"cls": "Floor"
|
| 50 |
+
},
|
| 51 |
+
"floor_1_backing_room": {
|
| 52 |
+
"cls": "Floor"
|
| 53 |
+
},
|
| 54 |
+
"wall_accessory_1_room": {
|
| 55 |
+
"cls": "WallAccessory"
|
| 56 |
+
},
|
| 57 |
+
"wall_accessory_2_room": {
|
| 58 |
+
"cls": "WallAccessory"
|
| 59 |
+
},
|
| 60 |
+
"light_switch_1_room": {
|
| 61 |
+
"cls": "WallAccessory"
|
| 62 |
+
},
|
| 63 |
+
"window_group_room": {
|
| 64 |
+
"cls": "Window"
|
| 65 |
+
},
|
| 66 |
+
"stool_1_room": {
|
| 67 |
+
"cls": "Stool"
|
| 68 |
+
},
|
| 69 |
+
"stool_2_room": {
|
| 70 |
+
"cls": "Stool"
|
| 71 |
+
},
|
| 72 |
+
"stool_3_room": {
|
| 73 |
+
"cls": "Stool"
|
| 74 |
+
},
|
| 75 |
+
"stool_4_room": {
|
| 76 |
+
"cls": "Stool"
|
| 77 |
+
},
|
| 78 |
+
"bottom_main_group_base": {
|
| 79 |
+
"cls": "Box"
|
| 80 |
+
},
|
| 81 |
+
"bottom_main_group_1": {
|
| 82 |
+
"cls": "HingeCabinet"
|
| 83 |
+
},
|
| 84 |
+
"microwave_main_group": {
|
| 85 |
+
"cls": "Microwave"
|
| 86 |
+
},
|
| 87 |
+
"microwave_housing_main_group": {
|
| 88 |
+
"cls": "HousingCabinet"
|
| 89 |
+
},
|
| 90 |
+
"top_main_group": {
|
| 91 |
+
"cls": "HingeCabinet"
|
| 92 |
+
},
|
| 93 |
+
"counter_1_main_group": {
|
| 94 |
+
"cls": "Counter"
|
| 95 |
+
},
|
| 96 |
+
"sink_main_group": {
|
| 97 |
+
"cls": "Sink"
|
| 98 |
+
},
|
| 99 |
+
"counter_2_main_group": {
|
| 100 |
+
"cls": "Counter"
|
| 101 |
+
},
|
| 102 |
+
"stack_1_main_group_base": {
|
| 103 |
+
"cls": "Box"
|
| 104 |
+
},
|
| 105 |
+
"stack_1_main_group_1": {
|
| 106 |
+
"cls": "SingleCabinet"
|
| 107 |
+
},
|
| 108 |
+
"stack_1_main_group_2": {
|
| 109 |
+
"cls": "Drawer"
|
| 110 |
+
},
|
| 111 |
+
"stack_2_main_group_base": {
|
| 112 |
+
"cls": "Box"
|
| 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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"cls": "Drawer"
|
| 119 |
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|
| 120 |
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"stack_3_main_group_base": {
|
| 121 |
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"cls": "Box"
|
| 122 |
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},
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| 123 |
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|
| 124 |
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"cls": "SingleCabinet"
|
| 125 |
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|
| 126 |
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|
| 127 |
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"cls": "Drawer"
|
| 128 |
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|
| 129 |
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|
| 130 |
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"cls": "Box"
|
| 131 |
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| 132 |
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|
| 133 |
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"cls": "SingleCabinet"
|
| 134 |
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| 135 |
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|
| 136 |
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"cls": "Drawer"
|
| 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": "HingeCabinet"
|
| 143 |
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},
|
| 144 |
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|
| 145 |
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"cls": "Oven"
|
| 146 |
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|
| 147 |
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|
| 148 |
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"cls": "Box"
|
| 149 |
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| 150 |
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|
| 151 |
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"cls": "HingeCabinet"
|
| 152 |
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| 153 |
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|
| 154 |
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"cls": "Drawer"
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| 155 |
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| 156 |
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|
| 157 |
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| 158 |
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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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| 168 |
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|
| 169 |
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| 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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"cls": "Toaster"
|
| 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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| 188 |
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| 189 |
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|
| 190 |
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|
| 191 |
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| 192 |
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|
| 193 |
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"cls": "FridgeBottomFreezer"
|
| 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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| 206 |
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| 207 |
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|
| 208 |
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| 209 |
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| 210 |
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|
| 211 |
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| 212 |
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| 213 |
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|
| 214 |
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| 215 |
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| 216 |
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|
| 217 |
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| 218 |
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| 219 |
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|
| 220 |
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| 221 |
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| 222 |
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| 223 |
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| 224 |
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| 225 |
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| 226 |
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| 227 |
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| 228 |
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| 229 |
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|
| 230 |
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| 231 |
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| 232 |
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| 233 |
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| 234 |
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| 235 |
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| 236 |
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| 237 |
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| 238 |
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| 239 |
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| 240 |
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| 241 |
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| 242 |
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| 243 |
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| 244 |
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| 245 |
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| 246 |
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| 247 |
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| 248 |
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| 249 |
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| 250 |
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| 251 |
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| 253 |
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| 254 |
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| 255 |
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| 256 |
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| 257 |
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| 258 |
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| 259 |
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| 260 |
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| 261 |
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| 262 |
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| 263 |
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| 264 |
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| 265 |
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| 266 |
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| 267 |
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| 268 |
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| 269 |
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| 270 |
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|
| 271 |
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| 272 |
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| 273 |
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|
| 274 |
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| 275 |
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| 276 |
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|
| 277 |
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|
| 278 |
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"lang": "Press down the lever to turn on the electric kettle.",
