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Browse files- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000004/ep_meta.json +584 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000015/ep_meta.json +607 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000032/ep_meta.json +595 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000066/ep_meta.json +563 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000080/ep_meta.json +679 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000083/ep_meta.json +563 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000086/ep_meta.json +684 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000138/ep_meta.json +584 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000169/ep_meta.json +608 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000188/ep_meta.json +677 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000196/ep_meta.json +611 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000247/ep_meta.json +587 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000355/ep_meta.json +754 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000361/ep_meta.json +584 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000372/ep_meta.json +609 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000398/ep_meta.json +679 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000410/ep_meta.json +585 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000419/ep_meta.json +597 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000492/ep_meta.json +677 -0
- target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000496/ep_meta.json +679 -0
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000004/ep_meta.json
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 5,
|
| 3 |
+
"style_id": 5,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "obj1",
|
| 7 |
+
"obj_groups": [
|
| 8 |
+
"condiment_bottle",
|
| 9 |
+
"ketchup",
|
| 10 |
+
"syrup_bottle"
|
| 11 |
+
],
|
| 12 |
+
"graspable": true,
|
| 13 |
+
"init_robot_here": true,
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_main_main_group",
|
| 16 |
+
"sample_region_kwargs": {
|
| 17 |
+
"ref": "cab_1_main_group",
|
| 18 |
+
"min_size": [
|
| 19 |
+
0.15001146029999998,
|
| 20 |
+
0.08088150029999999,
|
| 21 |
+
0.2038844649
|
| 22 |
+
]
|
| 23 |
+
},
|
| 24 |
+
"size": [
|
| 25 |
+
0.5,
|
| 26 |
+
0.2
|
| 27 |
+
],
|
| 28 |
+
"pos": [
|
| 29 |
+
"ref",
|
| 30 |
+
-1
|
| 31 |
+
]
|
| 32 |
+
},
|
| 33 |
+
"type": "object",
|
| 34 |
+
"info": {
|
| 35 |
+
"groups_containing_sampled_obj": [
|
| 36 |
+
"all",
|
| 37 |
+
"syrup_bottle",
|
| 38 |
+
"condiment"
|
| 39 |
+
],
|
| 40 |
+
"groups": [
|
| 41 |
+
"condiment_bottle",
|
| 42 |
+
"ketchup",
|
| 43 |
+
"syrup_bottle"
|
| 44 |
+
],
|
| 45 |
+
"cat": "syrup_bottle",
|
| 46 |
+
"split": "test",
|
| 47 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle007/model.xml"
|
| 48 |
+
},
|
| 49 |
+
"reset_region": {
|
| 50 |
+
"size": [
|
| 51 |
+
1.0,
|
| 52 |
+
0.65
|
| 53 |
+
],
|
| 54 |
+
"offset": [
|
| 55 |
+
0.5,
|
| 56 |
+
0.0,
|
| 57 |
+
0.46
|
| 58 |
+
],
|
| 59 |
+
"name": "geom_0"
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"name": "obj2",
|
| 64 |
+
"obj_groups": "shaker",
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
+
"fixture": "counter_main_main_group",
|
| 68 |
+
"sample_region_kwargs": {
|
| 69 |
+
"ref": "cab_1_main_group",
|
| 70 |
+
"min_size": [
|
| 71 |
+
0.04855696904999999,
|
| 72 |
+
0.048556956699999994,
|
| 73 |
+
0.09597072899999999
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"size": [
|
| 77 |
+
0.5,
|
| 78 |
+
0.2
|
| 79 |
+
],
|
| 80 |
+
"pos": [
|
| 81 |
+
"ref",
|
| 82 |
+
-1
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
+
"type": "object",
|
| 86 |
+
"info": {
|
| 87 |
+
"groups_containing_sampled_obj": [
|
| 88 |
+
"all",
|
| 89 |
+
"shaker",
|
| 90 |
+
"condiment"
|
| 91 |
+
],
|
| 92 |
+
"groups": [
|
| 93 |
+
"shaker"
|
| 94 |
+
],
|
| 95 |
+
"cat": "shaker",
|
| 96 |
+
"split": "test",
|
| 97 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_2/model.xml"
|
| 98 |
+
},
|
| 99 |
+
"reset_region": {
|
| 100 |
+
"size": [
|
| 101 |
+
1.0,
|
| 102 |
+
0.65
|
| 103 |
+
],
|
| 104 |
+
"offset": [
|
| 105 |
+
0.5,
|
| 106 |
+
0.0,
|
| 107 |
+
0.46
|
| 108 |
+
],
|
| 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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|
| 116 |
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"ketchup",
|
| 117 |
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|
| 118 |
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],
|
| 119 |
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|
| 120 |
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| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 161 |
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{
|
| 162 |
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|
| 163 |
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|
| 164 |
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|
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| 188 |
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|
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|
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|
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|
| 208 |
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|
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|
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|
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|
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| 347 |
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}
|
| 486 |
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},
|
| 487 |
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|
| 488 |
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| 489 |
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|
| 490 |
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|
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|
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| 541 |
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| 542 |
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| 543 |
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| 544 |
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| 545 |
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| 546 |
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| 547 |
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| 556 |
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| 557 |
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"parent_body": "mobilebase0_support"
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| 558 |
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| 559 |
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|
| 560 |
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| 561 |
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| 562 |
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| 563 |
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| 564 |
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| 566 |
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| 568 |
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| 569 |
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| 570 |
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| 571 |
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| 572 |
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| 573 |
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| 574 |
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"init_robot_base_pos": [
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| 575 |
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| 576 |
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"init_robot_base_ori": [
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|
| 584 |
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}
|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000015/ep_meta.json
ADDED
|
@@ -0,0 +1,607 @@
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 2,
|
| 3 |
+
"style_id": 2,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
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{
|
| 6 |
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"name": "obj1",
|
| 7 |
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"obj_groups": [
|
| 8 |
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"condiment_bottle",
|
| 9 |
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|
| 10 |
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|
| 11 |
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],
|
| 12 |
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"graspable": true,
|
| 13 |
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"init_robot_here": true,
|
| 14 |
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"placement": {
|
| 15 |
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"fixture": "counter_main_main_group",
|
| 16 |
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"sample_region_kwargs": {
|
| 17 |
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"ref": "cab_main_main_group",
|
| 18 |
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"min_size": [
|
| 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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"size": [
|
| 25 |
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|
| 26 |
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|
| 27 |
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],
|
| 28 |
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"pos": [
|
| 29 |
+
"ref",
|
| 30 |
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-1
|
| 31 |
+
]
|
| 32 |
+
},
|
| 33 |
+
"type": "object",
|
| 34 |
+
"info": {
|
| 35 |
+
"groups_containing_sampled_obj": [
|
| 36 |
+
"all",
|
| 37 |
+
"syrup_bottle",
|
| 38 |
+
"condiment"
|
| 39 |
+
],
|
| 40 |
+
"groups": [
|
| 41 |
+
"condiment_bottle",
|
| 42 |
+
"ketchup",
|
| 43 |
+
"syrup_bottle"
|
| 44 |
+
],
|
| 45 |
+
"cat": "syrup_bottle",
|
| 46 |
+
"split": "test",
|
| 47 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle007/model.xml"
|
| 48 |
+
},
|
| 49 |
+
"reset_region": {
|
| 50 |
+
"size": [
|
| 51 |
+
1.0,
|
| 52 |
+
0.65
|
| 53 |
+
],
|
| 54 |
+
"offset": [
|
| 55 |
+
-1.4,
|
| 56 |
+
-3.469446951953614e-17,
|
| 57 |
+
0.46
|
| 58 |
+
],
|
| 59 |
+
"name": "geom_0"
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"name": "obj2",
|
| 64 |
+
"obj_groups": "shaker",
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
+
"fixture": "counter_main_main_group",
|
| 68 |
+
"sample_region_kwargs": {
|
| 69 |
+
"ref": "cab_main_main_group",
|
| 70 |
+
"min_size": [
|
| 71 |
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0.05153075309999998,
|
| 72 |
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0.045066413499999985,
|
| 73 |
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0.09499999999999997
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
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"size": [
|
| 77 |
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0.5,
|
| 78 |
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0.2
|
| 79 |
+
],
|
| 80 |
+
"pos": [
|
| 81 |
+
"ref",
|
| 82 |
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-1
|
| 83 |
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]
|
| 84 |
+
},
|
| 85 |
+
"type": "object",
|
| 86 |
+
"info": {
|
| 87 |
+
"groups_containing_sampled_obj": [
|
| 88 |
+
"all",
|
| 89 |
+
"shaker",
|
| 90 |
+
"condiment"
|
| 91 |
+
],
|
| 92 |
+
"groups": [
|
| 93 |
+
"shaker"
|
| 94 |
+
],
|
| 95 |
+
"cat": "shaker",
|
| 96 |
+
"split": "test",
|
| 97 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
|
| 98 |
+
},
|
| 99 |
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},
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},
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|
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| 331 |
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},
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| 333 |
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| 334 |
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},
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},
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|
| 351 |
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| 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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|
| 414 |
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| 415 |
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},
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},
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|
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},
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},
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|
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},
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|
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|
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},
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},
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|
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},
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},
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|
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},
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|
| 444 |
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|
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},
|
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|
| 447 |
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|
| 448 |
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},
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|
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},
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},
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|
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},
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|
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},
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|
| 462 |
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|
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},
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|
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},
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},
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|
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},
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},
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},
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|
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},
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|
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|
| 487 |
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},
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|
| 489 |
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|
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},
|
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|
| 492 |
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},
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|
| 495 |
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|
| 496 |
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},
|
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|
| 498 |
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|
| 499 |
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},
|
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|
| 501 |
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|
| 502 |
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},
|
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|
| 504 |
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|
| 505 |
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},
|
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|
| 507 |
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"cls": "Accessory"
|
| 508 |
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}
|
| 509 |
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},
|
| 510 |
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"gen_textures": {},
|
| 511 |
+
"lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
|
| 512 |
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"fixture_refs": {
|
| 513 |
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"cab": "cab_main_main_group",
|
| 514 |
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"counter": "counter_main_main_group"
|
| 515 |
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},
|
| 516 |
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"cam_configs": {
|
| 517 |
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|
| 518 |
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"pos": [
|
| 519 |
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-0.6,
|
| 520 |
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0.0,
|
| 521 |
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|
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|
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|
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0.3325185477733612,
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|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000032/ep_meta.json
ADDED
|
@@ -0,0 +1,595 @@
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 4,
|
| 3 |
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|
| 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 |
+
],
|
| 12 |
+
"graspable": true,
|
| 13 |
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|
| 14 |
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"placement": {
|
| 15 |
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"fixture": "counter_main_main_group",
|
| 16 |
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"sample_region_kwargs": {
|
| 17 |
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"ref": "cab_main_main_group",
|
| 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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|
| 31 |
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]
|
| 32 |
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},
|
| 33 |
+
"type": "object",
|
| 34 |
+
"info": {
|
| 35 |
+
"groups_containing_sampled_obj": [
|
| 36 |
+
"all",
|
| 37 |
+
"condiment_bottle",
|
| 38 |
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|
| 39 |
+
],
|
| 40 |
+
"groups": [
|
| 41 |
+
"condiment_bottle",
|
| 42 |
+
"ketchup",
|
| 43 |
+
"syrup_bottle"
|
| 44 |
+
],
|
| 45 |
+
"cat": "condiment_bottle",
|
| 46 |
+
"split": "test",
|
| 47 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_3/model.xml"
|
| 48 |
+
},
|
| 49 |
+
"reset_region": {
|
| 50 |
+
"size": [
|
| 51 |
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1.0,
|
| 52 |
+
0.65
|
| 53 |
+
],
|
| 54 |
+
"offset": [
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| 55 |
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0.0,
|
| 56 |
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|
| 57 |
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|
| 58 |
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],
|
| 59 |
+
"name": "geom_0"
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"name": "obj2",
|
| 64 |
+
"obj_groups": "shaker",
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
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{
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{
|
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|
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|
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{
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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},
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|
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|
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},
|
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|
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|
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},
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|
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|
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},
|
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|
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|
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},
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|
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|
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},
|
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|
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|
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},
|
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},
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|
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|
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},
|
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|
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|
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},
|
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|
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"cls": "Accessory"
|
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},
|
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|
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"cls": "Accessory"
|
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},
|
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|
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|
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},
|
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|
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|
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},
|
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|
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|
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},
|
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|
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|
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},
|
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|
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|
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},
|
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|
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|
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},
|
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|
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|
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},
|
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|
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|
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},
|
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|
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|
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},
|
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|
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|
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},
|
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|
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|
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},
|
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|
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|
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},
|
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|
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|
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},
|
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|
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"cls": "Drawer"
|
| 430 |
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},
|
| 431 |
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|
| 432 |
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"cls": "Oven"
|
| 433 |
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},
|
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|
| 435 |
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"cls": "HousingCabinet"
|
| 436 |
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},
|
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|
| 438 |
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"cls": "Microwave"
|
| 439 |
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},
|
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|
| 441 |
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"cls": "HousingCabinet"
|
| 442 |
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},
|
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|
| 444 |
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"cls": "HingeCabinet"
|
| 445 |
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},
|
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|
| 447 |
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"cls": "SingleCabinet"
|
| 448 |
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},
|
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|
| 450 |
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"cls": "Dishwasher"
|
| 451 |
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},
|
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|
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"cls": "Box"
|
| 454 |
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},
|
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|
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"cls": "HingeCabinet"
|
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},
|
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|
| 459 |
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"cls": "PanelCabinet"
|
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},
|
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|
| 462 |
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|
| 463 |
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},
|
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|
| 465 |
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"cls": "HingeCabinet"
|
| 466 |
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},
|
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|
| 468 |
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"cls": "Drawer"
|
| 469 |
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},
|
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|
| 471 |
+
"cls": "Drawer"
|
| 472 |
+
},
|
| 473 |
+
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|
| 474 |
+
"cls": "CoffeeMachine"
|
| 475 |
+
},
|
| 476 |
+
"soap_dispenser_left_group": {
|
| 477 |
+
"cls": "Accessory"
|
| 478 |
+
},
|
| 479 |
+
"tiered_basket_left_group": {
|
| 480 |
+
"cls": "Accessory"
|
| 481 |
+
},
|
| 482 |
+
"island_island_group": {
|
| 483 |
+
"cls": "Counter"
|
| 484 |
+
},
|
| 485 |
+
"plant_island_group": {
|
| 486 |
+
"cls": "Accessory"
|
| 487 |
+
},
|
| 488 |
+
"fruit_bowl_island_group": {
|
| 489 |
+
"cls": "Accessory"
|
| 490 |
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},
|
| 491 |
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|
| 492 |
+
"cls": "Accessory"
|
| 493 |
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},
|
| 494 |
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"salt_shaker_island_group_auxiliary_island_group": {
|
| 495 |
+
"cls": "Accessory"
|
| 496 |
+
}
|
| 497 |
+
},
|
| 498 |
+
"gen_textures": {},
|
| 499 |
+
"lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
|
| 500 |
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| 501 |
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| 502 |
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| 503 |
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| 504 |
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}
|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000066/ep_meta.json
ADDED
|
@@ -0,0 +1,563 @@
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|
|
| 1 |
+
{
|
| 2 |
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"layout_id": 3,
|
| 3 |
+
"style_id": 3,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
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{
|
| 6 |
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"name": "obj1",
|
| 7 |
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|
| 8 |
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"condiment_bottle",
|
| 9 |
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"ketchup",
|
| 10 |
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|
| 11 |
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],
|
| 12 |
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"graspable": true,
|
| 13 |
+
"init_robot_here": true,
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_main_main_group",
|
| 16 |
+
"sample_region_kwargs": {
|
| 17 |
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"ref": "cab_1_main_group",
|
| 18 |
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"min_size": [
|
| 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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"size": [
|
| 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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-1
|
| 31 |
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]
|
| 32 |
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},
|
| 33 |
+
"type": "object",
|
| 34 |
+
"info": {
|
| 35 |
+
"groups_containing_sampled_obj": [
|
| 36 |
+
"all",
|
| 37 |
+
"ketchup",
|
| 38 |
+
"condiment"
|
| 39 |
+
],
|
| 40 |
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"groups": [
|
| 41 |
+
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|
| 42 |
+
"ketchup",
|
| 43 |
+
"syrup_bottle"
|
| 44 |
+
],
|
| 45 |
+
"cat": "ketchup",
|
| 46 |
+
"split": "test",
|
| 47 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_4/model.xml"
|
| 48 |
+
},
|
| 49 |
+
"reset_region": {
|
| 50 |
+
"size": [
|
| 51 |
+
1.0,
|
| 52 |
+
0.65
|
| 53 |
+
],
|
| 54 |
+
"offset": [
|
| 55 |
+
-1.0,
|
| 56 |
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-3.469446951953614e-17,
|
| 57 |
+
0.46
|
| 58 |
+
],
|
| 59 |
+
"name": "geom_0"
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"name": "obj2",
|
| 64 |
+
"obj_groups": "shaker",
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
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| 503 |
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| 504 |
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| 563 |
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}
|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000080/ep_meta.json
ADDED
|
@@ -0,0 +1,679 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 9,
|
| 3 |
+
"style_id": 9,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "obj1",
|
| 7 |
+
"obj_groups": [
|
| 8 |
+
"condiment_bottle",
|
| 9 |
+
"ketchup",
|
| 10 |
+
"syrup_bottle"
|
| 11 |
+
],
|
| 12 |
+
"graspable": true,
|
| 13 |
+
"init_robot_here": true,
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_main_main_group",
|
| 16 |
+
"sample_region_kwargs": {
|
| 17 |
+
"ref": "cab_2_main_group",
|
| 18 |
+
"min_size": [
|
| 19 |
+
0.15001146029999998,
|
| 20 |
+
0.08088150029999999,
|
| 21 |
+
0.2038844649
|
| 22 |
+
]
|
| 23 |
+
},
|
| 24 |
+
"size": [
|
| 25 |
+
0.5,
|
| 26 |
+
0.2
|
| 27 |
+
],
|
| 28 |
+
"pos": [
|
| 29 |
+
"ref",
|
| 30 |
+
-1
|
| 31 |
+
]
|
| 32 |
+
},
|
| 33 |
+
"type": "object",
|
| 34 |
+
"info": {
|
| 35 |
+
"groups_containing_sampled_obj": [
|
| 36 |
+
"all",
|
| 37 |
+
"syrup_bottle",
|
| 38 |
+
"condiment"
|
| 39 |
+
],
|
| 40 |
+
"groups": [
|
| 41 |
+
"condiment_bottle",
|
| 42 |
+
"ketchup",
|
| 43 |
+
"syrup_bottle"
|
| 44 |
+
],
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| 45 |
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"stack_1_left_group_3": {
|
| 480 |
+
"cls": "Drawer"
|
| 481 |
+
},
|
| 482 |
+
"stack_2_left_group_base": {
|
| 483 |
+
"cls": "Box"
|
| 484 |
+
},
|
| 485 |
+
"stack_2_left_group_1": {
|
| 486 |
+
"cls": "HingeCabinet"
|
| 487 |
+
},
|
| 488 |
+
"dishwasher_left_group": {
|
| 489 |
+
"cls": "Dishwasher"
|
| 490 |
+
},
|
| 491 |
+
"stack_3_left_group_base": {
|
| 492 |
+
"cls": "Box"
|
| 493 |
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},
|
| 494 |
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"stack_3_left_group_1": {
|
| 495 |
+
"cls": "SingleCabinet"
|
| 496 |
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},
|
| 497 |
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"cab_1_left_group": {
|
| 498 |
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"cls": "HingeCabinet"
|
| 499 |
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},
|
| 500 |
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"cab_2_left_group": {
|
| 501 |
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"cls": "SingleCabinet"
|
| 502 |
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},
|
| 503 |
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"plant_left_group": {
|
| 504 |
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"cls": "Accessory"
|
| 505 |
+
},
|
| 506 |
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"soap_dispenser_left_group": {
|
| 507 |
+
"cls": "Accessory"
|
| 508 |
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},
|
| 509 |
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"fruit_bowl_left_group": {
|
| 510 |
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"cls": "Accessory"
|
| 511 |
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},
|
| 512 |
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"stack_left_right_group_base": {
|
| 513 |
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"cls": "Box"
|
| 514 |
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},
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| 515 |
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"stack_left_right_group_1": {
|
| 516 |
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"cls": "SingleCabinet"
|
| 517 |
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},
|
| 518 |
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"stack_left_right_group_2": {
|
| 519 |
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"cls": "SingleCabinet"
|
| 520 |
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},
|
| 521 |
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"fridge_right_group": {
|
| 522 |
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"cls": "FridgeSideBySide"
|
| 523 |
+
},
|
| 524 |
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"fridge_housing_right_group": {
|
| 525 |
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"cls": "HousingCabinet"
|
| 526 |
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},
|
| 527 |
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"fridge_top_right_group": {
|
| 528 |
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"cls": "HingeCabinet"
|
| 529 |
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},
|
| 530 |
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"stack_right_right_group_base": {
|
| 531 |
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"cls": "Box"
|
| 532 |
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},
|
| 533 |
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"stack_right_right_group_1": {
|
| 534 |
+
"cls": "SingleCabinet"
|
| 535 |
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},
|
| 536 |
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"stack_right_right_group_2": {
|
| 537 |
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"cls": "SingleCabinet"
|
| 538 |
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},
|
| 539 |
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"cab_top_corner_right_group": {
|
| 540 |
+
"cls": "Box"
|
| 541 |
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},
|
| 542 |
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"bottom_corner_right_group": {
|
| 543 |
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"cls": "Box"
|
| 544 |
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},
|
| 545 |
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"bottom_right_group_base": {
|
| 546 |
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"cls": "Box"
|
| 547 |
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},
|
| 548 |
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"bottom_right_group_1": {
|
| 549 |
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"cls": "Drawer"
|
| 550 |
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},
|
| 551 |
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"bottom_right_group_2": {
|
| 552 |
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"cls": "Drawer"
|
| 553 |
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},
|
| 554 |
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"oven_right_group": {
|
| 555 |
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"cls": "Oven"
|
| 556 |
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},
|
| 557 |
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"oven_housing_right_group": {
|
| 558 |
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"cls": "HousingCabinet"
|
| 559 |
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},
|
| 560 |
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"microwave_right_group": {
|
| 561 |
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"cls": "Microwave"
|
| 562 |
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},
|
| 563 |
