Add files using upload-large-folder tool
Browse files- pretrain/atomic/PackDessert/20250806/lerobot/extras/dataset_meta.json +390 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000018/ep_meta.json +539 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000037/ep_meta.json +540 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000049/ep_meta.json +569 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000056/ep_meta.json +458 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000064/ep_meta.json +461 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000075/ep_meta.json +659 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000078/ep_meta.json +509 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000079/ep_meta.json +506 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000087/ep_meta.json +570 -0
- pretrain/atomic/PackDessert/20250806/lerobot/meta/embodiment.json +8 -0
- pretrain/atomic/PackDessert/20250806/lerobot/meta/episodes.jsonl +108 -0
- pretrain/atomic/PackDessert/20250806/lerobot/meta/episodes_stats.jsonl +0 -0
- pretrain/atomic/PackDessert/20250806/lerobot/meta/info.json +179 -0
- pretrain/atomic/PackDessert/20250806/lerobot/meta/modality.json +72 -0
- pretrain/atomic/PackDessert/20250806/lerobot/meta/stats.json +378 -0
- pretrain/atomic/PackDessert/20250806/lerobot/meta/tasks.jsonl +11 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000003/ep_meta.json +504 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000006/ep_meta.json +441 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000009/ep_meta.json +279 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000013/ep_meta.json +276 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000016/ep_meta.json +414 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000017/ep_meta.json +375 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000019/ep_meta.json +441 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000021/ep_meta.json +417 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000026/ep_meta.json +441 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000034/ep_meta.json +279 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000035/ep_meta.json +417 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000040/ep_meta.json +279 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000042/ep_meta.json +414 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000046/ep_meta.json +399 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000047/ep_meta.json +375 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000052/ep_meta.json +357 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000054/ep_meta.json +414 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000057/ep_meta.json +357 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000058/ep_meta.json +276 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000061/ep_meta.json +357 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000065/ep_meta.json +504 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000067/ep_meta.json +417 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000081/ep_meta.json +417 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000082/ep_meta.json +441 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000088/ep_meta.json +414 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000089/ep_meta.json +417 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000097/ep_meta.json +441 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000098/ep_meta.json +417 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000104/ep_meta.json +360 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000106/ep_meta.json +441 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000108/ep_meta.json +417 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000109/ep_meta.json +276 -0
- pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000112/ep_meta.json +417 -0
pretrain/atomic/PackDessert/20250806/lerobot/extras/dataset_meta.json
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| 1 |
+
{
|
| 2 |
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"date": "8-6-2025",
|
| 3 |
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"env": "PackDessert",
|
| 4 |
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"env_args": {
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| 5 |
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"type": 1,
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| 6 |
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"env_name": "PackDessert",
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| 7 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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"layout_ids": -2,
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| 15 |
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"obj_instance_split": "pretrain",
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| 16 |
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| 18 |
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| 19 |
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"type": "HYBRID_MOBILE_BASE",
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| 20 |
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"composite_controller_specific_configs": {
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| 21 |
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| 22 |
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| 27 |
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| 29 |
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| 30 |
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| 55 |
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| 60 |
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| 84 |
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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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},
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| 142 |
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"body_parts": {
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| 143 |
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"right": {
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| 144 |
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"type": "OSC_POSE",
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| 145 |
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|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000018/ep_meta.json
ADDED
|
@@ -0,0 +1,539 @@
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|
| 1 |
+
{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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{
|
| 6 |
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"name": "cooked_food_container",
|
| 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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0.5,
|
| 12 |
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0.5
|
| 13 |
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],
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| 14 |
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|
| 15 |
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0,
|
| 16 |
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-1.0
|
| 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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|
| 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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"info": {
|
| 36 |
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|
| 37 |
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"all",
|
| 38 |
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"tupperware",
|
| 39 |
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"receptacle"
|
| 40 |
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],
|
| 41 |
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"groups": [
|
| 42 |
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"tupperware"
|
| 43 |
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],
|
| 44 |
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"cat": "tupperware",
|
| 45 |
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"split": "train",
|
| 46 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml"
|
| 47 |
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},
|
| 48 |
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"reset_region": {
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| 49 |
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| 50 |
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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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| 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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"name": "cooked_food",
|
| 63 |
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|
| 64 |
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|
| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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|
| 70 |
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| 71 |
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| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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}
|
| 76 |
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|
| 77 |
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"type": "object",
|
| 78 |
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|
| 79 |
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|
| 80 |
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"all",
|
| 81 |
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"hot_dog",
|
| 82 |
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"cooked_food",
|
| 83 |
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"food",
|
| 84 |
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"in_container"
|
| 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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"cat": "hot_dog",
|
| 90 |
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|
| 91 |
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|
| 92 |
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}
|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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| 106 |
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| 107 |
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| 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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"all",
|
| 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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|
| 138 |
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| 139 |
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|
| 140 |
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| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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| 145 |
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| 146 |
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|
| 147 |
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| 148 |
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|
| 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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| 158 |
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| 159 |
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| 160 |
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|
| 161 |
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|
| 162 |
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| 163 |
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| 164 |
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|
| 165 |
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| 166 |
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|
| 167 |
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|
| 168 |
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| 169 |
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| 170 |
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|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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| 175 |
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| 176 |
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|
| 177 |
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| 178 |
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|
| 179 |
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|
| 180 |
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| 181 |
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| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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| 187 |
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| 188 |
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|
| 189 |
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| 190 |
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|
| 191 |
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|
| 192 |
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| 193 |
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| 194 |
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|
| 195 |
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| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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},
|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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"cls": "Floor"
|
| 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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"cls": "WallAccessory"
|
| 225 |
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},
|
| 226 |
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|
| 227 |
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"cls": "WallAccessory"
|
| 228 |
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},
|
| 229 |
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|
| 230 |
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"cls": "WallAccessory"
|
| 231 |
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},
|
| 232 |
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"light_switch_1_room": {
|
| 233 |
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"cls": "WallAccessory"
|
| 234 |
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},
|
| 235 |
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"window_group_room": {
|
| 236 |
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"cls": "Window"
|
| 237 |
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|
| 238 |
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|
| 239 |
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"cls": "Stool"
|
| 240 |
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},
|
| 241 |
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"stool_2_room": {
|
| 242 |
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"cls": "Stool"
|
| 243 |
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},
|
| 244 |
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"stool_3_room": {
|
| 245 |
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"cls": "Stool"
|
| 246 |
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},
|
| 247 |
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"stool_4_room": {
|
| 248 |
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"cls": "Stool"
|
| 249 |
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},
|
| 250 |
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"stool_5_room": {
|
| 251 |
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"cls": "Stool"
|
| 252 |
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},
|
| 253 |
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"stool_6_room": {
|
| 254 |
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"cls": "Stool"
|
| 255 |
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},
|
| 256 |
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"sink_1_left_group": {
|
| 257 |
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"cls": "Sink"
|
| 258 |
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},
|
| 259 |
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"counter_1_left_group": {
|
| 260 |
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"cls": "Counter"
|
| 261 |
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},
|
| 262 |
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"stack_1_left_group_base": {
|
| 263 |
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"cls": "Box"
|
| 264 |
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},
|
| 265 |
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"stack_1_left_group_1": {
|
| 266 |
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"cls": "SingleCabinet"
|
| 267 |
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},
|
| 268 |
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|
| 269 |
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"cls": "Drawer"
|
| 270 |
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},
|
| 271 |
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|
| 272 |
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"cls": "Box"
|
| 273 |
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},
|
| 274 |
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|
| 275 |
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|
| 276 |
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},
|
| 277 |
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|
| 278 |
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|
| 279 |
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},
|
| 280 |
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|
| 281 |
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|
| 282 |
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|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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|
| 289 |
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|
| 290 |
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"cls": "Dishwasher"
|
| 291 |
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|
| 292 |
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|
| 293 |
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"cls": "Box"
|
| 294 |
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},
|
| 295 |
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|
| 296 |
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"cls": "HingeCabinet"
|
| 297 |
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},
|
| 298 |
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|
| 299 |
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"cls": "Drawer"
|
| 300 |
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},
|
| 301 |
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|
| 302 |
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"cls": "HingeCabinet"
|
| 303 |
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},
|
| 304 |
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"cab_2_left_group": {
|
| 305 |
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"cls": "HingeCabinet"
|
| 306 |
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},
|
| 307 |
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|
| 308 |
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"cls": "Toaster"
|
| 309 |
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},
|
| 310 |
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|
| 311 |
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"cls": "CoffeeMachine"
|
| 312 |
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},
|
| 313 |
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|
| 314 |
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"cls": "Accessory"
|
| 315 |
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},
|
| 316 |
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|
| 317 |
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"cls": "Accessory"
|
| 318 |
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|
| 319 |
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|
| 320 |
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"cls": "FridgeFrenchDoor"
|
| 321 |
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},
|
| 322 |
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|
| 323 |
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"cls": "HousingCabinet"
|
| 324 |
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},
|
| 325 |
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|
| 326 |
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"cls": "Counter"
|
| 327 |
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},
|
| 328 |
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|
| 329 |
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"cls": "Box"
|
| 330 |
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},
|
| 331 |
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|
| 332 |
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"cls": "HingeCabinet"
|
| 333 |
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|
| 334 |
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|
| 335 |
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"cls": "Drawer"
|
| 336 |
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},
|
| 337 |
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|
| 338 |
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"cls": "Drawer"
|
| 339 |
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},
|
| 340 |
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|
| 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 |
+
"cls": "Drawer"
|
| 348 |
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},
|
| 349 |
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"stack_2_main_group_3": {
|
| 350 |
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"cls": "Drawer"
|
| 351 |
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},
|
| 352 |
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"cab_1_main_group": {
|
| 353 |
+
"cls": "HingeCabinet"
|
| 354 |
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},
|
| 355 |
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"cab_2_main_group": {
|
| 356 |
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"cls": "HingeCabinet"
|
| 357 |
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},
|
| 358 |
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"cab_3_main_group": {
|
| 359 |
+
"cls": "HingeCabinet"
|
| 360 |
+
},
|
| 361 |
+
"toaster_oven_main_group": {
|
| 362 |
+
"cls": "ToasterOven"
|
| 363 |
+
},
|
| 364 |
+
"stovetop_dining_area_group_1": {
|
| 365 |
+
"cls": "Stovetop"
|
| 366 |
+
},
|
| 367 |
+
"dining_dining_area_group_1": {
|
| 368 |
+
"cls": "Counter"
|
| 369 |
+
},
|
| 370 |
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"stack_1_dining_area_group_1_base": {
|
| 371 |
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"cls": "Box"
|
| 372 |
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},
|
| 373 |
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"stack_1_dining_area_group_1_1": {
|
| 374 |
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"cls": "SingleCabinet"
|
| 375 |
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},
|
| 376 |
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"stack_1_dining_area_group_1_2": {
|
| 377 |
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"cls": "Drawer"
|
| 378 |
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},
|
| 379 |
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"stack_2_dining_area_group_1_base": {
|
| 380 |
+
"cls": "Box"
|
| 381 |
+
},
|
| 382 |
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"stack_2_dining_area_group_1_1": {
|
| 383 |
+
"cls": "HingeCabinet"
|
| 384 |
+
},
|
| 385 |
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"stack_3_dining_area_group_1_base": {
|
| 386 |
+
"cls": "Box"
|
| 387 |
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},
|
| 388 |
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"stack_3_dining_area_group_1_1": {
|
| 389 |
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"cls": "SingleCabinet"
|
| 390 |
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},
|
| 391 |
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"stack_3_dining_area_group_1_2": {
|
| 392 |
+
"cls": "Drawer"
|
| 393 |
+
},
|
| 394 |
+
"dining_dining_area_group_2": {
|
| 395 |
+
"cls": "Counter"
|
| 396 |
+
},
|
| 397 |
+
"stack_1_dining_area_group_2_base": {
|
| 398 |
+
"cls": "Box"
|
| 399 |
+
},
|
| 400 |
+
"stack_1_dining_area_group_2_1": {
|
| 401 |
+
"cls": "SingleCabinet"
|
| 402 |
+
},
|
| 403 |
+
"stack_1_dining_area_group_2_2": {
|
| 404 |
+
"cls": "Drawer"
|
| 405 |
+
},
|
| 406 |
+
"stack_2_dining_area_group_2_base": {
|
| 407 |
+
"cls": "Box"
|
| 408 |
+
},
|
| 409 |
+
"stack_2_dining_area_group_2_1": {
|
| 410 |
+
"cls": "HingeCabinet"
|
| 411 |
+
},
|
| 412 |
+
"stack_2_dining_area_group_2_2": {
|
| 413 |
+
"cls": "Drawer"
|
| 414 |
+
},
|
| 415 |
+
"stack_3_dining_area_group_2_base": {
|
| 416 |
+
"cls": "Box"
|
| 417 |
+
},
|
| 418 |
+
"stack_3_dining_area_group_2_1": {
|
| 419 |
+
"cls": "SingleCabinet"
|
| 420 |
+
},
|
| 421 |
+
"stack_3_dining_area_group_2_2": {
|
| 422 |
+
"cls": "Drawer"
|
| 423 |
+
},
|
| 424 |
+
"bottom_front_group_base": {
|
| 425 |
+
"cls": "Box"
|
| 426 |
+
},
|
| 427 |
+
"bottom_front_group_1": {
|
| 428 |
+
"cls": "Drawer"
|
| 429 |
+
},
|
| 430 |
+
"middle_front_group": {
|
| 431 |
+
"cls": "HingeCabinet"
|
| 432 |
+
},
|
| 433 |
+
"microwave_front_group": {
|
| 434 |
+
"cls": "Microwave"
|
| 435 |
+
},
|
| 436 |
+
"microwave_housing_front_group": {
|
| 437 |
+
"cls": "HousingCabinet"
|
| 438 |
+
},
|
| 439 |
+
"top_front_group": {
|
| 440 |
+
"cls": "HingeCabinet"
|
| 441 |
+
}
|
| 442 |
+
},
|
| 443 |
+
"gen_textures": {},
|
| 444 |
+
"lang": "Add the marshmallow to the tupperware that contains the hot dog.",
|
| 445 |
+
"fixture_refs": {
|
| 446 |
+
"counter": "dining_dining_area_group_1"
|
| 447 |
+
},
|
| 448 |
+
"cam_configs": {
|
| 449 |
+
"robot0_agentview_center": {
|
| 450 |
+
"pos": [
|
| 451 |
+
-0.6,
|
| 452 |
+
0.0,
|
| 453 |
+
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|
| 454 |
+
],
|
| 455 |
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"quat": [
|
| 456 |
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|
| 457 |
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|
| 458 |
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|
| 459 |
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|
| 460 |
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],
|
| 461 |
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"parent_body": "mobilebase0_support"
|
| 462 |
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|
| 463 |
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"robot0_agentview_left": {
|
| 464 |
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"pos": [
|
| 465 |
+
-0.5,
|
| 466 |
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|
| 467 |
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1.05
|
| 468 |
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],
|
| 469 |
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"quat": [
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| 470 |
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|
| 471 |
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|
| 472 |
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|
| 473 |
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|
| 474 |
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],
|
| 475 |
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"camera_attribs": {
|
| 476 |
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"fovy": "60"
|
| 477 |
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},
|
| 478 |
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"parent_body": "mobilebase0_support"
|
| 479 |
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},
|
| 480 |
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"robot0_agentview_right": {
|
| 481 |
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"pos": [
|
| 482 |
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|
| 483 |
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|
| 484 |
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|
| 485 |
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],
|
| 486 |
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"quat": [
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| 487 |
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|
| 488 |
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|
| 489 |
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|
| 490 |
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|
| 491 |
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],
|
| 492 |
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"camera_attribs": {
|
| 493 |
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"fovy": "60"
|
| 494 |
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},
|
| 495 |
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"parent_body": "mobilebase0_support"
|
| 496 |
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},
|
| 497 |
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"robot0_frontview": {
|
| 498 |
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"pos": [
|
| 499 |
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-0.5,
|
| 500 |
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0,
|
| 501 |
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|
| 502 |
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],
|
| 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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"camera_attribs": {
|
| 510 |
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"fovy": "60"
|
| 511 |
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},
|
| 512 |
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"parent_body": "mobilebase0_support"
|
| 513 |
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},
|
| 514 |
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"robot0_eye_in_hand": {
|
| 515 |
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"pos": [
|
| 516 |
+
0.05,
|
| 517 |
+
0,
|
| 518 |
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0
|
| 519 |
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],
|
| 520 |
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"quat": [
|
| 521 |
+
0,
|
| 522 |
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|
| 523 |
+
0.707107,
|
| 524 |
+
0
|
| 525 |
+
],
|
| 526 |
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"parent_body": "robot0_right_hand"
|
| 527 |
+
}
|
| 528 |
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},
|
| 529 |
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"init_robot_base_pos": [
|
| 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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"init_robot_base_ori": [
|
| 535 |
+
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|
| 536 |
+
0.0,
|
| 537 |
+
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|
| 538 |
+
]
|
| 539 |
+
}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000037/ep_meta.json
ADDED
|
@@ -0,0 +1,540 @@
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 22,
|
| 3 |
+
"style_id": 32,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
+
"obj_groups": "tupperware",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "counter_1_left_group",
|
| 10 |
+
"size": [
|
| 11 |
+
0.5,
|
| 12 |
+
0.5
|
| 13 |
+
],
|
| 14 |
+
"pos": [
|
| 15 |
+
0,
|
| 16 |
+
-1.0
|
| 17 |
+
],
|
| 18 |
+
"try_to_place_in": "tupperware",
|
| 19 |
+
"try_to_place_in_kwargs": {
|
| 20 |
+
"object_scale": [
|
| 21 |
+
2.5,
|
| 22 |
+
2.5,
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| 23 |
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| 24 |
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| 40 |
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| 43 |
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|
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|
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|
| 443 |
+
},
|
| 444 |
+
"gen_textures": {},
|
| 445 |
+
"lang": "Add the donut to the tupperware that contains the hot dog.",
|
| 446 |
+
"fixture_refs": {
|
| 447 |
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"counter": "counter_1_left_group"
|
| 448 |
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},
|
| 449 |
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|
| 450 |
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|
| 451 |
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| 452 |
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| 453 |
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| 454 |
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| 455 |
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| 456 |
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| 457 |
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| 458 |
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| 459 |
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| 460 |
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| 462 |
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| 463 |
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| 464 |
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| 465 |
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| 466 |
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| 467 |
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| 468 |
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| 469 |
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| 470 |
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| 474 |
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| 475 |
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| 476 |
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| 477 |
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| 478 |
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| 479 |