|
| 279 |
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|
| 280 |
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| 281 |
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| 283 |
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| 315 |
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| 332 |
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| 349 |
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| 361 |
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| 373 |
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}
|
pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/meta/info.json
ADDED
|
@@ -0,0 +1,179 @@
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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 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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},
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| 14 |
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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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],
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| 24 |
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| 25 |
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| 26 |
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|
| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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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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| 38 |
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|
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| 46 |
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},
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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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],
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| 54 |
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| 55 |
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| 56 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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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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"has_audio": false
|
| 75 |
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}
|
| 76 |
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},
|
| 77 |
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"observation.images.robot0_agentview_right": {
|
| 78 |
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"dtype": "video",
|
| 79 |
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|
| 80 |
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256,
|
| 81 |
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|
| 82 |
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3
|
| 83 |
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],
|
| 84 |
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"names": [
|
| 85 |
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"height",
|
| 86 |
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"width",
|
| 87 |
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"channel"
|
| 88 |
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|
| 89 |
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"video_info": {
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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"has_audio": false
|
| 95 |
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},
|
| 96 |
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"info": {
|
| 97 |
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|
| 98 |
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|
| 99 |
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"video.codec": "h264",
|
| 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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|
| 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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},
|
| 113 |
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"annotation.human.task_name": {
|
| 114 |
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|
| 115 |
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"shape": [
|
| 116 |
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|
| 117 |
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]
|
| 118 |
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},
|
| 119 |
+
"observation.state": {
|
| 120 |
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"dtype": "float64",
|
| 121 |
+
"shape": [
|
| 122 |
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16
|
| 123 |
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]
|
| 124 |
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},
|
| 125 |
+
"action": {
|
| 126 |
+
"dtype": "float64",
|
| 127 |
+
"shape": [
|
| 128 |
+
12
|
| 129 |
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]
|
| 130 |
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},
|
| 131 |
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"next.reward": {
|
| 132 |
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"dtype": "float32",
|
| 133 |
+
"shape": [
|
| 134 |
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1
|
| 135 |
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]
|
| 136 |
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|
| 137 |
+
"next.done": {
|
| 138 |
+
"dtype": "bool",
|
| 139 |
+
"shape": [
|
| 140 |
+
1
|
| 141 |
+
]
|
| 142 |
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},
|
| 143 |
+
"timestamp": {
|
| 144 |
+
"dtype": "float32",
|
| 145 |
+
"shape": [
|
| 146 |
+
1
|
| 147 |
+
],
|
| 148 |
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"names": null
|
| 149 |
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},
|
| 150 |
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"frame_index": {
|
| 151 |
+
"dtype": "int64",
|
| 152 |
+
"shape": [
|
| 153 |
+
1
|
| 154 |
+
],
|
| 155 |
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"names": null
|
| 156 |
+
},
|
| 157 |
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"episode_index": {
|
| 158 |
+
"dtype": "int64",
|
| 159 |
+
"shape": [
|
| 160 |
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1
|
| 161 |
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],
|
| 162 |
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"names": null
|
| 163 |
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},
|
| 164 |
+
"index": {
|
| 165 |
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"dtype": "int64",
|
| 166 |
+
"shape": [
|
| 167 |
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1
|
| 168 |
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],
|
| 169 |
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"names": null
|
| 170 |
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},
|
| 171 |
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"task_index": {
|
| 172 |
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"dtype": "int64",
|
| 173 |
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"shape": [
|
| 174 |
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|
| 175 |
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|
| 176 |
+
"names": null
|
| 177 |
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}
|
| 178 |
+
}
|
| 179 |
+
}
|
pretrain/atomic/TurnOnElectricKettle/20250820/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 |
+
}
|
pretrain/atomic/TurnOnElectricKettle/20250820/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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|
|
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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 |
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{
|
| 2 |
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"annotation.human.task_description": {
|
| 3 |
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"mean": [
|
| 4 |
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|
| 5 |
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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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0.0
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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"q99": [
|
| 19 |
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0.0
|
| 20 |
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|
| 21 |
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|
| 22 |
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"annotation.human.task_name": {
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"min": [
|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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"q01": [
|
| 36 |
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|
| 37 |
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|
| 38 |
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"q99": [
|
| 39 |
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1.0
|
| 40 |
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|
| 41 |
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},
|
| 42 |
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"observation.state": {
|
| 43 |
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"mean": [
|
| 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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|
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pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Press down the lever to turn on the electric kettle."}
|
| 2 |
+
{"task_index": 1, "task": "TurnOnElectricKettle"}
|