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"micro_housing_right_group": {
|
| 564 |
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"cls": "HousingCabinet"
|
| 565 |
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},
|
| 566 |
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"top_right_group": {
|
| 567 |
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"cls": "HingeCabinet"
|
| 568 |
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},
|
| 569 |
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"side_bottom_right_group_base": {
|
| 570 |
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"cls": "Box"
|
| 571 |
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},
|
| 572 |
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"side_bottom_right_group_1": {
|
| 573 |
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"cls": "Drawer"
|
| 574 |
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},
|
| 575 |
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"side_bottom_right_group_2": {
|
| 576 |
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"cls": "Drawer"
|
| 577 |
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},
|
| 578 |
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"side_bottom_right_group_3": {
|
| 579 |
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"cls": "HingeCabinet"
|
| 580 |
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}
|
| 581 |
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},
|
| 582 |
+
"gen_textures": {},
|
| 583 |
+
"lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
|
| 584 |
+
"fixture_refs": {
|
| 585 |
+
"cab": "cab_2_main_group",
|
| 586 |
+
"counter": "counter_main_main_group"
|
| 587 |
+
},
|
| 588 |
+
"cam_configs": {
|
| 589 |
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"robot0_agentview_center": {
|
| 590 |
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"pos": [
|
| 591 |
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|
| 592 |
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|
| 593 |
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|
| 594 |
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],
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| 595 |
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"quat": [
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| 596 |
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|
| 597 |
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| 598 |
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|
| 599 |
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|
| 600 |
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],
|
| 601 |
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|
| 602 |
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|
| 603 |
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|
| 604 |
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"pos": [
|
| 605 |
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|
| 606 |
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|
| 607 |
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|
| 608 |
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],
|
| 609 |
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| 610 |
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|
| 611 |
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|
| 612 |
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|
| 613 |
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|
| 614 |
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|
| 615 |
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|
| 616 |
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|
| 617 |
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},
|
| 618 |
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"parent_body": "mobilebase0_support"
|
| 619 |
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|
| 620 |
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|
| 621 |
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"pos": [
|
| 622 |
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|
| 623 |
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|
| 624 |
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|
| 625 |
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],
|
| 626 |
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| 627 |
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|
| 630 |
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|
| 631 |
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| 632 |
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|
| 633 |
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|
| 634 |
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},
|
| 635 |
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"parent_body": "mobilebase0_support"
|
| 636 |
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},
|
| 637 |
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"robot0_frontview": {
|
| 638 |
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"pos": [
|
| 639 |
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|
| 640 |
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|
| 641 |
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|
| 642 |
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],
|
| 643 |
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"quat": [
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| 644 |
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|
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|
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],
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| 649 |
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|
| 650 |
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|
| 651 |
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},
|
| 652 |
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"parent_body": "mobilebase0_support"
|
| 653 |
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},
|
| 654 |
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"robot0_eye_in_hand": {
|
| 655 |
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"pos": [
|
| 656 |
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|
| 657 |
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|
| 658 |
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|
| 659 |
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],
|
| 660 |
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| 661 |
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|
| 662 |
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|
| 663 |
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|
| 664 |
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|
| 665 |
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],
|
| 666 |
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"parent_body": "robot0_right_hand"
|
| 667 |
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}
|
| 668 |
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},
|
| 669 |
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"init_robot_base_pos": [
|
| 670 |
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|
| 671 |
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|
| 672 |
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| 673 |
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],
|
| 674 |
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"init_robot_base_ori": [
|
| 675 |
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|
| 676 |
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|
| 677 |
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|
| 678 |
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]
|
| 679 |
+
}
|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000083/ep_meta.json
ADDED
|
@@ -0,0 +1,563 @@
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| 1 |
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| 2 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 13 |
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| 14 |
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| 15 |
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| 36 |
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|
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|
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|
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|
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|
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|
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|
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|
| 374 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 383 |
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|
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|
| 385 |
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|
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|
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|
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|
| 391 |
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|
| 392 |
+
},
|
| 393 |
+
"stack_2_right_group_2": {
|
| 394 |
+
"cls": "Drawer"
|
| 395 |
+
},
|
| 396 |
+
"stack_2_right_group_3": {
|
| 397 |
+
"cls": "Drawer"
|
| 398 |
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},
|
| 399 |
+
"stack_3_right_group_base": {
|
| 400 |
+
"cls": "Box"
|
| 401 |
+
},
|
| 402 |
+
"stack_3_right_group_1": {
|
| 403 |
+
"cls": "Drawer"
|
| 404 |
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},
|
| 405 |
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"stack_3_right_group_2": {
|
| 406 |
+
"cls": "Drawer"
|
| 407 |
+
},
|
| 408 |
+
"stack_3_right_group_3": {
|
| 409 |
+
"cls": "Drawer"
|
| 410 |
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},
|
| 411 |
+
"stack_3_right_group_4": {
|
| 412 |
+
"cls": "Drawer"
|
| 413 |
+
},
|
| 414 |
+
"cab_1_right_group": {
|
| 415 |
+
"cls": "SingleCabinet"
|
| 416 |
+
},
|
| 417 |
+
"microwave_right_group": {
|
| 418 |
+
"cls": "Microwave"
|
| 419 |
+
},
|
| 420 |
+
"cab_micro_right_group": {
|
| 421 |
+
"cls": "HingeCabinet"
|
| 422 |
+
},
|
| 423 |
+
"cab_2_right_group": {
|
| 424 |
+
"cls": "SingleCabinet"
|
| 425 |
+
},
|
| 426 |
+
"shelves_right_group": {
|
| 427 |
+
"cls": "OpenCabinet"
|
| 428 |
+
},
|
| 429 |
+
"cab_3_right_group": {
|
| 430 |
+
"cls": "HingeCabinet"
|
| 431 |
+
},
|
| 432 |
+
"toaster_right_group": {
|
| 433 |
+
"cls": "Toaster"
|
| 434 |
+
},
|
| 435 |
+
"coffee_machine_right_group": {
|
| 436 |
+
"cls": "CoffeeMachine"
|
| 437 |
+
},
|
| 438 |
+
"oil_bottle_right_group": {
|
| 439 |
+
"cls": "Accessory"
|
| 440 |
+
},
|
| 441 |
+
"tiered_basket_right_group": {
|
| 442 |
+
"cls": "Accessory"
|
| 443 |
+
},
|
| 444 |
+
"jar_right_group": {
|
| 445 |
+
"cls": "Accessory"
|
| 446 |
+
},
|
| 447 |
+
"salt_shaker_right_group": {
|
| 448 |
+
"cls": "Accessory"
|
| 449 |
+
},
|
| 450 |
+
"paprika_right_group": {
|
| 451 |
+
"cls": "Accessory"
|
| 452 |
+
},
|
| 453 |
+
"turmeric_right_group": {
|
| 454 |
+
"cls": "Accessory"
|
| 455 |
+
},
|
| 456 |
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"oil_bottle_right_group_auxiliary_right_group": {
|
| 457 |
+
"cls": "Accessory"
|
| 458 |
+
},
|
| 459 |
+
"jar_right_group_auxiliary_right_group": {
|
| 460 |
+
"cls": "Accessory"
|
| 461 |
+
},
|
| 462 |
+
"salt_shaker_right_group_auxiliary_right_group": {
|
| 463 |
+
"cls": "Accessory"
|
| 464 |
+
}
|
| 465 |
+
},
|
| 466 |
+
"gen_textures": {},
|
| 467 |
+
"lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
|
| 468 |
+
"fixture_refs": {
|
| 469 |
+
"cab": "cab_2_right_group",
|
| 470 |
+
"counter": "counter_2_right_group"
|
| 471 |
+
},
|
| 472 |
+
"cam_configs": {
|
| 473 |
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"robot0_agentview_center": {
|
| 474 |
+
"pos": [
|
| 475 |
+
-0.6,
|
| 476 |
+
0.0,
|
| 477 |
+
1.15
|
| 478 |
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],
|
| 479 |
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"quat": [
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| 480 |
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|
| 481 |
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|
| 482 |
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|
| 483 |
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|
| 484 |
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],
|
| 485 |
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"parent_body": "mobilebase0_support"
|
| 486 |
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},
|
| 487 |
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"robot0_agentview_left": {
|
| 488 |
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"pos": [
|
| 489 |
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-0.5,
|
| 490 |
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0.35,
|
| 491 |
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|
| 492 |
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],
|
| 493 |
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"quat": [
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| 494 |
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|
| 495 |
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|
| 496 |
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|
| 497 |
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|
| 498 |
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],
|
| 499 |
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"camera_attribs": {
|
| 500 |
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"fovy": "60"
|
| 501 |
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},
|
| 502 |
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"parent_body": "mobilebase0_support"
|
| 503 |
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},
|
| 504 |
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"robot0_agentview_right": {
|
| 505 |
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"pos": [
|
| 506 |
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-0.5,
|
| 507 |
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|
| 508 |
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|
| 509 |
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],
|
| 510 |
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"quat": [
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| 511 |
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|
| 512 |
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|
| 513 |
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|
| 514 |
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|
| 515 |
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],
|
| 516 |
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"camera_attribs": {
|
| 517 |
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"fovy": "60"
|
| 518 |
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},
|
| 519 |
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"parent_body": "mobilebase0_support"
|
| 520 |
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},
|
| 521 |
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"robot0_frontview": {
|
| 522 |
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"pos": [
|
| 523 |
+
-0.5,
|
| 524 |
+
0,
|
| 525 |
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0.95
|
| 526 |
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],
|
| 527 |
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"quat": [
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| 528 |
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|
| 529 |
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|
| 530 |
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|
| 531 |
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|
| 532 |
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],
|
| 533 |
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"camera_attribs": {
|
| 534 |
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"fovy": "60"
|
| 535 |
+
},
|
| 536 |
+
"parent_body": "mobilebase0_support"
|
| 537 |
+
},
|
| 538 |
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"robot0_eye_in_hand": {
|
| 539 |
+
"pos": [
|
| 540 |
+
0.05,
|
| 541 |
+
0,
|
| 542 |
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0
|
| 543 |
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],
|
| 544 |
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"quat": [
|
| 545 |
+
0,
|
| 546 |
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0.707107,
|
| 547 |
+
0.707107,
|
| 548 |
+
0
|
| 549 |
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],
|
| 550 |
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"parent_body": "robot0_right_hand"
|
| 551 |
+
}
|
| 552 |
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},
|
| 553 |
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"init_robot_base_pos": [
|
| 554 |
+
4.383374912467085,
|
| 555 |
+
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|
| 556 |
+
0.0
|
| 557 |
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],
|
| 558 |
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"init_robot_base_ori": [
|
| 559 |
+
0.0,
|
| 560 |
+
0.0,
|
| 561 |
+
-3.673205103416066e-06
|
| 562 |
+
]
|
| 563 |
+
}
|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000086/ep_meta.json
ADDED
|
@@ -0,0 +1,684 @@
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},
|
| 370 |
+
"stack_1_main_group_1": {
|
| 371 |
+
"cls": "HingeCabinet"
|
| 372 |
+
},
|
| 373 |
+
"stack_1_main_group_2": {
|
| 374 |
+
"cls": "Drawer"
|
| 375 |
+
},
|
| 376 |
+
"stack_1_main_group_3": {
|
| 377 |
+
"cls": "Drawer"
|
| 378 |
+
},
|
| 379 |
+
"stack_2_main_group_base": {
|
| 380 |
+
"cls": "Box"
|
| 381 |
+
},
|
| 382 |
+
"stack_2_main_group_1": {
|
| 383 |
+
"cls": "HingeCabinet"
|
| 384 |
+
},
|
| 385 |
+
"stack_2_main_group_2": {
|
| 386 |
+
"cls": "Drawer"
|
| 387 |
+
},
|
| 388 |
+
"stack_2_main_group_3": {
|
| 389 |
+
"cls": "Drawer"
|
| 390 |
+
},
|
| 391 |
+
"right_corner_box_main_group": {
|
| 392 |
+
"cls": "Box"
|
| 393 |
+
},
|
| 394 |
+
"stack_3_main_group_base": {
|
| 395 |
+
"cls": "Box"
|
| 396 |
+
},
|
| 397 |
+
"stack_3_main_group_1": {
|
| 398 |
+
"cls": "HingeCabinet"
|
| 399 |
+
},
|
| 400 |
+
"stack_3_main_group_2": {
|
| 401 |
+
"cls": "Drawer"
|
| 402 |
+
},
|
| 403 |
+
"stack_3_main_group_3": {
|
| 404 |
+
"cls": "Drawer"
|
| 405 |
+
},
|
| 406 |
+
"stack_4_main_group_base": {
|
| 407 |
+
"cls": "Box"
|
| 408 |
+
},
|
| 409 |
+
"stack_4_main_group_1": {
|
| 410 |
+
"cls": "Drawer"
|
| 411 |
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},
|
| 412 |
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"stack_4_main_group_2": {
|
| 413 |
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"cls": "Drawer"
|
| 414 |
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},
|
| 415 |
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"stack_4_main_group_3": {
|
| 416 |
+
"cls": "Drawer"
|
| 417 |
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},
|
| 418 |
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"stack_4_main_group_4": {
|
| 419 |
+
"cls": "Drawer"
|
| 420 |
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},
|
| 421 |
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"coffee_machine_main_group": {
|
| 422 |
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"cls": "CoffeeMachine"
|
| 423 |
+
},
|
| 424 |
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"knife_block_main_group": {
|
| 425 |
+
"cls": "Accessory"
|
| 426 |
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},
|
| 427 |
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"plant_main_group": {
|
| 428 |
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"cls": "Accessory"
|
| 429 |
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},
|
| 430 |
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"toaster_main_group": {
|
| 431 |
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"cls": "Toaster"
|
| 432 |
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},
|
| 433 |
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"toaster_oven_main_group": {
|
| 434 |
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"cls": "ToasterOven"
|
| 435 |
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},
|
| 436 |
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"tiered_basket_main_group": {
|
| 437 |
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"cls": "Accessory"
|
| 438 |
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},
|
| 439 |
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"jar_main_group": {
|
| 440 |
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"cls": "Accessory"
|
| 441 |
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},
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| 442 |
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"paprika_main_group": {
|
| 443 |
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"cls": "Accessory"
|
| 444 |
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},
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| 445 |
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"cinnamon_main_group": {
|
| 446 |
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"cls": "Accessory"
|
| 447 |
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},
|
| 448 |
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"turmeric_main_group": {
|
| 449 |
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"cls": "Accessory"
|
| 450 |
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},
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| 451 |
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"salt_shaker_main_group": {
|
| 452 |
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"cls": "Accessory"
|
| 453 |
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},
|
| 454 |
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"jar_main_group_auxiliary_main_group": {
|
| 455 |
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"cls": "Accessory"
|
| 456 |
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},
|
| 457 |
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"salt_shaker_main_group_auxiliary_main_group": {
|
| 458 |
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"cls": "Accessory"
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| 459 |
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},
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| 460 |
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"fridge_left_group": {
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| 461 |
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"cls": "FridgeFrenchDoor"
|
| 462 |
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},
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| 463 |
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"fridge_housing_left_group": {
|
| 464 |
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"cls": "HousingCabinet"
|
| 465 |
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},
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| 466 |
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|
| 467 |
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"cls": "HingeCabinet"
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| 468 |
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},
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| 469 |
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"stack_left_left_group_base": {
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| 470 |
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"cls": "Box"
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| 471 |
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},
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| 472 |
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"stack_left_left_group_1": {
|
| 473 |
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"cls": "SingleCabinet"
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| 474 |
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},
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| 475 |
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"stack_left_left_group_2": {
|
| 476 |
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"cls": "SingleCabinet"
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| 477 |
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},
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| 478 |
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"stack_right_left_group_base": {
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| 479 |
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"cls": "Box"
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| 480 |
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},
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| 481 |
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"stack_right_left_group_1": {
|
| 482 |
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"cls": "SingleCabinet"
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| 483 |
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},
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| 484 |
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"stack_right_left_group_2": {
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| 485 |
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"cls": "SingleCabinet"
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| 486 |
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},
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| 487 |
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"box_left_top_left_group": {
|
| 488 |
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"cls": "Box"
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| 489 |
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},
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| 490 |
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"box_left_bottom_left_group": {
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| 491 |
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"cls": "Box"
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| 492 |
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},
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| 493 |
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"box_right_top_left_group": {
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| 494 |
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"cls": "Box"
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| 495 |
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},
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| 496 |
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"box_right_bottom_left_group": {
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| 497 |
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"cls": "Box"
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| 498 |
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},
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| 499 |
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|
| 500 |
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"cls": "Sink"
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| 501 |
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},
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| 502 |
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| 503 |
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"cls": "Counter"
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| 504 |
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},
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| 505 |
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|
| 506 |
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"cls": "Counter"
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| 507 |
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},
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| 508 |
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|
| 509 |
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"cls": "Box"
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| 510 |
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},
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| 511 |
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"stack_1_right_group_1": {
|
| 512 |
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"cls": "HingeCabinet"
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| 513 |
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},
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| 514 |
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"stack_1_right_group_2": {
|
| 515 |
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"cls": "PanelCabinet"
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| 516 |
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},
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| 517 |
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| 518 |
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"cls": "Dishwasher"
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| 519 |
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},
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| 520 |
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|
| 521 |
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"cls": "Box"
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| 522 |
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},
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| 523 |
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|
| 524 |
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"cls": "SingleCabinet"
|
| 525 |
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},
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| 526 |
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"cab_1_right_group": {
|
| 527 |
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"cls": "HingeCabinet"
|
| 528 |
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},
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| 529 |
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"cab_2_right_group": {
|
| 530 |
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"cls": "SingleCabinet"
|
| 531 |
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},
|
| 532 |
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"soap_dispenser_right_group": {
|
| 533 |
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"cls": "Accessory"
|
| 534 |
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},
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| 535 |
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"counter_corner_1_front_group": {
|
| 536 |
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"cls": "Counter"
|
| 537 |
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},
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| 538 |
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"counter_1_front_group": {
|
| 539 |
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"cls": "Counter"
|
| 540 |
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},
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| 541 |
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"stack_1_front_group_base": {
|
| 542 |
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"cls": "Box"
|
| 543 |
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},
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| 544 |
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"stack_1_front_group_1": {
|
| 545 |
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"cls": "HingeCabinet"
|
| 546 |
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},
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| 547 |
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"stack_1_front_group_2": {
|
| 548 |
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"cls": "Drawer"
|
| 549 |
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},
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| 550 |
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"shelves_front_group": {
|
| 551 |
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"cls": "OpenCabinet"
|
| 552 |
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},
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| 553 |
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"bottom_front_group_base": {
|
| 554 |
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"cls": "Box"
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| 555 |
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},
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| 556 |
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"bottom_front_group_1": {
|
| 557 |
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"cls": "Drawer"
|
| 558 |
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},
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| 559 |
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"bottom_front_group_2": {
|
| 560 |
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"cls": "Drawer"
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| 561 |
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},
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| 562 |
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"cab_middle_front_group": {
|
| 563 |
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"cls": "HingeCabinet"
|
| 564 |
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},
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| 565 |
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"microwave_front_group": {
|
| 566 |
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"cls": "Microwave"
|
| 567 |
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},
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| 568 |
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"micro_housing_front_group": {
|
| 569 |
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"cls": "HousingCabinet"
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| 570 |
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},
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| 571 |
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"top_front_group": {
|
| 572 |
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"cls": "HingeCabinet"
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| 573 |
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},
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| 574 |
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"utensil_set_front_group": {
|
| 575 |
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"cls": "Accessory"
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| 576 |
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},
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| 577 |
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"counter_1_dining_area_group": {
|
| 578 |
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"cls": "Counter"
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| 579 |
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},
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| 580 |
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"paper_towel_dining_area_group": {
|
| 581 |
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"cls": "Accessory"
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| 582 |
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},
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| 583 |
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"fruit_bowl_dining_area_group": {
|
| 584 |
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"cls": "Accessory"
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| 585 |
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}
|
| 586 |
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},
|
| 587 |
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"gen_textures": {},
|
| 588 |
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"lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
|
| 589 |
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"fixture_refs": {
|
| 590 |
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"cab": "shelves_main_group",
|
| 591 |
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"counter": "counter_1_main_group"
|
| 592 |
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},
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| 593 |
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"cam_configs": {
|
| 594 |
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"robot0_agentview_center": {
|
| 595 |
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"pos": [
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| 596 |
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-0.6,
|
| 597 |
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0.0,
|
| 598 |
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| 599 |
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],
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| 601 |
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],
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"parent_body": "mobilebase0_support"
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| 607 |
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|
| 609 |
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"pos": [
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|
| 660 |
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|
| 672 |
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},
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|
| 675 |
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|