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"parent_body": "mobilebase0_support"
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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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| 486 |
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| 487 |
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| 491 |
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| 493 |
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| 494 |
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|
| 495 |
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},
|
| 496 |
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"parent_body": "mobilebase0_support"
|
| 497 |
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| 498 |
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"robot0_frontview": {
|
| 499 |
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| 500 |
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| 501 |
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| 502 |
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| 503 |
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| 504 |
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| 511 |
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|
| 512 |
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| 513 |
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"parent_body": "mobilebase0_support"
|
| 514 |
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| 515 |
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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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],
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| 521 |
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"quat": [
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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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"parent_body": "robot0_right_hand"
|
| 528 |
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| 529 |
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},
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| 530 |
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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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}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000049/ep_meta.json
ADDED
|
@@ -0,0 +1,569 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 20,
|
| 3 |
+
"style_id": 47,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
+
"obj_groups": "tupperware",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "counter_2_main_group",
|
| 10 |
+
"size": [
|
| 11 |
+
0.5,
|
| 12 |
+
0.5
|
| 13 |
+
],
|
| 14 |
+
"pos": [
|
| 15 |
+
0,
|
| 16 |
+
-1.0
|
| 17 |
+
],
|
| 18 |
+
"try_to_place_in": "tupperware",
|
| 19 |
+
"try_to_place_in_kwargs": {
|
| 20 |
+
"object_scale": [
|
| 21 |
+
2.5,
|
| 22 |
+
2.5,
|
| 23 |
+
1.25
|
| 24 |
+
]
|
| 25 |
+
},
|
| 26 |
+
"rotation": 0
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"init_robot_here": true,
|
| 30 |
+
"object_scale": [
|
| 31 |
+
2.5,
|
| 32 |
+
2.5,
|
| 33 |
+
1.25
|
| 34 |
+
],
|
| 35 |
+
"info": {
|
| 36 |
+
"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
+
"tupperware",
|
| 39 |
+
"receptacle"
|
| 40 |
+
],
|
| 41 |
+
"groups": [
|
| 42 |
+
"tupperware"
|
| 43 |
+
],
|
| 44 |
+
"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml"
|
| 47 |
+
},
|
| 48 |
+
"reset_region": {
|
| 49 |
+
"size": [
|
| 50 |
+
1.312,
|
| 51 |
+
0.65
|
| 52 |
+
],
|
| 53 |
+
"offset": [
|
| 54 |
+
0.0,
|
| 55 |
+
0.0,
|
| 56 |
+
0.46
|
| 57 |
+
],
|
| 58 |
+
"name": "geom_0"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "cooked_food",
|
| 63 |
+
"obj_groups": "cooked_food",
|
| 64 |
+
"init_robot_here": false,
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
+
"size": [
|
| 68 |
+
0.01,
|
| 69 |
+
0.01
|
| 70 |
+
],
|
| 71 |
+
"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
+
"groups_containing_sampled_obj": [
|
| 80 |
+
"all",
|
| 81 |
+
"kebab_skewer",
|
| 82 |
+
"cooked_food",
|
| 83 |
+
"food",
|
| 84 |
+
"in_container"
|
| 85 |
+
],
|
| 86 |
+
"groups": [
|
| 87 |
+
"cooked_food"
|
| 88 |
+
],
|
| 89 |
+
"cat": "kebab_skewer",
|
| 90 |
+
"split": "train",
|
| 91 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer003/model.xml"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "dessert",
|
| 96 |
+
"obj_groups": "sweets",
|
| 97 |
+
"exclude_obj_groups": "sugar_cube",
|
| 98 |
+
"graspable": true,
|
| 99 |
+
"placement": {
|
| 100 |
+
"fixture": "counter_2_main_group",
|
| 101 |
+
"reuse_region_from": "cooked_food_container",
|
| 102 |
+
"size": [
|
| 103 |
+
0.5,
|
| 104 |
+
0.2
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
0,
|
| 108 |
+
-1.0
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"type": "object",
|
| 112 |
+
"info": {
|
| 113 |
+
"groups_containing_sampled_obj": [
|
| 114 |
+
"all",
|
| 115 |
+
"marshmallow",
|
| 116 |
+
"sweets",
|
| 117 |
+
"food",
|
| 118 |
+
"in_container"
|
| 119 |
+
],
|
| 120 |
+
"groups": [
|
| 121 |
+
"sweets"
|
| 122 |
+
],
|
| 123 |
+
"cat": "marshmallow",
|
| 124 |
+
"split": "train",
|
| 125 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml"
|
| 126 |
+
},
|
| 127 |
+
"reset_region": {
|
| 128 |
+
"size": [
|
| 129 |
+
1.312,
|
| 130 |
+
0.65
|
| 131 |
+
],
|
| 132 |
+
"offset": [
|
| 133 |
+
0.0,
|
| 134 |
+
0.0,
|
| 135 |
+
0.46
|
| 136 |
+
],
|
| 137 |
+
"name": "geom_0"
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
],
|
| 141 |
+
"fixtures": {
|
| 142 |
+
"wall_left_1_room": {
|
| 143 |
+
"cls": "Wall"
|
| 144 |
+
},
|
| 145 |
+
"wall_left_1_backing_room": {
|
| 146 |
+
"cls": "Wall"
|
| 147 |
+
},
|
| 148 |
+
"wall_main_1_room": {
|
| 149 |
+
"cls": "Wall"
|
| 150 |
+
},
|
| 151 |
+
"wall_main_1_backing_room": {
|
| 152 |
+
"cls": "Wall"
|
| 153 |
+
},
|
| 154 |
+
"wall_front_1_room": {
|
| 155 |
+
"cls": "Wall"
|
| 156 |
+
},
|
| 157 |
+
"wall_front_1_backing_room": {
|
| 158 |
+
"cls": "Wall"
|
| 159 |
+
},
|
| 160 |
+
"wall_front_2_room": {
|
| 161 |
+
"cls": "Wall"
|
| 162 |
+
},
|
| 163 |
+
"wall_front_2_backing_room": {
|
| 164 |
+
"cls": "Wall"
|
| 165 |
+
},
|
| 166 |
+
"wall_front_3_room": {
|
| 167 |
+
"cls": "Wall"
|
| 168 |
+
},
|
| 169 |
+
"wall_front_3_backing_room": {
|
| 170 |
+
"cls": "Wall"
|
| 171 |
+
},
|
| 172 |
+
"floor_1_room": {
|
| 173 |
+
"cls": "Floor"
|
| 174 |
+
},
|
| 175 |
+
"floor_1_backing_room": {
|
| 176 |
+
"cls": "Floor"
|
| 177 |
+
},
|
| 178 |
+
"wall_accessory_1_room": {
|
| 179 |
+
"cls": "WallAccessory"
|
| 180 |
+
},
|
| 181 |
+
"wall_accessory_2_room": {
|
| 182 |
+
"cls": "WallAccessory"
|
| 183 |
+
},
|
| 184 |
+
"wall_accessory_3_room": {
|
| 185 |
+
"cls": "WallAccessory"
|
| 186 |
+
},
|
| 187 |
+
"wall_accessory_4_room": {
|
| 188 |
+
"cls": "WallAccessory"
|
| 189 |
+
},
|
| 190 |
+
"window_group_room": {
|
| 191 |
+
"cls": "Window"
|
| 192 |
+
},
|
| 193 |
+
"counter_corner_main_group": {
|
| 194 |
+
"cls": "Counter"
|
| 195 |
+
},
|
| 196 |
+
"counter_1_main_group": {
|
| 197 |
+
"cls": "Counter"
|
| 198 |
+
},
|
| 199 |
+
"stove_main_group": {
|
| 200 |
+
"cls": "Stove"
|
| 201 |
+
},
|
| 202 |
+
"counter_2_main_group": {
|
| 203 |
+
"cls": "Counter"
|
| 204 |
+
},
|
| 205 |
+
"stack_1_main_group_base": {
|
| 206 |
+
"cls": "Box"
|
| 207 |
+
},
|
| 208 |
+
"stack_1_main_group_1": {
|
| 209 |
+
"cls": "SingleCabinet"
|
| 210 |
+
},
|
| 211 |
+
"stack_1_main_group_2": {
|
| 212 |
+
"cls": "Drawer"
|
| 213 |
+
},
|
| 214 |
+
"stack_2_main_group_base": {
|
| 215 |
+
"cls": "Box"
|
| 216 |
+
},
|
| 217 |
+
"stack_2_main_group_1": {
|
| 218 |
+
"cls": "SingleCabinet"
|
| 219 |
+
},
|
| 220 |
+
"box_main_group": {
|
| 221 |
+
"cls": "Box"
|
| 222 |
+
},
|
| 223 |
+
"stack_3_main_group_base": {
|
| 224 |
+
"cls": "Box"
|
| 225 |
+
},
|
| 226 |
+
"stack_3_main_group_1": {
|
| 227 |
+
"cls": "SingleCabinet"
|
| 228 |
+
},
|
| 229 |
+
"stack_3_main_group_2": {
|
| 230 |
+
"cls": "Drawer"
|
| 231 |
+
},
|
| 232 |
+
"stack_4_main_group_base": {
|
| 233 |
+
"cls": "Box"
|
| 234 |
+
},
|
| 235 |
+
"stack_4_main_group_1": {
|
| 236 |
+
"cls": "SingleCabinet"
|
| 237 |
+
},
|
| 238 |
+
"stack_4_main_group_2": {
|
| 239 |
+
"cls": "Drawer"
|
| 240 |
+
},
|
| 241 |
+
"stack_5_main_group_base": {
|
| 242 |
+
"cls": "Box"
|
| 243 |
+
},
|
| 244 |
+
"stack_5_main_group_1": {
|
| 245 |
+
"cls": "HingeCabinet"
|
| 246 |
+
},
|
| 247 |
+
"stack_6_main_group_base": {
|
| 248 |
+
"cls": "Box"
|
| 249 |
+
},
|
| 250 |
+
"stack_6_main_group_1": {
|
| 251 |
+
"cls": "HingeCabinet"
|
| 252 |
+
},
|
| 253 |
+
"cab_1_main_group": {
|
| 254 |
+
"cls": "HingeCabinet"
|
| 255 |
+
},
|
| 256 |
+
"cab_2_main_group": {
|
| 257 |
+
"cls": "HingeCabinet"
|
| 258 |
+
},
|
| 259 |
+
"cab_3_main_group": {
|
| 260 |
+
"cls": "SingleCabinet"
|
| 261 |
+
},
|
| 262 |
+
"microwave_main_group": {
|
| 263 |
+
"cls": "Microwave"
|
| 264 |
+
},
|
| 265 |
+
"cab_4_main_group": {
|
| 266 |
+
"cls": "HingeCabinet"
|
| 267 |
+
},
|
| 268 |
+
"cab_5_main_group": {
|
| 269 |
+
"cls": "HingeCabinet"
|
| 270 |
+
},
|
| 271 |
+
"cab_6_main_group": {
|
| 272 |
+
"cls": "HingeCabinet"
|
| 273 |
+
},
|
| 274 |
+
"coffee_machine_main_group": {
|
| 275 |
+
"cls": "CoffeeMachine"
|
| 276 |
+
},
|
| 277 |
+
"paper_towel_main_group": {
|
| 278 |
+
"cls": "Accessory"
|
| 279 |
+
},
|
| 280 |
+
"counter_corner_1_left_group": {
|
| 281 |
+
"cls": "Counter"
|
| 282 |
+
},
|
| 283 |
+
"sink_1_left_group": {
|
| 284 |
+
"cls": "Sink"
|
| 285 |
+
},
|
| 286 |
+
"counter_1_left_group": {
|
| 287 |
+
"cls": "Counter"
|
| 288 |
+
},
|
| 289 |
+
"box_1_left_group": {
|
| 290 |
+
"cls": "Box"
|
| 291 |
+
},
|
| 292 |
+
"stack_1_left_group_base": {
|
| 293 |
+
"cls": "Box"
|
| 294 |
+
},
|
| 295 |
+
"stack_1_left_group_1": {
|
| 296 |
+
"cls": "HingeCabinet"
|
| 297 |
+
},
|
| 298 |
+
"dishwasher_1_left_group": {
|
| 299 |
+
"cls": "Dishwasher"
|
| 300 |
+
},
|
| 301 |
+
"stack_2_left_group_base": {
|
| 302 |
+
"cls": "Box"
|
| 303 |
+
},
|
| 304 |
+
"stack_2_left_group_1": {
|
| 305 |
+
"cls": "HingeCabinet"
|
| 306 |
+
},
|
| 307 |
+
"stack_3_left_group_base": {
|
| 308 |
+
"cls": "Box"
|
| 309 |
+
},
|
| 310 |
+
"stack_3_left_group_1": {
|
| 311 |
+
"cls": "SingleCabinet"
|
| 312 |
+
},
|
| 313 |
+
"box_2_left_group": {
|
| 314 |
+
"cls": "Box"
|
| 315 |
+
},
|
| 316 |
+
"cab_1_left_group": {
|
| 317 |
+
"cls": "SingleCabinet"
|
| 318 |
+
},
|
| 319 |
+
"cab_2_left_group": {
|
| 320 |
+
"cls": "HingeCabinet"
|
| 321 |
+
},
|
| 322 |
+
"cab_3_left_group": {
|
| 323 |
+
"cls": "SingleCabinet"
|
| 324 |
+
},
|
| 325 |
+
"cab_corner_left_group": {
|
| 326 |
+
"cls": "Box"
|
| 327 |
+
},
|
| 328 |
+
"knife_block_left_group": {
|
| 329 |
+
"cls": "Accessory"
|
| 330 |
+
},
|
| 331 |
+
"island_island_group_1": {
|
| 332 |
+
"cls": "Counter"
|
| 333 |
+
},
|
| 334 |
+
"panel_stack_1_island_group_1_base": {
|
| 335 |
+
"cls": "Box"
|
| 336 |
+
},
|
| 337 |
+
"panel_stack_1_island_group_1_1": {
|
| 338 |
+
"cls": "PanelCabinet"
|
| 339 |
+
},
|
| 340 |
+
"stack_1_island_group_1_base": {
|
| 341 |
+
"cls": "Box"
|
| 342 |
+
},
|
| 343 |
+
"stack_1_island_group_1_1": {
|
| 344 |
+
"cls": "HingeCabinet"
|
| 345 |
+
},
|
| 346 |
+
"stack_2_island_group_1_base": {
|
| 347 |
+
"cls": "Box"
|
| 348 |
+
},
|
| 349 |
+
"stack_2_island_group_1_1": {
|
| 350 |
+
"cls": "HingeCabinet"
|
| 351 |
+
},
|
| 352 |
+
"stack_3_island_group_1_base": {
|
| 353 |
+
"cls": "Box"
|
| 354 |
+
},
|
| 355 |
+
"stack_3_island_group_1_1": {
|
| 356 |
+
"cls": "HingeCabinet"
|
| 357 |
+
},
|
| 358 |
+
"panel_stack_2_island_group_1_base": {
|
| 359 |
+
"cls": "Box"
|
| 360 |
+
},
|
| 361 |
+
"panel_stack_2_island_group_1_1": {
|
| 362 |
+
"cls": "PanelCabinet"
|
| 363 |
+
},
|
| 364 |
+
"plant_island_group_1": {
|
| 365 |
+
"cls": "Accessory"
|
| 366 |
+
},
|
| 367 |
+
"counter_1_island_group_2": {
|
| 368 |
+
"cls": "Counter"
|
| 369 |
+
},
|
| 370 |
+
"panel_stack_1_island_group_2_base": {
|
| 371 |
+
"cls": "Box"
|
| 372 |
+
},
|
| 373 |
+
"panel_stack_1_island_group_2_1": {
|
| 374 |
+
"cls": "PanelCabinet"
|
| 375 |
+
},
|
| 376 |
+
"stack_1_island_group_2_base": {
|
| 377 |
+
"cls": "Box"
|
| 378 |
+
},
|
| 379 |
+
"stack_1_island_group_2_1": {
|
| 380 |
+
"cls": "Drawer"
|
| 381 |
+
},
|
| 382 |
+
"stack_1_island_group_2_2": {
|
| 383 |
+
"cls": "Drawer"
|
| 384 |
+
},
|
| 385 |
+
"stack_2_island_group_2_base": {
|
| 386 |
+
"cls": "Box"
|
| 387 |
+
},
|
| 388 |
+
"stack_2_island_group_2_1": {
|
| 389 |
+
"cls": "Drawer"
|
| 390 |
+
},
|
| 391 |
+
"stack_2_island_group_2_2": {
|
| 392 |
+
"cls": "Drawer"
|
| 393 |
+
},
|
| 394 |
+
"stack_3_island_group_2_base": {
|
| 395 |
+
"cls": "Box"
|
| 396 |
+
},
|
| 397 |
+
"stack_3_island_group_2_1": {
|
| 398 |
+
"cls": "Drawer"
|
| 399 |
+
},
|
| 400 |
+
"stack_3_island_group_2_2": {
|
| 401 |
+
"cls": "Drawer"
|
| 402 |
+
},
|
| 403 |
+
"panel_stack_2_island_group_2_base": {
|
| 404 |
+
"cls": "Box"
|
| 405 |
+
},
|
| 406 |
+
"panel_stack_2_island_group_2_1": {
|
| 407 |
+
"cls": "PanelCabinet"
|
| 408 |
+
},
|
| 409 |
+
"counter_1_front_group_1": {
|
| 410 |
+
"cls": "Counter"
|
| 411 |
+
},
|
| 412 |
+
"fridge_1_front_group_1": {
|
| 413 |
+
"cls": "FridgeFrenchDoor"
|
| 414 |
+
},
|
| 415 |
+
"fridge_1_housing_front_group_1": {
|
| 416 |
+
"cls": "HousingCabinet"
|
| 417 |
+
},
|
| 418 |
+
"stack_1_front_group_1_base": {
|
| 419 |
+
"cls": "Box"
|
| 420 |
+
},
|
| 421 |
+
"stack_1_front_group_1_1": {
|
| 422 |
+
"cls": "HingeCabinet"
|
| 423 |
+
},
|
| 424 |
+
"box_front_group_1": {
|
| 425 |
+
"cls": "Box"
|
| 426 |
+
},
|
| 427 |
+
"cab_1_front_group_1": {
|
| 428 |
+
"cls": "HingeCabinet"
|
| 429 |
+
},
|
| 430 |
+
"cab_2_front_group_1": {
|
| 431 |
+
"cls": "SingleCabinet"
|
| 432 |
+
},
|
| 433 |
+
"cab_3_front_group_1": {
|
| 434 |
+
"cls": "SingleCabinet"
|
| 435 |
+
},
|
| 436 |
+
"toaster_front_group_1": {
|
| 437 |
+
"cls": "Toaster"
|
| 438 |
+
},
|
| 439 |
+
"counter_1_front_group_2": {
|
| 440 |
+
"cls": "Counter"
|
| 441 |
+
},
|
| 442 |
+
"stack_1_front_group_2_base": {
|
| 443 |
+
"cls": "Box"
|
| 444 |
+
},
|
| 445 |
+
"stack_1_front_group_2_1": {
|
| 446 |
+
"cls": "SingleCabinet"
|
| 447 |
+
},
|
| 448 |
+
"stack_2_front_group_2_base": {
|
| 449 |
+
"cls": "Box"
|
| 450 |
+
},
|
| 451 |
+
"stack_2_front_group_2_1": {
|
| 452 |
+
"cls": "SingleCabinet"
|
| 453 |
+
},
|
| 454 |
+
"stack_3_front_group_2_base": {
|
| 455 |
+
"cls": "Box"
|
| 456 |
+
},
|
| 457 |
+
"stack_3_front_group_2_1": {
|
| 458 |
+
"cls": "SingleCabinet"
|
| 459 |
+
},
|
| 460 |
+
"cab_1_front_group_2": {
|
| 461 |
+
"cls": "HingeCabinet"
|
| 462 |
+
},
|
| 463 |
+
"cab_2_front_group_2": {
|
| 464 |
+
"cls": "HingeCabinet"
|
| 465 |
+
},
|
| 466 |
+
"cab_3_front_group_2": {
|
| 467 |
+
"cls": "HingeCabinet"
|
| 468 |
+
},
|
| 469 |
+
"toaster_oven_front_group_2": {
|
| 470 |
+
"cls": "ToasterOven"
|
| 471 |
+
}
|
| 472 |
+
},
|
| 473 |
+
"gen_textures": {},
|
| 474 |
+
"lang": "Add the marshmallow to the tupperware that contains the kebab skewer.",
|
| 475 |
+
"fixture_refs": {
|
| 476 |
+
"counter": "counter_2_main_group"
|
| 477 |
+
},
|
| 478 |
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|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000056/ep_meta.json
ADDED
|
@@ -0,0 +1,458 @@
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|
| 1 |
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{
|
| 2 |
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"layout_id": 11,
|
| 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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| 14 |
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| 15 |
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| 16 |
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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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|
| 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 |
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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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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
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|
| 44 |
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|
| 45 |
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"split": "train",
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
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|
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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| 69 |
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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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"type": "object",
|
| 78 |
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"info": {
|
| 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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|
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"name": "dessert",
|
| 96 |
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|
| 97 |
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|
| 98 |
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"graspable": true,
|
| 99 |
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|
| 100 |
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"fixture": "counter_1_main_group",
|
| 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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|
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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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"cat": "cookie_dough_ball",
|
| 124 |
+
"split": "train",
|
| 125 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall006/model.xml"
|
| 126 |
+
},
|
| 127 |
+
"reset_region": {
|
| 128 |
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"size": [
|
| 129 |
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1.131,
|
| 130 |
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0.65
|
| 131 |
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],
|
| 132 |
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"offset": [
|
| 133 |
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0.0,
|
| 134 |
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0.0,
|
| 135 |
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0.46
|
| 136 |
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],
|
| 137 |
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"name": "geom_0"
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
],
|
| 141 |
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"fixtures": {
|
| 142 |
+
"wall_left_1_room": {
|
| 143 |
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"cls": "Wall"
|
| 144 |
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|
| 145 |
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"wall_left_1_backing_room": {
|
| 146 |
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"cls": "Wall"
|
| 147 |
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},
|
| 148 |
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"wall_main_room": {
|
| 149 |
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"cls": "Wall"
|
| 150 |
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|
| 151 |
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"wall_main_backing_room": {
|
| 152 |
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"cls": "Wall"
|
| 153 |
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|
| 154 |
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"wall_right_1_room": {
|
| 155 |
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"cls": "Wall"
|
| 156 |
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|
| 157 |
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"wall_right_1_backing_room": {
|
| 158 |
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"cls": "Wall"
|
| 159 |
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},
|
| 160 |
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"wall_left_2_room": {
|
| 161 |
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"cls": "Wall"
|
| 162 |
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},
|
| 163 |
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"wall_left_2_backing_room": {
|
| 164 |
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"cls": "Wall"
|
| 165 |
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},
|
| 166 |
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"wall_left_3_room": {
|
| 167 |
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"cls": "Wall"
|
| 168 |
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},
|
| 169 |
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"wall_left_3_backing_room": {
|
| 170 |
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"cls": "Wall"
|
| 171 |
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},
|
| 172 |
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"floor_1_room": {
|
| 173 |
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"cls": "Floor"
|
| 174 |
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},
|
| 175 |
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"floor_1_backing_room": {
|
| 176 |
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"cls": "Floor"
|
| 177 |
+
},
|
| 178 |
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"floor_2_room": {
|
| 179 |
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"cls": "Floor"
|
| 180 |
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},
|
| 181 |
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"floor_2_backing_room": {
|
| 182 |
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"cls": "Floor"
|
| 183 |
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},
|
| 184 |
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"wall_accessory_1_room": {
|
| 185 |
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"cls": "WallAccessory"
|
| 186 |
+
},
|
| 187 |
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"wall_accessory_2_room": {
|
| 188 |
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"cls": "WallAccessory"
|
| 189 |
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},
|
| 190 |
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"light_switch_room": {
|
| 191 |
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"cls": "WallAccessory"
|
| 192 |
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},
|
| 193 |
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"wall_accessory_3_room": {
|
| 194 |
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"cls": "WallAccessory"
|
| 195 |
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},
|
| 196 |
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"wall_accessory_4_room": {
|
| 197 |
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"cls": "WallAccessory"
|
| 198 |
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},
|
| 199 |
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"stool_2_room": {
|
| 200 |
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"cls": "Stool"
|
| 201 |
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},
|
| 202 |
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"stool_1_room": {
|
| 203 |
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"cls": "Stool"
|
| 204 |
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},
|
| 205 |
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"counter_corner_main_group": {
|
| 206 |
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"cls": "Counter"
|
| 207 |
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},
|
| 208 |
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"counter_1_main_group": {
|
| 209 |
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"cls": "Counter"
|
| 210 |
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},
|
| 211 |
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"stove_1_main_group": {
|
| 212 |
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"cls": "Stove"
|
| 213 |
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},
|
| 214 |
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|
| 215 |
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"cls": "Counter"
|
| 216 |
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|
| 217 |
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"stack_1_main_group_base": {
|
| 218 |
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"cls": "Box"
|
| 219 |
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},
|
| 220 |
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"stack_1_main_group_1": {
|
| 221 |
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"cls": "Drawer"
|
| 222 |
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},
|
| 223 |
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"stack_1_main_group_2": {
|
| 224 |
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"cls": "Drawer"
|
| 225 |
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},
|
| 226 |
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"stack_1_main_group_3": {
|
| 227 |
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"cls": "Drawer"
|
| 228 |
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},
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| 229 |
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"stack_1_main_group_4": {
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| 230 |
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"cls": "Drawer"
|
| 231 |
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},
|
| 232 |
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"stack_2_main_group_base": {
|
| 233 |
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"cls": "Box"
|
| 234 |
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},
|
| 235 |
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"stack_2_main_group_1": {
|
| 236 |
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"cls": "SingleCabinet"
|
| 237 |
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},
|
| 238 |
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"stack_2_main_group_2": {
|
| 239 |
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"cls": "Drawer"
|
| 240 |
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},
|
| 241 |
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"stack_3_main_group_base": {
|
| 242 |
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"cls": "Box"
|
| 243 |
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},
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| 244 |
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"stack_3_main_group_1": {
|
| 245 |
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"cls": "SingleCabinet"
|
| 246 |
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},
|
| 247 |
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"stack_3_main_group_2": {
|
| 248 |
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"cls": "Drawer"
|
| 249 |
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},
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| 250 |
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"stack_4_main_group_base": {
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| 251 |
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"cls": "Box"
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| 252 |
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},
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| 253 |
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|
| 254 |
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"cls": "Drawer"
|
| 255 |
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|
| 256 |
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|
| 257 |
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"cls": "Drawer"
|
| 258 |
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},
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| 259 |
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"stack_4_main_group_3": {
|
| 260 |
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"cls": "Drawer"
|
| 261 |
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},
|
| 262 |
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|
| 263 |
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"cls": "Drawer"
|
| 264 |
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},
|
| 265 |
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|
| 266 |
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"cls": "Box"
|
| 267 |
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},
|
| 268 |
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|
| 269 |
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"cls": "SingleCabinet"
|
| 270 |
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},
|
| 271 |
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|
| 272 |
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"cls": "SingleCabinet"
|
| 273 |
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},
|
| 274 |
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"cab_1_main_group": {
|
| 275 |
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"cls": "HingeCabinet"
|
| 276 |
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},
|
| 277 |
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"microwave_main_group": {
|
| 278 |
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"cls": "Microwave"
|
| 279 |
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},
|
| 280 |
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"cab_2_main_group": {
|
| 281 |
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"cls": "HingeCabinet"
|
| 282 |
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},
|
| 283 |
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"cab_3_main_group": {
|
| 284 |
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"cls": "HingeCabinet"
|
| 285 |
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},
|
| 286 |
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|
| 287 |
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"cls": "Box"
|
| 288 |
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},
|
| 289 |
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"counter_stack_main_group_1": {
|
| 290 |
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"cls": "SingleCabinet"
|
| 291 |
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},
|
| 292 |
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|
| 293 |
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"cls": "SingleCabinet"
|
| 294 |
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},
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| 295 |
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"counter_stack_main_group_3": {
|
| 296 |
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"cls": "HingeCabinet"
|
| 297 |
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},
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| 298 |
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"toaster_main_group": {
|
| 299 |
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"cls": "Toaster"
|
| 300 |
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},
|
| 301 |
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"sink_left_group": {
|
| 302 |
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"cls": "Sink"
|
| 303 |
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},
|
| 304 |
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"counter_1_left_group": {
|
| 305 |
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"cls": "Counter"
|
| 306 |
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},
|
| 307 |
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"counter_left_group": {
|
| 308 |
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"cls": "Counter"
|
| 309 |
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},
|
| 310 |
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"panel_cab_left_group_base": {
|
| 311 |
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"cls": "Box"
|
| 312 |
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},
|
| 313 |
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"panel_cab_left_group_1": {
|
| 314 |
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"cls": "PanelCabinet"
|
| 315 |
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},
|
| 316 |
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"dishwasher_left_group": {
|
| 317 |
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"cls": "Dishwasher"
|
| 318 |
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},
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| 319 |
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"stack_1_left_group_base": {
|
| 320 |
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"cls": "Box"
|
| 321 |
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},
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| 322 |
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"stack_1_left_group_1": {
|
| 323 |
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"cls": "HingeCabinet"
|
| 324 |
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},
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| 325 |
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"stack_1_left_group_2": {
|
| 326 |
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"cls": "PanelCabinet"
|
| 327 |
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},
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| 328 |
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"stack_2_left_group_base": {
|
| 329 |
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"cls": "Box"
|
| 330 |
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},
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| 331 |
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"stack_2_left_group_1": {
|
| 332 |
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"cls": "SingleCabinet"
|
| 333 |
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},
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| 334 |
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"stack_2_left_group_2": {
|
| 335 |
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"cls": "Drawer"
|
| 336 |