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|
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"init_robot_base_ori": [
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| 680 |
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|
| 683 |
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]
|
| 684 |
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}
|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000138/ep_meta.json
ADDED
|
@@ -0,0 +1,584 @@
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
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|
|
|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
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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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| 11 |
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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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| 36 |
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| 41 |
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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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| 265 |
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"cls": "Wall"
|
| 266 |
+
},
|
| 267 |
+
"wall_left_backing_room": {
|
| 268 |
+
"cls": "Wall"
|
| 269 |
+
},
|
| 270 |
+
"wall_right_room": {
|
| 271 |
+
"cls": "Wall"
|
| 272 |
+
},
|
| 273 |
+
"wall_right_backing_room": {
|
| 274 |
+
"cls": "Wall"
|
| 275 |
+
},
|
| 276 |
+
"outlet_room": {
|
| 277 |
+
"cls": "WallAccessory"
|
| 278 |
+
},
|
| 279 |
+
"outlet_2_room": {
|
| 280 |
+
"cls": "WallAccessory"
|
| 281 |
+
},
|
| 282 |
+
"outlet_3_room": {
|
| 283 |
+
"cls": "WallAccessory"
|
| 284 |
+
},
|
| 285 |
+
"untensil_rack_room": {
|
| 286 |
+
"cls": "WallAccessory"
|
| 287 |
+
},
|
| 288 |
+
"light_switch_room": {
|
| 289 |
+
"cls": "WallAccessory"
|
| 290 |
+
},
|
| 291 |
+
"light_switch_2_room": {
|
| 292 |
+
"cls": "WallAccessory"
|
| 293 |
+
},
|
| 294 |
+
"window_group_room": {
|
| 295 |
+
"cls": "Window"
|
| 296 |
+
},
|
| 297 |
+
"floor_room": {
|
| 298 |
+
"cls": "Floor"
|
| 299 |
+
},
|
| 300 |
+
"floor_backing_room": {
|
| 301 |
+
"cls": "Floor"
|
| 302 |
+
},
|
| 303 |
+
"sink_left_group": {
|
| 304 |
+
"cls": "Sink"
|
| 305 |
+
},
|
| 306 |
+
"counter_left_group": {
|
| 307 |
+
"cls": "Counter"
|
| 308 |
+
},
|
| 309 |
+
"fridge_left_group": {
|
| 310 |
+
"cls": "FridgeBottomFreezer"
|
| 311 |
+
},
|
| 312 |
+
"cab_1_left_group": {
|
| 313 |
+
"cls": "HingeCabinet"
|
| 314 |
+
},
|
| 315 |
+
"cab_2_left_group": {
|
| 316 |
+
"cls": "OpenCabinet"
|
| 317 |
+
},
|
| 318 |
+
"stack_1_left_group_base": {
|
| 319 |
+
"cls": "Box"
|
| 320 |
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},
|
| 321 |
+
"stack_1_left_group_1": {
|
| 322 |
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"cls": "Drawer"
|
| 323 |
+
},
|
| 324 |
+
"stack_1_left_group_2": {
|
| 325 |
+
"cls": "Drawer"
|
| 326 |
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},
|
| 327 |
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"stack_1_left_group_3": {
|
| 328 |
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"cls": "Drawer"
|
| 329 |
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},
|
| 330 |
+
"stack_1_left_group_4": {
|
| 331 |
+
"cls": "Drawer"
|
| 332 |
+
},
|
| 333 |
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"stack_2_left_group_base": {
|
| 334 |
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"cls": "Box"
|
| 335 |
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},
|
| 336 |
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"stack_2_left_group_1": {
|
| 337 |
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"cls": "HingeCabinet"
|
| 338 |
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},
|
| 339 |
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"stack_2_left_group_2": {
|
| 340 |
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"cls": "Drawer"
|
| 341 |
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},
|
| 342 |
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"stack_2_left_group_3": {
|
| 343 |
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"cls": "Drawer"
|
| 344 |
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},
|
| 345 |
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"dishwasher_left_group": {
|
| 346 |
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"cls": "Dishwasher"
|
| 347 |
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},
|
| 348 |
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"stack_3_left_group_base": {
|
| 349 |
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"cls": "Box"
|
| 350 |
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},
|
| 351 |
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"stack_3_left_group_1": {
|
| 352 |
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"cls": "HingeCabinet"
|
| 353 |
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},
|
| 354 |
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"stack_3_left_group_2": {
|
| 355 |
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"cls": "PanelCabinet"
|
| 356 |
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},
|
| 357 |
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"stack_4_left_group_base": {
|
| 358 |
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"cls": "Box"
|
| 359 |
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},
|
| 360 |
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"stack_4_left_group_1": {
|
| 361 |
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"cls": "SingleCabinet"
|
| 362 |
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},
|
| 363 |
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"stack_4_left_group_2": {
|
| 364 |
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"cls": "Drawer"
|
| 365 |
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},
|
| 366 |
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"flower_vase_left_group": {
|
| 367 |
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"cls": "Accessory"
|
| 368 |
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},
|
| 369 |
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"soap_dispenser_left_group": {
|
| 370 |
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"cls": "Accessory"
|
| 371 |
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},
|
| 372 |
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"knife_block_left_group": {
|
| 373 |
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"cls": "Accessory"
|
| 374 |
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},
|
| 375 |
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"paprika_left_group": {
|
| 376 |
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"cls": "Accessory"
|
| 377 |
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},
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| 378 |
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"cinnamon_left_group": {
|
| 379 |
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"cls": "Accessory"
|
| 380 |
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},
|
| 381 |
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"turmeric_left_group": {
|
| 382 |
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"cls": "Accessory"
|
| 383 |
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},
|
| 384 |
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"glass_cup_left_group": {
|
| 385 |
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"cls": "Accessory"
|
| 386 |
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},
|
| 387 |
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"digital_scale_left_group": {
|
| 388 |
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"cls": "Accessory"
|
| 389 |
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},
|
| 390 |
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"paper_towel_left_group": {
|
| 391 |
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"cls": "Accessory"
|
| 392 |
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},
|
| 393 |
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"counter_main_main_group": {
|
| 394 |
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"cls": "Counter"
|
| 395 |
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},
|
| 396 |
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"stove_main_group": {
|
| 397 |
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"cls": "Stove"
|
| 398 |
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},
|
| 399 |
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"counter_right_main_group": {
|
| 400 |
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"cls": "Counter"
|
| 401 |
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},
|
| 402 |
+
"cab_main_main_group": {
|
| 403 |
+
"cls": "HingeCabinet"
|
| 404 |
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},
|
| 405 |
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"cab_1_main_group": {
|
| 406 |
+
"cls": "HingeCabinet"
|
| 407 |
+
},
|
| 408 |
+
"microwave_main_group": {
|
| 409 |
+
"cls": "Microwave"
|
| 410 |
+
},
|
| 411 |
+
"cab_micro_main_group": {
|
| 412 |
+
"cls": "HingeCabinet"
|
| 413 |
+
},
|
| 414 |
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"cab_2_main_group": {
|
| 415 |
+
"cls": "HingeCabinet"
|
| 416 |
+
},
|
| 417 |
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"cab_3_main_group": {
|
| 418 |
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"cls": "HingeCabinet"
|
| 419 |
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},
|
| 420 |
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"stack_1_main_group_base": {
|
| 421 |
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"cls": "Box"
|
| 422 |
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},
|
| 423 |
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"stack_1_main_group_1": {
|
| 424 |
+
"cls": "HingeCabinet"
|
| 425 |
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},
|
| 426 |
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"stack_1_main_group_2": {
|
| 427 |
+
"cls": "Drawer"
|
| 428 |
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},
|
| 429 |
+
"stack_1_main_group_3": {
|
| 430 |
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"cls": "Drawer"
|
| 431 |
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},
|
| 432 |
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"stack_2_main_group_base": {
|
| 433 |
+
"cls": "Box"
|
| 434 |
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},
|
| 435 |
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"stack_2_main_group_1": {
|
| 436 |
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"cls": "Drawer"
|
| 437 |
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},
|
| 438 |
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"stack_2_main_group_2": {
|
| 439 |
+
"cls": "Drawer"
|
| 440 |
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},
|
| 441 |
+
"stack_2_main_group_3": {
|
| 442 |
+
"cls": "Drawer"
|
| 443 |
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},
|
| 444 |
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"stack_2_main_group_4": {
|
| 445 |
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"cls": "Drawer"
|
| 446 |
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},
|
| 447 |
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"stack_3_main_group_base": {
|
| 448 |
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"cls": "Box"
|
| 449 |
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},
|
| 450 |
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"stack_3_main_group_1": {
|
| 451 |
+
"cls": "HingeCabinet"
|
| 452 |
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},
|
| 453 |
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"stack_3_main_group_2": {
|
| 454 |
+
"cls": "Drawer"
|
| 455 |
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},
|
| 456 |
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"stack_3_main_group_3": {
|
| 457 |
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"cls": "Drawer"
|
| 458 |
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},
|
| 459 |
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"stack_4_main_group_base": {
|
| 460 |
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"cls": "Box"
|
| 461 |
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},
|
| 462 |
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"stack_4_main_group_1": {
|
| 463 |
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"cls": "HingeCabinet"
|
| 464 |
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},
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| 465 |
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"stack_4_main_group_2": {
|
| 466 |
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"cls": "Drawer"
|
| 467 |
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},
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| 468 |
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"stack_4_main_group_3": {
|
| 469 |
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"cls": "Drawer"
|
| 470 |
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},
|
| 471 |
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"coffee_machine_main_group": {
|
| 472 |
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"cls": "CoffeeMachine"
|
| 473 |
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},
|
| 474 |
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"utensil_set_main_group": {
|
| 475 |
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"cls": "Accessory"
|
| 476 |
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},
|
| 477 |
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"toaster_main_group": {
|
| 478 |
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"cls": "Toaster"
|
| 479 |
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},
|
| 480 |
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"toaster_oven_main_group": {
|
| 481 |
+
"cls": "ToasterOven"
|
| 482 |
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},
|
| 483 |
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"tiered_basket_main_group": {
|
| 484 |
+
"cls": "Accessory"
|
| 485 |
+
}
|
| 486 |
+
},
|
| 487 |
+
"gen_textures": {},
|
| 488 |
+
"lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
|
| 489 |
+
"fixture_refs": {
|
| 490 |
+
"cab": "cab_2_left_group",
|
| 491 |
+
"counter": "counter_left_group"
|
| 492 |
+
},
|
| 493 |
+
"cam_configs": {
|
| 494 |
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"robot0_agentview_center": {
|
| 495 |
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"pos": [
|
| 496 |
+
-0.6,
|
| 497 |
+
0.0,
|
| 498 |
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1.15
|
| 499 |
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],
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| 500 |
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"quat": [
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| 501 |
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],
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"parent_body": "mobilebase0_support"
|
| 507 |
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},
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"robot0_agentview_left": {
|
| 509 |
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"pos": [
|
| 510 |
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| 511 |
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|
| 512 |
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|
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],
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| 514 |
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| 515 |
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|
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| 518 |
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],
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| 521 |
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| 522 |
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},
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| 523 |
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"parent_body": "mobilebase0_support"
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| 524 |
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},
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| 525 |
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"robot0_agentview_right": {
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| 526 |
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"pos": [
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| 527 |
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| 528 |
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-0.35,
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| 529 |
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|
| 530 |
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],
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| 532 |
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],
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| 539 |
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},
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| 540 |
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"parent_body": "mobilebase0_support"
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| 541 |
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},
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| 542 |
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"robot0_frontview": {
|
| 543 |
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"pos": [
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| 544 |
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| 545 |
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| 546 |
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],
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],
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| 555 |
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| 556 |
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},
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| 557 |
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"parent_body": "mobilebase0_support"
|
| 558 |
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},
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| 559 |
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"robot0_eye_in_hand": {
|
| 560 |
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"pos": [
|
| 561 |
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|
| 562 |
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|
| 563 |
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|
| 564 |
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],
|
| 565 |
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"quat": [
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| 566 |
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|
| 567 |
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|
| 568 |
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0.707107,
|
| 569 |
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|
| 570 |
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],
|
| 571 |
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"parent_body": "robot0_right_hand"
|
| 572 |
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}
|
| 573 |
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},
|
| 574 |
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"init_robot_base_pos": [
|
| 575 |
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|
| 576 |
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|
| 577 |
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|
| 578 |
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],
|
| 579 |
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"init_robot_base_ori": [
|
| 580 |
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|
| 581 |
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|
| 582 |
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|
| 583 |
+
]
|
| 584 |
+
}
|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000169/ep_meta.json
ADDED
|
@@ -0,0 +1,608 @@
|
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|
|
|
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|
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|
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|
|
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|
|
|
|
|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
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|
| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 19 |
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| 20 |
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| 21 |
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| 23 |
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| 25 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 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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| 40 |
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| 41 |
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| 42 |
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| 44 |
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| 45 |
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| 64 |
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| 141 |
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| 142 |
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| 144 |
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| 146 |
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| 162 |
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| 163 |
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| 164 |
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| 205 |
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+
"name": "geom_0"
|
| 254 |
+
}
|
| 255 |
+
}
|
| 256 |
+
],
|
| 257 |
+
"fixtures": {
|
| 258 |
+
"wall_room": {
|
| 259 |
+
"cls": "Wall"
|
| 260 |
+
},
|
| 261 |
+
"wall_backing_room": {
|
| 262 |
+
"cls": "Wall"
|
| 263 |
+
},
|
| 264 |
+
"wall_left_room": {
|
| 265 |
+
"cls": "Wall"
|
| 266 |
+
},
|
| 267 |
+
"wall_left_backing_room": {
|
| 268 |
+
"cls": "Wall"
|
| 269 |
+
},
|
| 270 |
+
"wall_right_room": {
|
| 271 |
+
"cls": "Wall"
|
| 272 |
+
},
|
| 273 |
+
"wall_right_backing_room": {
|
| 274 |
+
"cls": "Wall"
|
| 275 |
+
},
|
| 276 |
+
"outlet_room": {
|
| 277 |
+
"cls": "WallAccessory"
|
| 278 |
+
},
|
| 279 |
+
"outlet_2_room": {
|
| 280 |
+
"cls": "WallAccessory"
|
| 281 |
+
},
|
| 282 |
+
"outlet_3_room": {
|
| 283 |
+
"cls": "WallAccessory"
|
| 284 |
+
},
|
| 285 |
+
"light_switch_room": {
|
| 286 |
+
"cls": "WallAccessory"
|
| 287 |
+
},
|
| 288 |
+
"light_switch_2_room": {
|
| 289 |
+
"cls": "WallAccessory"
|
| 290 |
+
},
|
| 291 |
+
"utensil_rack_room": {
|
| 292 |
+
"cls": "WallAccessory"
|
| 293 |
+
},
|
| 294 |
+
"window_group_room": {
|
| 295 |
+
"cls": "Window"
|
| 296 |
+
},
|
| 297 |
+
"floor_room": {
|
| 298 |
+
"cls": "Floor"
|
| 299 |
+
},
|
| 300 |
+
"floor_backing_room": {
|
| 301 |
+
"cls": "Floor"
|
| 302 |
+
},
|
| 303 |
+
"cab_main_main_group": {
|
| 304 |
+
"cls": "HingeCabinet"
|
| 305 |
+
},
|
| 306 |
+
"cab_corner_main_group": {
|
| 307 |
+
"cls": "Box"
|
| 308 |
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},
|
| 309 |
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"cab_corner_2_main_group": {
|
| 310 |
+
"cls": "Box"
|
| 311 |
+
},
|
| 312 |
+
"counter_corner_left_main_group": {
|
| 313 |
+
"cls": "Counter"
|
| 314 |
+
},
|
| 315 |
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"sink_main_group": {
|
| 316 |
+
"cls": "Sink"
|
| 317 |
+
},
|
| 318 |
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"counter_main_main_group": {
|
| 319 |
+
"cls": "Counter"
|
| 320 |
+
},
|
| 321 |
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"counter_corner_right_main_group": {
|
| 322 |
+
"cls": "Counter"
|
| 323 |
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},
|
| 324 |
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"stack_1_main_group_base": {
|
| 325 |
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"cls": "Box"
|
| 326 |
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},
|
| 327 |
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"stack_1_main_group_1": {
|
| 328 |
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"cls": "Drawer"
|
| 329 |
+
},
|
| 330 |
+
"stack_1_main_group_2": {
|
| 331 |
+
"cls": "Drawer"
|
| 332 |
+
},
|
| 333 |
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"stack_1_main_group_3": {
|
| 334 |
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"cls": "Drawer"
|
| 335 |
+
},
|
| 336 |
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"stack_1_main_group_4": {
|
| 337 |
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"cls": "Drawer"
|
| 338 |
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},
|
| 339 |
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"stack_2_main_group_base": {
|
| 340 |
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"cls": "Box"
|
| 341 |
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},
|
| 342 |
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"stack_2_main_group_1": {
|
| 343 |
+
"cls": "HingeCabinet"
|
| 344 |
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},
|
| 345 |
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"stack_2_main_group_2": {
|
| 346 |
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"cls": "PanelCabinet"
|
| 347 |
+
},
|
| 348 |
+
"dishwasher_main_group": {
|
| 349 |
+
"cls": "Dishwasher"
|
| 350 |
+
},
|
| 351 |
+
"stack_3_main_group_base": {
|
| 352 |
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"cls": "Box"
|
| 353 |
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},
|
| 354 |
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"stack_3_main_group_1": {
|
| 355 |
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"cls": "HingeCabinet"
|
| 356 |
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},
|
| 357 |
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"stack_3_main_group_2": {
|
| 358 |
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"cls": "Drawer"
|
| 359 |
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},
|
| 360 |
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"stack_3_main_group_3": {
|
| 361 |
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"cls": "Drawer"
|
| 362 |
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},
|
| 363 |
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"toaster_oven_main_group": {
|
| 364 |
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"cls": "ToasterOven"
|
| 365 |
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},
|
| 366 |
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"knife_block_main_group": {
|
| 367 |
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"cls": "Accessory"
|
| 368 |
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},
|
| 369 |
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"utensil_set_main_group": {
|
| 370 |
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"cls": "Accessory"
|
| 371 |
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},
|
| 372 |
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"tiered_basket_main_group": {
|
| 373 |
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"cls": "Accessory"
|
| 374 |
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},
|
| 375 |
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"paper_towel_main_group": {
|
| 376 |
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"cls": "Accessory"
|
| 377 |
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},
|
| 378 |
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"soap_dispenser_main_group": {
|
| 379 |
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"cls": "Accessory"
|
| 380 |
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},
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| 381 |
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"counter_1_right_group": {
|
| 382 |
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"cls": "Counter"
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| 383 |
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},
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| 384 |
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"stove_right_group": {
|
| 385 |
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"cls": "Stove"
|
| 386 |
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},
|
| 387 |
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"counter_2_right_group": {
|
| 388 |
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"cls": "Counter"
|
| 389 |
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},
|
| 390 |
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"fridge_right_group": {
|
| 391 |
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"cls": "FridgeFrenchDoor"
|
| 392 |
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},
|
| 393 |
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"fridge_housing_right_group": {
|
| 394 |
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"cls": "HousingCabinet"
|
| 395 |
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},
|
| 396 |
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"counter_corner_right_group": {
|
| 397 |
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"cls": "Counter"
|
| 398 |
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},
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| 399 |
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"stack_1_right_group_base": {
|
| 400 |
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"cls": "Box"
|
| 401 |
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},
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| 402 |
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"stack_1_right_group_1": {
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| 403 |
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"cls": "SingleCabinet"
|
| 404 |
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},
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| 405 |
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"stack_1_right_group_2": {
|
| 406 |
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"cls": "Drawer"
|
| 407 |
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},
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| 408 |
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"stack_2_right_group_base": {
|
| 409 |
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"cls": "Box"
|
| 410 |
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},
|
| 411 |
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"stack_2_right_group_1": {
|
| 412 |
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"cls": "SingleCabinet"
|
| 413 |
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},
|
| 414 |
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"stack_2_right_group_2": {
|
| 415 |
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"cls": "Drawer"
|
| 416 |
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},
|
| 417 |
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"cab_1_right_group": {
|
| 418 |
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"cls": "SingleCabinet"
|
| 419 |
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},
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| 420 |
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"microwave_right_group": {
|
| 421 |
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"cls": "Microwave"
|
| 422 |
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},
|
| 423 |
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"cab_micro_right_group": {
|
| 424 |
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"cls": "HingeCabinet"
|
| 425 |
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},
|
| 426 |
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"cab_2_right_group": {
|
| 427 |
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"cls": "SingleCabinet"
|
| 428 |
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},
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| 429 |
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"cab_3_right_group": {
|
| 430 |
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"cls": "HingeCabinet"
|
| 431 |
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},
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| 432 |
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"toaster_right_group": {
|
| 433 |
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"cls": "Toaster"
|
| 434 |
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},
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| 435 |
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"counter_1_left_group": {
|
| 436 |
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"cls": "Counter"
|
| 437 |
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},
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| 438 |
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"counter_corner_left_group": {
|
| 439 |
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"cls": "Counter"
|
| 440 |
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},
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| 441 |
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"stack_1_left_group_base": {
|
| 442 |
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"cls": "Box"
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| 443 |
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},
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| 444 |
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"stack_1_left_group_1": {
|
| 445 |
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"cls": "Drawer"
|
| 446 |
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},
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| 447 |
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"stack_1_left_group_2": {
|
| 448 |
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"cls": "Drawer"
|
| 449 |
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},
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| 450 |
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"stack_1_left_group_3": {
|
| 451 |
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"cls": "Drawer"
|
| 452 |
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},
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| 453 |
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"stack_1_left_group_4": {
|
| 454 |
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"cls": "Drawer"
|
| 455 |
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},
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| 456 |
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"stack_2_left_group_base": {
|
| 457 |
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"cls": "Box"
|
| 458 |
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},
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| 459 |
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"stack_2_left_group_1": {
|
| 460 |
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"cls": "HingeCabinet"
|
| 461 |
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},
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| 462 |
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"stack_2_left_group_2": {
|
| 463 |
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"cls": "Drawer"
|
| 464 |
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},
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| 465 |
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"stack_2_left_group_3": {
|
| 466 |
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"cls": "Drawer"
|
| 467 |
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},
|
| 468 |
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"stack_3_left_group_base": {
|
| 469 |
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"cls": "Box"
|
| 470 |
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},
|
| 471 |
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"stack_3_left_group_1": {
|
| 472 |
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"cls": "HingeCabinet"
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| 473 |
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},
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| 474 |
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"stack_3_left_group_2": {
|
| 475 |
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"cls": "Drawer"
|
| 476 |
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},
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| 477 |
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"cab_1_left_group": {
|
| 478 |
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"cls": "HingeCabinet"
|
| 479 |
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},
|
| 480 |
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"shelves_left_group": {
|
| 481 |
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"cls": "OpenCabinet"
|
| 482 |
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},
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| 483 |
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"coffee_machine_left_group": {
|
| 484 |
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"cls": "CoffeeMachine"
|
| 485 |
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},
|
| 486 |
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"plant_left_group": {
|
| 487 |
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"cls": "Accessory"
|
| 488 |
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},
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| 489 |
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"oil_bottle_left_group": {
|
| 490 |
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"cls": "Accessory"
|
| 491 |
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},
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| 492 |
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"salt_shaker_left_group": {
|
| 493 |
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"cls": "Accessory"
|
| 494 |
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},
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| 495 |
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"paprika_left_group": {
|
| 496 |
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"cls": "Accessory"
|
| 497 |
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},
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| 498 |
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"cinnamon_left_group": {
|
| 499 |
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"cls": "Accessory"
|
| 500 |
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},
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| 501 |
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"turmeric_left_group": {
|
| 502 |
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"cls": "Accessory"
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| 503 |
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},
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| 504 |
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"oil_bottle_left_group_auxiliary_left_group": {
|
| 505 |
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"cls": "Accessory"
|
| 506 |
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},
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| 507 |
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"salt_shaker_left_group_auxiliary_left_group": {
|
| 508 |
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"cls": "Accessory"
|
| 509 |
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}
|
| 510 |
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},
|
| 511 |
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"gen_textures": {},
|
| 512 |
+
"lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
|
| 513 |
+
"fixture_refs": {
|
| 514 |
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"cab": "shelves_left_group",
|
| 515 |
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"counter": "counter_1_left_group"
|
| 516 |
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},
|
| 517 |
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"cam_configs": {
|
| 518 |
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"robot0_agentview_center": {
|
| 519 |
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"pos": [
|
| 520 |
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-0.6,
|
| 521 |
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0.0,
|
| 522 |
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|
| 523 |
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],
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| 524 |
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"quat": [
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| 525 |
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],
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| 530 |
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"parent_body": "mobilebase0_support"
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| 531 |
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},
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| 532 |
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"robot0_agentview_left": {
|
| 533 |
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"pos": [
|
| 534 |
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| 535 |
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|
| 536 |
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| 539 |
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| 545 |
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| 546 |
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| 547 |
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"parent_body": "mobilebase0_support"
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| 548 |
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| 549 |
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|
| 550 |
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"pos": [
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| 551 |
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| 552 |
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| 563 |
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},
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| 564 |
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"parent_body": "mobilebase0_support"
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| 565 |
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| 566 |
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"robot0_frontview": {
|
| 567 |
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"pos": [
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| 568 |
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|
| 569 |
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|
| 570 |
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|
| 571 |
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],
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| 579 |
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|
| 580 |
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},
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| 581 |
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"parent_body": "mobilebase0_support"
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| 582 |
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},
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| 583 |
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"robot0_eye_in_hand": {
|
| 584 |
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"pos": [
|
| 585 |
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|
| 586 |
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|
| 587 |
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|
| 588 |
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],
|
| 589 |
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| 590 |
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|
| 591 |
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|
| 592 |
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|
| 593 |
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|
| 594 |
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],
|
| 595 |
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"parent_body": "robot0_right_hand"
|
| 596 |
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}
|
| 597 |
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},
|
| 598 |
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"init_robot_base_pos": [
|
| 599 |
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|
| 600 |
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|
| 601 |
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|
| 602 |
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],
|
| 603 |
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"init_robot_base_ori": [
|
| 604 |
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|
| 605 |
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|
| 607 |
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]
|
| 608 |
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}
|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000188/ep_meta.json
ADDED
|
@@ -0,0 +1,677 @@
|
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|
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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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": 9,
|
| 3 |
+
"style_id": 9,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "obj1",
|
| 7 |
+
"obj_groups": [
|
| 8 |
+
"condiment_bottle",
|
| 9 |
+
"ketchup",
|
| 10 |
+
"syrup_bottle"
|
| 11 |
+
],
|
| 12 |
+
"graspable": true,
|
| 13 |
+
"init_robot_here": true,
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_1_main_group",
|
| 16 |
+
"sample_region_kwargs": {
|
| 17 |
+
"ref": "shelves_2_main_group",
|
| 18 |
+
"min_size": [
|
| 19 |
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|
| 20 |
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0.05557418999999999,
|
| 21 |
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0.15101328449999996
|
| 22 |
+
]
|
| 23 |
+
},
|
| 24 |
+
"size": [
|
| 25 |
+
0.5,
|
| 26 |
+
0.2
|
| 27 |
+
],
|
| 28 |
+
"pos": [
|
| 29 |
+
"ref",
|
| 30 |
+
-1
|
| 31 |
+
]
|
| 32 |
+
},
|
| 33 |
+
"type": "object",
|
| 34 |
+
"info": {
|
| 35 |
+
"groups_containing_sampled_obj": [
|
| 36 |
+
"all",
|
| 37 |
+
"ketchup",
|
| 38 |
+
"condiment"
|
| 39 |
+
],
|
| 40 |
+
"groups": [
|
| 41 |
+
"condiment_bottle",
|
| 42 |
+
"ketchup",
|
| 43 |
+
"syrup_bottle"
|
| 44 |
+
],
|
| 45 |
+
"cat": "ketchup",
|
| 46 |
+
"split": "test",
|
| 47 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_9/model.xml"
|
| 48 |
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},
|
| 49 |
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"reset_region": {
|
| 50 |
+
"size": [
|
| 51 |
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0.3000000000000005,
|
| 52 |
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0.65
|
| 53 |
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],
|
| 54 |
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"offset": [
|
| 55 |
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0.5999999999999996,
|
| 56 |
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-3.469446951953614e-17,
|
| 57 |
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0.46
|
| 58 |
+
],
|
| 59 |
+
"name": "geom_0"
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"name": "obj2",
|
| 64 |
+
"obj_groups": "shaker",
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
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"fixture": "counter_1_main_group",
|
| 68 |
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"sample_region_kwargs": {
|
| 69 |
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"ref": "shelves_2_main_group",
|
| 70 |
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"min_size": [
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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]
|
| 75 |
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},
|
| 76 |
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|
| 77 |
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0.5,
|
| 78 |
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0.2
|
| 79 |
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],
|
| 80 |
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|
| 81 |
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"ref",
|
| 82 |
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-1
|
| 83 |
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]
|
| 84 |
+
},
|
| 85 |
+
"type": "object",
|
| 86 |
+
"info": {
|
| 87 |
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"groups_containing_sampled_obj": [
|
| 88 |
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"all",
|
| 89 |
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"shaker",
|
| 90 |
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"condiment"
|
| 91 |
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],
|
| 92 |
+
"groups": [
|
| 93 |
+
"shaker"
|
| 94 |
+
],
|
| 95 |
+
"cat": "shaker",
|
| 96 |
+
"split": "test",
|
| 97 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
|
| 98 |
+
},
|
| 99 |
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"reset_region": {
|
| 100 |
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"size": [
|
| 101 |
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0.3000000000000005,
|
| 102 |
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0.65
|
| 103 |
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],
|
| 104 |
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"offset": [
|
| 105 |
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0.5999999999999996,
|
| 106 |
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-3.469446951953614e-17,
|
| 107 |
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0.46
|
| 108 |
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],
|
| 109 |
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"name": "geom_0"
|
| 110 |
+
}
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"name": "cab_obj1",
|
| 114 |
+
"obj_groups": [
|
| 115 |
+
"condiment_bottle",
|
| 116 |
+
"ketchup",
|
| 117 |
+
"syrup_bottle"
|
| 118 |
+
],
|
| 119 |
+
"graspable": true,
|
| 120 |
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"placement": {
|
| 121 |
+
"fixture": "shelves_2_main_group",
|
| 122 |
+
"size": [
|
| 123 |
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1.0,
|
| 124 |
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0.2
|
| 125 |
+
],
|
| 126 |
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"pos": [
|
| 127 |
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0,
|
| 128 |
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-1.0
|
| 129 |
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]
|
| 130 |
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},
|
| 131 |
+
"type": "object",
|
| 132 |
+
"info": {
|
| 133 |
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"groups_containing_sampled_obj": [
|
| 134 |
+
"all",
|
| 135 |
+
"syrup_bottle",
|
| 136 |
+
"condiment"
|
| 137 |
+
],
|
| 138 |
+
"groups": [
|
| 139 |
+
"condiment_bottle",
|
| 140 |
+
"ketchup",
|
| 141 |
+
"syrup_bottle"
|
| 142 |
+
],
|
| 143 |
+
"cat": "syrup_bottle",
|
| 144 |
+
"split": "test",
|
| 145 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle005/model.xml"
|
| 146 |
+
},
|
| 147 |
+
"reset_region": {
|
| 148 |
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"offset": [
|
| 149 |
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0.0,
|
| 150 |
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0.0,
|
| 151 |
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-0.43000000000000005
|
| 152 |
+
],
|
| 153 |
+
"size": [
|
| 154 |
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0.6,
|
| 155 |
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0.4
|
| 156 |
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],
|
| 157 |
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"height": 0.41500000000000004,
|
| 158 |
+
"name": "level0"
|
| 159 |
+
}
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"name": "cab_obj2",
|
| 163 |
+
"obj_groups": "shaker",
|
| 164 |
+
"graspable": true,
|
| 165 |
+
"placement": {
|
| 166 |
+
"fixture": "shelves_2_main_group",
|
| 167 |
+
"size": [
|
| 168 |
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1.0,
|
| 169 |
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0.2
|
| 170 |
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],
|
| 171 |
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"pos": [
|
| 172 |
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0,
|
| 173 |
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-1.0
|
| 174 |
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]
|
| 175 |
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},
|
| 176 |
+
"type": "object",
|
| 177 |
+
"info": {
|
| 178 |
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"groups_containing_sampled_obj": [
|
| 179 |
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"all",
|
| 180 |
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"shaker",
|
| 181 |
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"condiment"
|
| 182 |
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],
|
| 183 |
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"groups": [
|
| 184 |
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"shaker"
|
| 185 |
+
],
|
| 186 |
+
"cat": "shaker",
|
| 187 |
+
"split": "test",
|
| 188 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
|
| 189 |
+
},
|
| 190 |
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"reset_region": {
|
| 191 |
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"offset": [
|
| 192 |
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0.0,
|
| 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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0.4
|
| 199 |
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|
| 200 |
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"height": 0.41500000000000004,
|
| 201 |
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"name": "level0"
|
| 202 |
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}
|
| 203 |
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},
|
| 204 |
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{
|
| 205 |
+
"name": "distr_counter1",
|
| 206 |
+
"obj_groups": "all",
|
| 207 |
+
"exclude_obj_groups": [
|
| 208 |
+
"condiment"
|
| 209 |
+
],
|
| 210 |
+
"placement": {
|
| 211 |
+
"fixture": "counter_1_main_group",
|
| 212 |
+
"sample_region_kwargs": {
|
| 213 |
+
"ref": "shelves_2_main_group",
|
| 214 |
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|
| 215 |
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0.08653886910000001,
|
| 216 |
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|
| 217 |
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|
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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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0.0,
|
| 226 |
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1.0
|
| 227 |
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]
|
| 228 |
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},
|
| 229 |
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"type": "object",
|
| 230 |
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"info": {
|
| 231 |
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"groups_containing_sampled_obj": [
|
| 232 |
+
"all",
|
| 233 |
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|
| 234 |
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"drink"
|
| 235 |
+
],
|
| 236 |
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"groups": [
|
| 237 |
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"all"
|
| 238 |
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],
|
| 239 |
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"cat": "water_bottle",
|
| 240 |
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"split": "test",
|
| 241 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/water_bottle/water_bottle_6/model.xml"
|
| 242 |
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},
|
| 243 |
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"reset_region": {
|
| 244 |
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"size": [
|
| 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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0.5999999999999996,
|
| 250 |
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-3.469446951953614e-17,
|
| 251 |
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|
| 252 |
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],
|
| 253 |
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"name": "geom_0"
|
| 254 |
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}
|
| 255 |
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}
|
| 256 |
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],
|
| 257 |
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"fixtures": {
|
| 258 |
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"wall_room": {
|
| 259 |
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"cls": "Wall"
|
| 260 |
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},
|
| 261 |
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|
| 262 |
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"cls": "Wall"
|
| 263 |
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},
|
| 264 |
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"wall_left_room": {
|
| 265 |
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|
| 266 |
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},
|
| 267 |
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"wall_left_backing_room": {
|
| 268 |
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"cls": "Wall"
|
| 269 |
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},
|
| 270 |
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"wall_right_room": {
|
| 271 |
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"cls": "Wall"
|
| 272 |
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},
|
| 273 |
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"wall_right_backing_room": {
|
| 274 |
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"cls": "Wall"
|
| 275 |
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},
|
| 276 |
+
"outlet_room": {
|
| 277 |
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"cls": "WallAccessory"
|
| 278 |
+
},
|
| 279 |
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"utensil_rack_room": {
|
| 280 |
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"cls": "WallAccessory"
|
| 281 |
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},
|
| 282 |
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"light_switch_room": {
|
| 283 |
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"cls": "WallAccessory"
|
| 284 |
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},
|
| 285 |
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"light_switch_2_room": {
|
| 286 |
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"cls": "WallAccessory"
|
| 287 |
+
},
|
| 288 |
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"outlet_2_room": {
|
| 289 |
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"cls": "WallAccessory"
|
| 290 |
+
},
|
| 291 |
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"outlet_3_room": {
|
| 292 |
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"cls": "WallAccessory"
|
| 293 |
+
},
|
| 294 |
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"window_group_room": {
|
| 295 |
+
"cls": "Window"
|
| 296 |
+
},
|
| 297 |
+
"floor_room": {
|
| 298 |
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"cls": "Floor"
|
| 299 |
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},
|
| 300 |
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"floor_backing_room": {
|
| 301 |
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"cls": "Floor"
|
| 302 |
+
},
|
| 303 |
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"stool_1_room": {
|
| 304 |
+
"cls": "Stool"
|
| 305 |
+
},
|
| 306 |
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"stool_2_room": {
|
| 307 |
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"cls": "Stool"
|
| 308 |
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},
|
| 309 |
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"stool_3_room": {
|
| 310 |
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"cls": "Stool"
|
| 311 |
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},
|
| 312 |
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"counter_corner_main_group": {
|
| 313 |
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"cls": "Counter"
|
| 314 |
+
},
|
| 315 |
+
"counter_main_main_group": {
|
| 316 |
+
"cls": "Counter"
|
| 317 |
+
},
|
| 318 |
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"stovetop_main_group": {
|
| 319 |
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"cls": "Stovetop"
|
| 320 |
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},
|
| 321 |
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"counter_1_main_group": {
|
| 322 |
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"cls": "Counter"
|
| 323 |
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},
|
| 324 |
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"counter_corner_2_main_group": {
|
| 325 |
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"cls": "Counter"
|
| 326 |
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},
|
| 327 |
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"cab_corner_main_group": {
|
| 328 |
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"cls": "Box"
|
| 329 |
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},
|
| 330 |
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"cab_corner_2_main_group": {
|
| 331 |
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"cls": "Box"
|
| 332 |
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},
|
| 333 |
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"cab_1_main_group": {
|
| 334 |
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"cls": "HingeCabinet"
|
| 335 |
+
},
|
| 336 |
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"cab_main_main_group": {
|
| 337 |
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"cls": "HingeCabinet"
|
| 338 |
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},
|
| 339 |
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"cab_2_main_group": {
|
| 340 |
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"cls": "SingleCabinet"
|
| 341 |
+
},
|
| 342 |
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"shelves_1_main_group": {
|
| 343 |
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"cls": "OpenCabinet"
|
| 344 |
+
},
|
| 345 |
+
"hood_main_group": {
|
| 346 |
+
"cls": "Hood"
|
| 347 |
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},
|
| 348 |
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"shelves_2_main_group": {
|
| 349 |
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"cls": "OpenCabinet"
|
| 350 |
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},
|
| 351 |
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"stack_1_main_group_base": {
|
| 352 |
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"cls": "Box"
|
| 353 |
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},
|
| 354 |
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"stack_1_main_group_1": {
|
| 355 |
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"cls": "Drawer"
|
| 356 |
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},
|
| 357 |
+
"stack_1_main_group_2": {
|
| 358 |
+
"cls": "Drawer"
|
| 359 |
+
},
|
| 360 |
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"stack_1_main_group_3": {
|
| 361 |
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"cls": "Drawer"
|
| 362 |
+
},
|
| 363 |
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"stack_1_main_group_4": {
|
| 364 |
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"cls": "Drawer"
|
| 365 |
+
},
|
| 366 |
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|
| 367 |
+
"cls": "Box"
|
| 368 |
+
},
|
| 369 |
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"stack_2_main_group_1": {
|
| 370 |
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"cls": "HingeCabinet"
|
| 371 |
+
},
|
| 372 |
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|
| 373 |
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"cls": "Drawer"
|
| 374 |
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},
|
| 375 |
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"stack_2_main_group_3": {
|
| 376 |
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"cls": "Drawer"
|
| 377 |
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},
|
| 378 |
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|
| 379 |
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"cls": "Box"
|
| 380 |
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},
|
| 381 |
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"stack_3_main_group_1": {
|
| 382 |
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"cls": "HingeCabinet"
|
| 383 |
+
},
|
| 384 |
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|
| 385 |
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"cls": "Drawer"
|
| 386 |
+
},
|
| 387 |
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"stack_3_main_group_3": {
|
| 388 |
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"cls": "Drawer"
|
| 389 |
+
},
|
| 390 |
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"stack_4_main_group_base": {
|
| 391 |
+
"cls": "Box"
|
| 392 |
+
},
|
| 393 |
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"stack_4_main_group_1": {
|
| 394 |
+
"cls": "HingeCabinet"
|
| 395 |
+
},
|
| 396 |
+
"stack_5_main_group_base": {
|
| 397 |
+
"cls": "Box"
|
| 398 |
+
},
|
| 399 |
+
"stack_5_main_group_1": {
|
| 400 |
+
"cls": "SingleCabinet"
|
| 401 |
+
},
|
| 402 |
+
"stack_5_main_group_2": {
|
| 403 |
+
"cls": "Drawer"
|
| 404 |
+
},
|
| 405 |
+
"coffee_machine_main_group": {
|
| 406 |
+
"cls": "CoffeeMachine"
|
| 407 |
+
},
|
| 408 |
+
"paper_towel_main_group": {
|
| 409 |
+
"cls": "Accessory"
|
| 410 |
+
},
|
| 411 |
+
"toaster_main_group": {
|
| 412 |
+
"cls": "Toaster"
|
| 413 |
+
},
|
| 414 |
+
"toaster_oven_main_group": {
|
| 415 |
+
"cls": "ToasterOven"
|
| 416 |
+
},
|
| 417 |
+
"utensil_set_main_group": {
|
| 418 |
+
"cls": "Accessory"
|
| 419 |
+
},
|
| 420 |
+
"oil_bottle_main_group": {
|
| 421 |
+
"cls": "Accessory"
|
| 422 |
+
},
|
| 423 |
+
"knife_block_main_group": {
|
| 424 |
+
"cls": "Accessory"
|
| 425 |
+
},
|
| 426 |
+
"jar_main_group": {
|
| 427 |
+
"cls": "Accessory"
|
| 428 |
+
},
|
| 429 |
+
"cinnamon_main_group": {
|
| 430 |
+
"cls": "Accessory"
|
| 431 |
+
},
|
| 432 |
+
"turmeric_main_group": {
|
| 433 |
+
"cls": "Accessory"
|
| 434 |
+
},
|
| 435 |
+
"paprika_main_group": {
|
| 436 |
+
"cls": "Accessory"
|
| 437 |
+
},
|
| 438 |
+
"oil_bottle_main_group_auxiliary_main_group": {
|
| 439 |
+
"cls": "Accessory"
|
| 440 |
+
},
|
| 441 |
+
"jar_main_group_auxiliary_main_group": {
|
| 442 |
+
"cls": "Accessory"
|
| 443 |
+
},
|
| 444 |
+
"counter_1_front_group": {
|
| 445 |
+
"cls": "Counter"
|
| 446 |
+
},
|
| 447 |
+
"counter_corner_front_group": {
|
| 448 |
+
"cls": "Counter"
|
| 449 |
+
},
|
| 450 |
+
"salt_shaker_front_group": {
|
| 451 |
+
"cls": "Accessory"
|
| 452 |
+
},
|
| 453 |
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"salt_shaker_front_group_auxiliary_front_group": {
|
| 454 |
+
"cls": "Accessory"
|
| 455 |
+
},
|
| 456 |
+
"counter_corner_left_group": {
|
| 457 |
+
"cls": "Counter"
|
| 458 |
+
},
|
| 459 |
+
"sink_left_group": {
|
| 460 |
+
"cls": "Sink"
|
| 461 |
+
},
|
| 462 |
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"counter_1_left_group": {
|
| 463 |
+
"cls": "Counter"
|
| 464 |
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},
|
| 465 |
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"counter_corner_right_left_group": {
|
| 466 |
+
"cls": "Counter"
|
| 467 |
+
},
|
| 468 |
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|
| 469 |
+
"cls": "Box"
|
| 470 |
+
},
|
| 471 |
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|
| 472 |
+
"cls": "HingeCabinet"
|
| 473 |
+
},
|
| 474 |
+
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|
| 475 |
+
"cls": "Drawer"
|
| 476 |
+
},
|
| 477 |
+
"stack_1_left_group_3": {
|
| 478 |
+
"cls": "Drawer"
|
| 479 |
+
},
|
| 480 |
+
"stack_2_left_group_base": {
|
| 481 |
+
"cls": "Box"
|
| 482 |
+
},
|
| 483 |
+
"stack_2_left_group_1": {
|
| 484 |
+
"cls": "HingeCabinet"
|
| 485 |
+
},
|
| 486 |
+
"dishwasher_left_group": {
|
| 487 |
+
"cls": "Dishwasher"
|
| 488 |
+
},
|
| 489 |
+
"stack_3_left_group_base": {
|
| 490 |
+
"cls": "Box"
|
| 491 |
+
},
|
| 492 |
+
"stack_3_left_group_1": {
|
| 493 |
+
"cls": "SingleCabinet"
|
| 494 |
+
},
|
| 495 |
+
"cab_1_left_group": {
|
| 496 |
+
"cls": "HingeCabinet"
|
| 497 |
+
},
|
| 498 |
+
"cab_2_left_group": {
|
| 499 |
+
"cls": "SingleCabinet"
|
| 500 |
+
},
|
| 501 |
+
"plant_left_group": {
|
| 502 |
+
"cls": "Accessory"
|
| 503 |
+
},
|
| 504 |
+
"soap_dispenser_left_group": {
|
| 505 |
+
"cls": "Accessory"
|
| 506 |
+
},
|
| 507 |
+
"fruit_bowl_left_group": {
|
| 508 |
+
"cls": "Accessory"
|
| 509 |
+
},
|
| 510 |
+
"stack_left_right_group_base": {
|
| 511 |
+
"cls": "Box"
|
| 512 |
+
},
|
| 513 |
+
"stack_left_right_group_1": {
|
| 514 |
+
"cls": "SingleCabinet"
|
| 515 |
+
},
|
| 516 |
+
"stack_left_right_group_2": {
|
| 517 |
+
"cls": "SingleCabinet"
|
| 518 |
+
},
|
| 519 |
+
"fridge_right_group": {
|
| 520 |
+
"cls": "FridgeSideBySide"
|
| 521 |
+
},
|
| 522 |
+
"fridge_housing_right_group": {
|
| 523 |
+
"cls": "HousingCabinet"
|
| 524 |
+
},
|
| 525 |
+
"fridge_top_right_group": {
|
| 526 |
+
"cls": "HingeCabinet"
|
| 527 |
+
},
|
| 528 |
+
"stack_right_right_group_base": {
|
| 529 |
+
"cls": "Box"
|
| 530 |
+
},
|
| 531 |
+
"stack_right_right_group_1": {
|
| 532 |
+
"cls": "SingleCabinet"
|
| 533 |
+
},
|
| 534 |
+
"stack_right_right_group_2": {
|
| 535 |
+
"cls": "SingleCabinet"
|
| 536 |
+
},
|
| 537 |
+
"cab_top_corner_right_group": {
|
| 538 |
+
"cls": "Box"
|
| 539 |
+
},
|
| 540 |
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"bottom_corner_right_group": {
|
| 541 |
+
"cls": "Box"
|
| 542 |
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},
|
| 543 |
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"bottom_right_group_base": {
|
| 544 |
+
"cls": "Box"
|
| 545 |
+
},
|
| 546 |
+
"bottom_right_group_1": {
|
| 547 |
+
"cls": "Drawer"
|
| 548 |
+
},
|
| 549 |
+
"bottom_right_group_2": {
|
| 550 |
+
"cls": "Drawer"
|
| 551 |
+
},
|
| 552 |
+
"oven_right_group": {
|
| 553 |
+
"cls": "Oven"
|
| 554 |
+
},
|
| 555 |
+
"oven_housing_right_group": {
|
| 556 |
+
"cls": "HousingCabinet"
|
| 557 |
+
},
|
| 558 |
+
"microwave_right_group": {
|
| 559 |
+
"cls": "Microwave"
|
| 560 |
+
},
|
| 561 |
+
"micro_housing_right_group": {
|
| 562 |
+
"cls": "HousingCabinet"
|
| 563 |
+
},
|
| 564 |
+
"top_right_group": {
|
| 565 |
+
"cls": "HingeCabinet"
|
| 566 |
+
},
|
| 567 |
+
"side_bottom_right_group_base": {
|
| 568 |
+
"cls": "Box"
|
| 569 |
+
},
|
| 570 |
+
"side_bottom_right_group_1": {
|
| 571 |
+
"cls": "Drawer"
|
| 572 |
+
},
|
| 573 |
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|
| 574 |
+
"cls": "Drawer"
|
| 575 |
+
},
|
| 576 |
+
"side_bottom_right_group_3": {
|
| 577 |
+
"cls": "HingeCabinet"
|
| 578 |
+
}
|
| 579 |
+
},
|
| 580 |
+
"gen_textures": {},
|
| 581 |
+
"lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
|
| 582 |
+
"fixture_refs": {
|
| 583 |
+
"cab": "shelves_2_main_group",
|
| 584 |
+
"counter": "counter_1_main_group"
|
| 585 |
+
},
|
| 586 |
+
"cam_configs": {
|
| 587 |
+
"robot0_agentview_center": {
|
| 588 |
+
"pos": [
|
| 589 |
+
-0.6,
|
| 590 |
+
0.0,
|
| 591 |
+
1.15
|
| 592 |
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],
|
| 593 |
+
"quat": [
|
| 594 |
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0.636945903301239,
|
| 595 |
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0.3325185477733612,
|
| 596 |
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-0.3199238181114197,
|
| 597 |
+
-0.6175596117973328
|
| 598 |
+
],
|
| 599 |
+
"parent_body": "mobilebase0_support"
|
| 600 |
+
},
|
| 601 |
+
"robot0_agentview_left": {
|
| 602 |
+
"pos": [
|
| 603 |
+
-0.5,
|
| 604 |
+
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|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000196/ep_meta.json
ADDED
|
@@ -0,0 +1,611 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 6,
|
| 3 |
+
"style_id": 6,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "obj1",
|
| 7 |
+
"obj_groups": [
|
| 8 |
+
"condiment_bottle",
|
| 9 |
+
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|
| 10 |
+
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|
| 11 |
+
],
|
| 12 |
+
"graspable": true,
|
| 13 |
+
"init_robot_here": true,
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_1_left_group",
|
| 16 |
+
"sample_region_kwargs": {
|
| 17 |
+
"ref": "shelves_left_group",
|
| 18 |
+
"min_size": [
|
| 19 |
+
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|
| 20 |
+
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|
| 21 |
+
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|
| 22 |
+
]
|
| 23 |
+
},
|
| 24 |
+
"size": [
|
| 25 |
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|
| 26 |
+
0.2
|
| 27 |
+
],
|
| 28 |
+
"pos": [
|
| 29 |
+
"ref",
|
| 30 |
+
-1
|
| 31 |
+
]
|
| 32 |
+
},
|
| 33 |
+
"type": "object",
|
| 34 |
+
"info": {
|
| 35 |
+
"groups_containing_sampled_obj": [
|
| 36 |
+
"all",
|
| 37 |
+
"syrup_bottle",
|
| 38 |
+
"condiment"
|
| 39 |
+
],
|
| 40 |
+
"groups": [
|
| 41 |
+
"condiment_bottle",
|
| 42 |
+
"ketchup",
|
| 43 |
+
"syrup_bottle"
|
| 44 |
+
],
|
| 45 |
+
"cat": "syrup_bottle",
|
| 46 |
+
"split": "test",
|
| 47 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle006/model.xml"
|
| 48 |
+
},
|
| 49 |
+
"reset_region": {
|
| 50 |
+
"size": [
|
| 51 |
+
2.3000000000000003,
|
| 52 |
+
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|
| 53 |
+
],
|
| 54 |
+
"offset": [
|
| 55 |
+
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|
| 56 |
+
0.0,
|
| 57 |
+
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|
| 58 |
+
],
|
| 59 |
+
"name": "geom_0"
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"name": "obj2",
|
| 64 |
+
"obj_groups": "shaker",
|
| 65 |
+
"graspable": true,
|
| 66 |
+
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},
|
| 501 |
+
"cinnamon_left_group": {
|
| 502 |
+
"cls": "Accessory"
|
| 503 |
+
},
|
| 504 |
+
"turmeric_left_group": {
|
| 505 |
+
"cls": "Accessory"
|
| 506 |
+
},
|
| 507 |
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"oil_bottle_left_group_auxiliary_left_group": {
|
| 508 |
+
"cls": "Accessory"
|
| 509 |
+
},
|
| 510 |
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"salt_shaker_left_group_auxiliary_left_group": {
|
| 511 |
+
"cls": "Accessory"