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},
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| 337 |
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"box_left_group": {
|
| 338 |
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"cls": "Box"
|
| 339 |
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},
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| 340 |
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"coffee_machine_left_group": {
|
| 341 |
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"cls": "CoffeeMachine"
|
| 342 |
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},
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| 343 |
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"paper_towel_left_group": {
|
| 344 |
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"cls": "Accessory"
|
| 345 |
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},
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| 346 |
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"box_right_group": {
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| 347 |
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"cls": "Box"
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| 348 |
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},
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| 349 |
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"fridge_right_group": {
|
| 350 |
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"cls": "FridgeBottomFreezer"
|
| 351 |
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},
|
| 352 |
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"fridge_housing_right_group": {
|
| 353 |
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"cls": "HousingCabinet"
|
| 354 |
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},
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| 355 |
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"cab_1_right_group": {
|
| 356 |
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"cls": "HingeCabinet"
|
| 357 |
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},
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| 358 |
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"dining_dining_group": {
|
| 359 |
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"cls": "Counter"
|
| 360 |
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}
|
| 361 |
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},
|
| 362 |
+
"gen_textures": {},
|
| 363 |
+
"lang": "Add the cookie dough ball to the tupperware that contains the kebab skewer.",
|
| 364 |
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"fixture_refs": {
|
| 365 |
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"counter": "counter_1_main_group"
|
| 366 |
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},
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| 367 |
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"cam_configs": {
|
| 368 |
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"robot0_agentview_center": {
|
| 369 |
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"pos": [
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| 370 |
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| 400 |
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| 417 |
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| 418 |
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| 434 |
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|
| 446 |
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| 447 |
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|
| 458 |
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}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000064/ep_meta.json
ADDED
|
@@ -0,0 +1,461 @@
|
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|
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|
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|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": 38,
|
| 3 |
+
"style_id": 36,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
+
"obj_groups": "tupperware",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group_1",
|
| 10 |
+
"size": [
|
| 11 |
+
0.5,
|
| 12 |
+
0.5
|
| 13 |
+
],
|
| 14 |
+
"pos": [
|
| 15 |
+
0,
|
| 16 |
+
-1.0
|
| 17 |
+
],
|
| 18 |
+
"try_to_place_in": "tupperware",
|
| 19 |
+
"try_to_place_in_kwargs": {
|
| 20 |
+
"object_scale": [
|
| 21 |
+
2.5,
|
| 22 |
+
2.5,
|
| 23 |
+
1.25
|
| 24 |
+
]
|
| 25 |
+
},
|
| 26 |
+
"rotation": 0
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"init_robot_here": true,
|
| 30 |
+
"object_scale": [
|
| 31 |
+
2.5,
|
| 32 |
+
2.5,
|
| 33 |
+
1.25
|
| 34 |
+
],
|
| 35 |
+
"info": {
|
| 36 |
+
"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
+
"tupperware",
|
| 39 |
+
"receptacle"
|
| 40 |
+
],
|
| 41 |
+
"groups": [
|
| 42 |
+
"tupperware"
|
| 43 |
+
],
|
| 44 |
+
"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml"
|
| 47 |
+
},
|
| 48 |
+
"reset_region": {
|
| 49 |
+
"size": [
|
| 50 |
+
2.939,
|
| 51 |
+
1.079
|
| 52 |
+
],
|
| 53 |
+
"offset": [
|
| 54 |
+
0.0,
|
| 55 |
+
0.0,
|
| 56 |
+
0.46
|
| 57 |
+
],
|
| 58 |
+
"name": "geom_0"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "cooked_food",
|
| 63 |
+
"obj_groups": "cooked_food",
|
| 64 |
+
"init_robot_here": false,
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
+
"size": [
|
| 68 |
+
0.01,
|
| 69 |
+
0.01
|
| 70 |
+
],
|
| 71 |
+
"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
+
"groups_containing_sampled_obj": [
|
| 80 |
+
"all",
|
| 81 |
+
"kebab_skewer",
|
| 82 |
+
"cooked_food",
|
| 83 |
+
"food",
|
| 84 |
+
"in_container"
|
| 85 |
+
],
|
| 86 |
+
"groups": [
|
| 87 |
+
"cooked_food"
|
| 88 |
+
],
|
| 89 |
+
"cat": "kebab_skewer",
|
| 90 |
+
"split": "train",
|
| 91 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer002/model.xml"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "dessert",
|
| 96 |
+
"obj_groups": "sweets",
|
| 97 |
+
"exclude_obj_groups": "sugar_cube",
|
| 98 |
+
"graspable": true,
|
| 99 |
+
"placement": {
|
| 100 |
+
"fixture": "island_island_group_1",
|
| 101 |
+
"reuse_region_from": "cooked_food_container",
|
| 102 |
+
"size": [
|
| 103 |
+
0.5,
|
| 104 |
+
0.2
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
0,
|
| 108 |
+
-1.0
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"type": "object",
|
| 112 |
+
"info": {
|
| 113 |
+
"groups_containing_sampled_obj": [
|
| 114 |
+
"all",
|
| 115 |
+
"cake",
|
| 116 |
+
"sweets",
|
| 117 |
+
"food",
|
| 118 |
+
"in_container"
|
| 119 |
+
],
|
| 120 |
+
"groups": [
|
| 121 |
+
"sweets"
|
| 122 |
+
],
|
| 123 |
+
"cat": "cake",
|
| 124 |
+
"split": "train",
|
| 125 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_4/model.xml"
|
| 126 |
+
},
|
| 127 |
+
"reset_region": {
|
| 128 |
+
"size": [
|
| 129 |
+
2.939,
|
| 130 |
+
1.079
|
| 131 |
+
],
|
| 132 |
+
"offset": [
|
| 133 |
+
0.0,
|
| 134 |
+
0.0,
|
| 135 |
+
0.46
|
| 136 |
+
],
|
| 137 |
+
"name": "geom_0"
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
],
|
| 141 |
+
"fixtures": {
|
| 142 |
+
"wall_main_1_room": {
|
| 143 |
+
"cls": "Wall"
|
| 144 |
+
},
|
| 145 |
+
"wall_main_1_backing_room": {
|
| 146 |
+
"cls": "Wall"
|
| 147 |
+
},
|
| 148 |
+
"wall_left_1_room": {
|
| 149 |
+
"cls": "Wall"
|
| 150 |
+
},
|
| 151 |
+
"wall_left_1_backing_room": {
|
| 152 |
+
"cls": "Wall"
|
| 153 |
+
},
|
| 154 |
+
"wall_left_2_room": {
|
| 155 |
+
"cls": "Wall"
|
| 156 |
+
},
|
| 157 |
+
"wall_left_2_backing_room": {
|
| 158 |
+
"cls": "Wall"
|
| 159 |
+
},
|
| 160 |
+
"wall_left_3_room": {
|
| 161 |
+
"cls": "Wall"
|
| 162 |
+
},
|
| 163 |
+
"wall_left_3_backing_room": {
|
| 164 |
+
"cls": "Wall"
|
| 165 |
+
},
|
| 166 |
+
"floor_1_room": {
|
| 167 |
+
"cls": "Floor"
|
| 168 |
+
},
|
| 169 |
+
"floor_1_backing_room": {
|
| 170 |
+
"cls": "Floor"
|
| 171 |
+
},
|
| 172 |
+
"wallaccessory.001_room": {
|
| 173 |
+
"cls": "WallAccessory"
|
| 174 |
+
},
|
| 175 |
+
"wallaccessory.005_room": {
|
| 176 |
+
"cls": "WallAccessory"
|
| 177 |
+
},
|
| 178 |
+
"wallaccessory.003_room": {
|
| 179 |
+
"cls": "WallAccessory"
|
| 180 |
+
},
|
| 181 |
+
"wallaccessory.004_room": {
|
| 182 |
+
"cls": "WallAccessory"
|
| 183 |
+
},
|
| 184 |
+
"wallaccessory.007_room": {
|
| 185 |
+
"cls": "WallAccessory"
|
| 186 |
+
},
|
| 187 |
+
"stool_2_room": {
|
| 188 |
+
"cls": "Stool"
|
| 189 |
+
},
|
| 190 |
+
"stool_3_room": {
|
| 191 |
+
"cls": "Stool"
|
| 192 |
+
},
|
| 193 |
+
"stool_4_room": {
|
| 194 |
+
"cls": "Stool"
|
| 195 |
+
},
|
| 196 |
+
"stool_1_room": {
|
| 197 |
+
"cls": "Stool"
|
| 198 |
+
},
|
| 199 |
+
"sink_main_group_1": {
|
| 200 |
+
"cls": "Sink"
|
| 201 |
+
},
|
| 202 |
+
"counter_1_main_group_1": {
|
| 203 |
+
"cls": "Counter"
|
| 204 |
+
},
|
| 205 |
+
"opencabinet_1_main_group_1": {
|
| 206 |
+
"cls": "OpenCabinet"
|
| 207 |
+
},
|
| 208 |
+
"opencabinet_2_main_group_1": {
|
| 209 |
+
"cls": "OpenCabinet"
|
| 210 |
+
},
|
| 211 |
+
"stack_1_main_group_1_base": {
|
| 212 |
+
"cls": "Box"
|
| 213 |
+
},
|
| 214 |
+
"stack_1_main_group_1_1": {
|
| 215 |
+
"cls": "SingleCabinet"
|
| 216 |
+
},
|
| 217 |
+
"stack_1_main_group_1_2": {
|
| 218 |
+
"cls": "Drawer"
|
| 219 |
+
},
|
| 220 |
+
"stack_2_main_group_1_base": {
|
| 221 |
+
"cls": "Box"
|
| 222 |
+
},
|
| 223 |
+
"stack_2_main_group_1_1": {
|
| 224 |
+
"cls": "SingleCabinet"
|
| 225 |
+
},
|
| 226 |
+
"stack_4_main_group_1_base": {
|
| 227 |
+
"cls": "Box"
|
| 228 |
+
},
|
| 229 |
+
"stack_4_main_group_1_1": {
|
| 230 |
+
"cls": "HingeCabinet"
|
| 231 |
+
},
|
| 232 |
+
"stack_4_main_group_1_2": {
|
| 233 |
+
"cls": "Drawer"
|
| 234 |
+
},
|
| 235 |
+
"dishwasher_1_main_group_1": {
|
| 236 |
+
"cls": "Dishwasher"
|
| 237 |
+
},
|
| 238 |
+
"stack_3_main_group_1_base": {
|
| 239 |
+
"cls": "Box"
|
| 240 |
+
},
|
| 241 |
+
"stack_3_main_group_1_1": {
|
| 242 |
+
"cls": "HingeCabinet"
|
| 243 |
+
},
|
| 244 |
+
"coffeemachine_main_group_1": {
|
| 245 |
+
"cls": "CoffeeMachine"
|
| 246 |
+
},
|
| 247 |
+
"paper_towel_main_group_1": {
|
| 248 |
+
"cls": "Accessory"
|
| 249 |
+
},
|
| 250 |
+
"toaster_main_group_1": {
|
| 251 |
+
"cls": "Toaster"
|
| 252 |
+
},
|
| 253 |
+
"bottom_main_group_1_base": {
|
| 254 |
+
"cls": "Box"
|
| 255 |
+
},
|
| 256 |
+
"bottom_main_group_1_1": {
|
| 257 |
+
"cls": "Drawer"
|
| 258 |
+
},
|
| 259 |
+
"oven_cabinet_main_group_1": {
|
| 260 |
+
"cls": "HingeCabinet"
|
| 261 |
+
},
|
| 262 |
+
"microwave_main_group_1": {
|
| 263 |
+
"cls": "Microwave"
|
| 264 |
+
},
|
| 265 |
+
"microwave_housing_main_group_1": {
|
| 266 |
+
"cls": "HousingCabinet"
|
| 267 |
+
},
|
| 268 |
+
"top_main_group_1": {
|
| 269 |
+
"cls": "HingeCabinet"
|
| 270 |
+
},
|
| 271 |
+
"counter_1_left_group_1": {
|
| 272 |
+
"cls": "Counter"
|
| 273 |
+
},
|
| 274 |
+
"stove_left_group_1": {
|
| 275 |
+
"cls": "Stove"
|
| 276 |
+
},
|
| 277 |
+
"counter_2_left_group_1": {
|
| 278 |
+
"cls": "Counter"
|
| 279 |
+
},
|
| 280 |
+
"fridgesidebyside_left_group_1": {
|
| 281 |
+
"cls": "FridgeSideBySide"
|
| 282 |
+
},
|
| 283 |
+
"fridgesidebyside_housing_left_group_1": {
|
| 284 |
+
"cls": "HousingCabinet"
|
| 285 |
+
},
|
| 286 |
+
"hingecabinet_1_left_group_1": {
|
| 287 |
+
"cls": "HingeCabinet"
|
| 288 |
+
},
|
| 289 |
+
"hingecabinet_2_left_group_1": {
|
| 290 |
+
"cls": "HingeCabinet"
|
| 291 |
+
},
|
| 292 |
+
"hingecabinet_3_left_group_1": {
|
| 293 |
+
"cls": "HingeCabinet"
|
| 294 |
+
},
|
| 295 |
+
"hingecabinet_4_left_group_1": {
|
| 296 |
+
"cls": "HingeCabinet"
|
| 297 |
+
},
|
| 298 |
+
"stack_1_left_group_1_base": {
|
| 299 |
+
"cls": "Box"
|
| 300 |
+
},
|
| 301 |
+
"stack_1_left_group_1_1": {
|
| 302 |
+
"cls": "SingleCabinet"
|
| 303 |
+
},
|
| 304 |
+
"stack_2_left_group_1_base": {
|
| 305 |
+
"cls": "Box"
|
| 306 |
+
},
|
| 307 |
+
"stack_2_left_group_1_1": {
|
| 308 |
+
"cls": "HingeCabinet"
|
| 309 |
+
},
|
| 310 |
+
"stack_4_left_group_1_base": {
|
| 311 |
+
"cls": "Box"
|
| 312 |
+
},
|
| 313 |
+
"stack_4_left_group_1_1": {
|
| 314 |
+
"cls": "HingeCabinet"
|
| 315 |
+
},
|
| 316 |
+
"knifeblock_left_group_1": {
|
| 317 |
+
"cls": "Accessory"
|
| 318 |
+
},
|
| 319 |
+
"toaster_oven_left_group_1": {
|
| 320 |
+
"cls": "ToasterOven"
|
| 321 |
+
},
|
| 322 |
+
"island_island_group_1": {
|
| 323 |
+
"cls": "Counter"
|
| 324 |
+
},
|
| 325 |
+
"cube_3_island_group_1": {
|
| 326 |
+
"cls": "Box"
|
| 327 |
+
},
|
| 328 |
+
"stack_1_island_group_1_base": {
|
| 329 |
+
"cls": "Box"
|
| 330 |
+
},
|
| 331 |
+
"stack_1_island_group_1_1": {
|
| 332 |
+
"cls": "SingleCabinet"
|
| 333 |
+
},
|
| 334 |
+
"stack_2_island_group_1_base": {
|
| 335 |
+
"cls": "Box"
|
| 336 |
+
},
|
| 337 |
+
"stack_2_island_group_1_1": {
|
| 338 |
+
"cls": "HingeCabinet"
|
| 339 |
+
},
|
| 340 |
+
"stack_2_island_group_1_2": {
|
| 341 |
+
"cls": "Drawer"
|
| 342 |
+
},
|
| 343 |
+
"stack_3_island_group_1_base": {
|
| 344 |
+
"cls": "Box"
|
| 345 |
+
},
|
| 346 |
+
"stack_3_island_group_1_1": {
|
| 347 |
+
"cls": "HingeCabinet"
|
| 348 |
+
},
|
| 349 |
+
"stack_3_island_group_1_2": {
|
| 350 |
+
"cls": "Drawer"
|
| 351 |
+
},
|
| 352 |
+
"stack_4_island_group_1_base": {
|
| 353 |
+
"cls": "Box"
|
| 354 |
+
},
|
| 355 |
+
"stack_4_island_group_1_1": {
|
| 356 |
+
"cls": "Drawer"
|
| 357 |
+
},
|
| 358 |
+
"stack_4_island_group_1_2": {
|
| 359 |
+
"cls": "Drawer"
|
| 360 |
+
},
|
| 361 |
+
"cube_2_island_group_1": {
|
| 362 |
+
"cls": "Box"
|
| 363 |
+
}
|
| 364 |
+
},
|
| 365 |
+
"gen_textures": {},
|
| 366 |
+
"lang": "Add the cake to the tupperware that contains the kebab skewer.",
|
| 367 |
+
"fixture_refs": {
|
| 368 |
+
"counter": "island_island_group_1"
|
| 369 |
+
},
|
| 370 |
+
"cam_configs": {
|
| 371 |
+
"robot0_agentview_center": {
|
| 372 |
+
"pos": [
|
| 373 |
+
-0.6,
|
| 374 |
+
0.0,
|
| 375 |
+
1.15
|
| 376 |
+
],
|
| 377 |
+
"quat": [
|
| 378 |
+
0.636945903301239,
|
| 379 |
+
0.3325185477733612,
|
| 380 |
+
-0.3199238181114197,
|
| 381 |
+
-0.6175596117973328
|
| 382 |
+
],
|
| 383 |
+
"parent_body": "mobilebase0_support"
|
| 384 |
+
},
|
| 385 |
+
"robot0_agentview_left": {
|
| 386 |
+
"pos": [
|
| 387 |
+
-0.5,
|
| 388 |
+
0.35,
|
| 389 |
+
1.05
|
| 390 |
+
],
|
| 391 |
+
"quat": [
|
| 392 |
+
0.55623853,
|
| 393 |
+
0.29935253,
|
| 394 |
+
-0.37678665,
|
| 395 |
+
-0.6775092
|
| 396 |
+
],
|
| 397 |
+
"camera_attribs": {
|
| 398 |
+
"fovy": "60"
|
| 399 |
+
},
|
| 400 |
+
"parent_body": "mobilebase0_support"
|
| 401 |
+
},
|
| 402 |
+
"robot0_agentview_right": {
|
| 403 |
+
"pos": [
|
| 404 |
+
-0.5,
|
| 405 |
+
-0.35,
|
| 406 |
+
1.05
|
| 407 |
+
],
|
| 408 |
+
"quat": [
|
| 409 |
+
0.6775091886520386,
|
| 410 |
+
0.3767866790294647,
|
| 411 |
+
-0.2993525564670563,
|
| 412 |
+
-0.55623859167099
|
| 413 |
+
],
|
| 414 |
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"camera_attribs": {
|
| 415 |
+
"fovy": "60"
|
| 416 |
+
},
|
| 417 |
+
"parent_body": "mobilebase0_support"
|
| 418 |
+
},
|
| 419 |
+
"robot0_frontview": {
|
| 420 |
+
"pos": [
|
| 421 |
+
-0.5,
|
| 422 |
+
0,
|
| 423 |
+
0.95
|
| 424 |
+
],
|
| 425 |
+
"quat": [
|
| 426 |
+
0.6088936924934387,
|
| 427 |
+
0.3814677894115448,
|
| 428 |
+
-0.3673907518386841,
|
| 429 |
+
-0.5905545353889465
|
| 430 |
+
],
|
| 431 |
+
"camera_attribs": {
|
| 432 |
+
"fovy": "60"
|
| 433 |
+
},
|
| 434 |
+
"parent_body": "mobilebase0_support"
|
| 435 |
+
},
|
| 436 |
+
"robot0_eye_in_hand": {
|
| 437 |
+
"pos": [
|
| 438 |
+
0.05,
|
| 439 |
+
0,
|
| 440 |
+
0
|
| 441 |
+
],
|
| 442 |
+
"quat": [
|
| 443 |
+
0,
|
| 444 |
+
0.707107,
|
| 445 |
+
0.707107,
|
| 446 |
+
0
|
| 447 |
+
],
|
| 448 |
+
"parent_body": "robot0_right_hand"
|
| 449 |
+
}
|
| 450 |
+
},
|
| 451 |
+
"init_robot_base_pos": [
|
| 452 |
+
2.189977154429345,
|
| 453 |
+
-4.599791730434303,
|
| 454 |
+
0.0
|
| 455 |
+
],
|
| 456 |
+
"init_robot_base_ori": [
|
| 457 |
+
0.0,
|
| 458 |
+
0.0,
|
| 459 |
+
-4.7153339388650295e-07
|
| 460 |
+
]
|
| 461 |
+
}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000075/ep_meta.json
ADDED
|
@@ -0,0 +1,659 @@
|
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 25,
|
| 3 |
+
"style_id": 17,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
+
"obj_groups": "tupperware",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "counter_1_right_group",
|
| 10 |
+
"size": [
|
| 11 |
+
0.5,
|
| 12 |
+
0.5
|
| 13 |
+
],
|
| 14 |
+
"pos": [
|
| 15 |
+
0,
|
| 16 |
+
-1.0
|
| 17 |
+
],
|
| 18 |
+
"try_to_place_in": "tupperware",
|
| 19 |
+
"try_to_place_in_kwargs": {
|
| 20 |
+
"object_scale": [
|
| 21 |
+
2.5,
|
| 22 |
+
2.5,
|
| 23 |
+
1.25
|
| 24 |
+
]
|
| 25 |
+
},
|
| 26 |
+
"rotation": 0
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"init_robot_here": true,
|
| 30 |
+
"object_scale": [
|
| 31 |
+
2.5,
|
| 32 |
+
2.5,
|
| 33 |
+
1.25
|
| 34 |
+
],
|
| 35 |
+
"info": {
|
| 36 |
+
"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
+
"tupperware",
|
| 39 |
+
"receptacle"
|
| 40 |
+
],
|
| 41 |
+
"groups": [
|
| 42 |
+
"tupperware"
|
| 43 |
+
],
|
| 44 |
+
"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml"
|
| 47 |
+
},
|
| 48 |
+
"reset_region": {
|
| 49 |
+
"size": [
|
| 50 |
+
0.6,
|
| 51 |
+
0.65
|
| 52 |
+
],
|
| 53 |
+
"offset": [
|
| 54 |
+
0.0,
|
| 55 |
+
0.0,
|
| 56 |
+
0.46
|
| 57 |
+
],
|
| 58 |
+
"name": "geom_0"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "cooked_food",
|
| 63 |
+
"obj_groups": "cooked_food",
|
| 64 |
+
"init_robot_here": false,
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
+
"size": [
|
| 68 |
+
0.01,
|
| 69 |
+
0.01
|
| 70 |
+
],
|
| 71 |
+
"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
+
"groups_containing_sampled_obj": [
|
| 80 |
+
"all",
|
| 81 |
+
"hot_dog",
|
| 82 |
+
"cooked_food",
|
| 83 |
+
"food",
|
| 84 |
+
"in_container"
|
| 85 |
+
],
|
| 86 |
+
"groups": [
|
| 87 |
+
"cooked_food"
|
| 88 |
+
],
|
| 89 |
+
"cat": "hot_dog",
|
| 90 |
+
"split": "train",
|
| 91 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "dessert",
|
| 96 |
+
"obj_groups": "sweets",
|
| 97 |
+
"exclude_obj_groups": "sugar_cube",
|
| 98 |
+
"graspable": true,
|
| 99 |
+
"placement": {
|
| 100 |
+
"fixture": "counter_1_right_group",
|
| 101 |
+
"reuse_region_from": "cooked_food_container",
|
| 102 |
+
"size": [
|
| 103 |
+
0.5,
|
| 104 |
+
0.2
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
0,
|
| 108 |
+
-1.0
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"type": "object",
|
| 112 |
+
"info": {
|
| 113 |
+
"groups_containing_sampled_obj": [
|
| 114 |
+
"all",
|
| 115 |
+
"cake",
|
| 116 |
+
"sweets",
|
| 117 |
+
"food",
|
| 118 |
+
"in_container"
|
| 119 |
+
],
|
| 120 |
+
"groups": [
|
| 121 |
+
"sweets"
|
| 122 |
+
],
|
| 123 |
+
"cat": "cake",
|
| 124 |
+
"split": "train",
|
| 125 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_0/model.xml"
|
| 126 |
+
},
|
| 127 |
+
"reset_region": {
|
| 128 |
+
"size": [
|
| 129 |
+
0.6,
|
| 130 |
+
0.65
|
| 131 |
+
],
|
| 132 |
+
"offset": [
|
| 133 |
+
0.0,
|
| 134 |
+
0.0,
|
| 135 |
+
0.46
|
| 136 |
+
],
|
| 137 |
+
"name": "geom_0"
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
],
|
| 141 |
+
"fixtures": {
|
| 142 |
+
"wall_left_1_room": {
|
| 143 |
+
"cls": "Wall"
|
| 144 |
+
},
|
| 145 |
+
"wall_left_1_backing_room": {
|
| 146 |
+
"cls": "Wall"
|
| 147 |
+
},
|
| 148 |
+
"wall_main_room": {
|
| 149 |
+
"cls": "Wall"
|
| 150 |
+
},
|
| 151 |
+
"wall_main_backing_room": {
|
| 152 |
+
"cls": "Wall"
|
| 153 |
+
},
|
| 154 |
+
"wall_right_1_room": {
|
| 155 |
+
"cls": "Wall"
|
| 156 |
+
},
|
| 157 |
+
"wall_right_1_backing_room": {
|
| 158 |
+
"cls": "Wall"
|
| 159 |
+
},
|
| 160 |
+
"floor_1_room": {
|
| 161 |
+
"cls": "Floor"
|
| 162 |
+
},
|
| 163 |
+
"floor_1_backing_room": {
|
| 164 |
+
"cls": "Floor"
|
| 165 |
+
},
|
| 166 |
+
"wall_accessory_1_room": {
|
| 167 |
+
"cls": "WallAccessory"
|
| 168 |
+
},
|
| 169 |
+
"wall_accessory_2_room": {
|
| 170 |
+
"cls": "WallAccessory"
|
| 171 |
+
},
|
| 172 |
+
"light_switch_1_room": {
|
| 173 |
+
"cls": "WallAccessory"
|
| 174 |
+
},
|
| 175 |
+
"wall_accessory_3_room": {
|
| 176 |
+
"cls": "WallAccessory"
|
| 177 |
+
},
|
| 178 |
+
"light_switch_2_room": {
|
| 179 |
+
"cls": "WallAccessory"
|
| 180 |
+
},
|
| 181 |
+
"light_switch_3_room": {
|
| 182 |
+
"cls": "WallAccessory"
|
| 183 |
+
},
|
| 184 |
+
"wall_accessory_4_room": {
|
| 185 |
+
"cls": "WallAccessory"
|
| 186 |
+
},
|
| 187 |
+
"wall_accessory_5_room": {
|
| 188 |
+
"cls": "WallAccessory"
|
| 189 |
+
},
|
| 190 |
+
"wall_accessory_6_room": {
|
| 191 |
+
"cls": "WallAccessory"
|
| 192 |
+
},
|
| 193 |
+
"wall_accessory_7_room": {
|
| 194 |
+
"cls": "WallAccessory"
|
| 195 |
+
},
|
| 196 |
+
"window_group_1_room": {
|
| 197 |
+
"cls": "Window"
|
| 198 |
+
},
|
| 199 |
+
"window_group_2_room": {
|
| 200 |
+
"cls": "Window"
|
| 201 |
+
},
|
| 202 |
+
"stool_1_room": {
|
| 203 |
+
"cls": "Stool"
|
| 204 |
+
},
|
| 205 |
+
"stool_2_room": {
|
| 206 |
+
"cls": "Stool"
|
| 207 |
+
},
|
| 208 |
+
"counter_corner_main_group": {
|
| 209 |
+
"cls": "Counter"
|
| 210 |
+
},
|
| 211 |
+
"counter_1_main_group": {
|
| 212 |
+
"cls": "Counter"
|
| 213 |
+
},
|
| 214 |
+
"stove_main_group": {
|
| 215 |
+
"cls": "Stove"
|
| 216 |
+
},
|
| 217 |
+
"counter_2_main_group": {
|
| 218 |
+
"cls": "Counter"
|
| 219 |
+
},
|
| 220 |
+
"stack_1_main_group_base": {
|
| 221 |
+
"cls": "Box"
|
| 222 |
+
},
|
| 223 |
+
"stack_1_main_group_1": {
|
| 224 |
+
"cls": "SingleCabinet"
|
| 225 |
+
},
|
| 226 |
+
"stack_2_main_group_base": {
|
| 227 |
+
"cls": "Box"
|
| 228 |
+
},
|
| 229 |
+
"stack_2_main_group_1": {
|
| 230 |
+
"cls": "Drawer"
|
| 231 |
+
},
|
| 232 |
+
"stack_2_main_group_2": {
|
| 233 |
+
"cls": "Drawer"
|
| 234 |
+
},
|
| 235 |
+
"stack_2_main_group_3": {
|
| 236 |
+
"cls": "Drawer"
|
| 237 |
+
},
|
| 238 |
+
"stack_2_main_group_4": {
|
| 239 |
+
"cls": "Drawer"
|
| 240 |
+
},
|
| 241 |
+
"stack_3_main_group_base": {
|
| 242 |
+
"cls": "Box"
|
| 243 |
+
},
|
| 244 |
+
"stack_3_main_group_1": {
|
| 245 |
+
"cls": "SingleCabinet"
|
| 246 |
+
},
|
| 247 |
+
"box_1_main_group": {
|
| 248 |
+
"cls": "Box"
|
| 249 |
+
},
|
| 250 |
+
"stack_4_main_group_base": {
|
| 251 |
+
"cls": "Box"
|
| 252 |
+
},
|
| 253 |
+
"stack_4_main_group_1": {
|
| 254 |
+
"cls": "SingleCabinet"
|
| 255 |
+
},
|
| 256 |
+
"stack_5_main_group_base": {
|
| 257 |
+
"cls": "Box"
|
| 258 |
+
},
|
| 259 |
+
"stack_5_main_group_1": {
|
| 260 |
+
"cls": "Drawer"
|
| 261 |
+
},
|
| 262 |
+
"stack_5_main_group_2": {
|
| 263 |
+
"cls": "Drawer"
|
| 264 |
+
},
|
| 265 |
+
"stack_5_main_group_3": {
|
| 266 |
+
"cls": "Drawer"
|
| 267 |
+
},
|
| 268 |
+
"stack_5_main_group_4": {
|
| 269 |
+
"cls": "Drawer"
|
| 270 |
+
},
|
| 271 |
+
"stack_6_main_group_base": {
|
| 272 |
+
"cls": "Box"
|
| 273 |
+
},
|
| 274 |
+
"stack_6_main_group_1": {
|
| 275 |
+
"cls": "SingleCabinet"
|
| 276 |
+
},
|
| 277 |
+
"box_2_main_group": {
|
| 278 |
+
"cls": "Box"
|
| 279 |
+
},
|
| 280 |
+
"hood_main_group": {
|
| 281 |
+
"cls": "Hood"
|
| 282 |
+
},
|
| 283 |
+
"cab_corner_1_main_group": {
|
| 284 |
+
"cls": "Box"
|
| 285 |
+
},
|
| 286 |
+
"cab_1_main_group": {
|
| 287 |
+
"cls": "HingeCabinet"
|
| 288 |
+
},
|
| 289 |
+
"cab_1_above_main_group": {
|
| 290 |
+
"cls": "HingeCabinet"
|
| 291 |
+
},
|
| 292 |
+
"cab_2_main_group": {
|
| 293 |
+
"cls": "SingleCabinet"
|
| 294 |
+
},
|
| 295 |
+
"cab_2_above_main_group": {
|
| 296 |
+
"cls": "SingleCabinet"
|
| 297 |
+
},
|
| 298 |
+
"cab_corner_2_main_group": {
|
| 299 |
+
"cls": "Box"
|
| 300 |
+
},
|
| 301 |
+
"cab_3_main_group": {
|
| 302 |
+
"cls": "SingleCabinet"
|
| 303 |
+
},
|
| 304 |
+
"cab_3_above_main_group": {
|
| 305 |
+
"cls": "SingleCabinet"
|
| 306 |
+
},
|
| 307 |
+
"cab_4_main_group": {
|
| 308 |
+
"cls": "HingeCabinet"
|
| 309 |
+
},
|
| 310 |
+
"cab_4_above_main_group": {
|
| 311 |
+
"cls": "HingeCabinet"
|
| 312 |
+
},
|
| 313 |
+
"coffee_machine_main_group": {
|
| 314 |
+
"cls": "CoffeeMachine"
|
| 315 |
+
},
|
| 316 |
+
"toaster_main_group": {
|
| 317 |
+
"cls": "Toaster"
|
| 318 |
+
},
|
| 319 |
+
"knife_block_main_group": {
|
| 320 |
+
"cls": "Accessory"
|
| 321 |
+
},
|
| 322 |
+
"sink_1_left_group": {
|
| 323 |
+
"cls": "Sink"
|
| 324 |
+
},
|
| 325 |
+
"counter_1_left_group": {
|
| 326 |
+
"cls": "Counter"
|
| 327 |
+
},
|
| 328 |
+
"box_left_group": {
|
| 329 |
+
"cls": "Box"
|
| 330 |
+
},
|
| 331 |
+
"stack_1_left_group_base": {
|
| 332 |
+
"cls": "Box"
|
| 333 |
+
},
|
| 334 |
+
"stack_1_left_group_1": {
|
| 335 |
+
"cls": "HingeCabinet"
|
| 336 |
+
},
|
| 337 |
+
"stack_2_left_group_base": {
|
| 338 |
+
"cls": "Box"
|
| 339 |
+
},
|
| 340 |
+
"stack_2_left_group_1": {
|
| 341 |
+
"cls": "HingeCabinet"
|
| 342 |
+
},
|
| 343 |
+
"dishwasher_left_group": {
|
| 344 |
+
"cls": "Dishwasher"
|
| 345 |
+
},
|
| 346 |
+
"stack_3_left_group_base": {
|
| 347 |
+
"cls": "Box"
|
| 348 |
+
},
|
| 349 |
+
"stack_3_left_group_1": {
|
| 350 |
+
"cls": "Drawer"
|
| 351 |
+
},
|
| 352 |
+
"stack_3_left_group_2": {
|
| 353 |
+
"cls": "Drawer"
|
| 354 |
+
},
|
| 355 |
+
"stack_4_left_group_base": {
|
| 356 |
+
"cls": "Box"
|
| 357 |
+
},
|
| 358 |
+
"stack_4_left_group_1": {
|
| 359 |
+
"cls": "Drawer"
|
| 360 |
+
},
|
| 361 |
+
"stack_4_left_group_2": {
|
| 362 |
+
"cls": "Drawer"
|
| 363 |
+
},
|
| 364 |
+
"stack_5_left_group_base": {
|
| 365 |
+
"cls": "Box"
|
| 366 |
+
},
|
| 367 |
+
"stack_5_left_group_1": {
|
| 368 |
+
"cls": "SingleCabinet"
|
| 369 |
+
},
|
| 370 |
+
"stack_5_left_group_2": {
|
| 371 |
+
"cls": "Drawer"
|
| 372 |
+
},
|
| 373 |
+
"cab_1_left_group": {
|
| 374 |
+
"cls": "HingeCabinet"
|
| 375 |
+
},
|
| 376 |
+
"cab_2_left_group": {
|
| 377 |
+
"cls": "HingeCabinet"
|
| 378 |
+
},
|
| 379 |
+
"cab_3_left_group": {
|
| 380 |
+
"cls": "HingeCabinet"
|
| 381 |
+
},
|
| 382 |
+
"cab_4_left_group": {
|
| 383 |
+
"cls": "SingleCabinet"
|
| 384 |
+
},
|
| 385 |
+
"cab_5_left_group": {
|
| 386 |
+
"cls": "HingeCabinet"
|
| 387 |
+
},
|
| 388 |
+
"cab_6_left_group": {
|
| 389 |
+
"cls": "HingeCabinet"
|
| 390 |
+
},
|
| 391 |
+
"paper_towel_left_group": {
|
| 392 |
+
"cls": "Accessory"
|
| 393 |
+
},
|
| 394 |
+
"toaster_oven_left_group": {
|
| 395 |
+
"cls": "ToasterOven"
|
| 396 |
+
},
|
| 397 |
+
"corner_counter_right_group": {
|
| 398 |
+
"cls": "Counter"
|
| 399 |
+
},
|
| 400 |
+
"counter_1_right_group": {
|
| 401 |
+
"cls": "Counter"
|
| 402 |
+
},
|
| 403 |
+
"box_right_group": {
|
| 404 |
+
"cls": "Box"
|
| 405 |
+
},
|
| 406 |
+
"stack_1_right_group_base": {
|
| 407 |
+
"cls": "Box"
|
| 408 |
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},
|
| 409 |
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"stack_1_right_group_1": {
|
| 410 |
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"cls": "PanelCabinet"
|
| 411 |
+
},
|
| 412 |
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"fridge_right_group": {
|
| 413 |
+
"cls": "FridgeFrenchDoor"
|
| 414 |
+
},
|
| 415 |
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"fridge_housing_right_group": {
|
| 416 |
+
"cls": "HousingCabinet"
|
| 417 |
+
},
|
| 418 |
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"bottom_right_group_base": {
|
| 419 |
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"cls": "Box"
|
| 420 |
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},
|
| 421 |
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"bottom_right_group_1": {
|
| 422 |
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"cls": "HingeCabinet"
|
| 423 |
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},
|
| 424 |
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"middle_right_group": {
|
| 425 |
+
"cls": "HingeCabinet"
|
| 426 |
+
},
|
| 427 |
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"microwave_right_group": {
|
| 428 |
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"cls": "Microwave"
|
| 429 |
+
},
|
| 430 |
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"microwave_housing_right_group": {
|
| 431 |
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"cls": "HousingCabinet"
|
| 432 |
+
},
|
| 433 |
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"top_right_group": {
|
| 434 |
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"cls": "HingeCabinet"
|
| 435 |
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},
|
| 436 |
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"cab_1_right_group": {
|
| 437 |
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"cls": "HingeCabinet"
|
| 438 |
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},
|
| 439 |
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"cab_2_right_group": {
|
| 440 |
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"cls": "HingeCabinet"
|
| 441 |
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},
|
| 442 |
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"counter_2_right_group": {
|
| 443 |
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"cls": "Counter"
|
| 444 |
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},
|
| 445 |
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"stack_2_right_group_base": {
|
| 446 |
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"cls": "Box"
|
| 447 |
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},
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| 448 |
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"stack_2_right_group_1": {
|
| 449 |
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"cls": "Drawer"
|
| 450 |
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},
|
| 451 |
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"stack_2_right_group_2": {
|
| 452 |
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"cls": "Drawer"
|
| 453 |
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},
|
| 454 |
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"stack_2_right_group_3": {
|
| 455 |
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"cls": "Drawer"
|
| 456 |
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},
|
| 457 |
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"stack_2_right_group_4": {
|
| 458 |
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"cls": "Drawer"
|
| 459 |
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},
|
| 460 |
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"stack_3_right_group_base": {
|
| 461 |
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"cls": "Box"
|
| 462 |
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},
|
| 463 |
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"stack_3_right_group_1": {
|
| 464 |
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"cls": "HingeCabinet"
|
| 465 |
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},
|
| 466 |
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"stack_3_right_group_2": {
|
| 467 |
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"cls": "Drawer"
|
| 468 |
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},
|
| 469 |
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"stack_4_right_group_base": {
|
| 470 |
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"cls": "Box"
|
| 471 |
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},
|
| 472 |
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"stack_4_right_group_1": {
|
| 473 |
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"cls": "Drawer"
|
| 474 |
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},
|
| 475 |
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"stack_4_right_group_2": {
|
| 476 |
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"cls": "Drawer"
|
| 477 |
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},
|
| 478 |
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"stack_4_right_group_3": {
|
| 479 |
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"cls": "Drawer"
|
| 480 |
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},
|
| 481 |
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"stack_4_right_group_4": {
|
| 482 |
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"cls": "Drawer"
|
| 483 |
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},
|
| 484 |
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"plant_right_group": {
|
| 485 |
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"cls": "Accessory"
|
| 486 |
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},
|
| 487 |
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"island_island_group_1": {
|
| 488 |
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"cls": "Counter"
|
| 489 |
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},
|
| 490 |
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"stack_1_island_group_1_base": {
|
| 491 |
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"cls": "Box"
|
| 492 |
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},
|
| 493 |
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"stack_1_island_group_1_1": {
|
| 494 |
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"cls": "SingleCabinet"
|
| 495 |
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},
|
| 496 |
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"stack_1_island_group_1_2": {
|
| 497 |
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"cls": "Drawer"
|
| 498 |
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},
|
| 499 |
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"stack_2_island_group_1_base": {
|
| 500 |
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"cls": "Box"
|
| 501 |
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},
|
| 502 |
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"stack_2_island_group_1_1": {
|
| 503 |
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"cls": "SingleCabinet"
|
| 504 |
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},
|
| 505 |
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"stack_2_island_group_1_2": {
|
| 506 |
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"cls": "Drawer"
|
| 507 |
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},
|
| 508 |
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"stack_3_island_group_1_base": {
|
| 509 |
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"cls": "Box"
|
| 510 |
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},
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| 511 |
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"stack_3_island_group_1_1": {
|
| 512 |
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"cls": "SingleCabinet"