|
| 512 |
+
}
|
| 513 |
+
},
|
| 514 |
+
"gen_textures": {},
|
| 515 |
+
"lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
|
| 516 |
+
"fixture_refs": {
|
| 517 |
+
"cab": "shelves_left_group",
|
| 518 |
+
"counter": "counter_1_left_group"
|
| 519 |
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},
|
| 520 |
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"cam_configs": {
|
| 521 |
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|
| 522 |
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| 523 |
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| 524 |
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| 525 |
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| 526 |
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| 527 |
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| 528 |
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| 529 |
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| 530 |
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| 531 |
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| 532 |
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| 533 |
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| 534 |
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| 535 |
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|
| 536 |
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| 537 |
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| 538 |
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| 539 |
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| 545 |
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| 547 |
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| 548 |
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|
| 549 |
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|
| 550 |
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"parent_body": "mobilebase0_support"
|
| 551 |
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|
| 552 |
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|
| 553 |
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| 554 |
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| 555 |
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| 556 |
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| 562 |
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| 563 |
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| 564 |
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|
| 565 |
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|
| 566 |
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},
|
| 567 |
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"parent_body": "mobilebase0_support"
|
| 568 |
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},
|
| 569 |
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|
| 570 |
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"pos": [
|
| 571 |
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|
| 572 |
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| 573 |
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| 574 |
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| 575 |
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| 582 |
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|
| 583 |
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},
|
| 584 |
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"parent_body": "mobilebase0_support"
|
| 585 |
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},
|
| 586 |
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|
| 587 |
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"pos": [
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| 588 |
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|
| 589 |
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|
| 590 |
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| 591 |
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],
|
| 592 |
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| 593 |
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| 594 |
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|
| 595 |
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|
| 596 |
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| 597 |
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],
|
| 598 |
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"parent_body": "robot0_right_hand"
|
| 599 |
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|
| 600 |
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|
| 601 |
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"init_robot_base_pos": [
|
| 602 |
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|
| 603 |
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|
| 604 |
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"init_robot_base_ori": [
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| 607 |
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|
| 608 |
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|
| 609 |
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|
| 610 |
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]
|
| 611 |
+
}
|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000247/ep_meta.json
ADDED
|
@@ -0,0 +1,587 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 5,
|
| 3 |
+
"style_id": 5,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "obj1",
|
| 7 |
+
"obj_groups": [
|
| 8 |
+
"condiment_bottle",
|
| 9 |
+
"ketchup",
|
| 10 |
+
"syrup_bottle"
|
| 11 |
+
],
|
| 12 |
+
"graspable": true,
|
| 13 |
+
"init_robot_here": true,
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_main_main_group",
|
| 16 |
+
"sample_region_kwargs": {
|
| 17 |
+
"ref": "cab_1_main_group",
|
| 18 |
+
"min_size": [
|
| 19 |
+
0.07691050730999997,
|
| 20 |
+
0.04483985972467152,
|
| 21 |
+
0.13798248275120426
|
| 22 |
+
]
|
| 23 |
+
},
|
| 24 |
+
"size": [
|
| 25 |
+
0.5,
|
| 26 |
+
0.2
|
| 27 |
+
],
|
| 28 |
+
"pos": [
|
| 29 |
+
"ref",
|
| 30 |
+
-1
|
| 31 |
+
]
|
| 32 |
+
},
|
| 33 |
+
"type": "object",
|
| 34 |
+
"info": {
|
| 35 |
+
"groups_containing_sampled_obj": [
|
| 36 |
+
"all",
|
| 37 |
+
"condiment_bottle",
|
| 38 |
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"coffee_machine_main_group": {
|
| 475 |
+
"cls": "CoffeeMachine"
|
| 476 |
+
},
|
| 477 |
+
"utensil_set_main_group": {
|
| 478 |
+
"cls": "Accessory"
|
| 479 |
+
},
|
| 480 |
+
"toaster_main_group": {
|
| 481 |
+
"cls": "Toaster"
|
| 482 |
+
},
|
| 483 |
+
"toaster_oven_main_group": {
|
| 484 |
+
"cls": "ToasterOven"
|
| 485 |
+
},
|
| 486 |
+
"tiered_basket_main_group": {
|
| 487 |
+
"cls": "Accessory"
|
| 488 |
+
}
|
| 489 |
+
},
|
| 490 |
+
"gen_textures": {},
|
| 491 |
+
"lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
|
| 492 |
+
"fixture_refs": {
|
| 493 |
+
"cab": "cab_1_main_group",
|
| 494 |
+
"counter": "counter_main_main_group"
|
| 495 |
+
},
|
| 496 |
+
"cam_configs": {
|
| 497 |
+
"robot0_agentview_center": {
|
| 498 |
+
"pos": [
|
| 499 |
+
-0.6,
|
| 500 |
+
0.0,
|
| 501 |
+
1.15
|
| 502 |
+
],
|
| 503 |
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"quat": [
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| 504 |
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|
| 505 |
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|
| 506 |
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|
| 507 |
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|
| 508 |
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],
|
| 509 |
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"parent_body": "mobilebase0_support"
|
| 510 |
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},
|
| 511 |
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"robot0_agentview_left": {
|
| 512 |
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"pos": [
|
| 513 |
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-0.5,
|
| 514 |
+
0.35,
|
| 515 |
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|
| 516 |
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],
|
| 517 |
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"quat": [
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| 518 |
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|
| 519 |
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|
| 520 |
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|
| 521 |
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|
| 522 |
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],
|
| 523 |
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"camera_attribs": {
|
| 524 |
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"fovy": "60"
|
| 525 |
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},
|
| 526 |
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"parent_body": "mobilebase0_support"
|
| 527 |
+
},
|
| 528 |
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"robot0_agentview_right": {
|
| 529 |
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"pos": [
|
| 530 |
+
-0.5,
|
| 531 |
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-0.35,
|
| 532 |
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|
| 533 |
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],
|
| 534 |
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"quat": [
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| 535 |
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|
| 536 |
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|
| 537 |
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|
| 538 |
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|
| 539 |
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],
|
| 540 |
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"camera_attribs": {
|
| 541 |
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"fovy": "60"
|
| 542 |
+
},
|
| 543 |
+
"parent_body": "mobilebase0_support"
|
| 544 |
+
},
|
| 545 |
+
"robot0_frontview": {
|
| 546 |
+
"pos": [
|
| 547 |
+
-0.5,
|
| 548 |
+
0,
|
| 549 |
+
0.95
|
| 550 |
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],
|
| 551 |
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"quat": [
|
| 552 |
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|
| 553 |
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|
| 554 |
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|
| 555 |
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|
| 556 |
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],
|
| 557 |
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"camera_attribs": {
|
| 558 |
+
"fovy": "60"
|
| 559 |
+
},
|
| 560 |
+
"parent_body": "mobilebase0_support"
|
| 561 |
+
},
|
| 562 |
+
"robot0_eye_in_hand": {
|
| 563 |
+
"pos": [
|
| 564 |
+
0.05,
|
| 565 |
+
0,
|
| 566 |
+
0
|
| 567 |
+
],
|
| 568 |
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"quat": [
|
| 569 |
+
0,
|
| 570 |
+
0.707107,
|
| 571 |
+
0.707107,
|
| 572 |
+
0
|
| 573 |
+
],
|
| 574 |
+
"parent_body": "robot0_right_hand"
|
| 575 |
+
}
|
| 576 |
+
},
|
| 577 |
+
"init_robot_base_pos": [
|
| 578 |
+
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|
| 579 |
+
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|
| 580 |
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0.0
|
| 581 |
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],
|
| 582 |
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"init_robot_base_ori": [
|
| 583 |
+
0.0,
|
| 584 |
+
0.0,
|
| 585 |
+
-3.673205103416066e-06
|
| 586 |
+
]
|
| 587 |
+
}
|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000355/ep_meta.json
ADDED
|
@@ -0,0 +1,754 @@
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 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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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 30 |
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| 31 |
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| 36 |
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| 38 |
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| 39 |
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| 44 |
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| 63 |
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| 64 |
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| 65 |
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| 234 |
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|
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|
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|
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|
| 367 |
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|
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|
| 369 |
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|
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|
| 372 |
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|
| 373 |
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|
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|
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|
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|
| 382 |
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|
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|
| 384 |
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|
| 385 |
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|
| 387 |
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|
| 388 |
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|
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|
| 390 |
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|
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|
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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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},
|
| 398 |
+
"stack_5_main_group_base": {
|
| 399 |
+
"cls": "Box"
|
| 400 |
+
},
|
| 401 |
+
"stack_5_main_group_1": {
|
| 402 |
+
"cls": "HingeCabinet"
|
| 403 |
+
},
|
| 404 |
+
"stack_5_main_group_2": {
|
| 405 |
+
"cls": "Drawer"
|
| 406 |
+
},
|
| 407 |
+
"stack_5_main_group_3": {
|
| 408 |
+
"cls": "Drawer"
|
| 409 |
+
},
|
| 410 |
+
"stack_6_main_group_base": {
|
| 411 |
+
"cls": "Box"
|
| 412 |
+
},
|
| 413 |
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"stack_6_main_group_1": {
|
| 414 |
+
"cls": "SingleCabinet"
|
| 415 |
+
},
|
| 416 |
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"stack_6_main_group_2": {
|
| 417 |
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"cls": "Drawer"
|
| 418 |
+
},
|
| 419 |
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"knife_block_main_group": {
|
| 420 |
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"cls": "Accessory"
|
| 421 |
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},
|
| 422 |
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"paper_towel_main_group": {
|
| 423 |
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"cls": "Accessory"
|
| 424 |
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},
|
| 425 |
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"utensil_set_main_group": {
|
| 426 |
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"cls": "Accessory"
|
| 427 |
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},
|
| 428 |
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"oil_bottle_main_group": {
|
| 429 |
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"cls": "Accessory"
|
| 430 |
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},
|
| 431 |
+
"glass_cup_main_group": {
|
| 432 |
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"cls": "Accessory"
|
| 433 |
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},
|
| 434 |
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"glass_cup_2_main_group": {
|
| 435 |
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"cls": "Accessory"
|
| 436 |
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},
|
| 437 |
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"oil_bottle_main_group_auxiliary_main_group": {
|
| 438 |
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"cls": "Accessory"
|
| 439 |
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},
|
| 440 |
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"sink_island_group": {
|
| 441 |
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"cls": "Sink"
|
| 442 |
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},
|
| 443 |
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"island_island_group": {
|
| 444 |
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"cls": "Counter"
|
| 445 |
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},
|
| 446 |
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"island_stack_1_island_group_base": {
|
| 447 |
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"cls": "Box"
|
| 448 |
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},
|
| 449 |
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|
| 450 |
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"cls": "HingeCabinet"
|
| 451 |
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},
|
| 452 |
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"island_stack_1_island_group_2": {
|
| 453 |
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"cls": "PanelCabinet"
|
| 454 |
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},
|
| 455 |
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"dishwasher_island_group": {
|
| 456 |
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"cls": "Dishwasher"
|
| 457 |
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},
|
| 458 |
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|
| 459 |
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"cls": "Box"
|
| 460 |
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},
|
| 461 |
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|
| 462 |
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"cls": "PanelCabinet"
|
| 463 |
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},
|
| 464 |
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|
| 465 |
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"cls": "Box"
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| 466 |
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},
|
| 467 |
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|
| 468 |
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"cls": "Drawer"
|
| 469 |
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},
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| 470 |
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|
| 471 |
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"cls": "Drawer"
|
| 472 |
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},
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| 473 |
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"island_cab_right_island_group_3": {
|
| 474 |
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"cls": "Drawer"
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| 475 |
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},
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| 476 |
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"island_cab_right_island_group_4": {
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| 477 |
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"cls": "Drawer"
|
| 478 |
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},
|
| 479 |
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|
| 480 |
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"cls": "Box"
|
| 481 |
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},
|
| 482 |
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"island_panel_cab_left_island_group_1": {
|
| 483 |
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"cls": "PanelCabinet"
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| 484 |
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},
|
| 485 |
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"island_base_box_island_group": {
|
| 486 |
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"cls": "Box"
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| 487 |
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},
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| 488 |
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"plant_island_group": {
|
| 489 |
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"cls": "Accessory"
|
| 490 |
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},
|
| 491 |
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"soap_dispenser_island_group": {
|
| 492 |
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"cls": "Accessory"
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| 493 |
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},
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| 494 |
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|
| 495 |
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"cls": "Accessory"
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| 496 |
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},
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| 497 |
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|
| 498 |
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"cls": "Accessory"
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| 499 |
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},
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| 500 |
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"salt_shaker_island_group_auxiliary_island_group": {
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| 501 |
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"cls": "Accessory"
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| 502 |
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},
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| 503 |
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|
| 504 |
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"cls": "Counter"
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| 505 |
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},
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| 506 |
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| 507 |
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"cls": "Counter"
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| 508 |
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},
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| 509 |
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| 510 |
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| 511 |
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| 513 |
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| 514 |
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| 516 |
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"cls": "Drawer"
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| 517 |
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| 518 |
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| 519 |
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"cls": "Oven"
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| 520 |
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| 521 |
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| 522 |
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"cls": "HousingCabinet"
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| 523 |
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| 524 |
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| 525 |
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"cls": "Microwave"
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| 526 |
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},
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| 527 |
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| 528 |
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"cls": "HousingCabinet"
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| 529 |
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},
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| 530 |
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| 531 |
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| 532 |
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| 534 |
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| 535 |
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| 537 |
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| 538 |
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| 540 |
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| 543 |
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| 544 |
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| 546 |
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| 548 |
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| 549 |
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| 552 |
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"cls": "Drawer"
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| 553 |
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},
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| 554 |
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| 555 |
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| 556 |
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| 557 |
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| 558 |
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| 559 |
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| 561 |
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"cls": "Drawer"
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| 562 |
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| 563 |
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| 564 |
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| 565 |
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| 567 |
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| 569 |
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| 570 |
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| 571 |
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| 573 |
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"cls": "SingleCabinet"
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| 574 |
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| 575 |
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| 576 |
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| 577 |
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| 579 |
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"cls": "Accessory"
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| 580 |
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| 581 |
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| 582 |
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"cls": "Accessory"
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| 583 |
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| 584 |
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| 585 |
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| 586 |
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},
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| 588 |
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"cls": "Accessory"
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},
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| 591 |
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"cls": "Accessory"
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| 592 |
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},
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| 593 |
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| 594 |
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"cls": "Counter"
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| 595 |
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},
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| 596 |
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| 597 |
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"cls": "Counter"
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| 598 |
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},
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| 599 |
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|
| 600 |
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"cls": "FridgeSideBySide"
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| 601 |
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},
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| 602 |
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| 603 |
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"cls": "HousingCabinet"
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| 604 |
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},
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| 605 |
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| 606 |
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| 607 |
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},
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| 608 |
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| 609 |
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"cls": "HingeCabinet"
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| 610 |
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},
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| 611 |
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| 612 |
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"cls": "Drawer"
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| 613 |
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},
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| 614 |
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| 615 |
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"cls": "Drawer"
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| 616 |
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},
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| 617 |
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"stack_2_right_group_base": {
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| 618 |
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"cls": "Box"
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| 619 |
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},
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| 620 |
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| 621 |
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"cls": "SingleCabinet"
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| 622 |
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},
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| 623 |
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| 624 |
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"cls": "Drawer"
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| 625 |
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},
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| 626 |
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| 627 |
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"cls": "Box"
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| 628 |
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},
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| 629 |
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| 630 |
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| 631 |
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},
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| 632 |
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| 633 |
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| 634 |
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},
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| 635 |
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| 636 |
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"cls": "Drawer"
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| 637 |
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},
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| 639 |
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"cls": "Drawer"
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| 640 |
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| 641 |
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| 642 |
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"cls": "HingeCabinet"
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| 643 |
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| 648 |
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| 649 |
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| 651 |
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| 652 |
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| 654 |
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"cls": "Toaster"
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| 655 |
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}
|
| 656 |
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},
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| 657 |
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"gen_textures": {},
|
| 658 |
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"lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
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| 659 |
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"fixture_refs": {
|
| 660 |
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"cab": "cab_1_right_group",
|
| 661 |
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"counter": "counter_1_right_group"
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| 662 |
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},
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| 663 |
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"cam_configs": {
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| 664 |
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"pos": [
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| 666 |
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| 711 |
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| 713 |
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| 730 |
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|
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|
| 742 |
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|
| 743 |
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|
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|
| 746 |
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|
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|
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|
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|
| 752 |
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|
| 753 |
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]
|
| 754 |
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}
|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000361/ep_meta.json
ADDED
|
@@ -0,0 +1,584 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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],
|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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| 17 |
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| 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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-1
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| 31 |
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|
| 32 |
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|
| 33 |
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"type": "object",
|
| 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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| 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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],
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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0.0,
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| 57 |
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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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{
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| 63 |
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"name": "obj2",
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| 64 |
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| 65 |
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"graspable": true,
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 70 |
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| 71 |
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|
| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 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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],
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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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| 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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|
| 116 |
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| 117 |
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|
| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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|
| 136 |
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|
| 137 |
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],
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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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],
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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},
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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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],