|
| 513 |
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},
|
| 514 |
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"stack_3_island_group_1_2": {
|
| 515 |
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"cls": "Drawer"
|
| 516 |
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},
|
| 517 |
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"stack_4_island_group_1_base": {
|
| 518 |
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"cls": "Box"
|
| 519 |
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},
|
| 520 |
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"stack_4_island_group_1_1": {
|
| 521 |
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"cls": "SingleCabinet"
|
| 522 |
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},
|
| 523 |
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"stack_4_island_group_1_2": {
|
| 524 |
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"cls": "Drawer"
|
| 525 |
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},
|
| 526 |
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"stack_1_island_group_2_base": {
|
| 527 |
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"cls": "Box"
|
| 528 |
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},
|
| 529 |
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"stack_1_island_group_2_1": {
|
| 530 |
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"cls": "SingleCabinet"
|
| 531 |
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},
|
| 532 |
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"stack_1_island_group_2_2": {
|
| 533 |
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"cls": "Drawer"
|
| 534 |
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},
|
| 535 |
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"stack_2_island_group_2_base": {
|
| 536 |
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"cls": "Box"
|
| 537 |
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},
|
| 538 |
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"stack_2_island_group_2_1": {
|
| 539 |
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"cls": "SingleCabinet"
|
| 540 |
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},
|
| 541 |
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"stack_2_island_group_2_2": {
|
| 542 |
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"cls": "Drawer"
|
| 543 |
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},
|
| 544 |
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"stack_3_island_group_2_base": {
|
| 545 |
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"cls": "Box"
|
| 546 |
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},
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| 547 |
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"stack_3_island_group_2_1": {
|
| 548 |
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"cls": "SingleCabinet"
|
| 549 |
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},
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| 550 |
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"stack_3_island_group_2_2": {
|
| 551 |
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"cls": "Drawer"
|
| 552 |
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},
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| 553 |
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"stack_4_island_group_2_base": {
|
| 554 |
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"cls": "Box"
|
| 555 |
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},
|
| 556 |
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"stack_4_island_group_2_1": {
|
| 557 |
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"cls": "SingleCabinet"
|
| 558 |
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},
|
| 559 |
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"stack_4_island_group_2_2": {
|
| 560 |
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"cls": "Drawer"
|
| 561 |
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}
|
| 562 |
+
},
|
| 563 |
+
"gen_textures": {},
|
| 564 |
+
"lang": "Add the cake to the tupperware that contains the hot dog.",
|
| 565 |
+
"fixture_refs": {
|
| 566 |
+
"counter": "counter_1_right_group"
|
| 567 |
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},
|
| 568 |
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"cam_configs": {
|
| 569 |
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"robot0_agentview_center": {
|
| 570 |
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"pos": [
|
| 571 |
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-0.6,
|
| 572 |
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0.0,
|
| 573 |
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|
| 574 |
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],
|
| 575 |
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"quat": [
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| 576 |
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| 577 |
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| 578 |
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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"
|
| 582 |
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| 583 |
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|
| 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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],
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| 589 |
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"quat": [
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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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],
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| 595 |
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|
| 596 |
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| 597 |
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},
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| 598 |
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"parent_body": "mobilebase0_support"
|
| 599 |
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},
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| 600 |
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"robot0_agentview_right": {
|
| 601 |
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"pos": [
|
| 602 |
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-0.5,
|
| 603 |
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-0.35,
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| 604 |
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|
| 605 |
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],
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| 606 |
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"quat": [
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| 607 |
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| 609 |
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| 610 |
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| 611 |
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],
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| 612 |
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| 613 |
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| 614 |
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},
|
| 615 |
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"parent_body": "mobilebase0_support"
|
| 616 |
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},
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| 617 |
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"robot0_frontview": {
|
| 618 |
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"pos": [
|
| 619 |
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-0.5,
|
| 620 |
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0,
|
| 621 |
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0.95
|
| 622 |
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],
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| 623 |
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| 624 |
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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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"parent_body": "mobilebase0_support"
|
| 633 |
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},
|
| 634 |
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"robot0_eye_in_hand": {
|
| 635 |
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"pos": [
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| 636 |
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0.05,
|
| 637 |
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|
| 638 |
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|
| 639 |
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],
|
| 640 |
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"quat": [
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| 641 |
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|
| 642 |
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|
| 643 |
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0.707107,
|
| 644 |
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|
| 645 |
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],
|
| 646 |
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"parent_body": "robot0_right_hand"
|
| 647 |
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}
|
| 648 |
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},
|
| 649 |
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"init_robot_base_pos": [
|
| 650 |
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|
| 651 |
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|
| 652 |
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|
| 653 |
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],
|
| 654 |
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"init_robot_base_ori": [
|
| 655 |
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|
| 656 |
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0.0,
|
| 657 |
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|
| 658 |
+
]
|
| 659 |
+
}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000078/ep_meta.json
ADDED
|
@@ -0,0 +1,509 @@
|
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|
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|
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|
|
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 18,
|
| 3 |
+
"style_id": 19,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
+
"obj_groups": "tupperware",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "counter_1_left_group",
|
| 10 |
+
"size": [
|
| 11 |
+
0.5,
|
| 12 |
+
0.5
|
| 13 |
+
],
|
| 14 |
+
"pos": [
|
| 15 |
+
0,
|
| 16 |
+
-1.0
|
| 17 |
+
],
|
| 18 |
+
"try_to_place_in": "tupperware",
|
| 19 |
+
"try_to_place_in_kwargs": {
|
| 20 |
+
"object_scale": [
|
| 21 |
+
2.5,
|
| 22 |
+
2.5,
|
| 23 |
+
1.25
|
| 24 |
+
]
|
| 25 |
+
},
|
| 26 |
+
"rotation": 0
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"init_robot_here": true,
|
| 30 |
+
"object_scale": [
|
| 31 |
+
2.5,
|
| 32 |
+
2.5,
|
| 33 |
+
1.25
|
| 34 |
+
],
|
| 35 |
+
"info": {
|
| 36 |
+
"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
+
"tupperware",
|
| 39 |
+
"receptacle"
|
| 40 |
+
],
|
| 41 |
+
"groups": [
|
| 42 |
+
"tupperware"
|
| 43 |
+
],
|
| 44 |
+
"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml"
|
| 47 |
+
},
|
| 48 |
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"reset_region": {
|
| 49 |
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"size": [
|
| 50 |
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1.3054613596487914,
|
| 51 |
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0.65
|
| 52 |
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],
|
| 53 |
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"offset": [
|
| 54 |
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|
| 55 |
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-3.469446951953614e-17,
|
| 56 |
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0.46
|
| 57 |
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],
|
| 58 |
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"name": "geom_1"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "cooked_food",
|
| 63 |
+
"obj_groups": "cooked_food",
|
| 64 |
+
"init_robot_here": false,
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
+
"size": [
|
| 68 |
+
0.01,
|
| 69 |
+
0.01
|
| 70 |
+
],
|
| 71 |
+
"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
+
"groups_containing_sampled_obj": [
|
| 80 |
+
"all",
|
| 81 |
+
"kebab_skewer",
|
| 82 |
+
"cooked_food",
|
| 83 |
+
"food",
|
| 84 |
+
"in_container"
|
| 85 |
+
],
|
| 86 |
+
"groups": [
|
| 87 |
+
"cooked_food"
|
| 88 |
+
],
|
| 89 |
+
"cat": "kebab_skewer",
|
| 90 |
+
"split": "train",
|
| 91 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer001/model.xml"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "dessert",
|
| 96 |
+
"obj_groups": "sweets",
|
| 97 |
+
"exclude_obj_groups": "sugar_cube",
|
| 98 |
+
"graspable": true,
|
| 99 |
+
"placement": {
|
| 100 |
+
"fixture": "counter_1_left_group",
|
| 101 |
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"reuse_region_from": "cooked_food_container",
|
| 102 |
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"size": [
|
| 103 |
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0.5,
|
| 104 |
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0.2
|
| 105 |
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],
|
| 106 |
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"pos": [
|
| 107 |
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0,
|
| 108 |
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-1.0
|
| 109 |
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]
|
| 110 |
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},
|
| 111 |
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"type": "object",
|
| 112 |
+
"info": {
|
| 113 |
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"groups_containing_sampled_obj": [
|
| 114 |
+
"all",
|
| 115 |
+
"cake",
|
| 116 |
+
"sweets",
|
| 117 |
+
"food",
|
| 118 |
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"in_container"
|
| 119 |
+
],
|
| 120 |
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"groups": [
|
| 121 |
+
"sweets"
|
| 122 |
+
],
|
| 123 |
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"cat": "cake",
|
| 124 |
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"split": "train",
|
| 125 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_3/model.xml"
|
| 126 |
+
},
|
| 127 |
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"reset_region": {
|
| 128 |
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"size": [
|
| 129 |
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1.3054613596487914,
|
| 130 |
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0.65
|
| 131 |
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],
|
| 132 |
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"offset": [
|
| 133 |
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1.1472693201756046,
|
| 134 |
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-3.469446951953614e-17,
|
| 135 |
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0.46
|
| 136 |
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],
|
| 137 |
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"name": "geom_1"
|
| 138 |
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}
|
| 139 |
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}
|
| 140 |
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],
|
| 141 |
+
"fixtures": {
|
| 142 |
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|
| 143 |
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"cls": "Wall"
|
| 144 |
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},
|
| 145 |
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"wall_main_backing_room": {
|
| 146 |
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"cls": "Wall"
|
| 147 |
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},
|
| 148 |
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"wall_right_1_room": {
|
| 149 |
+
"cls": "Wall"
|
| 150 |
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},
|
| 151 |
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"wall_right_1_backing_room": {
|
| 152 |
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"cls": "Wall"
|
| 153 |
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},
|
| 154 |
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"wall_left_1_room": {
|
| 155 |
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"cls": "Wall"
|
| 156 |
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},
|
| 157 |
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"wall_left_1_backing_room": {
|
| 158 |
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"cls": "Wall"
|
| 159 |
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},
|
| 160 |
+
"wall_left_3_room": {
|
| 161 |
+
"cls": "Wall"
|
| 162 |
+
},
|
| 163 |
+
"wall_left_3_backing_room": {
|
| 164 |
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"cls": "Wall"
|
| 165 |
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},
|
| 166 |
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"wall_left_2_room": {
|
| 167 |
+
"cls": "Wall"
|
| 168 |
+
},
|
| 169 |
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"wall_left_2_backing_room": {
|
| 170 |
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"cls": "Wall"
|
| 171 |
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},
|
| 172 |
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"floor_1_room": {
|
| 173 |
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"cls": "Floor"
|
| 174 |
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},
|
| 175 |
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"floor_1_backing_room": {
|
| 176 |
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"cls": "Floor"
|
| 177 |
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},
|
| 178 |
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"light_switch_1_room": {
|
| 179 |
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"cls": "WallAccessory"
|
| 180 |
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},
|
| 181 |
+
"light_switch_2_room": {
|
| 182 |
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"cls": "WallAccessory"
|
| 183 |
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},
|
| 184 |
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"light_switch_3_room": {
|
| 185 |
+
"cls": "WallAccessory"
|
| 186 |
+
},
|
| 187 |
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"light_switch_4_room": {
|
| 188 |
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"cls": "WallAccessory"
|
| 189 |
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},
|
| 190 |
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"wall_accessory_1_room": {
|
| 191 |
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"cls": "WallAccessory"
|
| 192 |
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},
|
| 193 |
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"light_switch_5_room": {
|
| 194 |
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"cls": "WallAccessory"
|
| 195 |
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},
|
| 196 |
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"light_switch_6_room": {
|
| 197 |
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"cls": "WallAccessory"
|
| 198 |
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},
|
| 199 |
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"light_switch_7_room": {
|
| 200 |
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"cls": "WallAccessory"
|
| 201 |
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},
|
| 202 |
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"window_group_1_room": {
|
| 203 |
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"cls": "Window"
|
| 204 |
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},
|
| 205 |
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"window_group_2_room": {
|
| 206 |
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"cls": "Window"
|
| 207 |
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},
|
| 208 |
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"bottom_main_group_base": {
|
| 209 |
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"cls": "Box"
|
| 210 |
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},
|
| 211 |
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"bottom_main_group_1": {
|
| 212 |
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"cls": "Drawer"
|
| 213 |
+
},
|
| 214 |
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"oven_main_group": {
|
| 215 |
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"cls": "Oven"
|
| 216 |
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},
|
| 217 |
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"oven_housing_main_group": {
|
| 218 |
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"cls": "HousingCabinet"
|
| 219 |
+
},
|
| 220 |
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"microwave_main_group": {
|
| 221 |
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"cls": "Microwave"
|
| 222 |
+
},
|
| 223 |
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"microwave_housing_main_group": {
|
| 224 |
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"cls": "HousingCabinet"
|
| 225 |
+
},
|
| 226 |
+
"top_main_group": {
|
| 227 |
+
"cls": "HingeCabinet"
|
| 228 |
+
},
|
| 229 |
+
"fridge_main_group": {
|
| 230 |
+
"cls": "FridgeSideBySide"
|
| 231 |
+
},
|
| 232 |
+
"fridge_housing_main_group": {
|
| 233 |
+
"cls": "HousingCabinet"
|
| 234 |
+
},
|
| 235 |
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"counter_1_main_group": {
|
| 236 |
+
"cls": "Counter"
|
| 237 |
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},
|
| 238 |
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"counter_corner_main_group": {
|
| 239 |
+
"cls": "Counter"
|
| 240 |
+
},
|
| 241 |
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"stack_1_main_group_base": {
|
| 242 |
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"cls": "Box"
|
| 243 |
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},
|
| 244 |
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"stack_1_main_group_1": {
|
| 245 |
+
"cls": "SingleCabinet"
|
| 246 |
+
},
|
| 247 |
+
"box_1_main_group": {
|
| 248 |
+
"cls": "Box"
|
| 249 |
+
},
|
| 250 |
+
"cab_1_main_group": {
|
| 251 |
+
"cls": "HingeCabinet"
|
| 252 |
+
},
|
| 253 |
+
"cab_2_main_group": {
|
| 254 |
+
"cls": "HingeCabinet"
|
| 255 |
+
},
|
| 256 |
+
"toaster_oven_main_group": {
|
| 257 |
+
"cls": "ToasterOven"
|
| 258 |
+
},
|
| 259 |
+
"plant_main_group": {
|
| 260 |
+
"cls": "Accessory"
|
| 261 |
+
},
|
| 262 |
+
"stovetop_left_group": {
|
| 263 |
+
"cls": "Stovetop"
|
| 264 |
+
},
|
| 265 |
+
"counter_1_left_group": {
|
| 266 |
+
"cls": "Counter"
|
| 267 |
+
},
|
| 268 |
+
"stack_1_left_group_base": {
|
| 269 |
+
"cls": "Box"
|
| 270 |
+
},
|
| 271 |
+
"stack_1_left_group_1": {
|
| 272 |
+
"cls": "SingleCabinet"
|
| 273 |
+
},
|
| 274 |
+
"stack_2_left_group_base": {
|
| 275 |
+
"cls": "Box"
|
| 276 |
+
},
|
| 277 |
+
"stack_2_left_group_1": {
|
| 278 |
+
"cls": "Drawer"
|
| 279 |
+
},
|
| 280 |
+
"stack_2_left_group_2": {
|
| 281 |
+
"cls": "Drawer"
|
| 282 |
+
},
|
| 283 |
+
"stack_2_left_group_3": {
|
| 284 |
+
"cls": "Drawer"
|
| 285 |
+
},
|
| 286 |
+
"stack_2_left_group_4": {
|
| 287 |
+
"cls": "Drawer"
|
| 288 |
+
},
|
| 289 |
+
"stack_2_left_group_5": {
|
| 290 |
+
"cls": "Drawer"
|
| 291 |
+
},
|
| 292 |
+
"stack_2_left_group_6": {
|
| 293 |
+
"cls": "Drawer"
|
| 294 |
+
},
|
| 295 |
+
"stack_3_left_group_base": {
|
| 296 |
+
"cls": "Box"
|
| 297 |
+
},
|
| 298 |
+
"stack_3_left_group_1": {
|
| 299 |
+
"cls": "Drawer"
|
| 300 |
+
},
|
| 301 |
+
"stack_3_left_group_2": {
|
| 302 |
+
"cls": "Drawer"
|
| 303 |
+
},
|
| 304 |
+
"stack_3_left_group_3": {
|
| 305 |
+
"cls": "PanelCabinet"
|
| 306 |
+
},
|
| 307 |
+
"stack_4_left_group_base": {
|
| 308 |
+
"cls": "Box"
|
| 309 |
+
},
|
| 310 |
+
"stack_4_left_group_1": {
|
| 311 |
+
"cls": "Drawer"
|
| 312 |
+
},
|
| 313 |
+
"stack_4_left_group_2": {
|
| 314 |
+
"cls": "Drawer"
|
| 315 |
+
},
|
| 316 |
+
"stack_4_left_group_3": {
|
| 317 |
+
"cls": "Drawer"
|
| 318 |
+
},
|
| 319 |
+
"stack_4_left_group_4": {
|
| 320 |
+
"cls": "Drawer"
|
| 321 |
+
},
|
| 322 |
+
"stack_4_left_group_5": {
|
| 323 |
+
"cls": "Drawer"
|
| 324 |
+
},
|
| 325 |
+
"stack_4_left_group_6": {
|
| 326 |
+
"cls": "Drawer"
|
| 327 |
+
},
|
| 328 |
+
"stack_5_left_group_base": {
|
| 329 |
+
"cls": "Box"
|
| 330 |
+
},
|
| 331 |
+
"stack_5_left_group_1": {
|
| 332 |
+
"cls": "SingleCabinet"
|
| 333 |
+
},
|
| 334 |
+
"hood_left_group": {
|
| 335 |
+
"cls": "Hood"
|
| 336 |
+
},
|
| 337 |
+
"cab_1_left_group": {
|
| 338 |
+
"cls": "HingeCabinet"
|
| 339 |
+
},
|
| 340 |
+
"cab_2_left_group": {
|
| 341 |
+
"cls": "HingeCabinet"
|
| 342 |
+
},
|
| 343 |
+
"paper_towel_left_group": {
|
| 344 |
+
"cls": "Accessory"
|
| 345 |
+
},
|
| 346 |
+
"coffee_machine_left_group": {
|
| 347 |
+
"cls": "CoffeeMachine"
|
| 348 |
+
},
|
| 349 |
+
"sink_1_right_group": {
|
| 350 |
+
"cls": "Sink"
|
| 351 |
+
},
|
| 352 |
+
"counter_1_right_group": {
|
| 353 |
+
"cls": "Counter"
|
| 354 |
+
},
|
| 355 |
+
"box_1_right_group": {
|
| 356 |
+
"cls": "Box"
|
| 357 |
+
},
|
| 358 |
+
"stack_1_right_group_base": {
|
| 359 |
+
"cls": "Box"
|
| 360 |
+
},
|
| 361 |
+
"stack_1_right_group_1": {
|
| 362 |
+
"cls": "SingleCabinet"
|
| 363 |
+
},
|
| 364 |
+
"stack_2_right_group_base": {
|
| 365 |
+
"cls": "Box"
|
| 366 |
+
},
|
| 367 |
+
"stack_2_right_group_1": {
|
| 368 |
+
"cls": "Drawer"
|
| 369 |
+
},
|
| 370 |
+
"stack_2_right_group_2": {
|
| 371 |
+
"cls": "Drawer"
|
| 372 |
+
},
|
| 373 |
+
"stack_2_right_group_3": {
|
| 374 |
+
"cls": "Drawer"
|
| 375 |
+
},
|
| 376 |
+
"stack_3_right_group_base": {
|
| 377 |
+
"cls": "Box"
|
| 378 |
+
},
|
| 379 |
+
"stack_3_right_group_1": {
|
| 380 |
+
"cls": "SingleCabinet"
|
| 381 |
+
},
|
| 382 |
+
"stack_4_right_group_base": {
|
| 383 |
+
"cls": "Box"
|
| 384 |
+
},
|
| 385 |
+
"stack_4_right_group_1": {
|
| 386 |
+
"cls": "SingleCabinet"
|
| 387 |
+
},
|
| 388 |
+
"stack_5_right_group_base": {
|
| 389 |
+
"cls": "Box"
|
| 390 |
+
},
|
| 391 |
+
"stack_5_right_group_1": {
|
| 392 |
+
"cls": "HingeCabinet"
|
| 393 |
+
},
|
| 394 |
+
"dishwasher_1_right_group": {
|
| 395 |
+
"cls": "Dishwasher"
|
| 396 |
+
},
|
| 397 |
+
"panel_stack_right_group_base": {
|
| 398 |
+
"cls": "Box"
|
| 399 |
+
},
|
| 400 |
+
"panel_stack_right_group_1": {
|
| 401 |
+
"cls": "PanelCabinet"
|
| 402 |
+
},
|
| 403 |
+
"wall_stack_right_group_base": {
|
| 404 |
+
"cls": "Box"
|
| 405 |
+
},
|
| 406 |
+
"wall_stack_right_group_1": {
|
| 407 |
+
"cls": "HingeCabinet"
|
| 408 |
+
},
|
| 409 |
+
"toaster_right_group": {
|
| 410 |
+
"cls": "Toaster"
|
| 411 |
+
}
|
| 412 |
+
},
|
| 413 |
+
"gen_textures": {},
|
| 414 |
+
"lang": "Add the cake to the tupperware that contains the kebab skewer.",
|
| 415 |
+
"fixture_refs": {
|
| 416 |
+
"counter": "counter_1_left_group"
|
| 417 |
+
},
|
| 418 |
+
"cam_configs": {
|
| 419 |
+
"robot0_agentview_center": {
|
| 420 |
+
"pos": [
|
| 421 |
+
-0.6,
|
| 422 |
+
0.0,
|
| 423 |
+
1.15
|
| 424 |
+
],
|
| 425 |
+
"quat": [
|
| 426 |
+
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|
| 427 |
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|
| 428 |
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|
| 429 |
+
-0.6175596117973328
|
| 430 |
+
],
|
| 431 |
+
"parent_body": "mobilebase0_support"
|
| 432 |
+
},
|
| 433 |
+
"robot0_agentview_left": {
|
| 434 |
+
"pos": [
|
| 435 |
+
-0.5,
|
| 436 |
+
0.35,
|
| 437 |
+
1.05
|
| 438 |
+
],
|
| 439 |
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"quat": [
|
| 440 |
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|
| 441 |
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0.29935253,
|
| 442 |
+
-0.37678665,
|
| 443 |
+
-0.6775092
|
| 444 |
+
],
|
| 445 |
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"camera_attribs": {
|
| 446 |
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"fovy": "60"
|
| 447 |
+
},
|
| 448 |
+
"parent_body": "mobilebase0_support"
|
| 449 |
+
},
|
| 450 |
+
"robot0_agentview_right": {
|
| 451 |
+
"pos": [
|
| 452 |
+
-0.5,
|
| 453 |
+
-0.35,
|
| 454 |
+
1.05
|
| 455 |
+
],
|
| 456 |
+
"quat": [
|
| 457 |
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|
| 458 |
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0.3767866790294647,
|
| 459 |
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-0.2993525564670563,
|
| 460 |
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-0.55623859167099
|
| 461 |
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],
|
| 462 |
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"camera_attribs": {
|
| 463 |
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"fovy": "60"
|
| 464 |
+
},
|
| 465 |
+
"parent_body": "mobilebase0_support"
|
| 466 |
+
},
|
| 467 |
+
"robot0_frontview": {
|
| 468 |
+
"pos": [
|
| 469 |
+
-0.5,
|
| 470 |
+
0,
|
| 471 |
+
0.95
|
| 472 |
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],
|
| 473 |
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"quat": [
|
| 474 |
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|
| 475 |
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|
| 476 |
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-0.3673907518386841,
|
| 477 |
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-0.5905545353889465
|
| 478 |
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],
|
| 479 |
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"camera_attribs": {
|
| 480 |
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"fovy": "60"
|
| 481 |
+
},
|
| 482 |
+
"parent_body": "mobilebase0_support"
|
| 483 |
+
},
|
| 484 |
+
"robot0_eye_in_hand": {
|
| 485 |
+
"pos": [
|
| 486 |
+
0.05,
|
| 487 |
+
0,
|
| 488 |
+
0
|
| 489 |
+
],
|
| 490 |
+
"quat": [
|
| 491 |
+
0,
|
| 492 |
+
0.707107,
|
| 493 |
+
0.707107,
|
| 494 |
+
0
|
| 495 |
+
],
|
| 496 |
+
"parent_body": "robot0_right_hand"
|
| 497 |
+
}
|
| 498 |
+
},
|
| 499 |
+
"init_robot_base_pos": [
|
| 500 |
+
0.8128847652392931,
|
| 501 |
+
-3.0322449383887564,
|
| 502 |
+
0.0
|
| 503 |
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],
|
| 504 |
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"init_robot_base_ori": [
|
| 505 |
+
0.0,
|
| 506 |
+
0.0,
|
| 507 |
+
3.141592787948654
|
| 508 |
+
]
|
| 509 |
+
}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000079/ep_meta.json
ADDED
|
@@ -0,0 +1,506 @@
|
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|
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|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000087/ep_meta.json
ADDED
|
@@ -0,0 +1,570 @@
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 20,
|
| 3 |
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"style_id": 59,
|
| 4 |
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"object_cfgs": [
|
| 5 |
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{
|
| 6 |
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"name": "cooked_food_container",
|
| 7 |
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"obj_groups": "tupperware",
|
| 8 |
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"placement": {
|
| 9 |
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"fixture": "counter_1_island_group_2",
|
| 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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"try_to_place_in": "tupperware",
|
| 19 |
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"try_to_place_in_kwargs": {
|
| 20 |
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"object_scale": [
|
| 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 |
+
"rotation": 0
|
| 27 |
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},
|
| 28 |
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"type": "object",
|
| 29 |
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"init_robot_here": true,
|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
+
],
|
| 35 |
+
"info": {
|
| 36 |
+
"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
+
"tupperware",
|
| 39 |
+
"receptacle"
|
| 40 |
+
],
|
| 41 |
+
"groups": [
|
| 42 |
+
"tupperware"
|
| 43 |
+
],
|
| 44 |
+
"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml"
|
| 47 |
+
},
|
| 48 |
+
"reset_region": {
|
| 49 |
+
"size": [
|
| 50 |
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2.6,
|
| 51 |
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0.65
|
| 52 |
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],
|
| 53 |
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"offset": [
|
| 54 |
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0.0,
|
| 55 |
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0.0,
|
| 56 |
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0.46
|
| 57 |
+
],
|
| 58 |
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"name": "geom_0"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "cooked_food",
|
| 63 |
+
"obj_groups": "cooked_food",
|
| 64 |
+
"init_robot_here": false,
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
+
"size": [
|
| 68 |
+
0.01,
|
| 69 |
+
0.01
|
| 70 |
+
],
|
| 71 |
+
"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
+
"groups_containing_sampled_obj": [
|
| 80 |
+
"all",
|
| 81 |
+
"hot_dog",
|
| 82 |
+
"cooked_food",
|
| 83 |
+
"food",
|
| 84 |
+
"in_container"
|
| 85 |
+
],
|
| 86 |
+
"groups": [
|
| 87 |
+
"cooked_food"
|
| 88 |
+
],
|
| 89 |
+
"cat": "hot_dog",
|
| 90 |
+
"split": "train",
|
| 91 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "dessert",
|
| 96 |
+
"obj_groups": "sweets",
|
| 97 |
+
"exclude_obj_groups": "sugar_cube",
|
| 98 |
+
"graspable": true,
|
| 99 |
+
"placement": {
|
| 100 |
+
"fixture": "counter_1_island_group_2",
|
| 101 |
+
"reuse_region_from": "cooked_food_container",
|
| 102 |
+
"size": [
|
| 103 |
+
0.5,
|
| 104 |
+
0.2
|
| 105 |
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],