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| 157 |
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| 158 |
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| 159 |
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|
| 160 |
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},
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| 161 |
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{
|
| 162 |
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"name": "cab_obj2",
|
| 163 |
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"obj_groups": "shaker",
|
| 164 |
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"graspable": true,
|
| 165 |
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| 166 |
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"fixture": "cab_3_main_group",
|
| 167 |
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| 168 |
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1.0,
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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0,
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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"type": "object",
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| 177 |
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| 178 |
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| 179 |
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|
| 180 |
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| 181 |
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|
| 182 |
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],
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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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"cat": "shaker",
|
| 187 |
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"split": "test",
|
| 188 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_2/model.xml"
|
| 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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0.0,
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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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],
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| 200 |
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"height": 0.2666666666666667,
|
| 201 |
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"name": "level0"
|
| 202 |
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}
|
| 203 |
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},
|
| 204 |
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{
|
| 205 |
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"name": "distr_counter1",
|
| 206 |
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|
| 207 |
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| 208 |
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|
| 209 |
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],
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| 210 |
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|
| 211 |
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"fixture": "counter_right_main_group",
|
| 212 |
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|
| 213 |
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"ref": "cab_3_main_group",
|
| 214 |
+
"min_size": [
|
| 215 |
+
0.101150763,
|
| 216 |
+
0.1034524155,
|
| 217 |
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0.1294565895
|
| 218 |
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]
|
| 219 |
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},
|
| 220 |
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"size": [
|
| 221 |
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1.0,
|
| 222 |
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0.3
|
| 223 |
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],
|
| 224 |
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"pos": [
|
| 225 |
+
0.0,
|
| 226 |
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1.0
|
| 227 |
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]
|
| 228 |
+
},
|
| 229 |
+
"type": "object",
|
| 230 |
+
"info": {
|
| 231 |
+
"groups_containing_sampled_obj": [
|
| 232 |
+
"all",
|
| 233 |
+
"honey_bottle",
|
| 234 |
+
"packaged_food"
|
| 235 |
+
],
|
| 236 |
+
"groups": [
|
| 237 |
+
"all"
|
| 238 |
+
],
|
| 239 |
+
"cat": "honey_bottle",
|
| 240 |
+
"split": "test",
|
| 241 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/honey_bottle/HoneyBottle007/model.xml"
|
| 242 |
+
},
|
| 243 |
+
"reset_region": {
|
| 244 |
+
"size": [
|
| 245 |
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1.0000000000000018,
|
| 246 |
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0.65
|
| 247 |
+
],
|
| 248 |
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"offset": [
|
| 249 |
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0.4999999999999991,
|
| 250 |
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0.0,
|
| 251 |
+
0.46
|
| 252 |
+
],
|
| 253 |
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"name": "geom_0"
|
| 254 |
+
}
|
| 255 |
+
}
|
| 256 |
+
],
|
| 257 |
+
"fixtures": {
|
| 258 |
+
"wall_room": {
|
| 259 |
+
"cls": "Wall"
|
| 260 |
+
},
|
| 261 |
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"wall_backing_room": {
|
| 262 |
+
"cls": "Wall"
|
| 263 |
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},
|
| 264 |
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"wall_left_room": {
|
| 265 |
+
"cls": "Wall"
|
| 266 |
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},
|
| 267 |
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"wall_left_backing_room": {
|
| 268 |
+
"cls": "Wall"
|
| 269 |
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},
|
| 270 |
+
"wall_right_room": {
|
| 271 |
+
"cls": "Wall"
|
| 272 |
+
},
|
| 273 |
+
"wall_right_backing_room": {
|
| 274 |
+
"cls": "Wall"
|
| 275 |
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},
|
| 276 |
+
"outlet_room": {
|
| 277 |
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"cls": "WallAccessory"
|
| 278 |
+
},
|
| 279 |
+
"outlet_2_room": {
|
| 280 |
+
"cls": "WallAccessory"
|
| 281 |
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},
|
| 282 |
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"outlet_3_room": {
|
| 283 |
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"cls": "WallAccessory"
|
| 284 |
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},
|
| 285 |
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"untensil_rack_room": {
|
| 286 |
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"cls": "WallAccessory"
|
| 287 |
+
},
|
| 288 |
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"light_switch_room": {
|
| 289 |
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"cls": "WallAccessory"
|
| 290 |
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},
|
| 291 |
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"light_switch_2_room": {
|
| 292 |
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"cls": "WallAccessory"
|
| 293 |
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},
|
| 294 |
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"window_group_room": {
|
| 295 |
+
"cls": "Window"
|
| 296 |
+
},
|
| 297 |
+
"floor_room": {
|
| 298 |
+
"cls": "Floor"
|
| 299 |
+
},
|
| 300 |
+
"floor_backing_room": {
|
| 301 |
+
"cls": "Floor"
|
| 302 |
+
},
|
| 303 |
+
"sink_left_group": {
|
| 304 |
+
"cls": "Sink"
|
| 305 |
+
},
|
| 306 |
+
"counter_left_group": {
|
| 307 |
+
"cls": "Counter"
|
| 308 |
+
},
|
| 309 |
+
"fridge_left_group": {
|
| 310 |
+
"cls": "FridgeBottomFreezer"
|
| 311 |
+
},
|
| 312 |
+
"cab_1_left_group": {
|
| 313 |
+
"cls": "HingeCabinet"
|
| 314 |
+
},
|
| 315 |
+
"cab_2_left_group": {
|
| 316 |
+
"cls": "OpenCabinet"
|
| 317 |
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},
|
| 318 |
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"stack_1_left_group_base": {
|
| 319 |
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"cls": "Box"
|
| 320 |
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},
|
| 321 |
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"stack_1_left_group_1": {
|
| 322 |
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"cls": "Drawer"
|
| 323 |
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},
|
| 324 |
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"stack_1_left_group_2": {
|
| 325 |
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"cls": "Drawer"
|
| 326 |
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},
|
| 327 |
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"stack_1_left_group_3": {
|
| 328 |
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"cls": "Drawer"
|
| 329 |
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},
|
| 330 |
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"stack_1_left_group_4": {
|
| 331 |
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"cls": "Drawer"
|
| 332 |
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},
|
| 333 |
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"stack_2_left_group_base": {
|
| 334 |
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"cls": "Box"
|
| 335 |
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},
|
| 336 |
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"stack_2_left_group_1": {
|
| 337 |
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"cls": "HingeCabinet"
|
| 338 |
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},
|
| 339 |
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"stack_2_left_group_2": {
|
| 340 |
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"cls": "Drawer"
|
| 341 |
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},
|
| 342 |
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"stack_2_left_group_3": {
|
| 343 |
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"cls": "Drawer"
|
| 344 |
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},
|
| 345 |
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"dishwasher_left_group": {
|
| 346 |
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"cls": "Dishwasher"
|
| 347 |
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},
|
| 348 |
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"stack_3_left_group_base": {
|
| 349 |
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"cls": "Box"
|
| 350 |
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},
|
| 351 |
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"stack_3_left_group_1": {
|
| 352 |
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"cls": "HingeCabinet"
|
| 353 |
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},
|
| 354 |
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"stack_3_left_group_2": {
|
| 355 |
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"cls": "PanelCabinet"
|
| 356 |
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},
|
| 357 |
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"stack_4_left_group_base": {
|
| 358 |
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"cls": "Box"
|
| 359 |
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},
|
| 360 |
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"stack_4_left_group_1": {
|
| 361 |
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"cls": "SingleCabinet"
|
| 362 |
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},
|
| 363 |
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"stack_4_left_group_2": {
|
| 364 |
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"cls": "Drawer"
|
| 365 |
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},
|
| 366 |
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"flower_vase_left_group": {
|
| 367 |
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"cls": "Accessory"
|
| 368 |
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},
|
| 369 |
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"soap_dispenser_left_group": {
|
| 370 |
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"cls": "Accessory"
|
| 371 |
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},
|
| 372 |
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"knife_block_left_group": {
|
| 373 |
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"cls": "Accessory"
|
| 374 |
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},
|
| 375 |
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"paprika_left_group": {
|
| 376 |
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"cls": "Accessory"
|
| 377 |
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},
|
| 378 |
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"cinnamon_left_group": {
|
| 379 |
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"cls": "Accessory"
|
| 380 |
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},
|
| 381 |
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"turmeric_left_group": {
|
| 382 |
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"cls": "Accessory"
|
| 383 |
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},
|
| 384 |
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"glass_cup_left_group": {
|
| 385 |
+
"cls": "Accessory"
|
| 386 |
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},
|
| 387 |
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"digital_scale_left_group": {
|
| 388 |
+
"cls": "Accessory"
|
| 389 |
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},
|
| 390 |
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"paper_towel_left_group": {
|
| 391 |
+
"cls": "Accessory"
|
| 392 |
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},
|
| 393 |
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"counter_main_main_group": {
|
| 394 |
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"cls": "Counter"
|
| 395 |
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},
|
| 396 |
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"stove_main_group": {
|
| 397 |
+
"cls": "Stove"
|
| 398 |
+
},
|
| 399 |
+
"counter_right_main_group": {
|
| 400 |
+
"cls": "Counter"
|
| 401 |
+
},
|
| 402 |
+
"cab_main_main_group": {
|
| 403 |
+
"cls": "HingeCabinet"
|
| 404 |
+
},
|
| 405 |
+
"cab_1_main_group": {
|
| 406 |
+
"cls": "HingeCabinet"
|
| 407 |
+
},
|
| 408 |
+
"microwave_main_group": {
|
| 409 |
+
"cls": "Microwave"
|
| 410 |
+
},
|
| 411 |
+
"cab_micro_main_group": {
|
| 412 |
+
"cls": "HingeCabinet"
|
| 413 |
+
},
|
| 414 |
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"cab_2_main_group": {
|
| 415 |
+
"cls": "HingeCabinet"
|
| 416 |
+
},
|
| 417 |
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"cab_3_main_group": {
|
| 418 |
+
"cls": "HingeCabinet"
|
| 419 |
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},
|
| 420 |
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"stack_1_main_group_base": {
|
| 421 |
+
"cls": "Box"
|
| 422 |
+
},
|
| 423 |
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"stack_1_main_group_1": {
|
| 424 |
+
"cls": "HingeCabinet"
|
| 425 |
+
},
|
| 426 |
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"stack_1_main_group_2": {
|
| 427 |
+
"cls": "Drawer"
|
| 428 |
+
},
|
| 429 |
+
"stack_1_main_group_3": {
|
| 430 |
+
"cls": "Drawer"
|
| 431 |
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},
|
| 432 |
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"stack_2_main_group_base": {
|
| 433 |
+
"cls": "Box"
|
| 434 |
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},
|
| 435 |
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"stack_2_main_group_1": {
|
| 436 |
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"cls": "Drawer"
|
| 437 |
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},
|
| 438 |
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"stack_2_main_group_2": {
|
| 439 |
+
"cls": "Drawer"
|
| 440 |
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},
|
| 441 |
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"stack_2_main_group_3": {
|
| 442 |
+
"cls": "Drawer"
|
| 443 |
+
},
|
| 444 |
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"stack_2_main_group_4": {
|
| 445 |
+
"cls": "Drawer"
|
| 446 |
+
},
|
| 447 |
+
"stack_3_main_group_base": {
|
| 448 |
+
"cls": "Box"
|
| 449 |
+
},
|
| 450 |
+
"stack_3_main_group_1": {
|
| 451 |
+
"cls": "HingeCabinet"
|
| 452 |
+
},
|
| 453 |
+
"stack_3_main_group_2": {
|
| 454 |
+
"cls": "Drawer"
|
| 455 |
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},
|
| 456 |
+
"stack_3_main_group_3": {
|
| 457 |
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"cls": "Drawer"
|
| 458 |
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},
|
| 459 |
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"stack_4_main_group_base": {
|
| 460 |
+
"cls": "Box"
|
| 461 |
+
},
|
| 462 |
+
"stack_4_main_group_1": {
|
| 463 |
+
"cls": "HingeCabinet"
|
| 464 |
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},
|
| 465 |
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"stack_4_main_group_2": {
|
| 466 |
+
"cls": "Drawer"
|
| 467 |
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},
|
| 468 |
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"stack_4_main_group_3": {
|
| 469 |
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"cls": "Drawer"
|
| 470 |
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},
|
| 471 |
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"coffee_machine_main_group": {
|
| 472 |
+
"cls": "CoffeeMachine"
|
| 473 |
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},
|
| 474 |
+
"utensil_set_main_group": {
|
| 475 |
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"cls": "Accessory"
|
| 476 |
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},
|
| 477 |
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"toaster_main_group": {
|
| 478 |
+
"cls": "Toaster"
|
| 479 |
+
},
|
| 480 |
+
"toaster_oven_main_group": {
|
| 481 |
+
"cls": "ToasterOven"
|
| 482 |
+
},
|
| 483 |
+
"tiered_basket_main_group": {
|
| 484 |
+
"cls": "Accessory"
|
| 485 |
+
}
|
| 486 |
+
},
|
| 487 |
+
"gen_textures": {},
|
| 488 |
+
"lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
|
| 489 |
+
"fixture_refs": {
|
| 490 |
+
"cab": "cab_3_main_group",
|
| 491 |
+
"counter": "counter_right_main_group"
|
| 492 |
+
},
|
| 493 |
+
"cam_configs": {
|
| 494 |
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"robot0_agentview_center": {
|
| 495 |
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"pos": [
|
| 496 |
+
-0.6,
|
| 497 |
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0.0,
|
| 498 |
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1.15
|
| 499 |
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],
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| 500 |
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"quat": [
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| 501 |
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],
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| 506 |
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"parent_body": "mobilebase0_support"
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| 507 |
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},
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"robot0_agentview_left": {
|
| 509 |
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"pos": [
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| 510 |
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| 511 |
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|
| 512 |
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|
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| 521 |
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},
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| 523 |
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| 524 |
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"robot0_agentview_right": {
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| 526 |
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"pos": [
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| 527 |
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| 528 |
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| 538 |
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"fovy": "60"
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| 539 |
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},
|
| 540 |
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"parent_body": "mobilebase0_support"
|
| 541 |
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},
|
| 542 |
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"robot0_frontview": {
|
| 543 |
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"pos": [
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| 544 |
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-0.5,
|
| 545 |
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| 546 |
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],
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| 556 |
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},
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| 557 |
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"parent_body": "mobilebase0_support"
|
| 558 |
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},
|
| 559 |
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"robot0_eye_in_hand": {
|
| 560 |
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"pos": [
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| 561 |
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|
| 562 |
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|
| 563 |
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|
| 564 |
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],
|
| 565 |
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"quat": [
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| 566 |
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|
| 567 |
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|
| 568 |
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0.707107,
|
| 569 |
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|
| 570 |
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],
|
| 571 |
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"parent_body": "robot0_right_hand"
|
| 572 |
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}
|
| 573 |
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},
|
| 574 |
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"init_robot_base_pos": [
|
| 575 |
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|
| 576 |
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|
| 577 |
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|
| 578 |
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|
| 579 |
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"init_robot_base_ori": [
|
| 580 |
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|
| 581 |
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|
| 582 |
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|
| 583 |
+
]
|
| 584 |
+
}
|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000372/ep_meta.json
ADDED
|
@@ -0,0 +1,609 @@
|
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|
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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": 6,
|
| 3 |
+
"style_id": 6,
|
| 4 |
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"object_cfgs": [
|
| 5 |
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{
|
| 6 |
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"name": "obj1",
|
| 7 |
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"obj_groups": [
|
| 8 |
+
"condiment_bottle",
|
| 9 |
+
"ketchup",
|
| 10 |
+
"syrup_bottle"
|
| 11 |
+
],
|
| 12 |
+
"graspable": true,
|
| 13 |
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"init_robot_here": true,
|
| 14 |
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"placement": {
|
| 15 |
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"fixture": "counter_1_left_group",
|
| 16 |
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"sample_region_kwargs": {
|
| 17 |
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"ref": "shelves_left_group",
|
| 18 |
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"min_size": [
|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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]
|
| 23 |
+
},
|
| 24 |
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|
| 25 |
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0.5,
|
| 26 |
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0.2
|
| 27 |
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],
|
| 28 |
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"pos": [
|
| 29 |
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"ref",
|
| 30 |
+
-1
|
| 31 |
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]
|
| 32 |
+
},
|
| 33 |
+
"type": "object",
|
| 34 |
+
"info": {
|
| 35 |
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"groups_containing_sampled_obj": [
|
| 36 |
+
"all",
|
| 37 |
+
"syrup_bottle",
|
| 38 |
+
"condiment"
|
| 39 |
+
],
|
| 40 |
+
"groups": [
|
| 41 |
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"condiment_bottle",
|
| 42 |
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"ketchup",
|
| 43 |
+
"syrup_bottle"
|
| 44 |
+
],
|
| 45 |
+
"cat": "syrup_bottle",
|
| 46 |
+
"split": "test",
|
| 47 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle007/model.xml"
|
| 48 |
+
},
|
| 49 |
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"reset_region": {
|
| 50 |
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"size": [
|
| 51 |
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2.3000000000000003,
|
| 52 |
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0.65
|
| 53 |
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],
|
| 54 |
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|
| 55 |
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0.24999999999999978,
|
| 56 |
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0.0,
|
| 57 |
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0.46
|
| 58 |
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],
|
| 59 |
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"name": "geom_0"
|
| 60 |
+
}
|
| 61 |
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},
|
| 62 |
+
{
|
| 63 |
+
"name": "obj2",
|
| 64 |
+
"obj_groups": "shaker",
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
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"fixture": "counter_1_left_group",
|
| 68 |
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"sample_region_kwargs": {
|
| 69 |
+
"ref": "shelves_left_group",
|
| 70 |
+
"min_size": [
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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]
|
| 75 |
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},
|
| 76 |
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|
| 77 |
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0.5,
|
| 78 |
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0.2
|
| 79 |
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],
|
| 80 |
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|
| 81 |
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"ref",
|
| 82 |
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-1
|
| 83 |
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]
|
| 84 |
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},
|
| 85 |
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"type": "object",
|
| 86 |
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"info": {
|
| 87 |
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"groups_containing_sampled_obj": [
|
| 88 |
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"all",
|
| 89 |
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"shaker",
|
| 90 |
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"condiment"
|
| 91 |
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],
|
| 92 |
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"groups": [
|
| 93 |
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"shaker"
|
| 94 |
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],
|
| 95 |
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"cat": "shaker",
|
| 96 |
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"split": "test",
|
| 97 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_2/model.xml"
|
| 98 |
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},
|
| 99 |
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"reset_region": {
|
| 100 |
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"size": [
|
| 101 |
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|
| 102 |
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0.65
|
| 103 |
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],
|
| 104 |
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|
| 105 |
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0.24999999999999978,
|
| 106 |
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0.0,
|
| 107 |
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0.46
|
| 108 |
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],
|
| 109 |
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"name": "geom_0"
|
| 110 |
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}
|
| 111 |
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},
|
| 112 |
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{
|
| 113 |
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"name": "cab_obj1",
|
| 114 |
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|
| 115 |
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"condiment_bottle",
|
| 116 |
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"ketchup",
|
| 117 |
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"syrup_bottle"
|
| 118 |
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],
|
| 119 |
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"graspable": true,
|
| 120 |
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|
| 121 |
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"fixture": "shelves_left_group",
|
| 122 |
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"size": [
|
| 123 |
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1.0,
|
| 124 |
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0.2
|
| 125 |
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],
|
| 126 |
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|
| 127 |
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0,
|
| 128 |
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|
| 129 |
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]
|
| 130 |
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},
|
| 131 |
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"type": "object",
|
| 132 |
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"info": {
|
| 133 |
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"groups_containing_sampled_obj": [
|
| 134 |
+
"all",
|
| 135 |
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"ketchup",
|
| 136 |
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"condiment"
|
| 137 |
+
],
|
| 138 |
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"groups": [
|
| 139 |
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"condiment_bottle",
|
| 140 |
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"ketchup",
|
| 141 |
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"syrup_bottle"
|
| 142 |
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],
|
| 143 |
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"cat": "ketchup",
|
| 144 |
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"split": "test",
|
| 145 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_4/model.xml"
|
| 146 |
+
},
|
| 147 |
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"reset_region": {
|
| 148 |
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"offset": [
|
| 149 |
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0.0,
|
| 150 |
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0.0,
|
| 151 |
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|
| 152 |
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],
|
| 153 |
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"size": [
|
| 154 |
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1.3,
|
| 155 |
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0.4
|
| 156 |
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],
|
| 157 |
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"height": 0.41500000000000004,
|
| 158 |
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"name": "level0"
|
| 159 |
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}
|
| 160 |
+
},
|
| 161 |
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{
|
| 162 |
+
"name": "cab_obj2",
|
| 163 |
+
"obj_groups": "shaker",
|
| 164 |
+
"graspable": true,
|
| 165 |
+
"placement": {
|
| 166 |
+
"fixture": "shelves_left_group",
|
| 167 |
+
"size": [
|
| 168 |
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1.0,
|
| 169 |
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0.2
|
| 170 |
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],
|
| 171 |
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"pos": [
|
| 172 |
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0,
|
| 173 |
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-1.0
|
| 174 |
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]
|
| 175 |
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},
|
| 176 |
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"type": "object",
|
| 177 |
+
"info": {
|
| 178 |
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"groups_containing_sampled_obj": [
|
| 179 |
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"all",
|
| 180 |
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"shaker",
|
| 181 |
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"condiment"
|
| 182 |
+
],
|
| 183 |
+
"groups": [
|
| 184 |
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"shaker"
|
| 185 |
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],
|
| 186 |
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"cat": "shaker",
|
| 187 |
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"split": "test",
|
| 188 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
|
| 189 |
+
},
|
| 190 |
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"reset_region": {
|
| 191 |
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"offset": [
|
| 192 |
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0.0,
|
| 193 |
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0.0,
|
| 194 |
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-0.43000000000000005
|
| 195 |
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],
|
| 196 |
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"size": [
|
| 197 |
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1.3,
|
| 198 |
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0.4
|
| 199 |
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],
|
| 200 |
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"height": 0.41500000000000004,
|
| 201 |
+
"name": "level0"
|
| 202 |
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}
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"name": "distr_counter1",
|
| 206 |
+
"obj_groups": "all",
|
| 207 |
+
"exclude_obj_groups": [
|
| 208 |
+
"condiment"
|
| 209 |
+
],
|
| 210 |
+
"placement": {
|
| 211 |
+
"fixture": "counter_1_left_group",
|
| 212 |
+
"sample_region_kwargs": {
|
| 213 |
+
"ref": "shelves_left_group",
|
| 214 |
+
"min_size": [
|
| 215 |
+
0.073797744,
|
| 216 |
+
0.174015408,
|
| 217 |
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0.05752000000000001
|
| 218 |
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]
|
| 219 |
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|
| 220 |
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"size": [
|
| 221 |
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1.0,
|
| 222 |
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0.3
|
| 223 |
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],
|
| 224 |
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"pos": [
|
| 225 |
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0.0,
|
| 226 |
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|
| 227 |
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]
|
| 228 |
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},
|
| 229 |
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"type": "object",
|
| 230 |
+
"info": {
|
| 231 |
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"groups_containing_sampled_obj": [
|
| 232 |
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"all",
|
| 233 |
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"measuring_cup",
|
| 234 |
+
"tool",
|
| 235 |
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"in_container"
|
| 236 |
+
],
|
| 237 |
+
"groups": [
|
| 238 |
+
"all"
|
| 239 |
+
],
|
| 240 |
+
"cat": "measuring_cup",
|
| 241 |
+
"split": "test",
|
| 242 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup008/model.xml"
|
| 243 |
+
},
|
| 244 |
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"reset_region": {
|
| 245 |
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"size": [
|
| 246 |
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2.3000000000000003,
|
| 247 |
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0.65
|
| 248 |
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],
|
| 249 |
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"offset": [
|
| 250 |
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|
| 251 |
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0.0,
|
| 252 |
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0.46
|
| 253 |
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],
|
| 254 |
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"name": "geom_0"
|
| 255 |
+
}
|
| 256 |
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}
|
| 257 |
+
],
|
| 258 |
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"fixtures": {
|
| 259 |
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"wall_room": {
|
| 260 |
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"cls": "Wall"
|
| 261 |
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},
|
| 262 |
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"wall_backing_room": {
|
| 263 |
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"cls": "Wall"
|
| 264 |
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},
|
| 265 |
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"wall_left_room": {
|
| 266 |
+
"cls": "Wall"
|
| 267 |
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},
|
| 268 |
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"wall_left_backing_room": {
|
| 269 |
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"cls": "Wall"
|
| 270 |
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},
|
| 271 |
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"wall_right_room": {
|
| 272 |
+
"cls": "Wall"
|
| 273 |
+
},
|
| 274 |
+
"wall_right_backing_room": {
|
| 275 |
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"cls": "Wall"
|
| 276 |
+
},
|
| 277 |
+
"outlet_room": {
|
| 278 |
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"cls": "WallAccessory"
|
| 279 |
+
},
|
| 280 |
+
"outlet_2_room": {
|
| 281 |
+
"cls": "WallAccessory"
|
| 282 |
+
},
|
| 283 |
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"outlet_3_room": {
|
| 284 |
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"cls": "WallAccessory"
|
| 285 |
+
},
|
| 286 |
+
"light_switch_room": {
|
| 287 |
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"cls": "WallAccessory"
|
| 288 |
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},
|
| 289 |
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"light_switch_2_room": {
|
| 290 |
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"cls": "WallAccessory"
|
| 291 |
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},
|
| 292 |
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"utensil_rack_room": {
|
| 293 |
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"cls": "WallAccessory"
|
| 294 |
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},
|
| 295 |
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"window_group_room": {
|
| 296 |
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"cls": "Window"
|
| 297 |
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},
|
| 298 |
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"floor_room": {
|
| 299 |
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"cls": "Floor"
|
| 300 |
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},
|
| 301 |
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"floor_backing_room": {
|
| 302 |
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"cls": "Floor"
|
| 303 |
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},
|
| 304 |
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"cab_main_main_group": {
|
| 305 |
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"cls": "HingeCabinet"
|
| 306 |
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},
|
| 307 |
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"cab_corner_main_group": {
|
| 308 |
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"cls": "Box"
|
| 309 |
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},
|
| 310 |
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"cab_corner_2_main_group": {
|
| 311 |
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"cls": "Box"
|
| 312 |
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},
|
| 313 |
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"counter_corner_left_main_group": {
|
| 314 |
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"cls": "Counter"
|
| 315 |
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},
|
| 316 |
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"sink_main_group": {
|
| 317 |
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"cls": "Sink"
|
| 318 |
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},
|
| 319 |
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"counter_main_main_group": {
|
| 320 |
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"cls": "Counter"
|
| 321 |
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},
|
| 322 |
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"counter_corner_right_main_group": {
|
| 323 |
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"cls": "Counter"
|
| 324 |
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},
|
| 325 |
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"stack_1_main_group_base": {
|
| 326 |
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"cls": "Box"
|
| 327 |
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},
|
| 328 |
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"stack_1_main_group_1": {
|
| 329 |
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"cls": "Drawer"
|
| 330 |
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},
|
| 331 |
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"stack_1_main_group_2": {
|
| 332 |
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"cls": "Drawer"
|
| 333 |
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},
|
| 334 |
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"stack_1_main_group_3": {
|
| 335 |
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"cls": "Drawer"
|
| 336 |
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},
|
| 337 |
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"stack_1_main_group_4": {
|
| 338 |
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"cls": "Drawer"
|
| 339 |
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},
|
| 340 |
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"stack_2_main_group_base": {
|
| 341 |
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"cls": "Box"
|
| 342 |
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},
|
| 343 |
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"stack_2_main_group_1": {
|
| 344 |
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"cls": "HingeCabinet"
|
| 345 |
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},
|
| 346 |
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"stack_2_main_group_2": {
|
| 347 |
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"cls": "PanelCabinet"
|
| 348 |
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},
|
| 349 |
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"dishwasher_main_group": {
|
| 350 |
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"cls": "Dishwasher"
|
| 351 |
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},
|
| 352 |
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"stack_3_main_group_base": {
|
| 353 |
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"cls": "Box"
|
| 354 |
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},
|
| 355 |
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|
| 356 |
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"cls": "HingeCabinet"
|
| 357 |
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},
|
| 358 |
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"stack_3_main_group_2": {
|
| 359 |
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"cls": "Drawer"
|
| 360 |
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},
|
| 361 |
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"stack_3_main_group_3": {
|
| 362 |
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"cls": "Drawer"
|
| 363 |
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},
|
| 364 |
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"toaster_oven_main_group": {
|
| 365 |
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"cls": "ToasterOven"
|
| 366 |
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},
|
| 367 |
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"knife_block_main_group": {
|
| 368 |
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"cls": "Accessory"
|
| 369 |
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},
|
| 370 |
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"utensil_set_main_group": {
|
| 371 |
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"cls": "Accessory"
|
| 372 |
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},
|
| 373 |
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"tiered_basket_main_group": {
|
| 374 |
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"cls": "Accessory"
|
| 375 |
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},
|
| 376 |
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"paper_towel_main_group": {
|
| 377 |
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"cls": "Accessory"
|
| 378 |
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},
|
| 379 |
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"soap_dispenser_main_group": {
|
| 380 |
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"cls": "Accessory"
|
| 381 |
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},
|
| 382 |
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"counter_1_right_group": {
|
| 383 |
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"cls": "Counter"
|
| 384 |
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},
|
| 385 |
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"stove_right_group": {
|
| 386 |
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"cls": "Stove"
|
| 387 |
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},
|
| 388 |
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"counter_2_right_group": {
|
| 389 |
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"cls": "Counter"
|
| 390 |
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},
|
| 391 |
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"fridge_right_group": {
|
| 392 |
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"cls": "FridgeFrenchDoor"
|
| 393 |
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},
|
| 394 |
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"fridge_housing_right_group": {
|
| 395 |
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"cls": "HousingCabinet"
|
| 396 |
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},
|
| 397 |
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"counter_corner_right_group": {
|
| 398 |
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"cls": "Counter"
|
| 399 |
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},
|
| 400 |
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"stack_1_right_group_base": {
|
| 401 |
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"cls": "Box"
|
| 402 |
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},
|
| 403 |
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"stack_1_right_group_1": {
|
| 404 |
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"cls": "SingleCabinet"
|
| 405 |
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},
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| 406 |
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"stack_1_right_group_2": {
|
| 407 |
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"cls": "Drawer"
|
| 408 |
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},
|
| 409 |
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"stack_2_right_group_base": {
|
| 410 |
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"cls": "Box"
|
| 411 |
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},
|
| 412 |
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"stack_2_right_group_1": {
|
| 413 |
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"cls": "SingleCabinet"
|
| 414 |
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},
|
| 415 |
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"stack_2_right_group_2": {
|
| 416 |
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"cls": "Drawer"
|
| 417 |
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},
|
| 418 |
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"cab_1_right_group": {
|
| 419 |
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"cls": "SingleCabinet"
|
| 420 |
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},
|
| 421 |
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"microwave_right_group": {
|
| 422 |
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"cls": "Microwave"
|
| 423 |
+
},
|
| 424 |
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"cab_micro_right_group": {
|
| 425 |
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"cls": "HingeCabinet"
|
| 426 |
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},
|
| 427 |
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"cab_2_right_group": {
|
| 428 |
+
"cls": "SingleCabinet"
|
| 429 |
+
},
|
| 430 |
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"cab_3_right_group": {
|
| 431 |
+
"cls": "HingeCabinet"
|
| 432 |
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},
|
| 433 |
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"toaster_right_group": {
|
| 434 |
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"cls": "Toaster"
|
| 435 |
+
},
|
| 436 |
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"counter_1_left_group": {
|
| 437 |
+
"cls": "Counter"
|
| 438 |
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},
|
| 439 |
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"counter_corner_left_group": {
|
| 440 |
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"cls": "Counter"
|
| 441 |
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},
|
| 442 |
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"stack_1_left_group_base": {
|
| 443 |
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"cls": "Box"
|
| 444 |
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},
|
| 445 |
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"stack_1_left_group_1": {
|
| 446 |
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"cls": "Drawer"
|
| 447 |
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},
|
| 448 |
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"stack_1_left_group_2": {
|
| 449 |
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"cls": "Drawer"
|
| 450 |
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},
|
| 451 |
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"stack_1_left_group_3": {
|
| 452 |
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"cls": "Drawer"
|
| 453 |
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},
|
| 454 |
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"stack_1_left_group_4": {
|
| 455 |
+
"cls": "Drawer"
|
| 456 |
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},
|
| 457 |
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"stack_2_left_group_base": {
|
| 458 |
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"cls": "Box"
|
| 459 |
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},
|
| 460 |
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"stack_2_left_group_1": {
|
| 461 |
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"cls": "HingeCabinet"
|
| 462 |
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},
|
| 463 |
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"stack_2_left_group_2": {
|
| 464 |
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"cls": "Drawer"
|
| 465 |
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},
|
| 466 |
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"stack_2_left_group_3": {
|
| 467 |
+
"cls": "Drawer"
|
| 468 |
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},
|
| 469 |
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"stack_3_left_group_base": {
|
| 470 |
+
"cls": "Box"
|
| 471 |
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},
|
| 472 |
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"stack_3_left_group_1": {
|
| 473 |
+
"cls": "HingeCabinet"
|
| 474 |
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},
|
| 475 |
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"stack_3_left_group_2": {
|
| 476 |
+
"cls": "Drawer"
|
| 477 |
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},
|
| 478 |
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"cab_1_left_group": {
|
| 479 |
+
"cls": "HingeCabinet"
|
| 480 |
+
},
|
| 481 |
+
"shelves_left_group": {
|
| 482 |
+
"cls": "OpenCabinet"
|
| 483 |
+
},
|
| 484 |
+
"coffee_machine_left_group": {
|
| 485 |
+
"cls": "CoffeeMachine"
|
| 486 |
+
},
|
| 487 |
+
"plant_left_group": {
|
| 488 |
+
"cls": "Accessory"
|
| 489 |
+
},
|
| 490 |
+
"oil_bottle_left_group": {
|
| 491 |
+
"cls": "Accessory"
|
| 492 |
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},
|
| 493 |
+
"salt_shaker_left_group": {
|
| 494 |
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"cls": "Accessory"
|
| 495 |
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},
|
| 496 |
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"paprika_left_group": {
|
| 497 |
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"cls": "Accessory"
|
| 498 |
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},
|
| 499 |
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"cinnamon_left_group": {
|
| 500 |
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"cls": "Accessory"
|
| 501 |
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},
|
| 502 |
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"turmeric_left_group": {
|
| 503 |
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"cls": "Accessory"
|
| 504 |
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},
|
| 505 |
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"oil_bottle_left_group_auxiliary_left_group": {
|
| 506 |
+
"cls": "Accessory"
|
| 507 |
+
},
|
| 508 |
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"salt_shaker_left_group_auxiliary_left_group": {
|
| 509 |
+
"cls": "Accessory"
|
| 510 |
+
}
|
| 511 |
+
},
|
| 512 |
+
"gen_textures": {},
|
| 513 |
+
"lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
|
| 514 |
+
"fixture_refs": {
|
| 515 |
+
"cab": "shelves_left_group",
|
| 516 |
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"counter": "counter_1_left_group"
|
| 517 |
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},
|
| 518 |
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"cam_configs": {
|
| 519 |
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"robot0_agentview_center": {
|
| 520 |
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"pos": [
|
| 521 |
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| 522 |
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|
| 523 |
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| 524 |
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],
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| 531 |
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"parent_body": "mobilebase0_support"
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| 532 |
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},
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|
| 534 |
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| 535 |
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| 536 |
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| 537 |
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| 551 |
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| 563 |
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| 564 |
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},
|
| 565 |
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"parent_body": "mobilebase0_support"
|
| 566 |
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| 567 |
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|
| 568 |
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"pos": [
|
| 569 |
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|
| 570 |
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|
| 571 |
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|
| 572 |
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| 580 |
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| 581 |
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| 582 |
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"parent_body": "mobilebase0_support"
|
| 583 |
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| 584 |
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|
| 585 |
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"pos": [
|
| 586 |
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|
| 587 |
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|
| 588 |
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|
| 589 |
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],
|
| 590 |
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"quat": [
|
| 591 |
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|
| 592 |
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|
| 593 |
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|
| 594 |
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|
| 595 |
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],
|
| 596 |
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"parent_body": "robot0_right_hand"
|
| 597 |
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}
|
| 598 |
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},
|
| 599 |
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"init_robot_base_pos": [
|
| 600 |
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|
| 601 |
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|
| 602 |
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|
| 603 |
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|
| 604 |
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"init_robot_base_ori": [
|
| 605 |
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|
| 606 |
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|
| 607 |
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|
| 608 |
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]
|
| 609 |
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}
|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000398/ep_meta.json
ADDED
|
@@ -0,0 +1,679 @@
|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 9,
|
| 3 |
+
"style_id": 9,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "obj1",
|
| 7 |
+
"obj_groups": [
|
| 8 |
+
"condiment_bottle",
|
| 9 |
+
"ketchup",
|
| 10 |
+
"syrup_bottle"
|
| 11 |
+
],
|
| 12 |
+
"graspable": true,
|
| 13 |
+
"init_robot_here": true,
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_1_left_group",
|
| 16 |
+
"sample_region_kwargs": {
|
| 17 |
+
"ref": "cab_1_left_group",
|
| 18 |
+
"min_size": [
|
| 19 |
+
0.07927886354922187,
|
| 20 |
+
0.057431164499999986,
|
| 21 |
+
0.15159726442819565
|
| 22 |
+
]
|
| 23 |
+
},
|
| 24 |
+
"size": [
|
| 25 |
+
0.5,
|
| 26 |
+
0.2
|
| 27 |
+
],
|
| 28 |
+
"pos": [
|
| 29 |
+
"ref",
|
| 30 |
+
-1
|
| 31 |
+
]
|
| 32 |
+
},
|
| 33 |
+
"type": "object",
|
| 34 |
+
"info": {
|
| 35 |
+
"groups_containing_sampled_obj": [
|
| 36 |
+
"all",
|
| 37 |
+
"ketchup",
|
| 38 |
+
"condiment"
|
| 39 |
+
],
|
| 40 |
+
"groups": [
|
| 41 |
+
"condiment_bottle",
|
| 42 |
+
"ketchup",
|
| 43 |
+
"syrup_bottle"
|
| 44 |
+
],
|
| 45 |
+
"cat": "ketchup",
|
| 46 |
+
"split": "test",
|
| 47 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_3/model.xml"
|
| 48 |
+
},
|
| 49 |
+
"reset_region": {
|
| 50 |
+
"size": [
|
| 51 |
+
1.040746775018014,
|
| 52 |
+
0.65
|
| 53 |
+
],
|
| 54 |
+
"offset": [
|
| 55 |
+
0.9796266124909931,
|
| 56 |
+
-3.469446951953614e-17,
|
| 57 |
+
0.46
|
| 58 |
+
],
|
| 59 |
+
"name": "geom_0"
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"name": "obj2",
|
| 64 |
+
"obj_groups": "shaker",
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
+
"fixture": "counter_1_left_group",
|
| 68 |
+
"sample_region_kwargs": {
|
| 69 |
+
"ref": "cab_1_left_group",
|
| 70 |
+
"min_size": [
|
| 71 |
+
0.05153075309999998,
|
| 72 |
+
0.045066413499999985,
|
| 73 |
+
0.09499999999999997
|
| 74 |
+
]
|
| 75 |
+
},
|
| 76 |
+
"size": [
|
| 77 |
+
0.5,
|
| 78 |
+
0.2
|
| 79 |
+
],
|
| 80 |
+
"pos": [
|
| 81 |
+
"ref",
|
| 82 |
+
-1
|
| 83 |
+
]
|
| 84 |
+
},
|
| 85 |
+
"type": "object",
|
| 86 |
+
"info": {
|
| 87 |
+
"groups_containing_sampled_obj": [
|
| 88 |
+
"all",
|
| 89 |
+
"shaker",
|
| 90 |
+
"condiment"
|
| 91 |
+
],
|
| 92 |
+
"groups": [
|
| 93 |
+
"shaker"
|
| 94 |
+
],
|
| 95 |
+
"cat": "shaker",
|
| 96 |
+
"split": "test",
|
| 97 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
|
| 98 |
+
},
|
| 99 |
+
"reset_region": {
|
| 100 |
+
"size": [
|
| 101 |
+
1.040746775018014,
|
| 102 |
+
0.65
|
| 103 |
+
],
|
| 104 |
+
"offset": [
|
| 105 |
+
0.9796266124909931,
|
| 106 |
+
-3.469446951953614e-17,
|
| 107 |
+
0.46
|
| 108 |
+
],
|
| 109 |
+
"name": "geom_0"
|
| 110 |
+
}
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"name": "cab_obj1",
|
| 114 |
+
"obj_groups": [
|
| 115 |
+
"condiment_bottle",
|
| 116 |
+
"ketchup",
|
| 117 |
+
"syrup_bottle"
|
| 118 |
+
],
|
| 119 |
+
"graspable": true,
|
| 120 |
+
"placement": {
|
| 121 |
+
"fixture": "cab_1_left_group",
|
| 122 |
+
"size": [
|
| 123 |
+
1.0,
|
| 124 |
+
0.2
|
| 125 |
+
],
|
| 126 |
+
"pos": [
|
| 127 |
+
0,
|
| 128 |
+
-1.0
|
| 129 |
+
]
|
| 130 |
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| 558 |
+
"cls": "HousingCabinet"
|
| 559 |
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},
|
| 560 |
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"microwave_right_group": {
|
| 561 |
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"cls": "Microwave"
|
| 562 |
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},
|
| 563 |
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"micro_housing_right_group": {
|
| 564 |
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"cls": "HousingCabinet"
|
| 565 |
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},
|
| 566 |
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"top_right_group": {
|
| 567 |
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"cls": "HingeCabinet"
|
| 568 |
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},
|
| 569 |
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"side_bottom_right_group_base": {
|
| 570 |
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"cls": "Box"
|
| 571 |
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},
|
| 572 |
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"side_bottom_right_group_1": {
|
| 573 |
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"cls": "Drawer"
|
| 574 |
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},
|
| 575 |
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"side_bottom_right_group_2": {
|
| 576 |
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"cls": "Drawer"
|
| 577 |
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},
|
| 578 |
+
"side_bottom_right_group_3": {
|
| 579 |
+
"cls": "HingeCabinet"
|
| 580 |
+
}
|
| 581 |
+
},
|
| 582 |
+
"gen_textures": {},
|
| 583 |
+
"lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
|
| 584 |
+
"fixture_refs": {
|
| 585 |
+
"cab": "cab_1_left_group",
|
| 586 |
+
"counter": "counter_1_left_group"
|
| 587 |
+
},
|
| 588 |
+
"cam_configs": {
|
| 589 |
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|
| 590 |
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"pos": [
|
| 591 |
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|
| 592 |
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|
| 593 |
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|
| 594 |
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],
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| 595 |
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| 596 |
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| 597 |
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| 598 |
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|
| 599 |
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|
| 600 |
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|
| 601 |
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|
| 602 |
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|
| 603 |
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|
| 604 |
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"pos": [
|
| 605 |
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|
| 606 |
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|
| 607 |
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|
| 608 |
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| 609 |
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| 610 |
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|
| 612 |
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| 613 |
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| 614 |
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| 615 |
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|
| 616 |
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|
| 617 |
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},
|
| 618 |
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"parent_body": "mobilebase0_support"
|
| 619 |
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},
|
| 620 |
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|
| 621 |
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"pos": [
|
| 622 |
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|
| 623 |
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|
| 624 |
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|
| 625 |
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| 626 |
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| 630 |
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| 631 |
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| 632 |
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"camera_attribs": {
|
| 633 |
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|
| 634 |
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},
|
| 635 |
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"parent_body": "mobilebase0_support"
|
| 636 |
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},
|
| 637 |
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"robot0_frontview": {
|
| 638 |
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"pos": [
|
| 639 |
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|
| 640 |
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|
| 641 |
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|
| 642 |
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| 643 |
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| 644 |
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|
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| 649 |
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|
| 650 |
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|
| 651 |
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},
|
| 652 |
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"parent_body": "mobilebase0_support"
|
| 653 |
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},
|
| 654 |
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"robot0_eye_in_hand": {
|
| 655 |
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"pos": [
|
| 656 |
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|
| 657 |
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|
| 658 |
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| 659 |
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],
|
| 660 |
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| 661 |
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|
| 662 |
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|
| 663 |
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|
| 664 |
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| 665 |
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],
|
| 666 |
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"parent_body": "robot0_right_hand"
|
| 667 |
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}
|
| 668 |
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},
|
| 669 |
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"init_robot_base_pos": [
|
| 670 |
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|
| 671 |
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|
| 672 |
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],
|
| 674 |
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"init_robot_base_ori": [
|
| 675 |
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|
| 676 |
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|
| 677 |
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|
| 678 |
+
]
|
| 679 |
+
}
|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000410/ep_meta.json
ADDED
|
@@ -0,0 +1,585 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 5,
|
| 3 |
+
"style_id": 5,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "obj1",
|
| 7 |
+
"obj_groups": [
|
| 8 |
+
"condiment_bottle",
|
| 9 |
+
"ketchup",
|
| 10 |
+
"syrup_bottle"
|
| 11 |
+
],
|
| 12 |
+
"graspable": true,
|
| 13 |
+
"init_robot_here": true,
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_right_main_group",
|
| 16 |
+
"sample_region_kwargs": {
|
| 17 |
+
"ref": "cab_2_main_group",
|
| 18 |
+
"min_size": [
|
| 19 |
+
0.07691050730999997,
|
| 20 |
+
0.04483985972467152,
|
| 21 |
+
0.13798248275120426
|
| 22 |
+
]
|
| 23 |
+
},
|
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|
| 462 |
+
},
|
| 463 |
+
"stack_4_main_group_1": {
|
| 464 |
+
"cls": "HingeCabinet"
|
| 465 |
+
},
|
| 466 |
+
"stack_4_main_group_2": {
|
| 467 |
+
"cls": "Drawer"
|
| 468 |
+
},
|
| 469 |
+
"stack_4_main_group_3": {
|
| 470 |
+
"cls": "Drawer"
|
| 471 |
+
},
|
| 472 |
+
"coffee_machine_main_group": {
|
| 473 |
+
"cls": "CoffeeMachine"
|
| 474 |
+
},
|
| 475 |
+
"utensil_set_main_group": {
|
| 476 |
+
"cls": "Accessory"
|
| 477 |
+
},
|
| 478 |
+
"toaster_main_group": {
|
| 479 |
+
"cls": "Toaster"
|
| 480 |
+
},
|
| 481 |
+
"toaster_oven_main_group": {
|
| 482 |
+
"cls": "ToasterOven"
|
| 483 |
+
},
|
| 484 |
+
"tiered_basket_main_group": {
|
| 485 |
+
"cls": "Accessory"
|
| 486 |
+
}
|
| 487 |
+
},
|
| 488 |
+
"gen_textures": {},
|
| 489 |
+
"lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
|
| 490 |
+
"fixture_refs": {
|
| 491 |
+
"cab": "cab_2_main_group",
|
| 492 |
+
"counter": "counter_right_main_group"
|
| 493 |
+
},
|
| 494 |
+
"cam_configs": {
|
| 495 |
+
"robot0_agentview_center": {
|
| 496 |
+
"pos": [
|
| 497 |
+
-0.6,
|
| 498 |
+
0.0,
|
| 499 |
+
1.15
|
| 500 |
+
],
|
| 501 |
+
"quat": [
|
| 502 |
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|
| 503 |
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0.3325185477733612,
|
| 504 |
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|
| 505 |
+
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|
| 506 |
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],
|
| 507 |
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"parent_body": "mobilebase0_support"
|
| 508 |
+
},
|
| 509 |
+
"robot0_agentview_left": {
|
| 510 |
+
"pos": [
|
| 511 |
+
-0.5,
|
| 512 |
+
0.35,
|
| 513 |
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1.05
|
| 514 |
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],
|
| 515 |
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"quat": [
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| 516 |
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|
| 517 |
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|
| 518 |
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|
| 519 |
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|
| 520 |
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],
|
| 521 |
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"camera_attribs": {
|
| 522 |
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"fovy": "60"
|
| 523 |
+
},
|
| 524 |
+
"parent_body": "mobilebase0_support"
|
| 525 |
+
},
|
| 526 |
+
"robot0_agentview_right": {
|
| 527 |
+
"pos": [
|
| 528 |
+
-0.5,
|
| 529 |
+
-0.35,
|
| 530 |
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|
| 531 |
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],
|
| 532 |
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"quat": [
|
| 533 |
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|
| 534 |
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|
| 535 |
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|
| 536 |
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|
| 537 |
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],
|
| 538 |
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"camera_attribs": {
|
| 539 |
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"fovy": "60"
|
| 540 |
+
},
|
| 541 |
+
"parent_body": "mobilebase0_support"
|
| 542 |
+
},
|
| 543 |
+
"robot0_frontview": {
|
| 544 |
+
"pos": [
|
| 545 |
+
-0.5,
|
| 546 |
+
0,
|
| 547 |
+
0.95
|
| 548 |
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],
|
| 549 |
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"quat": [
|
| 550 |
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|
| 551 |
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|
| 552 |
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|
| 553 |
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|
| 554 |
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],
|
| 555 |
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"camera_attribs": {
|
| 556 |
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"fovy": "60"
|
| 557 |
+
},
|
| 558 |
+
"parent_body": "mobilebase0_support"
|
| 559 |
+
},
|
| 560 |
+
"robot0_eye_in_hand": {
|
| 561 |
+
"pos": [
|
| 562 |
+
0.05,
|
| 563 |
+
0,
|
| 564 |
+
0
|
| 565 |
+
],
|
| 566 |
+
"quat": [
|
| 567 |
+
0,
|
| 568 |
+