|
| 106 |
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"pos": [
|
| 107 |
+
0,
|
| 108 |
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-1.0
|
| 109 |
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]
|
| 110 |
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},
|
| 111 |
+
"type": "object",
|
| 112 |
+
"info": {
|
| 113 |
+
"groups_containing_sampled_obj": [
|
| 114 |
+
"all",
|
| 115 |
+
"donut",
|
| 116 |
+
"sweets",
|
| 117 |
+
"pastry",
|
| 118 |
+
"food",
|
| 119 |
+
"in_container"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"sweets"
|
| 123 |
+
],
|
| 124 |
+
"cat": "donut",
|
| 125 |
+
"split": "train",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_15/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
2.6,
|
| 131 |
+
0.65
|
| 132 |
+
],
|
| 133 |
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"offset": [
|
| 134 |
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0.0,
|
| 135 |
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0.0,
|
| 136 |
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0.46
|
| 137 |
+
],
|
| 138 |
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"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"fixtures": {
|
| 143 |
+
"wall_left_1_room": {
|
| 144 |
+
"cls": "Wall"
|
| 145 |
+
},
|
| 146 |
+
"wall_left_1_backing_room": {
|
| 147 |
+
"cls": "Wall"
|
| 148 |
+
},
|
| 149 |
+
"wall_main_1_room": {
|
| 150 |
+
"cls": "Wall"
|
| 151 |
+
},
|
| 152 |
+
"wall_main_1_backing_room": {
|
| 153 |
+
"cls": "Wall"
|
| 154 |
+
},
|
| 155 |
+
"wall_front_1_room": {
|
| 156 |
+
"cls": "Wall"
|
| 157 |
+
},
|
| 158 |
+
"wall_front_1_backing_room": {
|
| 159 |
+
"cls": "Wall"
|
| 160 |
+
},
|
| 161 |
+
"wall_front_2_room": {
|
| 162 |
+
"cls": "Wall"
|
| 163 |
+
},
|
| 164 |
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"wall_front_2_backing_room": {
|
| 165 |
+
"cls": "Wall"
|
| 166 |
+
},
|
| 167 |
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"wall_front_3_room": {
|
| 168 |
+
"cls": "Wall"
|
| 169 |
+
},
|
| 170 |
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|
| 171 |
+
"cls": "Wall"
|
| 172 |
+
},
|
| 173 |
+
"floor_1_room": {
|
| 174 |
+
"cls": "Floor"
|
| 175 |
+
},
|
| 176 |
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"floor_1_backing_room": {
|
| 177 |
+
"cls": "Floor"
|
| 178 |
+
},
|
| 179 |
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|
| 180 |
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"cls": "WallAccessory"
|
| 181 |
+
},
|
| 182 |
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"wall_accessory_2_room": {
|
| 183 |
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"cls": "WallAccessory"
|
| 184 |
+
},
|
| 185 |
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|
| 186 |
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"cls": "WallAccessory"
|
| 187 |
+
},
|
| 188 |
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"wall_accessory_4_room": {
|
| 189 |
+
"cls": "WallAccessory"
|
| 190 |
+
},
|
| 191 |
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"window_group_room": {
|
| 192 |
+
"cls": "Window"
|
| 193 |
+
},
|
| 194 |
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"counter_corner_main_group": {
|
| 195 |
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"cls": "Counter"
|
| 196 |
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},
|
| 197 |
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"counter_1_main_group": {
|
| 198 |
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"cls": "Counter"
|
| 199 |
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},
|
| 200 |
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"stove_main_group": {
|
| 201 |
+
"cls": "Stove"
|
| 202 |
+
},
|
| 203 |
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"counter_2_main_group": {
|
| 204 |
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"cls": "Counter"
|
| 205 |
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},
|
| 206 |
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"stack_1_main_group_base": {
|
| 207 |
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"cls": "Box"
|
| 208 |
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},
|
| 209 |
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"stack_1_main_group_1": {
|
| 210 |
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"cls": "SingleCabinet"
|
| 211 |
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},
|
| 212 |
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|
| 213 |
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"cls": "Drawer"
|
| 214 |
+
},
|
| 215 |
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"stack_2_main_group_base": {
|
| 216 |
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"cls": "Box"
|
| 217 |
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},
|
| 218 |
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"stack_2_main_group_1": {
|
| 219 |
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"cls": "SingleCabinet"
|
| 220 |
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},
|
| 221 |
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|
| 222 |
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"cls": "Box"
|
| 223 |
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},
|
| 224 |
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"stack_3_main_group_base": {
|
| 225 |
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"cls": "Box"
|
| 226 |
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},
|
| 227 |
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"stack_3_main_group_1": {
|
| 228 |
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"cls": "SingleCabinet"
|
| 229 |
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},
|
| 230 |
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|
| 231 |
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"cls": "Drawer"
|
| 232 |
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},
|
| 233 |
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|
| 234 |
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"cls": "Box"
|
| 235 |
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},
|
| 236 |
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|
| 237 |
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"cls": "SingleCabinet"
|
| 238 |
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|
| 239 |
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|
| 240 |
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"cls": "Drawer"
|
| 241 |
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},
|
| 242 |
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|
| 243 |
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"cls": "Box"
|
| 244 |
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},
|
| 245 |
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|
| 246 |
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"cls": "HingeCabinet"
|
| 247 |
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},
|
| 248 |
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|
| 249 |
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"cls": "Box"
|
| 250 |
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},
|
| 251 |
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|
| 252 |
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"cls": "HingeCabinet"
|
| 253 |
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},
|
| 254 |
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"cab_1_main_group": {
|
| 255 |
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"cls": "HingeCabinet"
|
| 256 |
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},
|
| 257 |
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"cab_2_main_group": {
|
| 258 |
+
"cls": "HingeCabinet"
|
| 259 |
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},
|
| 260 |
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|
| 261 |
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"cls": "SingleCabinet"
|
| 262 |
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},
|
| 263 |
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"microwave_main_group": {
|
| 264 |
+
"cls": "Microwave"
|
| 265 |
+
},
|
| 266 |
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"cab_4_main_group": {
|
| 267 |
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"cls": "HingeCabinet"
|
| 268 |
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},
|
| 269 |
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|
| 270 |
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"cls": "HingeCabinet"
|
| 271 |
+
},
|
| 272 |
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"cab_6_main_group": {
|
| 273 |
+
"cls": "HingeCabinet"
|
| 274 |
+
},
|
| 275 |
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"coffee_machine_main_group": {
|
| 276 |
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"cls": "CoffeeMachine"
|
| 277 |
+
},
|
| 278 |
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"paper_towel_main_group": {
|
| 279 |
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"cls": "Accessory"
|
| 280 |
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},
|
| 281 |
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|
| 282 |
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"cls": "Counter"
|
| 283 |
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},
|
| 284 |
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"sink_1_left_group": {
|
| 285 |
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"cls": "Sink"
|
| 286 |
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},
|
| 287 |
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"counter_1_left_group": {
|
| 288 |
+
"cls": "Counter"
|
| 289 |
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},
|
| 290 |
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"box_1_left_group": {
|
| 291 |
+
"cls": "Box"
|
| 292 |
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},
|
| 293 |
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"stack_1_left_group_base": {
|
| 294 |
+
"cls": "Box"
|
| 295 |
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},
|
| 296 |
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"stack_1_left_group_1": {
|
| 297 |
+
"cls": "HingeCabinet"
|
| 298 |
+
},
|
| 299 |
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"dishwasher_1_left_group": {
|
| 300 |
+
"cls": "Dishwasher"
|
| 301 |
+
},
|
| 302 |
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"stack_2_left_group_base": {
|
| 303 |
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"cls": "Box"
|
| 304 |
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},
|
| 305 |
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"stack_2_left_group_1": {
|
| 306 |
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"cls": "HingeCabinet"
|
| 307 |
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},
|
| 308 |
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"stack_3_left_group_base": {
|
| 309 |
+
"cls": "Box"
|
| 310 |
+
},
|
| 311 |
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"stack_3_left_group_1": {
|
| 312 |
+
"cls": "SingleCabinet"
|
| 313 |
+
},
|
| 314 |
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"box_2_left_group": {
|
| 315 |
+
"cls": "Box"
|
| 316 |
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},
|
| 317 |
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"cab_1_left_group": {
|
| 318 |
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"cls": "SingleCabinet"
|
| 319 |
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},
|
| 320 |
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"cab_2_left_group": {
|
| 321 |
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"cls": "HingeCabinet"
|
| 322 |
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},
|
| 323 |
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"cab_3_left_group": {
|
| 324 |
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"cls": "SingleCabinet"
|
| 325 |
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},
|
| 326 |
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"cab_corner_left_group": {
|
| 327 |
+
"cls": "Box"
|
| 328 |
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},
|
| 329 |
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"knife_block_left_group": {
|
| 330 |
+
"cls": "Accessory"
|
| 331 |
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},
|
| 332 |
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"island_island_group_1": {
|
| 333 |
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"cls": "Counter"
|
| 334 |
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},
|
| 335 |
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"panel_stack_1_island_group_1_base": {
|
| 336 |
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"cls": "Box"
|
| 337 |
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},
|
| 338 |
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|
| 339 |
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"cls": "PanelCabinet"
|
| 340 |
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},
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| 341 |
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|
| 342 |
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"cls": "Box"
|
| 343 |
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},
|
| 344 |
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|
| 345 |
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"cls": "HingeCabinet"
|
| 346 |
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},
|
| 347 |
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|
| 348 |
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"cls": "Box"
|
| 349 |
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},
|
| 350 |
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|
| 351 |
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"cls": "HingeCabinet"
|
| 352 |
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},
|
| 353 |
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|
| 354 |
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|
| 355 |
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},
|
| 356 |
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|
| 357 |
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"cls": "HingeCabinet"
|
| 358 |
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},
|
| 359 |
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|
| 360 |
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"cls": "Box"
|
| 361 |
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},
|
| 362 |
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|
| 363 |
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"cls": "PanelCabinet"
|
| 364 |
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},
|
| 365 |
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"plant_island_group_1": {
|
| 366 |
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"cls": "Accessory"
|
| 367 |
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},
|
| 368 |
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|
| 369 |
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"cls": "Counter"
|
| 370 |
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},
|
| 371 |
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"panel_stack_1_island_group_2_base": {
|
| 372 |
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"cls": "Box"
|
| 373 |
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},
|
| 374 |
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|
| 375 |
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|
| 376 |
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},
|
| 377 |
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|
| 378 |
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"cls": "Box"
|
| 379 |
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},
|
| 380 |
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|
| 381 |
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"cls": "Drawer"
|
| 382 |
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},
|
| 383 |
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|
| 384 |
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"cls": "Drawer"
|
| 385 |
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},
|
| 386 |
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|
| 387 |
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|
| 388 |
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},
|
| 389 |
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|
| 390 |
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"cls": "Drawer"
|
| 391 |
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},
|
| 392 |
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|
| 393 |
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"cls": "Drawer"
|
| 394 |
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},
|
| 395 |
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|
| 396 |
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"cls": "Box"
|
| 397 |
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},
|
| 398 |
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|
| 399 |
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"cls": "Drawer"
|
| 400 |
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},
|
| 401 |
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|
| 402 |
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"cls": "Drawer"
|
| 403 |
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},
|
| 404 |
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|
| 405 |
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"cls": "Box"
|
| 406 |
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},
|
| 407 |
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"panel_stack_2_island_group_2_1": {
|
| 408 |
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"cls": "PanelCabinet"
|
| 409 |
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},
|
| 410 |
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"counter_1_front_group_1": {
|
| 411 |
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"cls": "Counter"
|
| 412 |
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},
|
| 413 |
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"fridge_1_front_group_1": {
|
| 414 |
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"cls": "FridgeFrenchDoor"
|
| 415 |
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},
|
| 416 |
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"fridge_1_housing_front_group_1": {
|
| 417 |
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"cls": "HousingCabinet"
|
| 418 |
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},
|
| 419 |
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|
| 420 |
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|
| 421 |
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},
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| 422 |
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|
| 423 |
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|
| 424 |
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},
|
| 425 |
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|
| 426 |
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|
| 427 |
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},
|
| 428 |
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|
| 429 |
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|
| 430 |
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},
|
| 431 |
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|
| 432 |
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|
| 433 |
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},
|
| 434 |
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|
| 435 |
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|
| 436 |
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},
|
| 437 |
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|
| 438 |
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"cls": "Toaster"
|
| 439 |
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},
|
| 440 |
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|
| 441 |
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|
| 442 |
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},
|
| 443 |
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|
| 444 |
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|
| 445 |
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},
|
| 446 |
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|
| 447 |
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|
| 448 |
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},
|
| 449 |
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|
| 450 |
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|
| 451 |
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},
|
| 452 |
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|
| 453 |
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|
| 454 |
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},
|
| 455 |
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|
| 456 |
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|
| 457 |
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},
|
| 458 |
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|
| 459 |
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"cls": "SingleCabinet"
|
| 460 |
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},
|
| 461 |
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|
| 462 |
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|
| 463 |
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},
|
| 464 |
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|
| 465 |
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|
| 466 |
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},
|
| 467 |
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|
| 468 |
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"cls": "HingeCabinet"
|
| 469 |
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},
|
| 470 |
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"toaster_oven_front_group_2": {
|
| 471 |
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"cls": "ToasterOven"
|
| 472 |
+
}
|
| 473 |
+
},
|
| 474 |
+
"gen_textures": {},
|
| 475 |
+
"lang": "Add the donut to the tupperware that contains the hot dog.",
|
| 476 |
+
"fixture_refs": {
|
| 477 |
+
"counter": "counter_1_island_group_2"
|
| 478 |
+
},
|
| 479 |
+
"cam_configs": {
|
| 480 |
+
"robot0_agentview_center": {
|
| 481 |
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"pos": [
|
| 482 |
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-0.6,
|
| 483 |
+
0.0,
|
| 484 |
+
1.15
|
| 485 |
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],
|
| 486 |
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"quat": [
|
| 487 |
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0.636945903301239,
|
| 488 |
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0.3325185477733612,
|
| 489 |
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-0.3199238181114197,
|
| 490 |
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-0.6175596117973328
|
| 491 |
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],
|
| 492 |
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"parent_body": "mobilebase0_support"
|
| 493 |
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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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| 540 |
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| 541 |
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|
| 542 |
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|
| 543 |
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"parent_body": "mobilebase0_support"
|
| 544 |
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| 545 |
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| 546 |
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|
| 557 |
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|
| 558 |
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| 560 |
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| 569 |
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|
| 570 |
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|
pretrain/atomic/PackDessert/20250806/lerobot/meta/embodiment.json
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"robot_name": "PandaOmron",
|
| 3 |
+
"robot_type": "PandaOmron",
|
| 4 |
+
"record_frequency": 20.0,
|
| 5 |
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"body_controller_frequency": 20.0,
|
| 6 |
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"hand_controller_frequency": 20.0,
|
| 7 |
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"embodiment_tag": "robocasa_panda_omron"
|
| 8 |
+
}
|
pretrain/atomic/PackDessert/20250806/lerobot/meta/episodes.jsonl
ADDED
|
@@ -0,0 +1,108 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"episode_index": 0, "tasks": ["Add the marshmallow to the tupperware that contains the hot dog."], "length": 327}
|
| 2 |
+
{"episode_index": 1, "tasks": ["Add the marshmallow to the tupperware that contains the hot dog."], "length": 248}
|
| 3 |
+
{"episode_index": 2, "tasks": ["Add the cookie dough ball to the tupperware that contains the hot dog."], "length": 474}
|
| 4 |
+
{"episode_index": 3, "tasks": ["Add the donut to the tupperware that contains the hot dog."], "length": 248}
|
| 5 |
+
{"episode_index": 4, "tasks": ["Add the cupcake to the tupperware that contains the kebab skewer."], "length": 262}
|
| 6 |
+
{"episode_index": 5, "tasks": ["Add the cupcake to the tupperware that contains the hot dog."], "length": 188}
|
| 7 |
+
{"episode_index": 6, "tasks": ["Add the cupcake to the tupperware that contains the kebab skewer."], "length": 206}
|
| 8 |
+
{"episode_index": 7, "tasks": ["Add the cookie dough ball to the tupperware that contains the hot dog."], "length": 228}
|
| 9 |
+
{"episode_index": 8, "tasks": ["Add the cookie dough ball to the tupperware that contains the hot dog."], "length": 225}
|
| 10 |
+
{"episode_index": 9, "tasks": ["Add the cookie dough ball to the tupperware that contains the kebab skewer."], "length": 268}
|
| 11 |
+
{"episode_index": 10, "tasks": ["Add the cake to the tupperware that contains the hot dog."], "length": 228}
|
| 12 |
+
{"episode_index": 11, "tasks": ["Add the marshmallow to the tupperware that contains the kebab skewer."], "length": 255}
|
| 13 |
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{"episode_index": 12, "tasks": ["Add the cupcake to the tupperware that contains the hot dog."], "length": 258}
|
| 14 |
+
{"episode_index": 13, "tasks": ["Add the marshmallow to the tupperware that contains the hot dog."], "length": 244}
|
| 15 |
+
{"episode_index": 14, "tasks": ["Add the cookie dough ball to the tupperware that contains the hot dog."], "length": 297}
|
| 16 |
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{"episode_index": 15, "tasks": ["Add the cupcake to the tupperware that contains the kebab skewer."], "length": 199}
|
| 17 |
+
{"episode_index": 16, "tasks": ["Add the cupcake to the tupperware that contains the kebab skewer."], "length": 285}
|
| 18 |
+
{"episode_index": 17, "tasks": ["Add the cake to the tupperware that contains the kebab skewer."], "length": 289}
|
| 19 |
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{"episode_index": 18, "tasks": ["Add the marshmallow to the tupperware that contains the hot dog."], "length": 278}
|
| 20 |
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{"episode_index": 19, "tasks": ["Add the marshmallow to the tupperware that contains the hot dog."], "length": 228}
|
| 21 |
+
{"episode_index": 20, "tasks": ["Add the cookie dough ball to the tupperware that contains the hot dog."], "length": 225}
|
| 22 |
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{"episode_index": 21, "tasks": ["Add the marshmallow to the tupperware that contains the hot dog."], "length": 235}
|
| 23 |
+
{"episode_index": 22, "tasks": ["Add the cupcake to the tupperware that contains the kebab skewer."], "length": 227}
|
| 24 |
+
{"episode_index": 23, "tasks": ["Add the cake to the tupperware that contains the kebab skewer."], "length": 300}
|
| 25 |
+
{"episode_index": 24, "tasks": ["Add the marshmallow to the tupperware that contains the hot dog."], "length": 247}
|
| 26 |
+
{"episode_index": 25, "tasks": ["Add the cookie dough ball to the tupperware that contains the hot dog."], "length": 276}
|
| 27 |
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{"episode_index": 26, "tasks": ["Add the cookie dough ball to the tupperware that contains the hot dog."], "length": 231}
|
| 28 |
+
{"episode_index": 27, "tasks": ["Add the cake to the tupperware that contains the hot dog."], "length": 240}
|
| 29 |
+
{"episode_index": 28, "tasks": ["Add the cookie dough ball to the tupperware that contains the hot dog."], "length": 311}
|
| 30 |
+
{"episode_index": 29, "tasks": ["Add the marshmallow to the tupperware that contains the hot dog."], "length": 267}
|
| 31 |
+
{"episode_index": 30, "tasks": ["Add the cookie dough ball to the tupperware that contains the kebab skewer."], "length": 232}
|
| 32 |
+
{"episode_index": 31, "tasks": ["Add the cookie dough ball to the tupperware that contains the kebab skewer."], "length": 266}
|
| 33 |
+
{"episode_index": 32, "tasks": ["Add the cupcake to the tupperware that contains the hot dog."], "length": 237}
|
| 34 |
+
{"episode_index": 33, "tasks": ["Add the cake to the tupperware that contains the kebab skewer."], "length": 245}
|
| 35 |
+
{"episode_index": 34, "tasks": ["Add the marshmallow to the tupperware that contains the hot dog."], "length": 373}
|
| 36 |
+
{"episode_index": 35, "tasks": ["Add the cookie dough ball to the tupperware that contains the hot dog."], "length": 249}
|
| 37 |
+
{"episode_index": 36, "tasks": ["Add the cake to the tupperware that contains the hot dog."], "length": 257}
|
| 38 |
+
{"episode_index": 37, "tasks": ["Add the donut to the tupperware that contains the hot dog."], "length": 198}
|
| 39 |
+
{"episode_index": 38, "tasks": ["Add the cupcake to the tupperware that contains the hot dog."], "length": 291}
|
| 40 |
+
{"episode_index": 39, "tasks": ["Add the marshmallow to the tupperware that contains the kebab skewer."], "length": 237}
|
| 41 |
+
{"episode_index": 40, "tasks": ["Add the donut to the tupperware that contains the kebab skewer."], "length": 300}
|
| 42 |
+
{"episode_index": 41, "tasks": ["Add the cookie dough ball to the tupperware that contains the hot dog."], "length": 336}
|
| 43 |
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{"episode_index": 42, "tasks": ["Add the cookie dough ball to the tupperware that contains the hot dog."], "length": 295}
|
| 44 |
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{"episode_index": 43, "tasks": ["Add the cupcake to the tupperware that contains the hot dog."], "length": 270}
|
| 45 |
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{"episode_index": 44, "tasks": ["Add the cookie dough ball to the tupperware that contains the hot dog."], "length": 255}
|
| 46 |
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{"episode_index": 45, "tasks": ["Add the cookie dough ball to the tupperware that contains the kebab skewer."], "length": 352}
|
| 47 |
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{"episode_index": 46, "tasks": ["Add the cupcake to the tupperware that contains the kebab skewer."], "length": 234}
|
| 48 |
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{"episode_index": 47, "tasks": ["Add the cookie dough ball to the tupperware that contains the kebab skewer."], "length": 212}
|
| 49 |
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{"episode_index": 48, "tasks": ["Add the cupcake to the tupperware that contains the kebab skewer."], "length": 207}
|
| 50 |
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{"episode_index": 49, "tasks": ["Add the marshmallow to the tupperware that contains the kebab skewer."], "length": 258}
|
| 51 |
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{"episode_index": 50, "tasks": ["Add the marshmallow to the tupperware that contains the hot dog."], "length": 289}
|
| 52 |
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{"episode_index": 51, "tasks": ["Add the cupcake to the tupperware that contains the kebab skewer."], "length": 219}
|
| 53 |
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{"episode_index": 52, "tasks": ["Add the cookie dough ball to the tupperware that contains the hot dog."], "length": 226}
|
| 54 |
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{"episode_index": 53, "tasks": ["Add the cupcake to the tupperware that contains the hot dog."], "length": 198}
|
| 55 |
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{"episode_index": 54, "tasks": ["Add the cupcake to the tupperware that contains the hot dog."], "length": 228}
|
| 56 |
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{"episode_index": 55, "tasks": ["Add the cake to the tupperware that contains the hot dog."], "length": 275}
|
| 57 |
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{"episode_index": 56, "tasks": ["Add the cookie dough ball to the tupperware that contains the kebab skewer."], "length": 278}
|
| 58 |
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{"episode_index": 57, "tasks": ["Add the cupcake to the tupperware that contains the hot dog."], "length": 256}
|
| 59 |
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{"episode_index": 58, "tasks": ["Add the cookie dough ball to the tupperware that contains the kebab skewer."], "length": 316}
|
| 60 |
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{"episode_index": 59, "tasks": ["Add the donut to the tupperware that contains the kebab skewer."], "length": 253}
|
| 61 |
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{"episode_index": 60, "tasks": ["Add the cupcake to the tupperware that contains the kebab skewer."], "length": 352}
|
| 62 |
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{"episode_index": 61, "tasks": ["Add the marshmallow to the tupperware that contains the hot dog."], "length": 302}
|
| 63 |
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{"episode_index": 62, "tasks": ["Add the cupcake to the tupperware that contains the hot dog."], "length": 248}
|
| 64 |
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{"episode_index": 63, "tasks": ["Add the cookie dough ball to the tupperware that contains the hot dog."], "length": 282}
|
| 65 |
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{"episode_index": 64, "tasks": ["Add the cake to the tupperware that contains the kebab skewer."], "length": 214}
|
| 66 |
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{"episode_index": 65, "tasks": ["Add the cake to the tupperware that contains the kebab skewer."], "length": 238}
|
| 67 |
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{"episode_index": 66, "tasks": ["Add the cupcake to the tupperware that contains the kebab skewer."], "length": 294}
|
| 68 |
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{"episode_index": 67, "tasks": ["Add the marshmallow to the tupperware that contains the kebab skewer."], "length": 232}
|
| 69 |
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{"episode_index": 68, "tasks": ["Add the cupcake to the tupperware that contains the kebab skewer."], "length": 189}
|
| 70 |
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{"episode_index": 69, "tasks": ["Add the cookie dough ball to the tupperware that contains the kebab skewer."], "length": 266}
|
| 71 |
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{"episode_index": 70, "tasks": ["Add the cake to the tupperware that contains the hot dog."], "length": 203}
|
| 72 |
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{"episode_index": 71, "tasks": ["Add the marshmallow to the tupperware that contains the kebab skewer."], "length": 291}
|
| 73 |
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{"episode_index": 72, "tasks": ["Add the cupcake to the tupperware that contains the hot dog."], "length": 230}
|
| 74 |
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{"episode_index": 73, "tasks": ["Add the cupcake to the tupperware that contains the kebab skewer."], "length": 253}
|
| 75 |
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{"episode_index": 74, "tasks": ["Add the marshmallow to the tupperware that contains the kebab skewer."], "length": 361}
|
| 76 |
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{"episode_index": 75, "tasks": ["Add the cake to the tupperware that contains the hot dog."], "length": 213}
|
| 77 |
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{"episode_index": 76, "tasks": ["Add the cake to the tupperware that contains the hot dog."], "length": 251}
|
| 78 |
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{"episode_index": 77, "tasks": ["Add the donut to the tupperware that contains the hot dog."], "length": 230}
|
| 79 |
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{"episode_index": 78, "tasks": ["Add the cake to the tupperware that contains the kebab skewer."], "length": 257}
|
| 80 |
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{"episode_index": 79, "tasks": ["Add the marshmallow to the tupperware that contains the kebab skewer."], "length": 275}
|
| 81 |
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{"episode_index": 80, "tasks": ["Add the cake to the tupperware that contains the hot dog."], "length": 226}
|
| 82 |
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{"episode_index": 81, "tasks": ["Add the cupcake to the tupperware that contains the kebab skewer."], "length": 329}
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| 83 |
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{"episode_index": 82, "tasks": ["Add the donut to the tupperware that contains the hot dog."], "length": 224}
|
| 84 |
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{"episode_index": 83, "tasks": ["Add the cookie dough ball to the tupperware that contains the kebab skewer."], "length": 296}
|
| 85 |
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{"episode_index": 84, "tasks": ["Add the marshmallow to the tupperware that contains the kebab skewer."], "length": 223}
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| 86 |
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{"episode_index": 85, "tasks": ["Add the cookie dough ball to the tupperware that contains the hot dog."], "length": 226}
|
| 87 |
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{"episode_index": 86, "tasks": ["Add the donut to the tupperware that contains the hot dog."], "length": 226}
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| 88 |
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{"episode_index": 87, "tasks": ["Add the donut to the tupperware that contains the hot dog."], "length": 417}
|
| 89 |
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{"episode_index": 88, "tasks": ["Add the marshmallow to the tupperware that contains the kebab skewer."], "length": 297}
|
| 90 |
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{"episode_index": 89, "tasks": ["Add the cupcake to the tupperware that contains the hot dog."], "length": 253}
|
| 91 |
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{"episode_index": 90, "tasks": ["Add the cookie dough ball to the tupperware that contains the hot dog."], "length": 202}
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| 92 |
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{"episode_index": 91, "tasks": ["Add the cookie dough ball to the tupperware that contains the hot dog."], "length": 278}
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| 93 |
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{"episode_index": 92, "tasks": ["Add the cake to the tupperware that contains the hot dog."], "length": 243}
|
| 94 |
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{"episode_index": 93, "tasks": ["Add the marshmallow to the tupperware that contains the kebab skewer."], "length": 249}
|
| 95 |
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{"episode_index": 94, "tasks": ["Add the cupcake to the tupperware that contains the kebab skewer."], "length": 285}
|
| 96 |
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{"episode_index": 95, "tasks": ["Add the cake to the tupperware that contains the hot dog."], "length": 233}
|
| 97 |
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{"episode_index": 96, "tasks": ["Add the donut to the tupperware that contains the hot dog."], "length": 216}
|
| 98 |
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{"episode_index": 97, "tasks": ["Add the donut to the tupperware that contains the kebab skewer."], "length": 296}
|
| 99 |
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{"episode_index": 98, "tasks": ["Add the cake to the tupperware that contains the hot dog."], "length": 183}
|
| 100 |
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{"episode_index": 99, "tasks": ["Add the cookie dough ball to the tupperware that contains the hot dog."], "length": 215}
|
| 101 |
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{"episode_index": 100, "tasks": ["Add the marshmallow to the tupperware that contains the hot dog."], "length": 286}
|
| 102 |
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{"episode_index": 101, "tasks": ["Add the cupcake to the tupperware that contains the hot dog."], "length": 328}
|
| 103 |
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{"episode_index": 102, "tasks": ["Add the cupcake to the tupperware that contains the hot dog."], "length": 246}
|
| 104 |
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{"episode_index": 103, "tasks": ["Add the marshmallow to the tupperware that contains the hot dog."], "length": 245}
|
| 105 |
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{"episode_index": 104, "tasks": ["Add the donut to the tupperware that contains the kebab skewer."], "length": 235}
|
| 106 |
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{"episode_index": 105, "tasks": ["Add the marshmallow to the tupperware that contains the hot dog."], "length": 227}
|
| 107 |
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{"episode_index": 106, "tasks": ["Add the cake to the tupperware that contains the kebab skewer."], "length": 212}
|
| 108 |
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{"episode_index": 107, "tasks": ["Add the marshmallow to the tupperware that contains the kebab skewer."], "length": 281}
|
pretrain/atomic/PackDessert/20250806/lerobot/meta/episodes_stats.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
pretrain/atomic/PackDessert/20250806/lerobot/meta/info.json
ADDED
|
@@ -0,0 +1,179 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v2.1",
|
| 3 |
+
"robot_type": "PandaOmron",
|
| 4 |
+
"total_episodes": 108,
|
| 5 |
+
"total_frames": 27994,
|
| 6 |
+
"total_tasks": 10,
|
| 7 |
+
"total_videos": 324,
|
| 8 |
+
"total_chunks": 1,
|
| 9 |
+
"chunks_size": 1000,
|
| 10 |
+
"fps": 20,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:108"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
|
| 15 |
+
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.images.robot0_eye_in_hand": {
|
| 18 |
+
"dtype": "video",
|
| 19 |
+
"shape": [
|
| 20 |
+
256,
|
| 21 |
+
256,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channel"
|
| 28 |
+
],
|
| 29 |
+
"video_info": {
|
| 30 |
+
"video.fps": 20,
|
| 31 |
+
"video.codec": "h264",
|
| 32 |
+
"video.pix_fmt": "yuv420p",
|
| 33 |
+
"video.is_depth_map": false,
|
| 34 |
+
"has_audio": false
|
| 35 |
+
},
|
| 36 |
+
"info": {
|
| 37 |
+
"video.height": 256,
|
| 38 |
+
"video.width": 256,
|
| 39 |
+
"video.codec": "h264",
|
| 40 |
+
"video.pix_fmt": "yuv420p",
|
| 41 |
+
"video.is_depth_map": false,
|
| 42 |
+
"video.fps": 20,
|
| 43 |
+
"video.channels": 3,
|
| 44 |
+
"has_audio": false
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"observation.images.robot0_agentview_left": {
|
| 48 |
+
"dtype": "video",
|
| 49 |
+
"shape": [
|
| 50 |
+
256,
|
| 51 |
+
256,
|
| 52 |
+
3
|
| 53 |
+
],
|
| 54 |
+
"names": [
|
| 55 |
+
"height",
|
| 56 |
+
"width",
|
| 57 |
+
"channel"
|
| 58 |
+
],
|
| 59 |
+
"video_info": {
|
| 60 |
+
"video.fps": 20,
|
| 61 |
+
"video.codec": "h264",
|
| 62 |
+
"video.pix_fmt": "yuv420p",
|
| 63 |
+
"video.is_depth_map": false,
|
| 64 |
+
"has_audio": false
|
| 65 |
+
},
|
| 66 |
+
"info": {
|
| 67 |
+
"video.height": 256,
|
| 68 |
+
"video.width": 256,
|
| 69 |
+
"video.codec": "h264",
|
| 70 |
+
"video.pix_fmt": "yuv420p",
|
| 71 |
+
"video.is_depth_map": false,
|
| 72 |
+
"video.fps": 20,
|
| 73 |
+
"video.channels": 3,
|
| 74 |
+
"has_audio": false
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"observation.images.robot0_agentview_right": {
|
| 78 |
+
"dtype": "video",
|
| 79 |
+
"shape": [
|
| 80 |
+
256,
|
| 81 |
+
256,
|
| 82 |
+
3
|
| 83 |
+
],
|
| 84 |
+
"names": [
|
| 85 |
+
"height",
|
| 86 |
+
"width",
|
| 87 |
+
"channel"
|
| 88 |
+
],
|
| 89 |
+
"video_info": {
|
| 90 |
+
"video.fps": 20,
|
| 91 |
+
"video.codec": "h264",
|
| 92 |
+
"video.pix_fmt": "yuv420p",
|
| 93 |
+
"video.is_depth_map": false,
|
| 94 |
+
"has_audio": false
|
| 95 |
+
},
|
| 96 |
+
"info": {
|
| 97 |
+
"video.height": 256,
|
| 98 |
+
"video.width": 256,
|
| 99 |
+
"video.codec": "h264",
|
| 100 |
+
"video.pix_fmt": "yuv420p",
|
| 101 |
+
"video.is_depth_map": false,
|
| 102 |
+
"video.fps": 20,
|
| 103 |
+
"video.channels": 3,
|
| 104 |
+
"has_audio": false
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"annotation.human.task_description": {
|
| 108 |
+
"dtype": "int64",
|
| 109 |
+
"shape": [
|
| 110 |
+
1
|
| 111 |
+
]
|
| 112 |
+
},
|
| 113 |
+
"annotation.human.task_name": {
|
| 114 |
+
"dtype": "int64",
|
| 115 |
+
"shape": [
|
| 116 |
+
1
|
| 117 |
+
]
|
| 118 |
+
},
|
| 119 |
+
"observation.state": {
|
| 120 |
+
"dtype": "float64",
|
| 121 |
+
"shape": [
|
| 122 |
+
16
|
| 123 |
+
]
|
| 124 |
+
},
|
| 125 |
+
"action": {
|
| 126 |
+
"dtype": "float64",
|
| 127 |
+
"shape": [
|
| 128 |
+
12
|
| 129 |
+
]
|
| 130 |
+
},
|
| 131 |
+
"next.reward": {
|
| 132 |
+
"dtype": "float32",
|
| 133 |
+
"shape": [
|
| 134 |
+
1
|
| 135 |
+
]
|
| 136 |
+
},
|
| 137 |
+
"next.done": {
|
| 138 |
+
"dtype": "bool",
|
| 139 |
+
"shape": [
|
| 140 |
+
1
|
| 141 |
+
]
|
| 142 |
+
},
|
| 143 |
+
"timestamp": {
|
| 144 |
+
"dtype": "float32",
|
| 145 |
+
"shape": [
|
| 146 |
+
1
|
| 147 |
+
],
|
| 148 |
+
"names": null
|
| 149 |
+
},
|
| 150 |
+
"frame_index": {
|
| 151 |
+
"dtype": "int64",
|
| 152 |
+
"shape": [
|
| 153 |
+
1
|
| 154 |
+
],
|
| 155 |
+
"names": null
|
| 156 |
+
},
|
| 157 |
+
"episode_index": {
|
| 158 |
+
"dtype": "int64",
|
| 159 |
+
"shape": [
|
| 160 |
+
1
|
| 161 |
+
],
|
| 162 |
+
"names": null
|
| 163 |
+
},
|
| 164 |
+
"index": {
|
| 165 |
+
"dtype": "int64",
|
| 166 |
+
"shape": [
|
| 167 |
+
1
|
| 168 |
+
],
|
| 169 |
+
"names": null
|
| 170 |
+
},
|
| 171 |
+
"task_index": {
|
| 172 |
+
"dtype": "int64",
|
| 173 |
+
"shape": [
|
| 174 |
+
1
|
| 175 |
+
],
|
| 176 |
+
"names": null
|
| 177 |
+
}
|
| 178 |
+
}
|
| 179 |
+
}
|
pretrain/atomic/PackDessert/20250806/lerobot/meta/modality.json
ADDED
|
@@ -0,0 +1,72 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"base_position": {
|
| 4 |
+
"original_key": "observation.state",
|
| 5 |
+
"start": 0,
|
| 6 |
+
"end": 3
|
| 7 |
+
},
|
| 8 |
+
"base_rotation": {
|
| 9 |
+
"original_key": "observation.state",
|
| 10 |
+
"start": 3,
|
| 11 |
+
"end": 7
|
| 12 |
+
},
|
| 13 |
+
"end_effector_position_relative": {
|
| 14 |
+
"original_key": "observation.state",
|
| 15 |
+
"start": 7,
|
| 16 |
+
"end": 10
|
| 17 |
+
},
|
| 18 |
+
"end_effector_rotation_relative": {
|
| 19 |
+
"original_key": "observation.state",
|
| 20 |
+
"start": 10,
|
| 21 |
+
"end": 14
|
| 22 |
+
},
|
| 23 |
+
"gripper_qpos": {
|
| 24 |
+
"original_key": "observation.state",
|
| 25 |
+
"start": 14,
|
| 26 |
+
"end": 16
|
| 27 |
+
}
|
| 28 |
+
},
|
| 29 |
+
"action": {
|
| 30 |
+
"base_motion": {
|
| 31 |
+
"original_key": "action",
|
| 32 |
+
"start": 0,
|
| 33 |
+
"end": 4
|
| 34 |
+
},
|
| 35 |
+
"control_mode": {
|
| 36 |
+
"original_key": "action",
|
| 37 |
+
"start": 4,
|
| 38 |
+
"end": 5
|
| 39 |
+
},
|
| 40 |
+
"end_effector_position": {
|
| 41 |
+
"original_key": "action",
|
| 42 |
+
"start": 5,
|
| 43 |
+
"end": 8
|
| 44 |
+
},
|
| 45 |
+
"end_effector_rotation": {
|
| 46 |
+
"original_key": "action",
|
| 47 |
+
"start": 8,
|
| 48 |
+
"end": 11
|
| 49 |
+
},
|
| 50 |
+
"gripper_close": {
|
| 51 |
+
"original_key": "action",
|
| 52 |
+
"start": 11,
|
| 53 |
+
"end": 12
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"video": {
|
| 57 |
+
"robot0_eye_in_hand": {
|
| 58 |
+
"original_key": "observation.images.robot0_eye_in_hand"
|
| 59 |
+
},
|
| 60 |
+
"robot0_agentview_left": {
|
| 61 |
+
"original_key": "observation.images.robot0_agentview_left"
|
| 62 |
+
},
|
| 63 |
+
"robot0_agentview_right": {
|
| 64 |
+
"original_key": "observation.images.robot0_agentview_right"
|
| 65 |
+
}
|
| 66 |
+
},
|
| 67 |
+
"annotation": {
|
| 68 |
+
"human.task_description": {
|
| 69 |
+
"original_key": "annotation.human.task_description"
|
| 70 |
+
}
|
| 71 |
+
}
|
| 72 |
+
}
|
pretrain/atomic/PackDessert/20250806/lerobot/meta/stats.json
ADDED
|
@@ -0,0 +1,378 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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| 323 |
+
31.133041381835938
|
| 324 |
+
],
|
| 325 |
+
"min": [
|
| 326 |
+
0.0
|
| 327 |
+
],
|
| 328 |
+
"max": [
|
| 329 |
+
107.0
|
| 330 |
+
],
|
| 331 |
+
"q01": [
|
| 332 |
+
0.0
|
| 333 |
+
],
|
| 334 |
+
"q99": [
|
| 335 |
+
107.0
|
| 336 |
+
]
|
| 337 |
+
},
|
| 338 |
+
"index": {
|
| 339 |
+
"mean": [
|
| 340 |
+
13996.5
|
| 341 |
+
],
|
| 342 |
+
"std": [
|
| 343 |
+
8081.171875
|
| 344 |
+
],
|
| 345 |
+
"min": [
|
| 346 |
+
0.0
|
| 347 |
+
],
|
| 348 |
+
"max": [
|
| 349 |
+
27993.0
|
| 350 |
+
],
|
| 351 |
+
"q01": [
|
| 352 |
+
279.92999267578125
|
| 353 |
+
],
|
| 354 |
+
"q99": [
|
| 355 |
+
27713.0703125
|
| 356 |
+
]
|
| 357 |
+
},
|
| 358 |
+
"task_index": {
|
| 359 |
+
"mean": [
|
| 360 |
+
3.7203328609466553
|
| 361 |
+
],
|
| 362 |
+
"std": [
|
| 363 |
+
2.719978094100952
|
| 364 |
+
],
|
| 365 |
+
"min": [
|
| 366 |
+
0.0
|
| 367 |
+
],
|
| 368 |
+
"max": [
|
| 369 |
+
9.0
|
| 370 |
+
],
|
| 371 |
+
"q01": [
|
| 372 |
+
0.0
|
| 373 |
+
],
|
| 374 |
+
"q99": [
|
| 375 |
+
9.0
|
| 376 |
+
]
|
| 377 |
+
}
|
| 378 |
+
}
|
pretrain/atomic/PackDessert/20250806/lerobot/meta/tasks.jsonl
ADDED
|
@@ -0,0 +1,11 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"task_index": 0, "task": "Add the marshmallow to the tupperware that contains the hot dog."}
|
| 2 |
+
{"task_index": 1, "task": "Add the cookie dough ball to the tupperware that contains the hot dog."}
|
| 3 |
+
{"task_index": 2, "task": "Add the donut to the tupperware that contains the hot dog."}
|
| 4 |
+
{"task_index": 3, "task": "Add the cupcake to the tupperware that contains the kebab skewer."}
|
| 5 |
+
{"task_index": 4, "task": "Add the cupcake to the tupperware that contains the hot dog."}
|
| 6 |
+
{"task_index": 5, "task": "Add the cookie dough ball to the tupperware that contains the kebab skewer."}
|
| 7 |
+
{"task_index": 6, "task": "Add the cake to the tupperware that contains the hot dog."}
|
| 8 |
+
{"task_index": 7, "task": "Add the marshmallow to the tupperware that contains the kebab skewer."}
|
| 9 |
+
{"task_index": 8, "task": "Add the cake to the tupperware that contains the kebab skewer."}
|
| 10 |
+
{"task_index": 9, "task": "Add the donut to the tupperware that contains the kebab skewer."}
|
| 11 |
+
{"task_index": 10, "task": "PackDessert"}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000003/ep_meta.json
ADDED
|
@@ -0,0 +1,504 @@
|
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|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": 39,
|
| 3 |
+
"style_id": 48,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_right_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_right_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_main_2_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_main_2_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_right_2_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_right_2_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_front_1_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_front_1_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"wall_front_5_room": {
|
| 37 |
+
"cls": "Wall"
|
| 38 |
+
},
|
| 39 |
+
"wall_front_5_backing_room": {
|
| 40 |
+
"cls": "Wall"
|
| 41 |
+
},
|
| 42 |
+
"wall_right_5_room": {
|
| 43 |
+
"cls": "Wall"
|
| 44 |
+
},
|
| 45 |
+
"wall_right_5_backing_room": {
|
| 46 |
+
"cls": "Wall"
|
| 47 |
+
},
|
| 48 |
+
"wall_front_4_room": {
|
| 49 |
+
"cls": "Wall"
|
| 50 |
+
},
|
| 51 |
+
"wall_front_4_backing_room": {
|
| 52 |
+
"cls": "Wall"
|
| 53 |
+
},
|
| 54 |
+
"wall_right_4_room": {
|
| 55 |
+
"cls": "Wall"
|
| 56 |
+
},
|
| 57 |
+
"wall_right_4_backing_room": {
|
| 58 |
+
"cls": "Wall"
|
| 59 |
+
},
|
| 60 |
+
"wall_right_3_room": {
|
| 61 |
+
"cls": "Wall"
|
| 62 |
+
},
|
| 63 |
+
"wall_right_3_backing_room": {
|
| 64 |
+
"cls": "Wall"
|
| 65 |
+
},
|
| 66 |
+
"wall_front_3_room": {
|
| 67 |
+
"cls": "Wall"
|
| 68 |
+
},
|
| 69 |
+
"wall_front_3_backing_room": {
|
| 70 |
+
"cls": "Wall"
|
| 71 |
+
},
|
| 72 |
+
"wall_front_2_room": {
|
| 73 |
+
"cls": "Wall"
|
| 74 |
+
},
|
| 75 |
+
"wall_front_2_backing_room": {
|
| 76 |
+
"cls": "Wall"
|
| 77 |
+
},
|
| 78 |
+
"wall_front_6_room": {
|
| 79 |
+
"cls": "Wall"
|
| 80 |
+
},
|
| 81 |
+
"wall_front_6_backing_room": {
|
| 82 |
+
"cls": "Wall"
|
| 83 |
+
},
|
| 84 |
+
"wall_front_7_room": {
|
| 85 |
+
"cls": "Wall"
|
| 86 |
+
},
|
| 87 |
+
"wall_front_7_backing_room": {
|
| 88 |
+
"cls": "Wall"
|
| 89 |
+
},
|
| 90 |
+
"floor_1_room": {
|
| 91 |
+
"cls": "Floor"
|
| 92 |
+
},
|
| 93 |
+
"floor_1_backing_room": {
|
| 94 |
+
"cls": "Floor"
|
| 95 |
+
},
|
| 96 |
+
"floor_2_room": {
|
| 97 |
+
"cls": "Floor"
|
| 98 |
+
},
|
| 99 |
+
"floor_2_backing_room": {
|
| 100 |
+
"cls": "Floor"
|
| 101 |
+
},
|
| 102 |
+
"floor_3_room": {
|
| 103 |
+
"cls": "Floor"
|
| 104 |
+
},
|
| 105 |
+
"floor_3_backing_room": {
|
| 106 |
+
"cls": "Floor"
|
| 107 |
+
},
|
| 108 |
+
"wallaccessory_2_room": {
|
| 109 |
+
"cls": "WallAccessory"
|
| 110 |
+
},
|
| 111 |
+
"wallaccessory_1_room": {
|
| 112 |
+
"cls": "WallAccessory"
|
| 113 |
+
},
|
| 114 |
+
"wallaccessory_4_room": {
|
| 115 |
+
"cls": "WallAccessory"
|
| 116 |
+
},
|
| 117 |
+
"wallaccessory_3_room": {
|
| 118 |
+
"cls": "WallAccessory"
|
| 119 |
+
},
|
| 120 |
+
"lightswitch_room": {
|
| 121 |
+
"cls": "WallAccessory"
|
| 122 |
+
},
|
| 123 |
+
"wallaccessory_5_room": {
|
| 124 |
+
"cls": "WallAccessory"
|
| 125 |
+
},
|
| 126 |
+
"wallaccessory_6.001_room": {
|
| 127 |
+
"cls": "WallAccessory"
|
| 128 |
+
},
|
| 129 |
+
"window_group_room": {
|
| 130 |
+
"cls": "Window"
|
| 131 |
+
},
|
| 132 |
+
"sink_main_group_1": {
|
| 133 |
+
"cls": "Sink"
|
| 134 |
+
},
|
| 135 |
+
"counter_1_main_group_1": {
|
| 136 |
+
"cls": "Counter"
|
| 137 |
+
},
|
| 138 |
+
"fridgefrenchdoor_main_group_1": {
|
| 139 |
+
"cls": "FridgeFrenchDoor"
|
| 140 |
+
},
|
| 141 |
+
"fridgefrenchdoor_housing_main_group_1": {
|
| 142 |
+
"cls": "HousingCabinet"
|
| 143 |
+
},
|
| 144 |
+
"hingecabinet_1_main_group_1": {
|
| 145 |
+
"cls": "HingeCabinet"
|
| 146 |
+
},
|
| 147 |
+
"singlecabinet_5_main_group_1": {
|
| 148 |
+
"cls": "SingleCabinet"
|
| 149 |
+
},
|
| 150 |
+
"singlecabinet_4_main_group_1": {
|
| 151 |
+
"cls": "SingleCabinet"
|
| 152 |
+
},
|
| 153 |
+
"singlecabinet_1_main_group_1": {
|
| 154 |
+
"cls": "SingleCabinet"
|
| 155 |
+
},
|
| 156 |
+
"singlecabinet_2_main_group_1": {
|
| 157 |
+
"cls": "SingleCabinet"
|
| 158 |
+
},
|
| 159 |
+
"singlecabinet_3_main_group_1": {
|
| 160 |
+
"cls": "SingleCabinet"
|
| 161 |
+
},
|
| 162 |
+
"stack_1_main_group_1_base": {
|
| 163 |
+
"cls": "Box"
|
| 164 |
+
},
|
| 165 |
+
"stack_1_main_group_1_1": {
|
| 166 |
+
"cls": "SingleCabinet"
|
| 167 |
+
},
|
| 168 |
+
"stack_1_main_group_1_2": {
|
| 169 |
+
"cls": "Drawer"
|
| 170 |
+
},
|
| 171 |
+
"stack_2_main_group_1_base": {
|
| 172 |
+
"cls": "Box"
|
| 173 |
+
},
|
| 174 |
+
"stack_2_main_group_1_1": {
|
| 175 |
+
"cls": "SingleCabinet"
|
| 176 |
+
},
|
| 177 |
+
"stack_2_main_group_1_2": {
|
| 178 |
+
"cls": "Drawer"
|
| 179 |
+
},
|
| 180 |
+
"stack_3_main_group_1_base": {
|
| 181 |
+
"cls": "Box"
|
| 182 |
+
},
|
| 183 |
+
"stack_3_main_group_1_1": {
|
| 184 |
+
"cls": "Drawer"
|
| 185 |
+
},
|
| 186 |
+
"stack_3_main_group_1_2": {
|
| 187 |
+
"cls": "Drawer"
|
| 188 |
+
},
|
| 189 |
+
"stack_3_main_group_1_3": {
|
| 190 |
+
"cls": "Drawer"
|
| 191 |
+
},
|
| 192 |
+
"stack_4_main_group_1_base": {
|
| 193 |
+
"cls": "Box"
|
| 194 |
+
},
|
| 195 |
+
"stack_4_main_group_1_1": {
|
| 196 |
+
"cls": "SingleCabinet"
|
| 197 |
+
},
|
| 198 |
+
"stack_4_main_group_1_2": {
|
| 199 |
+
"cls": "Drawer"
|
| 200 |
+
},
|
| 201 |
+
"cube_1_main_group_1": {
|
| 202 |
+
"cls": "Box"
|
| 203 |
+
},
|
| 204 |
+
"stack_5_main_group_1_base": {
|
| 205 |
+
"cls": "Box"
|
| 206 |
+
},
|
| 207 |
+
"stack_5_main_group_1_1": {
|
| 208 |
+
"cls": "SingleCabinet"
|
| 209 |
+
},
|
| 210 |
+
"stack_5_main_group_1_2": {
|
| 211 |
+
"cls": "Drawer"
|
| 212 |
+
},
|
| 213 |
+
"stack_6_main_group_1_base": {
|
| 214 |
+
"cls": "Box"
|
| 215 |
+
},
|
| 216 |
+
"stack_6_main_group_1_1": {
|
| 217 |
+
"cls": "SingleCabinet"
|
| 218 |
+
},
|
| 219 |
+
"stack_6_main_group_1_2": {
|
| 220 |
+
"cls": "Drawer"
|
| 221 |
+
},
|
| 222 |
+
"stack_7_main_group_1_base": {
|
| 223 |
+
"cls": "Box"
|
| 224 |
+
},
|
| 225 |
+
"stack_7_main_group_1_1": {
|
| 226 |
+
"cls": "HingeCabinet"
|
| 227 |
+
},
|
| 228 |
+
"stack_7_main_group_1_2": {
|
| 229 |
+
"cls": "PanelCabinet"
|
| 230 |
+
},
|
| 231 |
+
"dishwasher_1_main_group_1": {
|
| 232 |
+
"cls": "Dishwasher"
|
| 233 |
+
},
|
| 234 |
+
"toaster_main_group_1": {
|
| 235 |
+
"cls": "Toaster"
|
| 236 |
+
},
|
| 237 |
+
"knifeblock_main_group_1": {
|
| 238 |
+
"cls": "Accessory"
|
| 239 |
+
},
|
| 240 |
+
"papertowel_main_group_1": {
|
| 241 |
+
"cls": "Accessory"
|
| 242 |
+
},
|
| 243 |
+
"stovetop_island_group_1": {
|
| 244 |
+
"cls": "Stovetop"
|
| 245 |
+
},
|
| 246 |
+
"island_island_group_1": {
|
| 247 |
+
"cls": "Counter"
|
| 248 |
+
},
|
| 249 |
+
"stack_1_island_group_1_base": {
|
| 250 |
+
"cls": "Box"
|
| 251 |
+
},
|
| 252 |
+
"stack_1_island_group_1_1": {
|
| 253 |
+
"cls": "SingleCabinet"
|
| 254 |
+
},
|
| 255 |
+
"stack_1_island_group_1_2": {
|
| 256 |
+
"cls": "Drawer"
|
| 257 |
+
},
|
| 258 |
+
"stack_2_island_group_1_base": {
|
| 259 |
+
"cls": "Box"
|
| 260 |
+
},
|
| 261 |
+
"stack_2_island_group_1_1": {
|
| 262 |
+
"cls": "SingleCabinet"
|
| 263 |
+
},
|
| 264 |
+
"stack_2_island_group_1_2": {
|
| 265 |
+
"cls": "Drawer"
|
| 266 |
+
},
|
| 267 |
+
"stack_3_island_group_1_base": {
|
| 268 |
+
"cls": "Box"
|
| 269 |
+
},
|
| 270 |
+
"stack_3_island_group_1_1": {
|
| 271 |
+
"cls": "SingleCabinet"
|
| 272 |
+
},
|
| 273 |
+
"stack_3_island_group_1_2": {
|
| 274 |
+
"cls": "Drawer"
|
| 275 |
+
},
|
| 276 |
+
"stack_4_island_group_1_base": {
|
| 277 |
+
"cls": "Box"
|
| 278 |
+
},
|
| 279 |
+
"stack_4_island_group_1_1": {
|
| 280 |
+
"cls": "SingleCabinet"
|
| 281 |
+
},
|
| 282 |
+
"stack_4_island_group_1_2": {
|
| 283 |
+
"cls": "Drawer"
|
| 284 |
+
},
|
| 285 |
+
"stack_5_island_group_2.001_base": {
|
| 286 |
+
"cls": "Box"
|
| 287 |
+
},
|
| 288 |
+
"stack_5_island_group_2.001_1": {
|
| 289 |
+
"cls": "SingleCabinet"
|
| 290 |
+
},
|
| 291 |
+
"stack_5_island_group_2.001_2": {
|
| 292 |
+
"cls": "Drawer"
|
| 293 |
+
},
|
| 294 |
+
"stack_6_island_group_2.001_base": {
|
| 295 |
+
"cls": "Box"
|
| 296 |
+
},
|
| 297 |
+
"stack_6_island_group_2.001_1": {
|
| 298 |
+
"cls": "SingleCabinet"
|
| 299 |
+
},
|
| 300 |
+
"stack_6_island_group_2.001_2": {
|
| 301 |
+
"cls": "Drawer"
|
| 302 |
+
},
|
| 303 |
+
"stack_7_island_group_2.001_base": {
|
| 304 |
+
"cls": "Box"
|
| 305 |
+
},
|
| 306 |
+
"stack_7_island_group_2.001_1": {
|
| 307 |
+
"cls": "SingleCabinet"
|
| 308 |
+
},
|
| 309 |
+
"stack_7_island_group_2.001_2": {
|
| 310 |
+
"cls": "Drawer"
|
| 311 |
+
},
|
| 312 |
+
"stack_8_island_group_2.001_base": {
|
| 313 |
+
"cls": "Box"
|
| 314 |
+
},
|
| 315 |
+
"stack_8_island_group_2.001_1": {
|
| 316 |
+
"cls": "SingleCabinet"
|
| 317 |
+
},
|
| 318 |
+
"stack_8_island_group_2.001_2": {
|
| 319 |
+
"cls": "Drawer"
|
| 320 |
+
},
|
| 321 |
+
"counter_1_front_group_1": {
|
| 322 |
+
"cls": "Counter"
|
| 323 |
+
},
|
| 324 |
+
"hingecabinet_2_front_group_1": {
|
| 325 |
+
"cls": "HingeCabinet"
|
| 326 |
+
},
|
| 327 |
+
"hingecabinet_1_front_group_1": {
|
| 328 |
+
"cls": "HingeCabinet"
|
| 329 |
+
},
|
| 330 |
+
"stack_1_front_group_1_base": {
|
| 331 |
+
"cls": "Box"
|
| 332 |
+
},
|
| 333 |
+
"stack_1_front_group_1_1": {
|
| 334 |
+
"cls": "SingleCabinet"
|
| 335 |
+
},
|
| 336 |
+
"stack_1_front_group_1_2": {
|
| 337 |
+
"cls": "Drawer"
|
| 338 |
+
},
|
| 339 |
+
"stack_2_front_group_1_base": {
|
| 340 |
+
"cls": "Box"
|
| 341 |
+
},
|
| 342 |
+
"stack_2_front_group_1_1": {
|
| 343 |
+
"cls": "SingleCabinet"
|
| 344 |
+
},
|
| 345 |
+
"stack_2_front_group_1_2": {
|
| 346 |
+
"cls": "Drawer"
|
| 347 |
+
},
|
| 348 |
+
"stack_3_front_group_1_base": {
|
| 349 |
+
"cls": "Box"
|
| 350 |
+
},
|
| 351 |
+
"stack_3_front_group_1_1": {
|
| 352 |
+
"cls": "SingleCabinet"
|
| 353 |
+
},
|
| 354 |
+
"stack_3_front_group_1_2": {
|
| 355 |
+
"cls": "Drawer"
|
| 356 |
+
},
|
| 357 |
+
"stack_4_front_group_1_base": {
|
| 358 |
+
"cls": "Box"
|
| 359 |
+
},
|
| 360 |
+
"stack_4_front_group_1_1": {
|
| 361 |
+
"cls": "SingleCabinet"
|
| 362 |
+
},
|
| 363 |
+
"stack_4_front_group_1_2": {
|
| 364 |
+
"cls": "Drawer"
|
| 365 |
+
},
|
| 366 |
+
"stack_5_front_group_1_base": {
|
| 367 |
+
"cls": "Box"
|
| 368 |
+
},
|
| 369 |
+
"stack_5_front_group_1_1": {
|
| 370 |
+
"cls": "Drawer"
|
| 371 |
+
},
|
| 372 |
+
"stack_5_front_group_1_2": {
|
| 373 |
+
"cls": "Drawer"
|
| 374 |
+
},
|
| 375 |
+
"stack_5_front_group_1_3": {
|
| 376 |
+
"cls": "Drawer"
|
| 377 |
+
},
|
| 378 |
+
"bottom_front_group_1_base": {
|
| 379 |
+
"cls": "Box"
|
| 380 |
+
},
|
| 381 |
+
"bottom_front_group_1_1": {
|
| 382 |
+
"cls": "Drawer"
|
| 383 |
+
},
|
| 384 |
+
"oven_front_group_1": {
|
| 385 |
+
"cls": "Oven"
|
| 386 |
+
},
|
| 387 |
+
"oven_housing_front_group_1": {
|
| 388 |
+
"cls": "HousingCabinet"
|
| 389 |
+
},
|
| 390 |
+
"microwave_front_group_1": {
|
| 391 |
+
"cls": "Microwave"
|
| 392 |
+
},
|
| 393 |
+
"microwave_housing_front_group_1": {
|
| 394 |
+
"cls": "HousingCabinet"
|
| 395 |
+
},
|
| 396 |
+
"top_front_group_1": {
|
| 397 |
+
"cls": "HingeCabinet"
|
| 398 |
+
},
|
| 399 |
+
"coffeemachine_front_group_1": {
|
| 400 |
+
"cls": "CoffeeMachine"
|
| 401 |
+
},
|
| 402 |
+
"toaster_oven_front_group_1": {
|
| 403 |
+
"cls": "ToasterOven"
|
| 404 |
+
}
|
| 405 |
+
},
|
| 406 |
+
"gen_textures": {},
|
| 407 |
+
"lang": "Fully slide the top oven rack in.",
|
| 408 |
+
"fixture_refs": {
|
| 409 |
+
"oven": "oven_front_group_1"
|
| 410 |
+
},
|
| 411 |
+
"cam_configs": {
|
| 412 |
+
"robot0_agentview_center": {
|
| 413 |
+
"pos": [
|
| 414 |
+
-0.6,
|
| 415 |
+
0.0,
|
| 416 |
+
1.15
|
| 417 |
+
],
|
| 418 |
+
"quat": [
|
| 419 |
+
0.636945903301239,
|
| 420 |
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0.3325185477733612,
|
| 421 |
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-0.3199238181114197,
|
| 422 |
+
-0.6175596117973328
|
| 423 |
+
],
|
| 424 |
+
"parent_body": "mobilebase0_support"
|
| 425 |
+
},
|
| 426 |
+
"robot0_agentview_left": {
|
| 427 |
+
"pos": [
|
| 428 |
+
-0.5,
|
| 429 |
+
0.35,
|
| 430 |
+
1.05
|
| 431 |
+
],
|
| 432 |
+
"quat": [
|
| 433 |
+
0.55623853,
|
| 434 |
+
0.29935253,
|
| 435 |
+
-0.37678665,
|
| 436 |
+
-0.6775092
|
| 437 |
+
],
|
| 438 |
+
"camera_attribs": {
|
| 439 |
+
"fovy": "60"
|
| 440 |
+
},
|
| 441 |
+
"parent_body": "mobilebase0_support"
|
| 442 |
+
},
|
| 443 |
+
"robot0_agentview_right": {
|
| 444 |
+
"pos": [
|
| 445 |
+
-0.5,
|
| 446 |
+
-0.35,
|
| 447 |
+
1.05
|
| 448 |
+
],
|
| 449 |
+
"quat": [
|
| 450 |
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0.6775091886520386,
|
| 451 |
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0.3767866790294647,
|
| 452 |
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-0.2993525564670563,
|
| 453 |
+
-0.55623859167099
|
| 454 |
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],
|
| 455 |
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"camera_attribs": {
|
| 456 |
+
"fovy": "60"
|
| 457 |
+
},
|
| 458 |
+
"parent_body": "mobilebase0_support"
|
| 459 |
+
},
|
| 460 |
+
"robot0_frontview": {
|
| 461 |
+
"pos": [
|
| 462 |
+
-0.5,
|
| 463 |
+
0,
|
| 464 |
+
0.95
|
| 465 |
+
],
|
| 466 |
+
"quat": [
|
| 467 |
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0.6088936924934387,
|
| 468 |
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0.3814677894115448,
|
| 469 |
+
-0.3673907518386841,
|
| 470 |
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-0.5905545353889465
|
| 471 |
+
],
|
| 472 |
+
"camera_attribs": {
|
| 473 |
+
"fovy": "60"
|
| 474 |
+
},
|
| 475 |
+
"parent_body": "mobilebase0_support"
|
| 476 |
+
},
|
| 477 |
+
"robot0_eye_in_hand": {
|
| 478 |
+
"pos": [
|
| 479 |
+
0.05,
|
| 480 |
+
0,
|
| 481 |
+
0
|
| 482 |
+
],
|
| 483 |
+
"quat": [
|
| 484 |
+
0,
|
| 485 |
+
0.707107,
|
| 486 |
+
0.707107,
|
| 487 |
+
0
|
| 488 |
+
],
|
| 489 |
+
"parent_body": "robot0_right_hand"
|
| 490 |
+
}
|
| 491 |
+
},
|
| 492 |
+
"init_robot_base_pos": [
|
| 493 |
+
3.1941539777827357,
|
| 494 |
+
-5.27573888702199,
|
| 495 |
+
0.0
|
| 496 |
+
],
|
| 497 |
+
"init_robot_base_ori": [
|
| 498 |
+
0.0,
|
| 499 |
+
0.0,
|
| 500 |
+
-1.57079623937212
|
| 501 |
+
],
|
| 502 |
+
"should_pull": false,
|
| 503 |
+
"rack_level": 1
|
| 504 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000006/ep_meta.json
ADDED
|
@@ -0,0 +1,441 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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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": 12,
|
| 3 |
+
"style_id": 11,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_right_2_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_right_2_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_right_3_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_right_3_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"floor_1_room": {
|
| 37 |
+
"cls": "Floor"
|
| 38 |
+
},
|
| 39 |
+
"floor_1_backing_room": {
|
| 40 |
+
"cls": "Floor"
|
| 41 |
+
},
|
| 42 |
+
"wall_accessory_1_room": {
|
| 43 |
+
"cls": "WallAccessory"
|
| 44 |
+
},
|
| 45 |
+
"wall_accessory_2_room": {
|
| 46 |
+
"cls": "WallAccessory"
|
| 47 |
+
},
|
| 48 |
+
"wall_accessory_3_room": {
|
| 49 |
+
"cls": "WallAccessory"
|
| 50 |
+
},
|
| 51 |
+
"light_switch_1_room": {
|
| 52 |
+
"cls": "WallAccessory"
|
| 53 |
+
},
|
| 54 |
+
"wall_accessory_4_room": {
|
| 55 |
+
"cls": "WallAccessory"
|
| 56 |
+
},
|
| 57 |
+
"wall_accessory_5_room": {
|
| 58 |
+
"cls": "WallAccessory"
|
| 59 |
+
},
|
| 60 |
+
"window_group_room": {
|
| 61 |
+
"cls": "Window"
|
| 62 |
+
},
|
| 63 |
+
"stool_1_room": {
|
| 64 |
+
"cls": "Stool"
|
| 65 |
+
},
|
| 66 |
+
"stool_2_room": {
|
| 67 |
+
"cls": "Stool"
|
| 68 |
+
},
|
| 69 |
+
"stool_3_room": {
|
| 70 |
+
"cls": "Stool"
|
| 71 |
+
},
|
| 72 |
+
"stool_4_room": {
|
| 73 |
+
"cls": "Stool"
|
| 74 |
+
},
|
| 75 |
+
"stool_5_room": {
|
| 76 |
+
"cls": "Stool"
|
| 77 |
+
},
|
| 78 |
+
"stool_6_room": {
|
| 79 |
+
"cls": "Stool"
|
| 80 |
+
},
|
| 81 |
+
"counter_corner_1_main_group": {
|
| 82 |
+
"cls": "Counter"
|
| 83 |
+
},
|
| 84 |
+
"sink_1_main_group": {
|
| 85 |
+
"cls": "Sink"
|
| 86 |
+
},
|
| 87 |
+
"counter_1_main_group": {
|
| 88 |
+
"cls": "Counter"
|
| 89 |
+
},
|
| 90 |
+
"counter_corner_2_main_group": {
|
| 91 |
+
"cls": "Counter"
|
| 92 |
+
},
|
| 93 |
+
"box_1_main_group": {
|
| 94 |
+
"cls": "Box"
|
| 95 |
+
},
|
| 96 |
+
"stack_1_main_group_base": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"stack_1_main_group_1": {
|
| 100 |
+
"cls": "Drawer"
|
| 101 |
+
},
|
| 102 |
+
"stack_1_main_group_2": {
|
| 103 |
+
"cls": "Drawer"
|
| 104 |
+
},
|
| 105 |
+
"stack_1_main_group_3": {
|
| 106 |
+
"cls": "Drawer"
|
| 107 |
+
},
|
| 108 |
+