0.707107,
|
| 569 |
+
0.707107,
|
| 570 |
+
0
|
| 571 |
+
],
|
| 572 |
+
"parent_body": "robot0_right_hand"
|
| 573 |
+
}
|
| 574 |
+
},
|
| 575 |
+
"init_robot_base_pos": [
|
| 576 |
+
2.3597466187233977,
|
| 577 |
+
-3.3946709547770064,
|
| 578 |
+
0.0
|
| 579 |
+
],
|
| 580 |
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"init_robot_base_ori": [
|
| 581 |
+
0.0,
|
| 582 |
+
0.0,
|
| 583 |
+
-3.673205103416066e-06
|
| 584 |
+
]
|
| 585 |
+
}
|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000419/ep_meta.json
ADDED
|
@@ -0,0 +1,597 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 4,
|
| 3 |
+
"style_id": 4,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "obj1",
|
| 7 |
+
"obj_groups": [
|
| 8 |
+
"condiment_bottle",
|
| 9 |
+
"ketchup",
|
| 10 |
+
"syrup_bottle"
|
| 11 |
+
],
|
| 12 |
+
"graspable": true,
|
| 13 |
+
"init_robot_here": true,
|
| 14 |
+
"placement": {
|
| 15 |
+
"fixture": "counter_main_main_group",
|
| 16 |
+
"sample_region_kwargs": {
|
| 17 |
+
"ref": "cab_main_main_group",
|
| 18 |
+
"min_size": [
|
| 19 |
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| 457 |
+
"stack_2_left_group_1": {
|
| 458 |
+
"cls": "HingeCabinet"
|
| 459 |
+
},
|
| 460 |
+
"stack_2_left_group_2": {
|
| 461 |
+
"cls": "PanelCabinet"
|
| 462 |
+
},
|
| 463 |
+
"stack_3_left_group_base": {
|
| 464 |
+
"cls": "Box"
|
| 465 |
+
},
|
| 466 |
+
"stack_3_left_group_1": {
|
| 467 |
+
"cls": "HingeCabinet"
|
| 468 |
+
},
|
| 469 |
+
"stack_3_left_group_2": {
|
| 470 |
+
"cls": "Drawer"
|
| 471 |
+
},
|
| 472 |
+
"stack_3_left_group_3": {
|
| 473 |
+
"cls": "Drawer"
|
| 474 |
+
},
|
| 475 |
+
"coffee_machine_left_group": {
|
| 476 |
+
"cls": "CoffeeMachine"
|
| 477 |
+
},
|
| 478 |
+
"soap_dispenser_left_group": {
|
| 479 |
+
"cls": "Accessory"
|
| 480 |
+
},
|
| 481 |
+
"tiered_basket_left_group": {
|
| 482 |
+
"cls": "Accessory"
|
| 483 |
+
},
|
| 484 |
+
"island_island_group": {
|
| 485 |
+
"cls": "Counter"
|
| 486 |
+
},
|
| 487 |
+
"plant_island_group": {
|
| 488 |
+
"cls": "Accessory"
|
| 489 |
+
},
|
| 490 |
+
"fruit_bowl_island_group": {
|
| 491 |
+
"cls": "Accessory"
|
| 492 |
+
},
|
| 493 |
+
"salt_shaker_island_group": {
|
| 494 |
+
"cls": "Accessory"
|
| 495 |
+
},
|
| 496 |
+
"salt_shaker_island_group_auxiliary_island_group": {
|
| 497 |
+
"cls": "Accessory"
|
| 498 |
+
}
|
| 499 |
+
},
|
| 500 |
+
"gen_textures": {},
|
| 501 |
+
"lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
|
| 502 |
+
"fixture_refs": {
|
| 503 |
+
"cab": "cab_main_main_group",
|
| 504 |
+
"counter": "counter_main_main_group"
|
| 505 |
+
},
|
| 506 |
+
"cam_configs": {
|
| 507 |
+
"robot0_agentview_center": {
|
| 508 |
+
"pos": [
|
| 509 |
+
-0.6,
|
| 510 |
+
0.0,
|
| 511 |
+
1.15
|
| 512 |
+
],
|
| 513 |
+
"quat": [
|
| 514 |
+
0.636945903301239,
|
| 515 |
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0.3325185477733612,
|
| 516 |
+
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|
| 517 |
+
-0.6175596117973328
|
| 518 |
+
],
|
| 519 |
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"parent_body": "mobilebase0_support"
|
| 520 |
+
},
|
| 521 |
+
"robot0_agentview_left": {
|
| 522 |
+
"pos": [
|
| 523 |
+
-0.5,
|
| 524 |
+
0.35,
|
| 525 |
+
1.05
|
| 526 |
+
],
|
| 527 |
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"quat": [
|
| 528 |
+
0.55623853,
|
| 529 |
+
0.29935253,
|
| 530 |
+
-0.37678665,
|
| 531 |
+
-0.6775092
|
| 532 |
+
],
|
| 533 |
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"camera_attribs": {
|
| 534 |
+
"fovy": "60"
|
| 535 |
+
},
|
| 536 |
+
"parent_body": "mobilebase0_support"
|
| 537 |
+
},
|
| 538 |
+
"robot0_agentview_right": {
|
| 539 |
+
"pos": [
|
| 540 |
+
-0.5,
|
| 541 |
+
-0.35,
|
| 542 |
+
1.05
|
| 543 |
+
],
|
| 544 |
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"quat": [
|
| 545 |
+
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|
| 546 |
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0.3767866790294647,
|
| 547 |
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|
| 548 |
+
-0.55623859167099
|
| 549 |
+
],
|
| 550 |
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"camera_attribs": {
|
| 551 |
+
"fovy": "60"
|
| 552 |
+
},
|
| 553 |
+
"parent_body": "mobilebase0_support"
|
| 554 |
+
},
|
| 555 |
+
"robot0_frontview": {
|
| 556 |
+
"pos": [
|
| 557 |
+
-0.5,
|
| 558 |
+
0,
|
| 559 |
+
0.95
|
| 560 |
+
],
|
| 561 |
+
"quat": [
|
| 562 |
+
0.6088936924934387,
|
| 563 |
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0.3814677894115448,
|
| 564 |
+
-0.3673907518386841,
|
| 565 |
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-0.5905545353889465
|
| 566 |
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],
|
| 567 |
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"camera_attribs": {
|
| 568 |
+
"fovy": "60"
|
| 569 |
+
},
|
| 570 |
+
"parent_body": "mobilebase0_support"
|
| 571 |
+
},
|
| 572 |
+
"robot0_eye_in_hand": {
|
| 573 |
+
"pos": [
|
| 574 |
+
0.05,
|
| 575 |
+
0,
|
| 576 |
+
0
|
| 577 |
+
],
|
| 578 |
+
"quat": [
|
| 579 |
+
0,
|
| 580 |
+
0.707107,
|
| 581 |
+
0.707107,
|
| 582 |
+
0
|
| 583 |
+
],
|
| 584 |
+
"parent_body": "robot0_right_hand"
|
| 585 |
+
}
|
| 586 |
+
},
|
| 587 |
+
"init_robot_base_pos": [
|
| 588 |
+
1.2225359622944376,
|
| 589 |
+
-0.8480362322924988,
|
| 590 |
+
0.0
|
| 591 |
+
],
|
| 592 |
+
"init_robot_base_ori": [
|
| 593 |
+
0.0,
|
| 594 |
+
0.0,
|
| 595 |
+
1.5707963267948966
|
| 596 |
+
]
|
| 597 |
+
}
|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000492/ep_meta.json
ADDED
|
@@ -0,0 +1,677 @@
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| 1 |
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| 11 |
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"stack_5_main_group_1": {
|
| 400 |
+
"cls": "SingleCabinet"
|
| 401 |
+
},
|
| 402 |
+
"stack_5_main_group_2": {
|
| 403 |
+
"cls": "Drawer"
|
| 404 |
+
},
|
| 405 |
+
"coffee_machine_main_group": {
|
| 406 |
+
"cls": "CoffeeMachine"
|
| 407 |
+
},
|
| 408 |
+
"paper_towel_main_group": {
|
| 409 |
+
"cls": "Accessory"
|
| 410 |
+
},
|
| 411 |
+
"toaster_main_group": {
|
| 412 |
+
"cls": "Toaster"
|
| 413 |
+
},
|
| 414 |
+
"toaster_oven_main_group": {
|
| 415 |
+
"cls": "ToasterOven"
|
| 416 |
+
},
|
| 417 |
+
"utensil_set_main_group": {
|
| 418 |
+
"cls": "Accessory"
|
| 419 |
+
},
|
| 420 |
+
"oil_bottle_main_group": {
|
| 421 |
+
"cls": "Accessory"
|
| 422 |
+
},
|
| 423 |
+
"knife_block_main_group": {
|
| 424 |
+
"cls": "Accessory"
|
| 425 |
+
},
|
| 426 |
+
"jar_main_group": {
|
| 427 |
+
"cls": "Accessory"
|
| 428 |
+
},
|
| 429 |
+
"cinnamon_main_group": {
|
| 430 |
+
"cls": "Accessory"
|
| 431 |
+
},
|
| 432 |
+
"turmeric_main_group": {
|
| 433 |
+
"cls": "Accessory"
|
| 434 |
+
},
|
| 435 |
+
"paprika_main_group": {
|
| 436 |
+
"cls": "Accessory"
|
| 437 |
+
},
|
| 438 |
+
"oil_bottle_main_group_auxiliary_main_group": {
|
| 439 |
+
"cls": "Accessory"
|
| 440 |
+
},
|
| 441 |
+
"jar_main_group_auxiliary_main_group": {
|
| 442 |
+
"cls": "Accessory"
|
| 443 |
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},
|
| 444 |
+
"counter_1_front_group": {
|
| 445 |
+
"cls": "Counter"
|
| 446 |
+
},
|
| 447 |
+
"counter_corner_front_group": {
|
| 448 |
+
"cls": "Counter"
|
| 449 |
+
},
|
| 450 |
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"salt_shaker_front_group": {
|
| 451 |
+
"cls": "Accessory"
|
| 452 |
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},
|
| 453 |
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"salt_shaker_front_group_auxiliary_front_group": {
|
| 454 |
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"cls": "Accessory"
|
| 455 |
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},
|
| 456 |
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"counter_corner_left_group": {
|
| 457 |
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"cls": "Counter"
|
| 458 |
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},
|
| 459 |
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"sink_left_group": {
|
| 460 |
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"cls": "Sink"
|
| 461 |
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},
|
| 462 |
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"counter_1_left_group": {
|
| 463 |
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"cls": "Counter"
|
| 464 |
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},
|
| 465 |
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"counter_corner_right_left_group": {
|
| 466 |
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"cls": "Counter"
|
| 467 |
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},
|
| 468 |
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"stack_1_left_group_base": {
|
| 469 |
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"cls": "Box"
|
| 470 |
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},
|
| 471 |
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"stack_1_left_group_1": {
|
| 472 |
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"cls": "HingeCabinet"
|
| 473 |
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},
|
| 474 |
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"stack_1_left_group_2": {
|
| 475 |
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"cls": "Drawer"
|
| 476 |
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},
|
| 477 |
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"stack_1_left_group_3": {
|
| 478 |
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"cls": "Drawer"
|
| 479 |
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},
|
| 480 |
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"stack_2_left_group_base": {
|
| 481 |
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"cls": "Box"
|
| 482 |
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},
|
| 483 |
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"stack_2_left_group_1": {
|
| 484 |
+
"cls": "HingeCabinet"
|
| 485 |
+
},
|
| 486 |
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"dishwasher_left_group": {
|
| 487 |
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"cls": "Dishwasher"
|
| 488 |
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},
|
| 489 |
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"stack_3_left_group_base": {
|
| 490 |
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"cls": "Box"
|
| 491 |
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},
|
| 492 |
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"stack_3_left_group_1": {
|
| 493 |
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"cls": "SingleCabinet"
|
| 494 |
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},
|
| 495 |
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"cab_1_left_group": {
|
| 496 |
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"cls": "HingeCabinet"
|
| 497 |
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},
|
| 498 |
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"cab_2_left_group": {
|
| 499 |
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"cls": "SingleCabinet"
|
| 500 |
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},
|
| 501 |
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"plant_left_group": {
|
| 502 |
+
"cls": "Accessory"
|
| 503 |
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},
|
| 504 |
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"soap_dispenser_left_group": {
|
| 505 |
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"cls": "Accessory"
|
| 506 |
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},
|
| 507 |
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"fruit_bowl_left_group": {
|
| 508 |
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"cls": "Accessory"
|
| 509 |
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},
|
| 510 |
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"stack_left_right_group_base": {
|
| 511 |
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"cls": "Box"
|
| 512 |
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},
|
| 513 |
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"stack_left_right_group_1": {
|
| 514 |
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"cls": "SingleCabinet"
|
| 515 |
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},
|
| 516 |
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"stack_left_right_group_2": {
|
| 517 |
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"cls": "SingleCabinet"
|
| 518 |
+
},
|
| 519 |
+
"fridge_right_group": {
|
| 520 |
+
"cls": "FridgeSideBySide"
|
| 521 |
+
},
|
| 522 |
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"fridge_housing_right_group": {
|
| 523 |
+
"cls": "HousingCabinet"
|
| 524 |
+
},
|
| 525 |
+
"fridge_top_right_group": {
|
| 526 |
+
"cls": "HingeCabinet"
|
| 527 |
+
},
|
| 528 |
+
"stack_right_right_group_base": {
|
| 529 |
+
"cls": "Box"
|
| 530 |
+
},
|
| 531 |
+
"stack_right_right_group_1": {
|
| 532 |
+
"cls": "SingleCabinet"
|
| 533 |
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},
|
| 534 |
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"stack_right_right_group_2": {
|
| 535 |
+
"cls": "SingleCabinet"
|
| 536 |
+
},
|
| 537 |
+
"cab_top_corner_right_group": {
|
| 538 |
+
"cls": "Box"
|
| 539 |
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},
|
| 540 |
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"bottom_corner_right_group": {
|
| 541 |
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"cls": "Box"
|
| 542 |
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},
|
| 543 |
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"bottom_right_group_base": {
|
| 544 |
+
"cls": "Box"
|
| 545 |
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},
|
| 546 |
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"bottom_right_group_1": {
|
| 547 |
+
"cls": "Drawer"
|
| 548 |
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},
|
| 549 |
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"bottom_right_group_2": {
|
| 550 |
+
"cls": "Drawer"
|
| 551 |
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},
|
| 552 |
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"oven_right_group": {
|
| 553 |
+
"cls": "Oven"
|
| 554 |
+
},
|
| 555 |
+
"oven_housing_right_group": {
|
| 556 |
+
"cls": "HousingCabinet"
|
| 557 |
+
},
|
| 558 |
+
"microwave_right_group": {
|
| 559 |
+
"cls": "Microwave"
|
| 560 |
+
},
|
| 561 |
+
"micro_housing_right_group": {
|
| 562 |
+
"cls": "HousingCabinet"
|
| 563 |
+
},
|
| 564 |
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"top_right_group": {
|
| 565 |
+
"cls": "HingeCabinet"
|
| 566 |
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},
|
| 567 |
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"side_bottom_right_group_base": {
|
| 568 |
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"cls": "Box"
|
| 569 |
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},
|
| 570 |
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"side_bottom_right_group_1": {
|
| 571 |
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"cls": "Drawer"
|
| 572 |
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},
|
| 573 |
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"side_bottom_right_group_2": {
|
| 574 |
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"cls": "Drawer"
|
| 575 |
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},
|
| 576 |
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"side_bottom_right_group_3": {
|
| 577 |
+
"cls": "HingeCabinet"
|
| 578 |
+
}
|
| 579 |
+
},
|
| 580 |
+
"gen_textures": {},
|
| 581 |
+
"lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
|
| 582 |
+
"fixture_refs": {
|
| 583 |
+
"cab": "cab_2_left_group",
|
| 584 |
+
"counter": "counter_1_left_group"
|
| 585 |
+
},
|
| 586 |
+
"cam_configs": {
|
| 587 |
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"robot0_agentview_center": {
|
| 588 |
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"pos": [
|
| 589 |
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-0.6,
|
| 590 |
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0.0,
|
| 591 |
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|
| 592 |
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],
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| 593 |
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"quat": [
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| 594 |
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| 595 |
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| 596 |
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|
| 597 |
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| 598 |
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],
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| 599 |
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"parent_body": "mobilebase0_support"
|
| 600 |
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},
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| 601 |
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"robot0_agentview_left": {
|
| 602 |
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"pos": [
|
| 603 |
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|
| 604 |
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|
| 605 |
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|
| 606 |
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],
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| 607 |
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| 608 |
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|
| 609 |
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|
| 610 |
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|
| 611 |
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|
| 612 |
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],
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| 613 |
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|
| 614 |
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| 615 |
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},
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| 616 |
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"parent_body": "mobilebase0_support"
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| 617 |
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| 618 |
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| 619 |
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"pos": [
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| 620 |
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| 621 |
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|
| 622 |
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|
| 623 |
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],
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| 624 |
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],
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| 631 |
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| 632 |
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},
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| 633 |
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"parent_body": "mobilebase0_support"
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| 634 |
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},
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| 635 |
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"robot0_frontview": {
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| 636 |
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"pos": [
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| 637 |
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| 638 |
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|
| 639 |
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| 640 |
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],
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| 641 |
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],
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| 649 |
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},
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| 650 |
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"parent_body": "mobilebase0_support"
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| 651 |
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},
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| 652 |
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"robot0_eye_in_hand": {
|
| 653 |
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"pos": [
|
| 654 |
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|
| 655 |
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|
| 656 |
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| 657 |
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],
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| 659 |
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| 660 |
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|
| 661 |
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|
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| 663 |
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],
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| 664 |
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"parent_body": "robot0_right_hand"
|
| 665 |
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}
|
| 666 |
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},
|
| 667 |
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"init_robot_base_pos": [
|
| 668 |
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|
| 669 |
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|
| 670 |
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| 671 |
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],
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| 672 |
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"init_robot_base_ori": [
|
| 673 |
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| 674 |
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|
| 675 |
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|
| 676 |
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]
|
| 677 |
+
}
|
target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000496/ep_meta.json
ADDED
|
@@ -0,0 +1,679 @@
|
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|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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| 1 |
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| 2 |
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| 3 |
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| 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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| 15 |
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| 24 |
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| 25 |
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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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| 41 |
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| 42 |
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| 44 |
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| 45 |
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| 46 |
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| 63 |
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| 64 |
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| 162 |
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| 163 |
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| 260 |
+
"wall_room": {
|
| 261 |
+
"cls": "Wall"
|
| 262 |
+
},
|
| 263 |
+
"wall_backing_room": {
|
| 264 |
+
"cls": "Wall"
|
| 265 |
+
},
|
| 266 |
+
"wall_left_room": {
|
| 267 |
+
"cls": "Wall"
|
| 268 |
+
},
|
| 269 |
+
"wall_left_backing_room": {
|
| 270 |
+
"cls": "Wall"
|
| 271 |
+
},
|
| 272 |
+
"wall_right_room": {
|
| 273 |
+
"cls": "Wall"
|
| 274 |
+
},
|
| 275 |
+
"wall_right_backing_room": {
|
| 276 |
+
"cls": "Wall"
|
| 277 |
+
},
|
| 278 |
+
"outlet_room": {
|
| 279 |
+
"cls": "WallAccessory"
|
| 280 |
+
},
|
| 281 |
+
"utensil_rack_room": {
|
| 282 |
+
"cls": "WallAccessory"
|
| 283 |
+
},
|
| 284 |
+
"light_switch_room": {
|
| 285 |
+
"cls": "WallAccessory"
|
| 286 |
+
},
|
| 287 |
+
"light_switch_2_room": {
|
| 288 |
+
"cls": "WallAccessory"
|
| 289 |
+
},
|
| 290 |
+
"outlet_2_room": {
|
| 291 |
+
"cls": "WallAccessory"
|
| 292 |
+
},
|
| 293 |
+
"outlet_3_room": {
|
| 294 |
+
"cls": "WallAccessory"
|
| 295 |
+
},
|
| 296 |
+
"window_group_room": {
|
| 297 |
+
"cls": "Window"
|
| 298 |
+
},
|
| 299 |
+
"floor_room": {
|
| 300 |
+
"cls": "Floor"
|
| 301 |
+
},
|
| 302 |
+
"floor_backing_room": {
|
| 303 |
+
"cls": "Floor"
|
| 304 |
+
},
|
| 305 |
+
"stool_1_room": {
|
| 306 |
+
"cls": "Stool"
|
| 307 |
+
},
|
| 308 |
+
"stool_2_room": {
|
| 309 |
+
"cls": "Stool"
|
| 310 |
+
},
|
| 311 |
+
"stool_3_room": {
|
| 312 |
+
"cls": "Stool"
|
| 313 |
+
},
|
| 314 |
+
"counter_corner_main_group": {
|
| 315 |
+
"cls": "Counter"
|
| 316 |
+
},
|
| 317 |
+
"counter_main_main_group": {
|
| 318 |
+
"cls": "Counter"
|
| 319 |
+
},
|
| 320 |
+
"stovetop_main_group": {
|
| 321 |
+
"cls": "Stovetop"
|
| 322 |
+
},
|
| 323 |
+
"counter_1_main_group": {
|
| 324 |
+
"cls": "Counter"
|
| 325 |
+
},
|
| 326 |
+
"counter_corner_2_main_group": {
|
| 327 |
+
"cls": "Counter"
|
| 328 |
+
},
|
| 329 |
+
"cab_corner_main_group": {
|
| 330 |
+
"cls": "Box"
|
| 331 |
+
},
|
| 332 |
+
"cab_corner_2_main_group": {
|
| 333 |
+
"cls": "Box"
|
| 334 |
+
},
|
| 335 |
+
"cab_1_main_group": {
|
| 336 |
+
"cls": "HingeCabinet"
|
| 337 |
+
},
|
| 338 |
+
"cab_main_main_group": {
|
| 339 |
+
"cls": "HingeCabinet"
|
| 340 |
+
},
|
| 341 |
+
"cab_2_main_group": {
|
| 342 |
+
"cls": "SingleCabinet"
|
| 343 |
+
},
|
| 344 |
+
"shelves_1_main_group": {
|
| 345 |
+
"cls": "OpenCabinet"
|
| 346 |
+
},
|
| 347 |
+
"hood_main_group": {
|
| 348 |
+
"cls": "Hood"
|
| 349 |
+
},
|
| 350 |
+
"shelves_2_main_group": {
|
| 351 |
+
"cls": "OpenCabinet"
|
| 352 |
+
},
|
| 353 |
+
"stack_1_main_group_base": {
|
| 354 |
+
"cls": "Box"
|
| 355 |
+
},
|
| 356 |
+
"stack_1_main_group_1": {
|
| 357 |
+
"cls": "Drawer"
|
| 358 |
+
},
|
| 359 |
+
"stack_1_main_group_2": {
|
| 360 |
+
"cls": "Drawer"
|
| 361 |
+
},
|
| 362 |
+
"stack_1_main_group_3": {
|
| 363 |
+
"cls": "Drawer"
|
| 364 |
+
},
|
| 365 |
+
"stack_1_main_group_4": {
|
| 366 |
+
"cls": "Drawer"
|
| 367 |
+
},
|
| 368 |
+
"stack_2_main_group_base": {
|
| 369 |
+
"cls": "Box"
|
| 370 |
+
},
|
| 371 |
+
"stack_2_main_group_1": {
|
| 372 |
+
"cls": "HingeCabinet"
|
| 373 |
+
},
|
| 374 |
+
"stack_2_main_group_2": {
|
| 375 |
+
"cls": "Drawer"
|
| 376 |
+
},
|
| 377 |
+
"stack_2_main_group_3": {
|
| 378 |
+
"cls": "Drawer"
|
| 379 |
+
},
|
| 380 |
+
"stack_3_main_group_base": {
|
| 381 |
+
"cls": "Box"
|
| 382 |
+
},
|
| 383 |
+
"stack_3_main_group_1": {
|
| 384 |
+
"cls": "HingeCabinet"
|
| 385 |
+
},
|
| 386 |
+
"stack_3_main_group_2": {
|
| 387 |
+
"cls": "Drawer"
|
| 388 |
+
},
|
| 389 |
+
"stack_3_main_group_3": {
|
| 390 |
+
"cls": "Drawer"
|
| 391 |
+
},
|
| 392 |
+
"stack_4_main_group_base": {
|
| 393 |
+
"cls": "Box"
|
| 394 |
+
},
|
| 395 |
+
"stack_4_main_group_1": {
|
| 396 |
+
"cls": "HingeCabinet"
|
| 397 |
+
},
|
| 398 |
+
"stack_5_main_group_base": {
|
| 399 |
+
"cls": "Box"
|
| 400 |
+
},
|
| 401 |
+
"stack_5_main_group_1": {
|
| 402 |
+
"cls": "SingleCabinet"
|
| 403 |
+
},
|
| 404 |
+
"stack_5_main_group_2": {
|
| 405 |
+
"cls": "Drawer"
|
| 406 |
+
},
|
| 407 |
+
"coffee_machine_main_group": {
|
| 408 |
+
"cls": "CoffeeMachine"
|
| 409 |
+
},
|
| 410 |
+
"paper_towel_main_group": {
|
| 411 |
+
"cls": "Accessory"
|
| 412 |
+
},
|
| 413 |
+
"toaster_main_group": {
|
| 414 |
+
"cls": "Toaster"
|
| 415 |
+
},
|
| 416 |
+
"toaster_oven_main_group": {
|
| 417 |
+
"cls": "ToasterOven"
|
| 418 |
+
},
|
| 419 |
+
"utensil_set_main_group": {
|
| 420 |
+
"cls": "Accessory"
|
| 421 |
+
},
|
| 422 |
+
"oil_bottle_main_group": {
|
| 423 |
+
"cls": "Accessory"
|
| 424 |
+
},
|
| 425 |
+
"knife_block_main_group": {
|
| 426 |
+
"cls": "Accessory"
|
| 427 |
+
},
|
| 428 |
+
"jar_main_group": {
|
| 429 |
+
"cls": "Accessory"
|
| 430 |
+
},
|
| 431 |
+
"cinnamon_main_group": {
|
| 432 |
+
"cls": "Accessory"
|
| 433 |
+
},
|
| 434 |
+
"turmeric_main_group": {
|
| 435 |
+
"cls": "Accessory"
|
| 436 |
+
},
|
| 437 |
+
"paprika_main_group": {
|
| 438 |
+
"cls": "Accessory"
|
| 439 |
+
},
|
| 440 |
+
"oil_bottle_main_group_auxiliary_main_group": {
|
| 441 |
+
"cls": "Accessory"
|
| 442 |
+
},
|
| 443 |
+
"jar_main_group_auxiliary_main_group": {
|
| 444 |
+
"cls": "Accessory"
|
| 445 |
+
},
|
| 446 |
+
"counter_1_front_group": {
|
| 447 |
+
"cls": "Counter"
|
| 448 |
+
},
|
| 449 |
+
"counter_corner_front_group": {
|
| 450 |
+
"cls": "Counter"
|
| 451 |
+
},
|
| 452 |
+
"salt_shaker_front_group": {
|
| 453 |
+
"cls": "Accessory"
|
| 454 |
+
},
|
| 455 |
+
"salt_shaker_front_group_auxiliary_front_group": {
|
| 456 |
+
"cls": "Accessory"
|
| 457 |
+
},
|
| 458 |
+
"counter_corner_left_group": {
|
| 459 |
+
"cls": "Counter"
|
| 460 |
+
},
|
| 461 |
+
"sink_left_group": {
|
| 462 |
+
"cls": "Sink"
|
| 463 |
+
},
|
| 464 |
+
"counter_1_left_group": {
|
| 465 |
+
"cls": "Counter"
|
| 466 |
+
},
|
| 467 |
+
"counter_corner_right_left_group": {
|
| 468 |
+
"cls": "Counter"
|
| 469 |
+
},
|
| 470 |
+
"stack_1_left_group_base": {
|
| 471 |
+
"cls": "Box"
|
| 472 |
+
},
|
| 473 |
+
"stack_1_left_group_1": {
|
| 474 |
+
"cls": "HingeCabinet"
|
| 475 |
+
},
|
| 476 |
+
"stack_1_left_group_2": {
|
| 477 |
+
"cls": "Drawer"
|
| 478 |
+
},
|
| 479 |
+
"stack_1_left_group_3": {
|
| 480 |
+
"cls": "Drawer"
|
| 481 |
+
},
|
| 482 |
+
"stack_2_left_group_base": {
|
| 483 |
+
"cls": "Box"
|
| 484 |
+
},
|
| 485 |
+
"stack_2_left_group_1": {
|
| 486 |
+
"cls": "HingeCabinet"
|
| 487 |
+
},
|
| 488 |
+
"dishwasher_left_group": {
|
| 489 |
+
"cls": "Dishwasher"
|
| 490 |
+
},
|
| 491 |
+
"stack_3_left_group_base": {
|
| 492 |
+
"cls": "Box"
|
| 493 |
+
},
|
| 494 |
+
"stack_3_left_group_1": {
|
| 495 |
+
"cls": "SingleCabinet"
|
| 496 |
+
},
|
| 497 |
+
"cab_1_left_group": {
|
| 498 |
+
"cls": "HingeCabinet"
|
| 499 |
+
},
|
| 500 |
+
"cab_2_left_group": {
|
| 501 |
+
"cls": "SingleCabinet"
|
| 502 |
+
},
|
| 503 |
+
"plant_left_group": {
|
| 504 |
+
"cls": "Accessory"
|
| 505 |
+
},
|
| 506 |
+
"soap_dispenser_left_group": {
|
| 507 |
+
"cls": "Accessory"
|
| 508 |
+
},
|
| 509 |
+
"fruit_bowl_left_group": {
|
| 510 |
+
"cls": "Accessory"
|
| 511 |
+
},
|
| 512 |
+
"stack_left_right_group_base": {
|
| 513 |
+
"cls": "Box"
|
| 514 |
+
},
|
| 515 |
+
"stack_left_right_group_1": {
|
| 516 |
+
"cls": "SingleCabinet"
|
| 517 |
+
},
|
| 518 |
+
"stack_left_right_group_2": {
|
| 519 |
+
"cls": "SingleCabinet"
|
| 520 |
+
},
|
| 521 |
+
"fridge_right_group": {
|
| 522 |
+
"cls": "FridgeSideBySide"
|
| 523 |
+
},
|
| 524 |
+
"fridge_housing_right_group": {
|
| 525 |
+
"cls": "HousingCabinet"
|
| 526 |
+
},
|
| 527 |
+
"fridge_top_right_group": {
|
| 528 |
+
"cls": "HingeCabinet"
|
| 529 |
+
},
|
| 530 |
+
"stack_right_right_group_base": {
|
| 531 |
+
"cls": "Box"
|
| 532 |
+
},
|
| 533 |
+
"stack_right_right_group_1": {
|
| 534 |
+
"cls": "SingleCabinet"
|
| 535 |
+
},
|
| 536 |
+
"stack_right_right_group_2": {
|
| 537 |
+
"cls": "SingleCabinet"
|
| 538 |
+
},
|
| 539 |
+
"cab_top_corner_right_group": {
|
| 540 |
+
"cls": "Box"
|
| 541 |
+
},
|
| 542 |
+
"bottom_corner_right_group": {
|
| 543 |
+
"cls": "Box"
|
| 544 |
+
},
|
| 545 |
+
"bottom_right_group_base": {
|
| 546 |
+
"cls": "Box"
|
| 547 |
+
},
|
| 548 |
+
"bottom_right_group_1": {
|
| 549 |
+
"cls": "Drawer"
|
| 550 |
+
},
|
| 551 |
+
"bottom_right_group_2": {
|
| 552 |
+
"cls": "Drawer"
|
| 553 |
+
},
|
| 554 |
+
"oven_right_group": {
|
| 555 |
+
"cls": "Oven"
|
| 556 |
+
},
|
| 557 |
+
"oven_housing_right_group": {
|
| 558 |
+
"cls": "HousingCabinet"
|
| 559 |
+
},
|
| 560 |
+
"microwave_right_group": {
|
| 561 |
+
"cls": "Microwave"
|
| 562 |
+
},
|
| 563 |
+
"micro_housing_right_group": {
|
| 564 |
+
"cls": "HousingCabinet"
|
| 565 |
+
},
|
| 566 |
+
"top_right_group": {
|
| 567 |
+
"cls": "HingeCabinet"
|
| 568 |
+
},
|
| 569 |
+
"side_bottom_right_group_base": {
|
| 570 |
+
"cls": "Box"
|
| 571 |
+
},
|
| 572 |
+
"side_bottom_right_group_1": {
|
| 573 |
+
"cls": "Drawer"
|
| 574 |
+
},
|
| 575 |
+
"side_bottom_right_group_2": {
|
| 576 |
+
"cls": "Drawer"
|
| 577 |
+
},
|
| 578 |
+
"side_bottom_right_group_3": {
|
| 579 |
+
"cls": "HingeCabinet"
|
| 580 |
+
}
|
| 581 |
+
},
|
| 582 |
+
"gen_textures": {},
|
| 583 |
+
"lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
|
| 584 |
+
"fixture_refs": {
|
| 585 |
+
"cab": "cab_2_main_group",
|
| 586 |
+
"counter": "counter_main_main_group"
|
| 587 |
+
},
|
| 588 |
+
"cam_configs": {
|
| 589 |
+
"robot0_agentview_center": {
|
| 590 |
+
"pos": [
|
| 591 |
+
-0.6,
|
| 592 |
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0.0,
|
| 593 |
+
1.15
|
| 594 |
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],
|
| 595 |
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"quat": [
|
| 596 |
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0.636945903301239,
|
| 597 |
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0.3325185477733612,
|
| 598 |
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|
| 599 |
+
-0.6175596117973328
|
| 600 |
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],
|
| 601 |
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"parent_body": "mobilebase0_support"
|
| 602 |
+
},
|
| 603 |
+
"robot0_agentview_left": {
|
| 604 |
+
"pos": [
|
| 605 |
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-0.5,
|
| 606 |
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0.35,
|
| 607 |
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1.05
|
| 608 |
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],
|
| 609 |
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|
| 610 |
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|
| 611 |
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0.29935253,
|
| 612 |
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|
| 613 |
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|
| 614 |
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],
|
| 615 |
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"camera_attribs": {
|
| 616 |
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"fovy": "60"
|
| 617 |
+
},
|
| 618 |
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"parent_body": "mobilebase0_support"
|
| 619 |
+
},
|
| 620 |
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"robot0_agentview_right": {
|
| 621 |
+
"pos": [
|
| 622 |
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-0.5,
|
| 623 |
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|
| 624 |
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|
| 625 |
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|
| 626 |
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|
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|
| 630 |
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|
| 631 |
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],
|
| 632 |
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"camera_attribs": {
|
| 633 |
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"fovy": "60"
|
| 634 |
+
},
|
| 635 |
+
"parent_body": "mobilebase0_support"
|
| 636 |
+
},
|
| 637 |
+
"robot0_frontview": {
|
| 638 |
+
"pos": [
|
| 639 |
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-0.5,
|
| 640 |
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0,
|
| 641 |
+
0.95
|
| 642 |
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],
|
| 643 |
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0.6088936924934387,
|
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0.3814677894115448,
|
| 646 |
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|
| 647 |
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|
| 648 |
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],
|
| 649 |
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"camera_attribs": {
|
| 650 |
+
"fovy": "60"
|
| 651 |
+
},
|
| 652 |
+
"parent_body": "mobilebase0_support"
|
| 653 |
+
},
|
| 654 |
+
"robot0_eye_in_hand": {
|
| 655 |
+
"pos": [
|
| 656 |
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0.05,
|
| 657 |
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0,
|
| 658 |
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0
|
| 659 |
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],
|
| 660 |
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"quat": [
|
| 661 |
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0,
|
| 662 |
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0.707107,
|
| 663 |
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0.707107,
|
| 664 |
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0
|
| 665 |
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],
|
| 666 |
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"parent_body": "robot0_right_hand"
|
| 667 |
+
}
|
| 668 |
+
},
|
| 669 |
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"init_robot_base_pos": [
|
| 670 |
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2.938654430911199,
|
| 671 |
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|
| 672 |
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0.0
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| 673 |
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],
|
| 674 |
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"init_robot_base_ori": [
|
| 675 |
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0.0,
|
| 676 |
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0.0,
|
| 677 |
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|
| 678 |
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]
|
| 679 |
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}
|