"stack_2_main_group_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_2_main_group_1": {
|
| 112 |
+
"cls": "SingleCabinet"
|
| 113 |
+
},
|
| 114 |
+
"stack_2_main_group_2": {
|
| 115 |
+
"cls": "Drawer"
|
| 116 |
+
},
|
| 117 |
+
"stack_3_main_group_base": {
|
| 118 |
+
"cls": "Box"
|
| 119 |
+
},
|
| 120 |
+
"stack_3_main_group_1": {
|
| 121 |
+
"cls": "HingeCabinet"
|
| 122 |
+
},
|
| 123 |
+
"dishwasher_1_main_group": {
|
| 124 |
+
"cls": "Dishwasher"
|
| 125 |
+
},
|
| 126 |
+
"stack_4_main_group_base": {
|
| 127 |
+
"cls": "Box"
|
| 128 |
+
},
|
| 129 |
+
"stack_4_main_group_1": {
|
| 130 |
+
"cls": "SingleCabinet"
|
| 131 |
+
},
|
| 132 |
+
"stack_4_main_group_2": {
|
| 133 |
+
"cls": "Drawer"
|
| 134 |
+
},
|
| 135 |
+
"stack_5_main_group_base": {
|
| 136 |
+
"cls": "Box"
|
| 137 |
+
},
|
| 138 |
+
"stack_5_main_group_1": {
|
| 139 |
+
"cls": "SingleCabinet"
|
| 140 |
+
},
|
| 141 |
+
"box_2_main_group": {
|
| 142 |
+
"cls": "Box"
|
| 143 |
+
},
|
| 144 |
+
"top_corner_1_main_group": {
|
| 145 |
+
"cls": "Box"
|
| 146 |
+
},
|
| 147 |
+
"cab_1_main_group": {
|
| 148 |
+
"cls": "HingeCabinet"
|
| 149 |
+
},
|
| 150 |
+
"cab_2_main_group": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
+
},
|
| 153 |
+
"top_corner_2_main_group": {
|
| 154 |
+
"cls": "Box"
|
| 155 |
+
},
|
| 156 |
+
"paper_towel_main_group": {
|
| 157 |
+
"cls": "Accessory"
|
| 158 |
+
},
|
| 159 |
+
"coffee_machine_main_group": {
|
| 160 |
+
"cls": "CoffeeMachine"
|
| 161 |
+
},
|
| 162 |
+
"toaster_main_group": {
|
| 163 |
+
"cls": "Toaster"
|
| 164 |
+
},
|
| 165 |
+
"knife_block_main_group": {
|
| 166 |
+
"cls": "Accessory"
|
| 167 |
+
},
|
| 168 |
+
"stovetop_left_group": {
|
| 169 |
+
"cls": "Stovetop"
|
| 170 |
+
},
|
| 171 |
+
"counter_1_left_group": {
|
| 172 |
+
"cls": "Counter"
|
| 173 |
+
},
|
| 174 |
+
"box_1_left_group": {
|
| 175 |
+
"cls": "Box"
|
| 176 |
+
},
|
| 177 |
+
"stack_1_left_group_base": {
|
| 178 |
+
"cls": "Box"
|
| 179 |
+
},
|
| 180 |
+
"stack_1_left_group_1": {
|
| 181 |
+
"cls": "SingleCabinet"
|
| 182 |
+
},
|
| 183 |
+
"stack_2_left_group_base": {
|
| 184 |
+
"cls": "Box"
|
| 185 |
+
},
|
| 186 |
+
"stack_2_left_group_1": {
|
| 187 |
+
"cls": "Drawer"
|
| 188 |
+
},
|
| 189 |
+
"stack_2_left_group_2": {
|
| 190 |
+
"cls": "Drawer"
|
| 191 |
+
},
|
| 192 |
+
"stack_2_left_group_3": {
|
| 193 |
+
"cls": "PanelCabinet"
|
| 194 |
+
},
|
| 195 |
+
"box_3_left_group": {
|
| 196 |
+
"cls": "Box"
|
| 197 |
+
},
|
| 198 |
+
"stack_3_left_group_base": {
|
| 199 |
+
"cls": "Box"
|
| 200 |
+
},
|
| 201 |
+
"stack_3_left_group_1": {
|
| 202 |
+
"cls": "Drawer"
|
| 203 |
+
},
|
| 204 |
+
"stack_3_left_group_2": {
|
| 205 |
+
"cls": "Drawer"
|
| 206 |
+
},
|
| 207 |
+
"stack_3_left_group_3": {
|
| 208 |
+
"cls": "Drawer"
|
| 209 |
+
},
|
| 210 |
+
"box_2_left_group": {
|
| 211 |
+
"cls": "Box"
|
| 212 |
+
},
|
| 213 |
+
"fridge_1_left_group": {
|
| 214 |
+
"cls": "FridgeFrenchDoor"
|
| 215 |
+
},
|
| 216 |
+
"fridge_1_housing_left_group": {
|
| 217 |
+
"cls": "HousingCabinet"
|
| 218 |
+
},
|
| 219 |
+
"hood_left_group": {
|
| 220 |
+
"cls": "Hood"
|
| 221 |
+
},
|
| 222 |
+
"cab_1_left_group": {
|
| 223 |
+
"cls": "HingeCabinet"
|
| 224 |
+
},
|
| 225 |
+
"cab_2_left_group": {
|
| 226 |
+
"cls": "SingleCabinet"
|
| 227 |
+
},
|
| 228 |
+
"cab_3_left_group": {
|
| 229 |
+
"cls": "HingeCabinet"
|
| 230 |
+
},
|
| 231 |
+
"toaster_oven_left_group": {
|
| 232 |
+
"cls": "ToasterOven"
|
| 233 |
+
},
|
| 234 |
+
"bottom_right_group_1_base": {
|
| 235 |
+
"cls": "Box"
|
| 236 |
+
},
|
| 237 |
+
"bottom_right_group_1_1": {
|
| 238 |
+
"cls": "Drawer"
|
| 239 |
+
},
|
| 240 |
+
"oven_right_group_1": {
|
| 241 |
+
"cls": "Oven"
|
| 242 |
+
},
|
| 243 |
+
"oven_housing_right_group_1": {
|
| 244 |
+
"cls": "HousingCabinet"
|
| 245 |
+
},
|
| 246 |
+
"microwave_right_group_1": {
|
| 247 |
+
"cls": "Microwave"
|
| 248 |
+
},
|
| 249 |
+
"microwave_housing_right_group_1": {
|
| 250 |
+
"cls": "HousingCabinet"
|
| 251 |
+
},
|
| 252 |
+
"top_right_group_1": {
|
| 253 |
+
"cls": "HingeCabinet"
|
| 254 |
+
},
|
| 255 |
+
"stack_1_right_group_1_base": {
|
| 256 |
+
"cls": "Box"
|
| 257 |
+
},
|
| 258 |
+
"stack_1_right_group_1_1": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
+
},
|
| 261 |
+
"stack_2_right_group_1_base": {
|
| 262 |
+
"cls": "Box"
|
| 263 |
+
},
|
| 264 |
+
"stack_2_right_group_1_1": {
|
| 265 |
+
"cls": "PanelCabinet"
|
| 266 |
+
},
|
| 267 |
+
"box_right_group_1": {
|
| 268 |
+
"cls": "Box"
|
| 269 |
+
},
|
| 270 |
+
"stack_3_right_group_1_base": {
|
| 271 |
+
"cls": "Box"
|
| 272 |
+
},
|
| 273 |
+
"stack_3_right_group_1_1": {
|
| 274 |
+
"cls": "HingeCabinet"
|
| 275 |
+
},
|
| 276 |
+
"counter_1_right_group_1": {
|
| 277 |
+
"cls": "Counter"
|
| 278 |
+
},
|
| 279 |
+
"cab_1_right_group_1": {
|
| 280 |
+
"cls": "HingeCabinet"
|
| 281 |
+
},
|
| 282 |
+
"cab_2_right_group_1": {
|
| 283 |
+
"cls": "SingleCabinet"
|
| 284 |
+
},
|
| 285 |
+
"cab_3_right_group_1": {
|
| 286 |
+
"cls": "HingeCabinet"
|
| 287 |
+
},
|
| 288 |
+
"island_island_group": {
|
| 289 |
+
"cls": "Counter"
|
| 290 |
+
},
|
| 291 |
+
"panel_stack_1_island_group_base": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"panel_stack_1_island_group_1": {
|
| 295 |
+
"cls": "PanelCabinet"
|
| 296 |
+
},
|
| 297 |
+
"stack_1_island_group_base": {
|
| 298 |
+
"cls": "Box"
|
| 299 |
+
},
|
| 300 |
+
"stack_1_island_group_1": {
|
| 301 |
+
"cls": "HingeCabinet"
|
| 302 |
+
},
|
| 303 |
+
"stack_1_island_group_2": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_2_island_group_base": {
|
| 307 |
+
"cls": "Box"
|
| 308 |
+
},
|
| 309 |
+
"stack_2_island_group_1": {
|
| 310 |
+
"cls": "HingeCabinet"
|
| 311 |
+
},
|
| 312 |
+
"stack_2_island_group_2": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
+
},
|
| 315 |
+
"stack_3_island_group_base": {
|
| 316 |
+
"cls": "Box"
|
| 317 |
+
},
|
| 318 |
+
"stack_3_island_group_1": {
|
| 319 |
+
"cls": "HingeCabinet"
|
| 320 |
+
},
|
| 321 |
+
"stack_3_island_group_2": {
|
| 322 |
+
"cls": "Drawer"
|
| 323 |
+
},
|
| 324 |
+
"stack_4_island_group_base": {
|
| 325 |
+
"cls": "Box"
|
| 326 |
+
},
|
| 327 |
+
"stack_4_island_group_1": {
|
| 328 |
+
"cls": "HingeCabinet"
|
| 329 |
+
},
|
| 330 |
+
"stack_4_island_group_2": {
|
| 331 |
+
"cls": "Drawer"
|
| 332 |
+
},
|
| 333 |
+
"panel_stack_2_island_group_base": {
|
| 334 |
+
"cls": "Box"
|
| 335 |
+
},
|
| 336 |
+
"panel_stack_2_island_group_1": {
|
| 337 |
+
"cls": "PanelCabinet"
|
| 338 |
+
},
|
| 339 |
+
"box_1_island_group": {
|
| 340 |
+
"cls": "Box"
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"gen_textures": {},
|
| 344 |
+
"lang": "Fully slide the oven rack in.",
|
| 345 |
+
"fixture_refs": {
|
| 346 |
+
"oven": "oven_right_group_1"
|
| 347 |
+
},
|
| 348 |
+
"cam_configs": {
|
| 349 |
+
"robot0_agentview_center": {
|
| 350 |
+
"pos": [
|
| 351 |
+
-0.6,
|
| 352 |
+
0.0,
|
| 353 |
+
1.15
|
| 354 |
+
],
|
| 355 |
+
"quat": [
|
| 356 |
+
0.636945903301239,
|
| 357 |
+
0.3325185477733612,
|
| 358 |
+
-0.3199238181114197,
|
| 359 |
+
-0.6175596117973328
|
| 360 |
+
],
|
| 361 |
+
"parent_body": "mobilebase0_support"
|
| 362 |
+
},
|
| 363 |
+
"robot0_agentview_left": {
|
| 364 |
+
"pos": [
|
| 365 |
+
-0.5,
|
| 366 |
+
0.35,
|
| 367 |
+
1.05
|
| 368 |
+
],
|
| 369 |
+
"quat": [
|
| 370 |
+
0.55623853,
|
| 371 |
+
0.29935253,
|
| 372 |
+
-0.37678665,
|
| 373 |
+
-0.6775092
|
| 374 |
+
],
|
| 375 |
+
"camera_attribs": {
|
| 376 |
+
"fovy": "60"
|
| 377 |
+
},
|
| 378 |
+
"parent_body": "mobilebase0_support"
|
| 379 |
+
},
|
| 380 |
+
"robot0_agentview_right": {
|
| 381 |
+
"pos": [
|
| 382 |
+
-0.5,
|
| 383 |
+
-0.35,
|
| 384 |
+
1.05
|
| 385 |
+
],
|
| 386 |
+
"quat": [
|
| 387 |
+
0.6775091886520386,
|
| 388 |
+
0.3767866790294647,
|
| 389 |
+
-0.2993525564670563,
|
| 390 |
+
-0.55623859167099
|
| 391 |
+
],
|
| 392 |
+
"camera_attribs": {
|
| 393 |
+
"fovy": "60"
|
| 394 |
+
},
|
| 395 |
+
"parent_body": "mobilebase0_support"
|
| 396 |
+
},
|
| 397 |
+
"robot0_frontview": {
|
| 398 |
+
"pos": [
|
| 399 |
+
-0.5,
|
| 400 |
+
0,
|
| 401 |
+
0.95
|
| 402 |
+
],
|
| 403 |
+
"quat": [
|
| 404 |
+
0.6088936924934387,
|
| 405 |
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0.3814677894115448,
|
| 406 |
+
-0.3673907518386841,
|
| 407 |
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-0.5905545353889465
|
| 408 |
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],
|
| 409 |
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"camera_attribs": {
|
| 410 |
+
"fovy": "60"
|
| 411 |
+
},
|
| 412 |
+
"parent_body": "mobilebase0_support"
|
| 413 |
+
},
|
| 414 |
+
"robot0_eye_in_hand": {
|
| 415 |
+
"pos": [
|
| 416 |
+
0.05,
|
| 417 |
+
0,
|
| 418 |
+
0
|
| 419 |
+
],
|
| 420 |
+
"quat": [
|
| 421 |
+
0,
|
| 422 |
+
0.707107,
|
| 423 |
+
0.707107,
|
| 424 |
+
0
|
| 425 |
+
],
|
| 426 |
+
"parent_body": "robot0_right_hand"
|
| 427 |
+
}
|
| 428 |
+
},
|
| 429 |
+
"init_robot_base_pos": [
|
| 430 |
+
4.01900877219263,
|
| 431 |
+
-1.2570714831372862,
|
| 432 |
+
0.0
|
| 433 |
+
],
|
| 434 |
+
"init_robot_base_ori": [
|
| 435 |
+
0.0,
|
| 436 |
+
0.0,
|
| 437 |
+
3.422854288892552e-08
|
| 438 |
+
],
|
| 439 |
+
"should_pull": false,
|
| 440 |
+
"rack_level": 0
|
| 441 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000009/ep_meta.json
ADDED
|
@@ -0,0 +1,279 @@
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 37,
|
| 3 |
+
"style_id": 13,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_left_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_left_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_main_2_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_main_2_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_main_3_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_main_3_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"floor_1_room": {
|
| 31 |
+
"cls": "Floor"
|
| 32 |
+
},
|
| 33 |
+
"floor_1_backing_room": {
|
| 34 |
+
"cls": "Floor"
|
| 35 |
+
},
|
| 36 |
+
"wallaccessory_1_room": {
|
| 37 |
+
"cls": "WallAccessory"
|
| 38 |
+
},
|
| 39 |
+
"wallaccessory_2_room": {
|
| 40 |
+
"cls": "WallAccessory"
|
| 41 |
+
},
|
| 42 |
+
"stool_1_room": {
|
| 43 |
+
"cls": "Stool"
|
| 44 |
+
},
|
| 45 |
+
"stool_2_room": {
|
| 46 |
+
"cls": "Stool"
|
| 47 |
+
},
|
| 48 |
+
"stool_3_room": {
|
| 49 |
+
"cls": "Stool"
|
| 50 |
+
},
|
| 51 |
+
"stovetop_left_group_1": {
|
| 52 |
+
"cls": "Stovetop"
|
| 53 |
+
},
|
| 54 |
+
"counter_1_left_group_1": {
|
| 55 |
+
"cls": "Counter"
|
| 56 |
+
},
|
| 57 |
+
"hingecabinet_2_left_group_1": {
|
| 58 |
+
"cls": "HingeCabinet"
|
| 59 |
+
},
|
| 60 |
+
"hingecabinet_1_left_group_1": {
|
| 61 |
+
"cls": "HingeCabinet"
|
| 62 |
+
},
|
| 63 |
+
"microwave_left_group_1": {
|
| 64 |
+
"cls": "Microwave"
|
| 65 |
+
},
|
| 66 |
+
"cab_micro_left_group_1": {
|
| 67 |
+
"cls": "HingeCabinet"
|
| 68 |
+
},
|
| 69 |
+
"cube_1_left_group_1": {
|
| 70 |
+
"cls": "Box"
|
| 71 |
+
},
|
| 72 |
+
"fridgefrenchdoor_left_group_1": {
|
| 73 |
+
"cls": "FridgeFrenchDoor"
|
| 74 |
+
},
|
| 75 |
+
"fridgefrenchdoor_housing_left_group_1": {
|
| 76 |
+
"cls": "HousingCabinet"
|
| 77 |
+
},
|
| 78 |
+
"bottom_left_group_1_base": {
|
| 79 |
+
"cls": "Box"
|
| 80 |
+
},
|
| 81 |
+
"bottom_left_group_1_1": {
|
| 82 |
+
"cls": "Drawer"
|
| 83 |
+
},
|
| 84 |
+
"oven_left_group_1": {
|
| 85 |
+
"cls": "Oven"
|
| 86 |
+
},
|
| 87 |
+
"oven_housing_left_group_1": {
|
| 88 |
+
"cls": "HousingCabinet"
|
| 89 |
+
},
|
| 90 |
+
"hingecabinet_3_left_group_1": {
|
| 91 |
+
"cls": "HingeCabinet"
|
| 92 |
+
},
|
| 93 |
+
"microwave_cabinet_left_group_1": {
|
| 94 |
+
"cls": "HingeCabinet"
|
| 95 |
+
},
|
| 96 |
+
"top_left_group_1": {
|
| 97 |
+
"cls": "HingeCabinet"
|
| 98 |
+
},
|
| 99 |
+
"stack_1_left_group_1_base": {
|
| 100 |
+
"cls": "Box"
|
| 101 |
+
},
|
| 102 |
+
"stack_1_left_group_1_1": {
|
| 103 |
+
"cls": "HingeCabinet"
|
| 104 |
+
},
|
| 105 |
+
"stack_1_left_group_1_2": {
|
| 106 |
+
"cls": "Drawer"
|
| 107 |
+
},
|
| 108 |
+
"stack_2_left_group_1_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_2_left_group_1_1": {
|
| 112 |
+
"cls": "Drawer"
|
| 113 |
+
},
|
| 114 |
+
"stack_2_left_group_1_2": {
|
| 115 |
+
"cls": "Drawer"
|
| 116 |
+
},
|
| 117 |
+
"stack_2_left_group_1_3": {
|
| 118 |
+
"cls": "PanelCabinet"
|
| 119 |
+
},
|
| 120 |
+
"stack_3_left_group_1_base": {
|
| 121 |
+
"cls": "Box"
|
| 122 |
+
},
|
| 123 |
+
"stack_3_left_group_1_1": {
|
| 124 |
+
"cls": "HingeCabinet"
|
| 125 |
+
},
|
| 126 |
+
"stack_3_left_group_1_2": {
|
| 127 |
+
"cls": "Drawer"
|
| 128 |
+
},
|
| 129 |
+
"papertowel_left_group_1": {
|
| 130 |
+
"cls": "Accessory"
|
| 131 |
+
},
|
| 132 |
+
"coffee_machine_left_group_1": {
|
| 133 |
+
"cls": "CoffeeMachine"
|
| 134 |
+
},
|
| 135 |
+
"toaster_left_group_1": {
|
| 136 |
+
"cls": "Toaster"
|
| 137 |
+
},
|
| 138 |
+
"sink_island_group_1": {
|
| 139 |
+
"cls": "Sink"
|
| 140 |
+
},
|
| 141 |
+
"island_island_group_1": {
|
| 142 |
+
"cls": "Counter"
|
| 143 |
+
},
|
| 144 |
+
"cube_5_island_group_1": {
|
| 145 |
+
"cls": "Box"
|
| 146 |
+
},
|
| 147 |
+
"cube_1_island_group_1": {
|
| 148 |
+
"cls": "Box"
|
| 149 |
+
},
|
| 150 |
+
"cube_2_island_group_1": {
|
| 151 |
+
"cls": "Box"
|
| 152 |
+
},
|
| 153 |
+
"cube_3_island_group_1": {
|
| 154 |
+
"cls": "Box"
|
| 155 |
+
},
|
| 156 |
+
"cube_4_island_group_1": {
|
| 157 |
+
"cls": "Box"
|
| 158 |
+
},
|
| 159 |
+
"stack_2_island_group_1_base": {
|
| 160 |
+
"cls": "Box"
|
| 161 |
+
},
|
| 162 |
+
"stack_2_island_group_1_1": {
|
| 163 |
+
"cls": "SingleCabinet"
|
| 164 |
+
},
|
| 165 |
+
"stack_2_island_group_1_2": {
|
| 166 |
+
"cls": "Drawer"
|
| 167 |
+
},
|
| 168 |
+
"stack_1_island_group_1_base": {
|
| 169 |
+
"cls": "Box"
|
| 170 |
+
},
|
| 171 |
+
"stack_1_island_group_1_1": {
|
| 172 |
+
"cls": "HingeCabinet"
|
| 173 |
+
},
|
| 174 |
+
"stack_1_island_group_1_2": {
|
| 175 |
+
"cls": "PanelCabinet"
|
| 176 |
+
},
|
| 177 |
+
"dishwasher_1_island_group_1": {
|
| 178 |
+
"cls": "Dishwasher"
|
| 179 |
+
}
|
| 180 |
+
},
|
| 181 |
+
"gen_textures": {},
|
| 182 |
+
"lang": "Fully slide the oven rack in.",
|
| 183 |
+
"fixture_refs": {
|
| 184 |
+
"oven": "oven_left_group_1"
|
| 185 |
+
},
|
| 186 |
+
"cam_configs": {
|
| 187 |
+
"robot0_agentview_center": {
|
| 188 |
+
"pos": [
|
| 189 |
+
-0.6,
|
| 190 |
+
0.0,
|
| 191 |
+
1.15
|
| 192 |
+
],
|
| 193 |
+
"quat": [
|
| 194 |
+
0.636945903301239,
|
| 195 |
+
0.3325185477733612,
|
| 196 |
+
-0.3199238181114197,
|
| 197 |
+
-0.6175596117973328
|
| 198 |
+
],
|
| 199 |
+
"parent_body": "mobilebase0_support"
|
| 200 |
+
},
|
| 201 |
+
"robot0_agentview_left": {
|
| 202 |
+
"pos": [
|
| 203 |
+
-0.5,
|
| 204 |
+
0.35,
|
| 205 |
+
1.05
|
| 206 |
+
],
|
| 207 |
+
"quat": [
|
| 208 |
+
0.55623853,
|
| 209 |
+
0.29935253,
|
| 210 |
+
-0.37678665,
|
| 211 |
+
-0.6775092
|
| 212 |
+
],
|
| 213 |
+
"camera_attribs": {
|
| 214 |
+
"fovy": "60"
|
| 215 |
+
},
|
| 216 |
+
"parent_body": "mobilebase0_support"
|
| 217 |
+
},
|
| 218 |
+
"robot0_agentview_right": {
|
| 219 |
+
"pos": [
|
| 220 |
+
-0.5,
|
| 221 |
+
-0.35,
|
| 222 |
+
1.05
|
| 223 |
+
],
|
| 224 |
+
"quat": [
|
| 225 |
+
0.6775091886520386,
|
| 226 |
+
0.3767866790294647,
|
| 227 |
+
-0.2993525564670563,
|
| 228 |
+
-0.55623859167099
|
| 229 |
+
],
|
| 230 |
+
"camera_attribs": {
|
| 231 |
+
"fovy": "60"
|
| 232 |
+
},
|
| 233 |
+
"parent_body": "mobilebase0_support"
|
| 234 |
+
},
|
| 235 |
+
"robot0_frontview": {
|
| 236 |
+
"pos": [
|
| 237 |
+
-0.5,
|
| 238 |
+
0,
|
| 239 |
+
0.95
|
| 240 |
+
],
|
| 241 |
+
"quat": [
|
| 242 |
+
0.6088936924934387,
|
| 243 |
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0.3814677894115448,
|
| 244 |
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-0.3673907518386841,
|
| 245 |
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-0.5905545353889465
|
| 246 |
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],
|
| 247 |
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"camera_attribs": {
|
| 248 |
+
"fovy": "60"
|
| 249 |
+
},
|
| 250 |
+
"parent_body": "mobilebase0_support"
|
| 251 |
+
},
|
| 252 |
+
"robot0_eye_in_hand": {
|
| 253 |
+
"pos": [
|
| 254 |
+
0.05,
|
| 255 |
+
0,
|
| 256 |
+
0
|
| 257 |
+
],
|
| 258 |
+
"quat": [
|
| 259 |
+
0,
|
| 260 |
+
0.707107,
|
| 261 |
+
0.707107,
|
| 262 |
+
0
|
| 263 |
+
],
|
| 264 |
+
"parent_body": "robot0_right_hand"
|
| 265 |
+
}
|
| 266 |
+
},
|
| 267 |
+
"init_robot_base_pos": [
|
| 268 |
+
0.940118704389393,
|
| 269 |
+
-3.6673412564100176,
|
| 270 |
+
0.0
|
| 271 |
+
],
|
| 272 |
+
"init_robot_base_ori": [
|
| 273 |
+
0.0,
|
| 274 |
+
0.0,
|
| 275 |
+
3.1412906566438026
|
| 276 |
+
],
|
| 277 |
+
"should_pull": false,
|
| 278 |
+
"rack_level": 0
|
| 279 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000013/ep_meta.json
ADDED
|
@@ -0,0 +1,276 @@
|
|
|
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|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 34,
|
| 3 |
+
"style_id": 60,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_left_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_left_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"floor_1_room": {
|
| 19 |
+
"cls": "Floor"
|
| 20 |
+
},
|
| 21 |
+
"floor_1_backing_room": {
|
| 22 |
+
"cls": "Floor"
|
| 23 |
+
},
|
| 24 |
+
"stool_2_room": {
|
| 25 |
+
"cls": "Stool"
|
| 26 |
+
},
|
| 27 |
+
"stool_3_room": {
|
| 28 |
+
"cls": "Stool"
|
| 29 |
+
},
|
| 30 |
+
"stool_4_room": {
|
| 31 |
+
"cls": "Stool"
|
| 32 |
+
},
|
| 33 |
+
"stool_1_room": {
|
| 34 |
+
"cls": "Stool"
|
| 35 |
+
},
|
| 36 |
+
"stovetop_left_group_1": {
|
| 37 |
+
"cls": "Stovetop"
|
| 38 |
+
},
|
| 39 |
+
"counter_1_left_group_1": {
|
| 40 |
+
"cls": "Counter"
|
| 41 |
+
},
|
| 42 |
+
"hingecabinet_4_left_group_1": {
|
| 43 |
+
"cls": "HingeCabinet"
|
| 44 |
+
},
|
| 45 |
+
"hingecabinet_3_left_group_1": {
|
| 46 |
+
"cls": "HingeCabinet"
|
| 47 |
+
},
|
| 48 |
+
"hingecabinet_2_left_group_1": {
|
| 49 |
+
"cls": "HingeCabinet"
|
| 50 |
+
},
|
| 51 |
+
"singlecabinet_1_left_group_1": {
|
| 52 |
+
"cls": "SingleCabinet"
|
| 53 |
+
},
|
| 54 |
+
"bottom_left_group_1_base": {
|
| 55 |
+
"cls": "Box"
|
| 56 |
+
},
|
| 57 |
+
"bottom_left_group_1_1": {
|
| 58 |
+
"cls": "Drawer"
|
| 59 |
+
},
|
| 60 |
+
"oven_left_group_1": {
|
| 61 |
+
"cls": "Oven"
|
| 62 |
+
},
|
| 63 |
+
"microwave_left_group_1": {
|
| 64 |
+
"cls": "Microwave"
|
| 65 |
+
},
|
| 66 |
+
"fridgefrenchdoor_left_group_1": {
|
| 67 |
+
"cls": "FridgeFrenchDoor"
|
| 68 |
+
},
|
| 69 |
+
"fridgefrenchdoor_housing_left_group_1": {
|
| 70 |
+
"cls": "HousingCabinet"
|
| 71 |
+
},
|
| 72 |
+
"oven_housing_left_group_1": {
|
| 73 |
+
"cls": "HousingCabinet"
|
| 74 |
+
},
|
| 75 |
+
"hingecabinet_1_left_group_1": {
|
| 76 |
+
"cls": "HingeCabinet"
|
| 77 |
+
},
|
| 78 |
+
"microwave_housing_left_group_1": {
|
| 79 |
+
"cls": "HousingCabinet"
|
| 80 |
+
},
|
| 81 |
+
"top_left_group_1": {
|
| 82 |
+
"cls": "HingeCabinet"
|
| 83 |
+
},
|
| 84 |
+
"stack_3_left_group_1_base": {
|
| 85 |
+
"cls": "Box"
|
| 86 |
+
},
|
| 87 |
+
"stack_3_left_group_1_1": {
|
| 88 |
+
"cls": "Drawer"
|
| 89 |
+
},
|
| 90 |
+
"stack_3_left_group_1_2": {
|
| 91 |
+
"cls": "Drawer"
|
| 92 |
+
},
|
| 93 |
+
"stack_3_left_group_1_3": {
|
| 94 |
+
"cls": "PanelCabinet"
|
| 95 |
+
},
|
| 96 |
+
"stack_2_left_group_1_base": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"stack_2_left_group_1_1": {
|
| 100 |
+
"cls": "Drawer"
|
| 101 |
+
},
|
| 102 |
+
"stack_2_left_group_1_2": {
|
| 103 |
+
"cls": "Drawer"
|
| 104 |
+
},
|
| 105 |
+
"stack_2_left_group_1_3": {
|
| 106 |
+
"cls": "Drawer"
|
| 107 |
+
},
|
| 108 |
+
"stack_4_left_group_1_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_4_left_group_1_1": {
|
| 112 |
+
"cls": "Drawer"
|
| 113 |
+
},
|
| 114 |
+
"stack_4_left_group_1_2": {
|
| 115 |
+
"cls": "Drawer"
|
| 116 |
+
},
|
| 117 |
+
"stack_4_left_group_1_3": {
|
| 118 |
+
"cls": "Drawer"
|
| 119 |
+
},
|
| 120 |
+
"stack_1_left_group_1_base": {
|
| 121 |
+
"cls": "Box"
|
| 122 |
+
},
|
| 123 |
+
"stack_1_left_group_1_1": {
|
| 124 |
+
"cls": "SingleCabinet"
|
| 125 |
+
},
|
| 126 |
+
"coffee_machine_left_group_1": {
|
| 127 |
+
"cls": "CoffeeMachine"
|
| 128 |
+
},
|
| 129 |
+
"toaster_left_group_1": {
|
| 130 |
+
"cls": "Toaster"
|
| 131 |
+
},
|
| 132 |
+
"toaster_oven_left_group_1": {
|
| 133 |
+
"cls": "ToasterOven"
|
| 134 |
+
},
|
| 135 |
+
"sink_island_group_1": {
|
| 136 |
+
"cls": "Sink"
|
| 137 |
+
},
|
| 138 |
+
"island_island_group_1": {
|
| 139 |
+
"cls": "Counter"
|
| 140 |
+
},
|
| 141 |
+
"cube_1_island_group_1": {
|
| 142 |
+
"cls": "Box"
|
| 143 |
+
},
|
| 144 |
+
"cube_2_island_group_1": {
|
| 145 |
+
"cls": "Box"
|
| 146 |
+
},
|
| 147 |
+
"cube_3_island_group_1": {
|
| 148 |
+
"cls": "Box"
|
| 149 |
+
},
|
| 150 |
+
"stack_2_island_group_1_base": {
|
| 151 |
+
"cls": "Box"
|
| 152 |
+
},
|
| 153 |
+
"stack_2_island_group_1_1": {
|
| 154 |
+
"cls": "HingeCabinet"
|
| 155 |
+
},
|
| 156 |
+
"stack_3_island_group_1_base": {
|
| 157 |
+
"cls": "Box"
|
| 158 |
+
},
|
| 159 |
+
"stack_3_island_group_1_1": {
|
| 160 |
+
"cls": "SingleCabinet"
|
| 161 |
+
},
|
| 162 |
+
"stack_1_island_group_1_base": {
|
| 163 |
+
"cls": "Box"
|
| 164 |
+
},
|
| 165 |
+
"stack_1_island_group_1_1": {
|
| 166 |
+
"cls": "SingleCabinet"
|
| 167 |
+
},
|
| 168 |
+
"cube_4_island_group_1": {
|
| 169 |
+
"cls": "Box"
|
| 170 |
+
},
|
| 171 |
+
"dishwasher_1_island_group_1": {
|
| 172 |
+
"cls": "Dishwasher"
|
| 173 |
+
},
|
| 174 |
+
"paper_towel_island_group_1": {
|
| 175 |
+
"cls": "Accessory"
|
| 176 |
+
}
|
| 177 |
+
},
|
| 178 |
+
"gen_textures": {},
|
| 179 |
+
"lang": "Fully slide the top oven rack out.",
|
| 180 |
+
"fixture_refs": {
|
| 181 |
+
"oven": "oven_left_group_1"
|
| 182 |
+
},
|
| 183 |
+
"cam_configs": {
|
| 184 |
+
"robot0_agentview_center": {
|
| 185 |
+
"pos": [
|
| 186 |
+
-0.6,
|
| 187 |
+
0.0,
|
| 188 |
+
1.15
|
| 189 |
+
],
|
| 190 |
+
"quat": [
|
| 191 |
+
0.636945903301239,
|
| 192 |
+
0.3325185477733612,
|
| 193 |
+
-0.3199238181114197,
|
| 194 |
+
-0.6175596117973328
|
| 195 |
+
],
|
| 196 |
+
"parent_body": "mobilebase0_support"
|
| 197 |
+
},
|
| 198 |
+
"robot0_agentview_left": {
|
| 199 |
+
"pos": [
|
| 200 |
+
-0.5,
|
| 201 |
+
0.35,
|
| 202 |
+
1.05
|
| 203 |
+
],
|
| 204 |
+
"quat": [
|
| 205 |
+
0.55623853,
|
| 206 |
+
0.29935253,
|
| 207 |
+
-0.37678665,
|
| 208 |
+
-0.6775092
|
| 209 |
+
],
|
| 210 |
+
"camera_attribs": {
|
| 211 |
+
"fovy": "60"
|
| 212 |
+
},
|
| 213 |
+
"parent_body": "mobilebase0_support"
|
| 214 |
+
},
|
| 215 |
+
"robot0_agentview_right": {
|
| 216 |
+
"pos": [
|
| 217 |
+
-0.5,
|
| 218 |
+
-0.35,
|
| 219 |
+
1.05
|
| 220 |
+
],
|
| 221 |
+
"quat": [
|
| 222 |
+
0.6775091886520386,
|
| 223 |
+
0.3767866790294647,
|
| 224 |
+
-0.2993525564670563,
|
| 225 |
+
-0.55623859167099
|
| 226 |
+
],
|
| 227 |
+
"camera_attribs": {
|
| 228 |
+
"fovy": "60"
|
| 229 |
+
},
|
| 230 |
+
"parent_body": "mobilebase0_support"
|
| 231 |
+
},
|
| 232 |
+
"robot0_frontview": {
|
| 233 |
+
"pos": [
|
| 234 |
+
-0.5,
|
| 235 |
+
0,
|
| 236 |
+
0.95
|
| 237 |
+
],
|
| 238 |
+
"quat": [
|
| 239 |
+
0.6088936924934387,
|
| 240 |
+
0.3814677894115448,
|
| 241 |
+
-0.3673907518386841,
|
| 242 |
+
-0.5905545353889465
|
| 243 |
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],
|
| 244 |
+
"camera_attribs": {
|
| 245 |
+
"fovy": "60"
|
| 246 |
+
},
|
| 247 |
+
"parent_body": "mobilebase0_support"
|
| 248 |
+
},
|
| 249 |
+
"robot0_eye_in_hand": {
|
| 250 |
+
"pos": [
|
| 251 |
+
0.05,
|
| 252 |
+
0,
|
| 253 |
+
0
|
| 254 |
+
],
|
| 255 |
+
"quat": [
|
| 256 |
+
0,
|
| 257 |
+
0.707107,
|
| 258 |
+
0.707107,
|
| 259 |
+
0
|
| 260 |
+
],
|
| 261 |
+
"parent_body": "robot0_right_hand"
|
| 262 |
+
}
|
| 263 |
+
},
|
| 264 |
+
"init_robot_base_pos": [
|
| 265 |
+
0.9126333657776176,
|
| 266 |
+
-0.9149577132806199,
|
| 267 |
+
0.0
|
| 268 |
+
],
|
| 269 |
+
"init_robot_base_ori": [
|
| 270 |
+
0.0,
|
| 271 |
+
0.0,
|
| 272 |
+
3.1412906566438026
|
| 273 |
+
],
|
| 274 |
+
"should_pull": true,
|
| 275 |
+
"rack_level": 1
|
| 276 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000016/ep_meta.json
ADDED
|
@@ -0,0 +1,414 @@
|
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|
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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": 15,
|
| 3 |
+
"style_id": 58,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_left_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_left_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_left_2_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_left_2_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_left_3_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_left_3_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_front_1_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_front_1_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"wall_right_1_room": {
|
| 37 |
+
"cls": "Wall"
|
| 38 |
+
},
|
| 39 |
+
"wall_right_1_backing_room": {
|
| 40 |
+
"cls": "Wall"
|
| 41 |
+
},
|
| 42 |
+
"wall_right_2_room": {
|
| 43 |
+
"cls": "Wall"
|
| 44 |
+
},
|
| 45 |
+
"wall_right_2_backing_room": {
|
| 46 |
+
"cls": "Wall"
|
| 47 |
+
},
|
| 48 |
+
"wall_front_2_room": {
|
| 49 |
+
"cls": "Wall"
|
| 50 |
+
},
|
| 51 |
+
"wall_front_2_backing_room": {
|
| 52 |
+
"cls": "Wall"
|
| 53 |
+
},
|
| 54 |
+
"wall_main_2_room": {
|
| 55 |
+
"cls": "Wall"
|
| 56 |
+
},
|
| 57 |
+
"wall_main_2_backing_room": {
|
| 58 |
+
"cls": "Wall"
|
| 59 |
+
},
|
| 60 |
+
"wall_left_4_room": {
|
| 61 |
+
"cls": "Wall"
|
| 62 |
+
},
|
| 63 |
+
"wall_left_4_backing_room": {
|
| 64 |
+
"cls": "Wall"
|
| 65 |
+
},
|
| 66 |
+
"wall_left_5_room": {
|
| 67 |
+
"cls": "Wall"
|
| 68 |
+
},
|
| 69 |
+
"wall_left_5_backing_room": {
|
| 70 |
+
"cls": "Wall"
|
| 71 |
+
},
|
| 72 |
+
"floor_1_room": {
|
| 73 |
+
"cls": "Floor"
|
| 74 |
+
},
|
| 75 |
+
"floor_1_backing_room": {
|
| 76 |
+
"cls": "Floor"
|
| 77 |
+
},
|
| 78 |
+
"floor_2_room": {
|
| 79 |
+
"cls": "Floor"
|
| 80 |
+
},
|
| 81 |
+
"floor_2_backing_room": {
|
| 82 |
+
"cls": "Floor"
|
| 83 |
+
},
|
| 84 |
+
"floor_3_room": {
|
| 85 |
+
"cls": "Floor"
|
| 86 |
+
},
|
| 87 |
+
"floor_3_backing_room": {
|
| 88 |
+
"cls": "Floor"
|
| 89 |
+
},
|
| 90 |
+
"wall_accessory_1_room": {
|
| 91 |
+
"cls": "WallAccessory"
|
| 92 |
+
},
|
| 93 |
+
"wall_accessory_2_room": {
|
| 94 |
+
"cls": "WallAccessory"
|
| 95 |
+
},
|
| 96 |
+
"wall_accessory_3_room": {
|
| 97 |
+
"cls": "WallAccessory"
|
| 98 |
+
},
|
| 99 |
+
"light_switch_room": {
|
| 100 |
+
"cls": "WallAccessory"
|
| 101 |
+
},
|
| 102 |
+
"wall_accessory_4_room": {
|
| 103 |
+
"cls": "WallAccessory"
|
| 104 |
+
},
|
| 105 |
+
"wall_accessory_5_room": {
|
| 106 |
+
"cls": "WallAccessory"
|
| 107 |
+
},
|
| 108 |
+
"wall_accessory_6_room": {
|
| 109 |
+
"cls": "WallAccessory"
|
| 110 |
+
},
|
| 111 |
+
"stool_1_room": {
|
| 112 |
+
"cls": "Stool"
|
| 113 |
+
},
|
| 114 |
+
"stool_2_room": {
|
| 115 |
+
"cls": "Stool"
|
| 116 |
+
},
|
| 117 |
+
"stool_3_room": {
|
| 118 |
+
"cls": "Stool"
|
| 119 |
+
},
|
| 120 |
+
"fridge_1_main_group_1": {
|
| 121 |
+
"cls": "FridgeFrenchDoor"
|
| 122 |
+
},
|
| 123 |
+
"fridge_1_housing_main_group_1": {
|
| 124 |
+
"cls": "HousingCabinet"
|
| 125 |
+
},
|
| 126 |
+
"fridge_top_main_group_1": {
|
| 127 |
+
"cls": "HingeCabinet"
|
| 128 |
+
},
|
| 129 |
+
"bottom_main_group_1_base": {
|
| 130 |
+
"cls": "Box"
|
| 131 |
+
},
|
| 132 |
+
"bottom_main_group_1_1": {
|
| 133 |
+
"cls": "Drawer"
|
| 134 |
+
},
|
| 135 |
+
"oven_main_group_1": {
|
| 136 |
+
"cls": "Oven"
|
| 137 |
+
},
|
| 138 |
+
"oven_housing_main_group_1": {
|
| 139 |
+
"cls": "HousingCabinet"
|
| 140 |
+
},
|
| 141 |
+
"microwave_main_group_1": {
|
| 142 |
+
"cls": "Microwave"
|
| 143 |
+
},
|
| 144 |
+
"microwave_housing_main_group_1": {
|
| 145 |
+
"cls": "HousingCabinet"
|
| 146 |
+
},
|
| 147 |
+
"top_main_group_1": {
|
| 148 |
+
"cls": "HingeCabinet"
|
| 149 |
+
},
|
| 150 |
+
"counter_1_main_group_1": {
|
| 151 |
+
"cls": "Counter"
|
| 152 |
+
},
|
| 153 |
+
"stack_1_main_group_1_base": {
|
| 154 |
+
"cls": "Box"
|
| 155 |
+
},
|
| 156 |
+
"stack_1_main_group_1_1": {
|
| 157 |
+
"cls": "Drawer"
|
| 158 |
+
},
|
| 159 |
+
"stack_1_main_group_1_2": {
|
| 160 |
+
"cls": "Drawer"
|
| 161 |
+
},
|
| 162 |
+
"stack_1_main_group_1_3": {
|
| 163 |
+
"cls": "Drawer"
|
| 164 |
+
},
|
| 165 |
+
"stack_2_main_group_1_base": {
|
| 166 |
+
"cls": "Box"
|
| 167 |
+
},
|
| 168 |
+
"stack_2_main_group_1_1": {
|
| 169 |
+
"cls": "SingleCabinet"
|
| 170 |
+
},
|
| 171 |
+
"stack_2_main_group_1_2": {
|
| 172 |
+
"cls": "Drawer"
|
| 173 |
+
},
|
| 174 |
+
"cab_1_main_group_1": {
|
| 175 |
+
"cls": "HingeCabinet"
|
| 176 |
+
},
|
| 177 |
+
"toaster_main_group_1": {
|
| 178 |
+
"cls": "Toaster"
|
| 179 |
+
},
|
| 180 |
+
"stovetop_1_left_group_1": {
|
| 181 |
+
"cls": "Stovetop"
|
| 182 |
+
},
|
| 183 |
+
"counter_1_left_group_1": {
|
| 184 |
+
"cls": "Counter"
|
| 185 |
+
},
|
| 186 |
+
"stack_1_left_group_1_base": {
|
| 187 |
+
"cls": "Box"
|
| 188 |
+
},
|
| 189 |
+
"stack_1_left_group_1_1": {
|
| 190 |
+
"cls": "HingeCabinet"
|
| 191 |
+
},
|
| 192 |
+
"stack_1_left_group_1_2": {
|
| 193 |
+
"cls": "PanelCabinet"
|
| 194 |
+
},
|
| 195 |
+
"stack_2_left_group_1_base": {
|
| 196 |
+
"cls": "Box"
|
| 197 |
+
},
|
| 198 |
+
"stack_2_left_group_1_1": {
|
| 199 |
+
"cls": "HingeCabinet"
|
| 200 |
+
},
|
| 201 |
+
"stack_2_left_group_1_2": {
|
| 202 |
+
"cls": "Drawer"
|
| 203 |
+
},
|
| 204 |
+
"stack_3_left_group_1_base": {
|
| 205 |
+
"cls": "Box"
|
| 206 |
+
},
|
| 207 |
+
"stack_3_left_group_1_1": {
|
| 208 |
+
"cls": "HingeCabinet"
|
| 209 |
+
},
|
| 210 |
+
"stack_3_left_group_1_2": {
|
| 211 |
+
"cls": "Drawer"
|
| 212 |
+
},
|
| 213 |
+
"hood_left_group_1": {
|
| 214 |
+
"cls": "Hood"
|
| 215 |
+
},
|
| 216 |
+
"cab_1_left_group_1": {
|
| 217 |
+
"cls": "HingeCabinet"
|
| 218 |
+
},
|
| 219 |
+
"cab_2_left_group_1": {
|
| 220 |
+
"cls": "HingeCabinet"
|
| 221 |
+
},
|
| 222 |
+
"coffee_machine_left_group_1": {
|
| 223 |
+
"cls": "CoffeeMachine"
|
| 224 |
+
},
|
| 225 |
+
"counter_1_front_group_1": {
|
| 226 |
+
"cls": "Counter"
|
| 227 |
+
},
|
| 228 |
+
"stack_1_front_group_1_base": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
+
},
|
| 231 |
+
"stack_1_front_group_1_1": {
|
| 232 |
+
"cls": "HingeCabinet"
|
| 233 |
+
},
|
| 234 |
+
"stack_1_front_group_1_2": {
|
| 235 |
+
"cls": "Drawer"
|
| 236 |
+
},
|
| 237 |
+
"stack_2_front_group_1_base": {
|
| 238 |
+
"cls": "Box"
|
| 239 |
+
},
|
| 240 |
+
"stack_2_front_group_1_1": {
|
| 241 |
+
"cls": "HingeCabinet"
|
| 242 |
+
},
|
| 243 |
+
"stack_2_front_group_1_2": {
|
| 244 |
+
"cls": "Drawer"
|
| 245 |
+
},
|
| 246 |
+
"stack_3_front_group_1_base": {
|
| 247 |
+
"cls": "Box"
|
| 248 |
+
},
|
| 249 |
+
"stack_3_front_group_1_1": {
|
| 250 |
+
"cls": "HingeCabinet"
|
| 251 |
+
},
|
| 252 |
+
"stack_3_front_group_1_2": {
|
| 253 |
+
"cls": "Drawer"
|
| 254 |
+
},
|
| 255 |
+
"cab_1_front_group_1": {
|
| 256 |
+
"cls": "HingeCabinet"
|
| 257 |
+
},
|
| 258 |
+
"cab_2_front_group_1": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
+
},
|
| 261 |
+
"cab_3_front_group_1": {
|
| 262 |
+
"cls": "HingeCabinet"
|
| 263 |
+
},
|
| 264 |
+
"toaster_oven_front_group_1": {
|
| 265 |
+
"cls": "ToasterOven"
|
| 266 |
+
},
|
| 267 |
+
"sink_island_group": {
|
| 268 |
+
"cls": "Sink"
|
| 269 |
+
},
|
| 270 |
+
"island_island_group": {
|
| 271 |
+
"cls": "Counter"
|
| 272 |
+
},
|
| 273 |
+
"panel_stack_island_group_base": {
|
| 274 |
+
"cls": "Box"
|
| 275 |
+
},
|
| 276 |
+
"panel_stack_island_group_1": {
|
| 277 |
+
"cls": "PanelCabinet"
|
| 278 |
+
},
|
| 279 |
+
"dishwasher_island_group": {
|
| 280 |
+
"cls": "Dishwasher"
|
| 281 |
+
},
|
| 282 |
+
"box_island_group": {
|
| 283 |
+
"cls": "Box"
|
| 284 |
+
},
|
| 285 |
+
"stack_1_island_group_base": {
|
| 286 |
+
"cls": "Box"
|
| 287 |
+
},
|
| 288 |
+
"stack_1_island_group_1": {
|
| 289 |
+
"cls": "HingeCabinet"
|
| 290 |
+
},
|
| 291 |
+
"stack_1_island_group_2": {
|
| 292 |
+
"cls": "PanelCabinet"
|
| 293 |
+
},
|
| 294 |
+
"stack_2_island_group_base": {
|
| 295 |
+
"cls": "Box"
|
| 296 |
+
},
|
| 297 |
+
"stack_2_island_group_1": {
|
| 298 |
+
"cls": "HingeCabinet"
|
| 299 |
+
},
|
| 300 |
+
"stack_2_island_group_2": {
|
| 301 |
+
"cls": "Drawer"
|
| 302 |
+
},
|
| 303 |
+
"stack_2_island_group_3": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_3_island_group_base": {
|
| 307 |
+
"cls": "Box"
|
| 308 |
+
},
|
| 309 |
+
"stack_3_island_group_1": {
|
| 310 |
+
"cls": "PanelCabinet"
|
| 311 |
+
},
|
| 312 |
+
"paper_towel_island_group": {
|
| 313 |
+
"cls": "Accessory"
|
| 314 |
+
}
|
| 315 |
+
},
|
| 316 |
+
"gen_textures": {},
|
| 317 |
+
"lang": "Fully slide the oven rack out.",
|
| 318 |
+
"fixture_refs": {
|
| 319 |
+
"oven": "oven_main_group_1"
|
| 320 |
+
},
|
| 321 |
+
"cam_configs": {
|
| 322 |
+
"robot0_agentview_center": {
|
| 323 |
+
"pos": [
|
| 324 |
+
-0.6,
|
| 325 |
+
0.0,
|
| 326 |
+
1.15
|
| 327 |
+
],
|
| 328 |
+
"quat": [
|
| 329 |
+
0.636945903301239,
|
| 330 |
+
0.3325185477733612,
|
| 331 |
+
-0.3199238181114197,
|
| 332 |
+
-0.6175596117973328
|
| 333 |
+
],
|
| 334 |
+
"parent_body": "mobilebase0_support"
|
| 335 |
+
},
|
| 336 |
+
"robot0_agentview_left": {
|
| 337 |
+
"pos": [
|
| 338 |
+
-0.5,
|
| 339 |
+
0.35,
|
| 340 |
+
1.05
|
| 341 |
+
],
|
| 342 |
+
"quat": [
|
| 343 |
+
0.55623853,
|
| 344 |
+
0.29935253,
|
| 345 |
+
-0.37678665,
|
| 346 |
+
-0.6775092
|
| 347 |
+
],
|
| 348 |
+
"camera_attribs": {
|
| 349 |
+
"fovy": "60"
|
| 350 |
+
},
|
| 351 |
+
"parent_body": "mobilebase0_support"
|
| 352 |
+
},
|
| 353 |
+
"robot0_agentview_right": {
|
| 354 |
+
"pos": [
|
| 355 |
+
-0.5,
|
| 356 |
+
-0.35,
|
| 357 |
+
1.05
|
| 358 |
+
],
|
| 359 |
+
"quat": [
|
| 360 |
+
0.6775091886520386,
|
| 361 |
+
0.3767866790294647,
|
| 362 |
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-0.2993525564670563,
|
| 363 |
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-0.55623859167099
|
| 364 |
+
],
|
| 365 |
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"camera_attribs": {
|
| 366 |
+
"fovy": "60"
|
| 367 |
+
},
|
| 368 |
+
"parent_body": "mobilebase0_support"
|
| 369 |
+
},
|
| 370 |
+
"robot0_frontview": {
|
| 371 |
+
"pos": [
|
| 372 |
+
-0.5,
|
| 373 |
+
0,
|
| 374 |
+
0.95
|
| 375 |
+
],
|
| 376 |
+
"quat": [
|
| 377 |
+
0.6088936924934387,
|
| 378 |
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0.3814677894115448,
|
| 379 |
+
-0.3673907518386841,
|
| 380 |
+
-0.5905545353889465
|
| 381 |
+
],
|
| 382 |
+
"camera_attribs": {
|
| 383 |
+
"fovy": "60"
|
| 384 |
+
},
|
| 385 |
+
"parent_body": "mobilebase0_support"
|
| 386 |
+
},
|
| 387 |
+
"robot0_eye_in_hand": {
|
| 388 |
+
"pos": [
|
| 389 |
+
0.05,
|
| 390 |
+
0,
|
| 391 |
+
0
|
| 392 |
+
],
|
| 393 |
+
"quat": [
|
| 394 |
+
0,
|
| 395 |
+
0.707107,
|
| 396 |
+
0.707107,
|
| 397 |
+
0
|
| 398 |
+
],
|
| 399 |
+
"parent_body": "robot0_right_hand"
|
| 400 |
+
}
|
| 401 |
+
},
|
| 402 |
+
"init_robot_base_pos": [
|
| 403 |
+
1.0286423652907701,
|
| 404 |
+
-0.8273085823219604,
|
| 405 |
+
0.0
|
| 406 |
+
],
|
| 407 |
+
"init_robot_base_ori": [
|
| 408 |
+
0.0,
|
| 409 |
+
0.0,
|
| 410 |
+
1.5707963267948966
|
| 411 |
+
],
|
| 412 |
+
"should_pull": true,
|
| 413 |
+
"rack_level": 0
|
| 414 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000017/ep_meta.json
ADDED
|
@@ -0,0 +1,375 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 18,
|
| 3 |
+
"style_id": 40,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_right_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_right_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_left_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_left_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_left_3_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_left_3_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_left_2_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_left_2_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"floor_1_room": {
|
| 37 |
+
"cls": "Floor"
|
| 38 |
+
},
|
| 39 |
+
"floor_1_backing_room": {
|
| 40 |
+
"cls": "Floor"
|
| 41 |
+
},
|
| 42 |
+
"light_switch_1_room": {
|
| 43 |
+
"cls": "WallAccessory"
|
| 44 |
+
},
|
| 45 |
+
"light_switch_2_room": {
|
| 46 |
+
"cls": "WallAccessory"
|
| 47 |
+
},
|
| 48 |
+
"light_switch_3_room": {
|
| 49 |
+
"cls": "WallAccessory"
|
| 50 |
+
},
|
| 51 |
+
"light_switch_4_room": {
|
| 52 |
+
"cls": "WallAccessory"
|
| 53 |
+
},
|
| 54 |
+
"wall_accessory_1_room": {
|
| 55 |
+
"cls": "WallAccessory"
|
| 56 |
+
},
|
| 57 |
+
"light_switch_5_room": {
|
| 58 |
+
"cls": "WallAccessory"
|
| 59 |
+
},
|
| 60 |
+
"light_switch_6_room": {
|
| 61 |
+
"cls": "WallAccessory"
|
| 62 |
+
},
|
| 63 |
+
"light_switch_7_room": {
|
| 64 |
+
"cls": "WallAccessory"
|
| 65 |
+
},
|
| 66 |
+
"window_group_1_room": {
|
| 67 |
+
"cls": "Window"
|
| 68 |
+
},
|
| 69 |
+
"window_group_2_room": {
|
| 70 |
+
"cls": "Window"
|
| 71 |
+
},
|
| 72 |
+
"bottom_main_group_base": {
|
| 73 |
+
"cls": "Box"
|
| 74 |
+
},
|
| 75 |
+
"bottom_main_group_1": {
|
| 76 |
+
"cls": "Drawer"
|
| 77 |
+
},
|
| 78 |
+
"oven_main_group": {
|
| 79 |
+
"cls": "Oven"
|
| 80 |
+
},
|
| 81 |
+
"oven_housing_main_group": {
|
| 82 |
+
"cls": "HousingCabinet"
|
| 83 |
+
},
|
| 84 |
+
"microwave_main_group": {
|
| 85 |
+
"cls": "Microwave"
|
| 86 |
+
},
|
| 87 |
+
"microwave_housing_main_group": {
|
| 88 |
+
"cls": "HousingCabinet"
|
| 89 |
+
},
|
| 90 |
+
"top_main_group": {
|
| 91 |
+
"cls": "HingeCabinet"
|
| 92 |
+
},
|
| 93 |
+
"fridge_main_group": {
|
| 94 |
+
"cls": "FridgeSideBySide"
|
| 95 |
+
},
|
| 96 |
+
"fridge_housing_main_group": {
|
| 97 |
+
"cls": "HousingCabinet"
|
| 98 |
+
},
|
| 99 |
+
"counter_1_main_group": {
|
| 100 |
+
"cls": "Counter"
|
| 101 |
+
},
|
| 102 |
+
"counter_corner_main_group": {
|
| 103 |
+
"cls": "Counter"
|
| 104 |
+
},
|
| 105 |
+
"stack_1_main_group_base": {
|
| 106 |
+
"cls": "Box"
|
| 107 |
+
},
|
| 108 |
+
"stack_1_main_group_1": {
|
| 109 |
+
"cls": "SingleCabinet"
|
| 110 |
+
},
|
| 111 |
+
"box_1_main_group": {
|
| 112 |
+
"cls": "Box"
|
| 113 |
+
},
|
| 114 |
+
"cab_1_main_group": {
|
| 115 |
+
"cls": "HingeCabinet"
|
| 116 |
+
},
|
| 117 |
+
"cab_2_main_group": {
|
| 118 |
+
"cls": "HingeCabinet"
|
| 119 |
+
},
|
| 120 |
+
"toaster_oven_main_group": {
|
| 121 |
+
"cls": "ToasterOven"
|
| 122 |
+
},
|
| 123 |
+
"plant_main_group": {
|
| 124 |
+
"cls": "Accessory"
|
| 125 |
+
},
|
| 126 |
+
"stovetop_left_group": {
|
| 127 |
+
"cls": "Stovetop"
|
| 128 |
+
},
|
| 129 |
+
"counter_1_left_group": {
|
| 130 |
+
"cls": "Counter"
|
| 131 |
+
},
|
| 132 |
+
"stack_1_left_group_base": {
|
| 133 |
+
"cls": "Box"
|
| 134 |
+
},
|
| 135 |
+
"stack_1_left_group_1": {
|
| 136 |
+
"cls": "SingleCabinet"
|
| 137 |
+
},
|
| 138 |
+
"stack_2_left_group_base": {
|
| 139 |
+
"cls": "Box"
|
| 140 |
+
},
|
| 141 |
+
"stack_2_left_group_1": {
|
| 142 |
+
"cls": "Drawer"
|
| 143 |
+
},
|
| 144 |
+
"stack_2_left_group_2": {
|
| 145 |
+
"cls": "Drawer"
|
| 146 |
+
},
|
| 147 |
+
"stack_2_left_group_3": {
|
| 148 |
+
"cls": "Drawer"
|
| 149 |
+
},
|
| 150 |
+
"stack_2_left_group_4": {
|
| 151 |
+
"cls": "Drawer"
|
| 152 |
+
},
|
| 153 |
+
"stack_2_left_group_5": {
|
| 154 |
+
"cls": "Drawer"
|
| 155 |
+
},
|
| 156 |
+
"stack_2_left_group_6": {
|
| 157 |
+
"cls": "Drawer"
|
| 158 |
+
},
|
| 159 |
+
"stack_3_left_group_base": {
|
| 160 |
+
"cls": "Box"
|
| 161 |
+
},
|
| 162 |
+
"stack_3_left_group_1": {
|
| 163 |
+
"cls": "Drawer"
|
| 164 |
+
},
|
| 165 |
+
"stack_3_left_group_2": {
|
| 166 |
+
"cls": "Drawer"
|
| 167 |
+
},
|
| 168 |
+
"stack_3_left_group_3": {
|
| 169 |
+
"cls": "PanelCabinet"
|
| 170 |
+
},
|
| 171 |
+
"stack_4_left_group_base": {
|
| 172 |
+
"cls": "Box"
|
| 173 |
+
},
|
| 174 |
+
"stack_4_left_group_1": {
|
| 175 |
+
"cls": "Drawer"
|
| 176 |
+
},
|
| 177 |
+
"stack_4_left_group_2": {
|
| 178 |
+
"cls": "Drawer"
|
| 179 |
+
},
|
| 180 |
+
"stack_4_left_group_3": {
|
| 181 |
+
"cls": "Drawer"
|
| 182 |
+
},
|
| 183 |
+
"stack_4_left_group_4": {
|
| 184 |
+
"cls": "Drawer"
|
| 185 |
+
},
|
| 186 |
+
"stack_4_left_group_5": {
|
| 187 |
+
"cls": "Drawer"
|
| 188 |
+
},
|
| 189 |
+
"stack_4_left_group_6": {
|
| 190 |
+
"cls": "Drawer"
|
| 191 |
+
},
|
| 192 |
+
"stack_5_left_group_base": {
|
| 193 |
+
"cls": "Box"
|
| 194 |
+
},
|
| 195 |
+
"stack_5_left_group_1": {
|
| 196 |
+
"cls": "SingleCabinet"
|
| 197 |
+
},
|
| 198 |
+
"hood_left_group": {
|
| 199 |
+
"cls": "Hood"
|
| 200 |
+
},
|
| 201 |
+
"cab_1_left_group": {
|
| 202 |
+
"cls": "HingeCabinet"
|
| 203 |
+
},
|
| 204 |
+
"cab_2_left_group": {
|
| 205 |
+
"cls": "HingeCabinet"
|
| 206 |
+
},
|
| 207 |
+
"paper_towel_left_group": {
|
| 208 |
+
"cls": "Accessory"
|
| 209 |
+
},
|
| 210 |
+
"coffee_machine_left_group": {
|
| 211 |
+
"cls": "CoffeeMachine"
|
| 212 |
+
},
|
| 213 |
+
"sink_1_right_group": {
|
| 214 |
+
"cls": "Sink"
|
| 215 |
+
},
|
| 216 |
+
"counter_1_right_group": {
|
| 217 |
+
"cls": "Counter"
|
| 218 |
+
},
|
| 219 |
+
"box_1_right_group": {
|
| 220 |
+
"cls": "Box"
|
| 221 |
+
},
|
| 222 |
+
"stack_1_right_group_base": {
|
| 223 |
+
"cls": "Box"
|
| 224 |
+
},
|
| 225 |
+
"stack_1_right_group_1": {
|
| 226 |
+
"cls": "SingleCabinet"
|
| 227 |
+
},
|
| 228 |
+
"stack_2_right_group_base": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
+
},
|
| 231 |
+
"stack_2_right_group_1": {
|
| 232 |
+
"cls": "Drawer"
|
| 233 |
+
},
|
| 234 |
+
"stack_2_right_group_2": {
|
| 235 |
+
"cls": "Drawer"
|
| 236 |
+
},
|
| 237 |
+
"stack_2_right_group_3": {
|
| 238 |
+
"cls": "Drawer"
|
| 239 |
+
},
|
| 240 |
+
"stack_3_right_group_base": {
|
| 241 |
+
"cls": "Box"
|
| 242 |
+
},
|
| 243 |
+
"stack_3_right_group_1": {
|
| 244 |
+
"cls": "SingleCabinet"
|
| 245 |
+
},
|
| 246 |
+
"stack_4_right_group_base": {
|
| 247 |
+
"cls": "Box"
|
| 248 |
+
},
|
| 249 |
+
"stack_4_right_group_1": {
|
| 250 |
+
"cls": "SingleCabinet"
|
| 251 |
+
},
|
| 252 |
+
"stack_5_right_group_base": {
|
| 253 |
+
"cls": "Box"
|
| 254 |
+
},
|
| 255 |
+
"stack_5_right_group_1": {
|
| 256 |
+
"cls": "HingeCabinet"
|
| 257 |
+
},
|
| 258 |
+
"dishwasher_1_right_group": {
|
| 259 |
+
"cls": "Dishwasher"
|
| 260 |
+
},
|
| 261 |
+
"panel_stack_right_group_base": {
|
| 262 |
+
"cls": "Box"
|
| 263 |
+
},
|
| 264 |
+
"panel_stack_right_group_1": {
|
| 265 |
+
"cls": "PanelCabinet"
|
| 266 |
+
},
|
| 267 |
+
"wall_stack_right_group_base": {
|
| 268 |
+
"cls": "Box"
|
| 269 |
+
},
|
| 270 |
+
"wall_stack_right_group_1": {
|
| 271 |
+
"cls": "HingeCabinet"
|
| 272 |
+
},
|
| 273 |
+
"toaster_right_group": {
|
| 274 |
+
"cls": "Toaster"
|
| 275 |
+
}
|
| 276 |
+
},
|
| 277 |
+
"gen_textures": {},
|
| 278 |
+
"lang": "Fully slide the oven rack out.",
|
| 279 |
+
"fixture_refs": {
|
| 280 |
+
"oven": "oven_main_group"
|
| 281 |
+
},
|
| 282 |
+
"cam_configs": {
|
| 283 |
+
"robot0_agentview_center": {
|
| 284 |
+
"pos": [
|
| 285 |
+
-0.6,
|
| 286 |
+
0.0,
|
| 287 |
+
1.15
|
| 288 |
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],
|
| 289 |
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"quat": [
|
| 290 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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|
| 294 |
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],
|
| 295 |
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"parent_body": "mobilebase0_support"
|
| 296 |
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},
|
| 297 |
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"robot0_agentview_left": {
|
| 298 |
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"pos": [
|
| 299 |
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-0.5,
|
| 300 |
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0.35,
|
| 301 |
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1.05
|
| 302 |
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],
|
| 303 |
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"quat": [
|
| 304 |
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0.55623853,
|
| 305 |
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|
| 306 |
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-0.37678665,
|
| 307 |
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-0.6775092
|
| 308 |
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],
|
| 309 |
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"camera_attribs": {
|
| 310 |
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"fovy": "60"
|
| 311 |
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},
|
| 312 |
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"parent_body": "mobilebase0_support"
|
| 313 |
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},
|
| 314 |
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"robot0_agentview_right": {
|
| 315 |
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"pos": [
|
| 316 |
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-0.5,
|
| 317 |
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-0.35,
|
| 318 |
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1.05
|
| 319 |
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],
|
| 320 |
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"quat": [
|
| 321 |
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|
| 322 |
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|
| 323 |
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-0.2993525564670563,
|
| 324 |
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|
| 325 |
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],
|
| 326 |
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"camera_attribs": {
|
| 327 |
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"fovy": "60"
|
| 328 |
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},
|
| 329 |
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"parent_body": "mobilebase0_support"
|
| 330 |
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},
|
| 331 |
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"robot0_frontview": {
|
| 332 |
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"pos": [
|
| 333 |
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-0.5,
|
| 334 |
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0,
|
| 335 |
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0.95
|
| 336 |
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],
|
| 337 |
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"quat": [
|
| 338 |
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|
| 339 |
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|
| 340 |
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|
| 341 |
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|
| 342 |
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],
|
| 343 |
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"camera_attribs": {
|
| 344 |
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"fovy": "60"
|
| 345 |
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},
|
| 346 |
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"parent_body": "mobilebase0_support"
|
| 347 |
+
},
|
| 348 |
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"robot0_eye_in_hand": {
|
| 349 |
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"pos": [
|
| 350 |
+
0.05,
|
| 351 |
+
0,
|
| 352 |
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0
|
| 353 |
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],
|
| 354 |
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"quat": [
|
| 355 |
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0,
|
| 356 |
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0.707107,
|
| 357 |
+
0.707107,
|
| 358 |
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0
|
| 359 |
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],
|
| 360 |
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"parent_body": "robot0_right_hand"
|
| 361 |
+
}
|
| 362 |
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},
|
| 363 |
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"init_robot_base_pos": [
|
| 364 |
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0.7401784438601399,
|
| 365 |
+
-1.267865152230042,
|
| 366 |
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0.0
|
| 367 |
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],
|
| 368 |
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"init_robot_base_ori": [
|
| 369 |
+
0.0,
|
| 370 |
+
0.0,
|
| 371 |
+
1.5707963267948966
|
| 372 |
+
],
|
| 373 |
+
"should_pull": true,
|
| 374 |
+
"rack_level": 0
|
| 375 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000019/ep_meta.json
ADDED
|
@@ -0,0 +1,441 @@
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 12,
|
| 3 |
+
"style_id": 49,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_right_2_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_right_2_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_right_3_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_right_3_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"floor_1_room": {
|
| 37 |
+
"cls": "Floor"
|
| 38 |
+
},
|
| 39 |
+
"floor_1_backing_room": {
|
| 40 |
+
"cls": "Floor"
|
| 41 |
+
},
|
| 42 |
+
"wall_accessory_1_room": {
|
| 43 |
+
"cls": "WallAccessory"
|
| 44 |
+
},
|
| 45 |
+
"wall_accessory_2_room": {
|
| 46 |
+
"cls": "WallAccessory"
|
| 47 |
+
},
|
| 48 |
+
"wall_accessory_3_room": {
|
| 49 |
+
"cls": "WallAccessory"
|
| 50 |
+
},
|
| 51 |
+
"light_switch_1_room": {
|
| 52 |
+
"cls": "WallAccessory"
|
| 53 |
+
},
|
| 54 |
+
"wall_accessory_4_room": {
|
| 55 |
+
"cls": "WallAccessory"
|
| 56 |
+
},
|
| 57 |
+
"wall_accessory_5_room": {
|
| 58 |
+
"cls": "WallAccessory"
|
| 59 |
+
},
|
| 60 |
+
"window_group_room": {
|
| 61 |
+
"cls": "Window"
|
| 62 |
+
},
|
| 63 |
+
"stool_1_room": {
|
| 64 |
+
"cls": "Stool"
|
| 65 |
+
},
|
| 66 |
+
"stool_2_room": {
|
| 67 |
+
"cls": "Stool"
|
| 68 |
+
},
|
| 69 |
+
"stool_3_room": {
|
| 70 |
+
"cls": "Stool"
|
| 71 |
+
},
|
| 72 |
+
"stool_4_room": {
|
| 73 |
+
"cls": "Stool"
|
| 74 |
+
},
|
| 75 |
+
"stool_5_room": {
|
| 76 |
+
"cls": "Stool"
|
| 77 |
+
},
|
| 78 |
+
"stool_6_room": {
|
| 79 |
+
"cls": "Stool"
|
| 80 |
+
},
|
| 81 |
+
"counter_corner_1_main_group": {
|
| 82 |
+
"cls": "Counter"
|
| 83 |
+
},
|
| 84 |
+
"sink_1_main_group": {
|
| 85 |
+
"cls": "Sink"
|
| 86 |
+
},
|
| 87 |
+
"counter_1_main_group": {
|
| 88 |
+
"cls": "Counter"
|
| 89 |
+
},
|
| 90 |
+
"counter_corner_2_main_group": {
|
| 91 |
+
"cls": "Counter"
|
| 92 |
+
},
|
| 93 |
+
"box_1_main_group": {
|
| 94 |
+
"cls": "Box"
|
| 95 |
+
},
|
| 96 |
+
"stack_1_main_group_base": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"stack_1_main_group_1": {
|
| 100 |
+
"cls": "Drawer"
|
| 101 |
+
},
|
| 102 |
+
"stack_1_main_group_2": {
|
| 103 |
+
"cls": "Drawer"
|
| 104 |
+
},
|
| 105 |
+
"stack_1_main_group_3": {
|
| 106 |
+
"cls": "Drawer"
|
| 107 |
+
},
|
| 108 |
+
"stack_2_main_group_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_2_main_group_1": {
|
| 112 |
+
"cls": "SingleCabinet"
|
| 113 |
+
},
|
| 114 |
+
"stack_2_main_group_2": {
|
| 115 |
+
"cls": "Drawer"
|
| 116 |
+
},
|
| 117 |
+
"stack_3_main_group_base": {
|
| 118 |
+
"cls": "Box"
|
| 119 |
+
},
|
| 120 |
+
"stack_3_main_group_1": {
|
| 121 |
+
"cls": "HingeCabinet"
|
| 122 |
+
},
|
| 123 |
+
"dishwasher_1_main_group": {
|
| 124 |
+
"cls": "Dishwasher"
|
| 125 |
+
},
|
| 126 |
+
"stack_4_main_group_base": {
|
| 127 |
+
"cls": "Box"
|
| 128 |
+
},
|
| 129 |
+
"stack_4_main_group_1": {
|
| 130 |
+
"cls": "SingleCabinet"
|
| 131 |
+
},
|
| 132 |
+
"stack_4_main_group_2": {
|
| 133 |
+
"cls": "Drawer"
|
| 134 |
+
},
|
| 135 |
+
"stack_5_main_group_base": {
|
| 136 |
+
"cls": "Box"
|
| 137 |
+
},
|
| 138 |
+
"stack_5_main_group_1": {
|
| 139 |
+
"cls": "SingleCabinet"
|
| 140 |
+
},
|
| 141 |
+
"box_2_main_group": {
|
| 142 |
+
"cls": "Box"
|
| 143 |
+
},
|
| 144 |
+
"top_corner_1_main_group": {
|
| 145 |
+
"cls": "Box"
|
| 146 |
+
},
|
| 147 |
+
"cab_1_main_group": {
|
| 148 |
+
"cls": "HingeCabinet"
|
| 149 |
+
},
|
| 150 |
+
"cab_2_main_group": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
+
},
|
| 153 |
+
"top_corner_2_main_group": {
|
| 154 |
+
"cls": "Box"
|
| 155 |
+
},
|
| 156 |
+
"paper_towel_main_group": {
|
| 157 |
+
"cls": "Accessory"
|
| 158 |
+
},
|
| 159 |
+
"coffee_machine_main_group": {
|
| 160 |
+
"cls": "CoffeeMachine"
|
| 161 |
+
},
|
| 162 |
+
"toaster_main_group": {
|
| 163 |
+
"cls": "Toaster"
|
| 164 |
+
},
|
| 165 |
+
"knife_block_main_group": {
|
| 166 |
+
"cls": "Accessory"
|
| 167 |
+
},
|
| 168 |
+
"stovetop_left_group": {
|
| 169 |
+
"cls": "Stovetop"
|
| 170 |
+
},
|
| 171 |
+
"counter_1_left_group": {
|
| 172 |
+
"cls": "Counter"
|
| 173 |
+
},
|
| 174 |
+
"box_1_left_group": {
|
| 175 |
+
"cls": "Box"
|
| 176 |
+
},
|
| 177 |
+
"stack_1_left_group_base": {
|
| 178 |
+
"cls": "Box"
|
| 179 |
+
},
|
| 180 |
+
"stack_1_left_group_1": {
|
| 181 |
+
"cls": "SingleCabinet"
|
| 182 |
+
},
|
| 183 |
+
"stack_2_left_group_base": {
|
| 184 |
+
"cls": "Box"
|
| 185 |
+
},
|
| 186 |
+
"stack_2_left_group_1": {
|
| 187 |
+
"cls": "Drawer"
|
| 188 |
+
},
|
| 189 |
+
"stack_2_left_group_2": {
|
| 190 |
+
"cls": "Drawer"
|
| 191 |
+
},
|
| 192 |
+
"stack_2_left_group_3": {
|
| 193 |
+
"cls": "PanelCabinet"
|
| 194 |
+
},
|
| 195 |
+
"box_3_left_group": {
|
| 196 |
+
"cls": "Box"
|
| 197 |
+
},
|
| 198 |
+
"stack_3_left_group_base": {
|
| 199 |
+
"cls": "Box"
|
| 200 |
+
},
|
| 201 |
+
"stack_3_left_group_1": {
|
| 202 |
+
"cls": "Drawer"
|
| 203 |
+
},
|
| 204 |
+
"stack_3_left_group_2": {
|
| 205 |
+
"cls": "Drawer"
|
| 206 |
+
},
|
| 207 |
+
"stack_3_left_group_3": {
|
| 208 |
+
"cls": "Drawer"
|
| 209 |
+
},
|
| 210 |
+
"box_2_left_group": {
|
| 211 |
+
"cls": "Box"
|
| 212 |
+
},
|
| 213 |
+
"fridge_1_left_group": {
|
| 214 |
+
"cls": "FridgeFrenchDoor"
|
| 215 |
+
},
|
| 216 |
+
"fridge_1_housing_left_group": {
|
| 217 |
+
"cls": "HousingCabinet"
|
| 218 |
+
},
|
| 219 |
+
"hood_left_group": {
|
| 220 |
+
"cls": "Hood"
|
| 221 |
+
},
|
| 222 |
+
"cab_1_left_group": {
|
| 223 |
+
"cls": "HingeCabinet"
|
| 224 |
+
},
|
| 225 |
+
"cab_2_left_group": {
|
| 226 |
+
"cls": "SingleCabinet"
|
| 227 |
+
},
|
| 228 |
+
"cab_3_left_group": {
|
| 229 |
+
"cls": "HingeCabinet"
|
| 230 |
+
},
|
| 231 |
+
"toaster_oven_left_group": {
|
| 232 |
+
"cls": "ToasterOven"
|
| 233 |
+
},
|
| 234 |
+
"bottom_right_group_1_base": {
|
| 235 |
+
"cls": "Box"
|
| 236 |
+
},
|
| 237 |
+
"bottom_right_group_1_1": {
|
| 238 |
+
"cls": "Drawer"
|
| 239 |
+
},
|
| 240 |
+
"oven_right_group_1": {
|
| 241 |
+
"cls": "Oven"
|
| 242 |
+
},
|
| 243 |
+
"oven_housing_right_group_1": {
|
| 244 |
+
"cls": "HousingCabinet"
|
| 245 |
+
},
|
| 246 |
+
"microwave_right_group_1": {
|
| 247 |
+
"cls": "Microwave"
|
| 248 |
+
},
|
| 249 |
+
"microwave_housing_right_group_1": {
|
| 250 |
+
"cls": "HousingCabinet"
|
| 251 |
+
},
|
| 252 |
+
"top_right_group_1": {
|
| 253 |
+
"cls": "HingeCabinet"
|
| 254 |
+
},
|
| 255 |
+
"stack_1_right_group_1_base": {
|
| 256 |
+
"cls": "Box"
|
| 257 |
+
},
|
| 258 |
+
"stack_1_right_group_1_1": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
+
},
|
| 261 |
+
"stack_2_right_group_1_base": {
|
| 262 |
+
"cls": "Box"
|
| 263 |
+
},
|
| 264 |
+
"stack_2_right_group_1_1": {
|
| 265 |
+
"cls": "PanelCabinet"
|
| 266 |
+
},
|
| 267 |
+
"box_right_group_1": {
|
| 268 |
+
"cls": "Box"
|
| 269 |
+
},
|
| 270 |
+
"stack_3_right_group_1_base": {
|
| 271 |
+
"cls": "Box"
|
| 272 |
+
},
|
| 273 |
+
"stack_3_right_group_1_1": {
|
| 274 |
+
"cls": "HingeCabinet"
|
| 275 |
+
},
|
| 276 |
+
"counter_1_right_group_1": {
|
| 277 |
+
"cls": "Counter"
|
| 278 |
+
},
|
| 279 |
+
"cab_1_right_group_1": {
|
| 280 |
+
"cls": "HingeCabinet"
|
| 281 |
+
},
|
| 282 |
+
"cab_2_right_group_1": {
|
| 283 |
+
"cls": "SingleCabinet"
|
| 284 |
+
},
|
| 285 |
+
"cab_3_right_group_1": {
|
| 286 |
+
"cls": "HingeCabinet"
|
| 287 |
+
},
|
| 288 |
+
"island_island_group": {
|
| 289 |
+
"cls": "Counter"
|
| 290 |
+
},
|
| 291 |
+
"panel_stack_1_island_group_base": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"panel_stack_1_island_group_1": {
|
| 295 |
+
"cls": "PanelCabinet"
|
| 296 |
+
},
|
| 297 |
+
"stack_1_island_group_base": {
|
| 298 |
+
"cls": "Box"
|
| 299 |
+
},
|
| 300 |
+
"stack_1_island_group_1": {
|
| 301 |
+
"cls": "HingeCabinet"
|
| 302 |
+
},
|
| 303 |
+
"stack_1_island_group_2": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_2_island_group_base": {
|
| 307 |
+
"cls": "Box"
|
| 308 |
+
},
|
| 309 |
+
"stack_2_island_group_1": {
|
| 310 |
+
"cls": "HingeCabinet"
|
| 311 |
+
},
|
| 312 |
+
"stack_2_island_group_2": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
+
},
|
| 315 |
+
"stack_3_island_group_base": {
|
| 316 |
+
"cls": "Box"
|
| 317 |
+
},
|
| 318 |
+
"stack_3_island_group_1": {
|
| 319 |
+
"cls": "HingeCabinet"
|
| 320 |
+
},
|
| 321 |
+
"stack_3_island_group_2": {
|
| 322 |
+
"cls": "Drawer"
|
| 323 |
+
},
|
| 324 |
+
"stack_4_island_group_base": {
|
| 325 |
+
"cls": "Box"
|
| 326 |
+
},
|
| 327 |
+
"stack_4_island_group_1": {
|
| 328 |
+
"cls": "HingeCabinet"
|
| 329 |
+
},
|
| 330 |
+
"stack_4_island_group_2": {
|
| 331 |
+
"cls": "Drawer"
|
| 332 |
+
},
|
| 333 |
+
"panel_stack_2_island_group_base": {
|
| 334 |
+
"cls": "Box"
|
| 335 |
+
},
|
| 336 |
+
"panel_stack_2_island_group_1": {
|
| 337 |
+
"cls": "PanelCabinet"
|
| 338 |
+
},
|
| 339 |
+
"box_1_island_group": {
|
| 340 |
+
"cls": "Box"
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"gen_textures": {},
|
| 344 |
+
"lang": "Fully slide the oven rack out.",
|
| 345 |
+
"fixture_refs": {
|
| 346 |
+
"oven": "oven_right_group_1"
|
| 347 |
+
},
|
| 348 |
+
"cam_configs": {
|
| 349 |
+
"robot0_agentview_center": {
|
| 350 |
+
"pos": [
|
| 351 |
+
-0.6,
|
| 352 |
+
0.0,
|
| 353 |
+
1.15
|
| 354 |
+
],
|
| 355 |
+
"quat": [
|
| 356 |
+
0.636945903301239,
|
| 357 |
+
0.3325185477733612,
|
| 358 |
+
-0.3199238181114197,
|
| 359 |
+
-0.6175596117973328
|
| 360 |
+
],
|
| 361 |
+
"parent_body": "mobilebase0_support"
|
| 362 |
+
},
|
| 363 |
+
"robot0_agentview_left": {
|
| 364 |
+
"pos": [
|
| 365 |
+
-0.5,
|
| 366 |
+
0.35,
|
| 367 |
+
1.05
|
| 368 |
+
],
|
| 369 |
+
"quat": [
|
| 370 |
+
0.55623853,
|
| 371 |
+
0.29935253,
|
| 372 |
+
-0.37678665,
|
| 373 |
+
-0.6775092
|
| 374 |
+
],
|
| 375 |
+
"camera_attribs": {
|
| 376 |
+
"fovy": "60"
|
| 377 |
+
},
|
| 378 |
+
"parent_body": "mobilebase0_support"
|
| 379 |
+
},
|
| 380 |
+
"robot0_agentview_right": {
|
| 381 |
+
"pos": [
|
| 382 |
+
-0.5,
|
| 383 |
+
-0.35,
|
| 384 |
+
1.05
|
| 385 |
+
],
|
| 386 |
+
"quat": [
|
| 387 |
+
0.6775091886520386,
|
| 388 |
+
0.3767866790294647,
|
| 389 |
+
-0.2993525564670563,
|
| 390 |
+
-0.55623859167099
|
| 391 |
+
],
|
| 392 |
+
"camera_attribs": {
|
| 393 |
+
"fovy": "60"
|
| 394 |
+
},
|
| 395 |
+
"parent_body": "mobilebase0_support"
|
| 396 |
+
},
|
| 397 |
+
"robot0_frontview": {
|
| 398 |
+
"pos": [
|
| 399 |
+
-0.5,
|
| 400 |
+
0,
|
| 401 |
+
0.95
|
| 402 |
+
],
|
| 403 |
+
"quat": [
|
| 404 |
+
0.6088936924934387,
|
| 405 |
+
0.3814677894115448,
|
| 406 |
+
-0.3673907518386841,
|
| 407 |
+
-0.5905545353889465
|
| 408 |
+
],
|
| 409 |
+
"camera_attribs": {
|
| 410 |
+
"fovy": "60"
|
| 411 |
+
},
|
| 412 |
+
"parent_body": "mobilebase0_support"
|
| 413 |
+
},
|
| 414 |
+
"robot0_eye_in_hand": {
|
| 415 |
+
"pos": [
|
| 416 |
+
0.05,
|
| 417 |
+
0,
|
| 418 |
+
0
|
| 419 |
+
],
|
| 420 |
+
"quat": [
|
| 421 |
+
0,
|
| 422 |
+
0.707107,
|
| 423 |
+
0.707107,
|
| 424 |
+
0
|
| 425 |
+
],
|
| 426 |
+
"parent_body": "robot0_right_hand"
|
| 427 |
+
}
|
| 428 |
+
},
|
| 429 |
+
"init_robot_base_pos": [
|
| 430 |
+
4.272759314522296,
|
| 431 |
+
-1.84643326956023,
|
| 432 |
+
0.0
|
| 433 |
+
],
|
| 434 |
+
"init_robot_base_ori": [
|
| 435 |
+
0.0,
|
| 436 |
+
0.0,
|
| 437 |
+
3.422854288892552e-08
|
| 438 |
+
],
|
| 439 |
+
"should_pull": true,
|
| 440 |
+
"rack_level": 1
|
| 441 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000021/ep_meta.json
ADDED
|
@@ -0,0 +1,417 @@
|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
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|
|
|
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
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|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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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": 17,
|
| 3 |
+
"style_id": 49,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"window_group_room": {
|
| 25 |
+
"cls": "Window"
|
| 26 |
+
},
|
| 27 |
+
"floor_1_room": {
|
| 28 |
+
"cls": "Floor"
|
| 29 |
+
},
|
| 30 |
+
"floor_1_backing_room": {
|
| 31 |
+
"cls": "Floor"
|
| 32 |
+
},
|
| 33 |
+
"wall_accessory_1_room": {
|
| 34 |
+
"cls": "WallAccessory"
|
| 35 |
+
},
|
| 36 |
+
"wall_accessory_2_room": {
|
| 37 |
+
"cls": "WallAccessory"
|
| 38 |
+
},
|
| 39 |
+
"wall_accessory_3_room": {
|
| 40 |
+
"cls": "WallAccessory"
|
| 41 |
+
},
|
| 42 |
+
"wall_accessory_4_room": {
|
| 43 |
+
"cls": "WallAccessory"
|
| 44 |
+
},
|
| 45 |
+
"light_switch_1_room": {
|
| 46 |
+
"cls": "WallAccessory"
|
| 47 |
+
},
|
| 48 |
+
"wall_accessory_5_room": {
|
| 49 |
+
"cls": "WallAccessory"
|
| 50 |
+
},
|
| 51 |
+
"wall_accessory_6_room": {
|
| 52 |
+
"cls": "WallAccessory"
|
| 53 |
+
},
|
| 54 |
+
"stool_1_room": {
|
| 55 |
+
"cls": "Stool"
|
| 56 |
+
},
|
| 57 |
+
"stool_2_room": {
|
| 58 |
+
"cls": "Stool"
|
| 59 |
+
},
|
| 60 |
+
"stool_3_room": {
|
| 61 |
+
"cls": "Stool"
|
| 62 |
+
},
|
| 63 |
+
"counter_corner_1_main_group_1": {
|
| 64 |
+
"cls": "Counter"
|
| 65 |
+
},
|
| 66 |
+
"stovetop_main_group_1": {
|
| 67 |
+
"cls": "Stovetop"
|
| 68 |
+
},
|
| 69 |
+
"counter_1_main_group_1": {
|
| 70 |
+
"cls": "Counter"
|
| 71 |
+
},
|
| 72 |
+
"counter_corner_2_main_group_1": {
|
| 73 |
+
"cls": "Counter"
|
| 74 |
+
},
|
| 75 |
+
"box_1_main_group_1": {
|
| 76 |
+
"cls": "Box"
|
| 77 |
+
},
|
| 78 |
+
"stack_1_main_group_1_base": {
|
| 79 |
+
"cls": "Box"
|
| 80 |
+
},
|
| 81 |
+
"stack_1_main_group_1_1": {
|
| 82 |
+
"cls": "SingleCabinet"
|
| 83 |
+
},
|
| 84 |
+
"stack_2_main_group_1_base": {
|
| 85 |
+
"cls": "Box"
|
| 86 |
+
},
|
| 87 |
+
"stack_2_main_group_1_1": {
|
| 88 |
+
"cls": "Drawer"
|
| 89 |
+
},
|
| 90 |
+
"stack_2_main_group_1_2": {
|
| 91 |
+
"cls": "Drawer"
|
| 92 |
+
},
|
| 93 |
+
"stack_2_main_group_1_3": {
|
| 94 |
+
"cls": "Drawer"
|
| 95 |
+
},
|
| 96 |
+
"stack_3_main_group_1_base": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"stack_3_main_group_1_1": {
|
| 100 |
+
"cls": "SingleCabinet"
|
| 101 |
+
},
|
| 102 |
+
"stack_4_main_group_1_base": {
|
| 103 |
+
"cls": "Box"
|
| 104 |
+
},
|
| 105 |
+
"stack_4_main_group_1_1": {
|
| 106 |
+
"cls": "HingeCabinet"
|
| 107 |
+
},
|
| 108 |
+
"stack_5_main_group_1_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_5_main_group_1_1": {
|
| 112 |
+
"cls": "SingleCabinet"
|
| 113 |
+
},
|
| 114 |
+
"stack_6_main_group_1_base": {
|
| 115 |
+
"cls": "Box"
|
| 116 |
+
},
|
| 117 |
+
"stack_6_main_group_1_1": {
|
| 118 |
+
"cls": "Drawer"
|
| 119 |
+
},
|
| 120 |
+
"stack_6_main_group_1_2": {
|
| 121 |
+
"cls": "Drawer"
|
| 122 |
+
},
|
| 123 |
+
"stack_6_main_group_1_3": {
|
| 124 |
+
"cls": "Drawer"
|
| 125 |
+
},
|
| 126 |
+
"stack_7_main_group_1_base": {
|
| 127 |
+
"cls": "Box"
|
| 128 |
+
},
|
| 129 |
+
"stack_7_main_group_1_1": {
|
| 130 |
+
"cls": "SingleCabinet"
|
| 131 |
+
},
|
| 132 |
+
"box_2_main_group_1": {
|
| 133 |
+
"cls": "Box"
|
| 134 |
+
},
|
| 135 |
+
"hood_main_group_1": {
|
| 136 |
+
"cls": "Hood"
|
| 137 |
+
},
|
| 138 |
+
"cab_corner_main_group_1": {
|
| 139 |
+
"cls": "Box"
|
| 140 |
+
},
|
| 141 |
+
"cab_1_main_group_1": {
|
| 142 |
+
"cls": "HingeCabinet"
|
| 143 |
+
},
|
| 144 |
+
"cab_2_main_group_1": {
|
| 145 |
+
"cls": "HingeCabinet"
|
| 146 |
+
},
|
| 147 |
+
"cab_3_main_group_1": {
|
| 148 |
+
"cls": "SingleCabinet"
|
| 149 |
+
},
|
| 150 |
+
"cab_4_main_group_1": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
+
},
|
| 153 |
+
"cab_5_main_group_1": {
|
| 154 |
+
"cls": "HingeCabinet"
|
| 155 |
+
},
|
| 156 |
+
"cab_6_main_group_1": {
|
| 157 |
+
"cls": "SingleCabinet"
|
| 158 |
+
},
|
| 159 |
+
"cab_corner_2_main_group_1": {
|
| 160 |
+
"cls": "Box"
|
| 161 |
+
},
|
| 162 |
+
"coffee_machine_main_group_1": {
|
| 163 |
+
"cls": "CoffeeMachine"
|
| 164 |
+
},
|
| 165 |
+
"toaster_main_group_1": {
|
| 166 |
+
"cls": "Toaster"
|
| 167 |
+
},
|
| 168 |
+
"paper_towel_main_group_1": {
|
| 169 |
+
"cls": "Accessory"
|
| 170 |
+
},
|
| 171 |
+
"knife_block_main_group_1": {
|
| 172 |
+
"cls": "Accessory"
|
| 173 |
+
},
|
| 174 |
+
"counter_1_left_group_1": {
|
| 175 |
+
"cls": "Counter"
|
| 176 |
+
},
|
| 177 |
+
"stack_1_left_group_1_base": {
|
| 178 |
+
"cls": "Box"
|
| 179 |
+
},
|
| 180 |
+
"stack_1_left_group_1_1": {
|
| 181 |
+
"cls": "Drawer"
|
| 182 |
+
},
|
| 183 |
+
"stack_1_left_group_1_2": {
|
| 184 |
+
"cls": "Drawer"
|
| 185 |
+
},
|
| 186 |
+
"stack_1_left_group_1_3": {
|
| 187 |
+
"cls": "Drawer"
|
| 188 |
+
},
|
| 189 |
+
"box_left_group_1": {
|
| 190 |
+
"cls": "Box"
|
| 191 |
+
},
|
| 192 |
+
"bottom_left_group_1_base": {
|
| 193 |
+
"cls": "Box"
|
| 194 |
+
},
|
| 195 |
+
"bottom_left_group_1_1": {
|
| 196 |
+
"cls": "Drawer"
|
| 197 |
+
},
|
| 198 |
+
"oven_left_group_1": {
|
| 199 |
+
"cls": "Oven"
|
| 200 |
+
},
|
| 201 |
+
"oven_housing_left_group_1": {
|
| 202 |
+
"cls": "HousingCabinet"
|
| 203 |
+
},
|
| 204 |
+
"microwave_left_group_1": {
|
| 205 |
+
"cls": "Microwave"
|
| 206 |
+
},
|
| 207 |
+
"microwave_housing_left_group_1": {
|
| 208 |
+
"cls": "HousingCabinet"
|
| 209 |
+
},
|
| 210 |
+
"top_left_group_1": {
|
| 211 |
+
"cls": "HingeCabinet"
|
| 212 |
+
},
|
| 213 |
+
"fridge_1_left_group_1": {
|
| 214 |
+
"cls": "FridgeBottomFreezer"
|
| 215 |
+
},
|
| 216 |
+
"fridge_1_housing_left_group_1": {
|
| 217 |
+
"cls": "HousingCabinet"
|
| 218 |
+
},
|
| 219 |
+
"fridge_cabinet_left_group_1": {
|
| 220 |
+
"cls": "HingeCabinet"
|
| 221 |
+
},
|
| 222 |
+
"cab_1_left_group_1": {
|
| 223 |
+
"cls": "HingeCabinet"
|
| 224 |
+
},
|
| 225 |
+
"toaster_oven_left_group_1": {
|
| 226 |
+
"cls": "ToasterOven"
|
| 227 |
+
},
|
| 228 |
+
"box_right_group_1": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
+
},
|
| 231 |
+
"stack_1_right_group_1_base": {
|
| 232 |
+
"cls": "Box"
|
| 233 |
+
},
|
| 234 |
+
"stack_1_right_group_1_1": {
|
| 235 |
+
"cls": "Drawer"
|
| 236 |
+
},
|
| 237 |
+
"stack_1_right_group_1_2": {
|
| 238 |
+
"cls": "Drawer"
|
| 239 |
+
},
|
| 240 |
+
"stack_1_right_group_1_3": {
|
| 241 |
+
"cls": "Drawer"
|
| 242 |
+
},
|
| 243 |
+
"stack_2_right_group_1_base": {
|
| 244 |
+
"cls": "Box"
|
| 245 |
+
},
|
| 246 |
+
"stack_2_right_group_1_1": {
|
| 247 |
+
"cls": "Drawer"
|
| 248 |
+
},
|
| 249 |
+
"stack_2_right_group_1_2": {
|
| 250 |
+
"cls": "Drawer"
|
| 251 |
+
},
|
| 252 |
+
"stack_2_right_group_1_3": {
|
| 253 |
+
"cls": "Drawer"
|
| 254 |
+
},
|
| 255 |
+
"stack_3_right_group_1_base": {
|
| 256 |
+
"cls": "Box"
|
| 257 |
+
},
|
| 258 |
+
"stack_3_right_group_1_1": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
+
},
|
| 261 |
+
"dishwasher_1_right_group_1": {
|
| 262 |
+
"cls": "Dishwasher"
|
| 263 |
+
},
|
| 264 |
+
"stack_4_right_group_1_base": {
|
| 265 |
+
"cls": "Box"
|
| 266 |
+
},
|
| 267 |
+
"stack_4_right_group_1_1": {
|
| 268 |
+
"cls": "Drawer"
|
| 269 |
+
},
|
| 270 |
+
"stack_4_right_group_1_2": {
|
| 271 |
+
"cls": "Drawer"
|
| 272 |
+
},
|
| 273 |
+
"stack_4_right_group_1_3": {
|
| 274 |
+
"cls": "Drawer"
|
| 275 |
+
},
|
| 276 |
+
"sink_1_right_group_1": {
|
| 277 |
+
"cls": "Sink"
|
| 278 |
+
},
|
| 279 |
+
"counter_1_right_group_1": {
|
| 280 |
+
"cls": "Counter"
|
| 281 |
+
},
|
| 282 |
+
"cab_1_right_group_1": {
|
| 283 |
+
"cls": "OpenCabinet"
|
| 284 |
+
},
|
| 285 |
+
"cab_2_right_group_1": {
|
| 286 |
+
"cls": "OpenCabinet"
|
| 287 |
+
},
|
| 288 |
+
"island_island_group_1": {
|
| 289 |
+
"cls": "Counter"
|
| 290 |
+
},
|
| 291 |
+
"stack_1_island_group_1_base": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"stack_1_island_group_1_1": {
|
| 295 |
+
"cls": "Drawer"
|
| 296 |
+
},
|
| 297 |
+
"stack_1_island_group_1_2": {
|
| 298 |
+
"cls": "Drawer"
|
| 299 |
+
},
|
| 300 |
+
"stack_2_island_group_1_base": {
|
| 301 |
+
"cls": "Box"
|
| 302 |
+
},
|
| 303 |
+
"stack_2_island_group_1_1": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_2_island_group_1_2": {
|
| 307 |
+
"cls": "Drawer"
|
| 308 |
+
},
|
| 309 |
+
"stack_3_island_group_1_base": {
|
| 310 |
+
"cls": "Box"
|
| 311 |
+
},
|
| 312 |
+
"stack_3_island_group_1_1": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
+
},
|
| 315 |
+
"stack_3_island_group_1_2": {
|
| 316 |
+
"cls": "Drawer"
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"gen_textures": {},
|
| 320 |
+
"lang": "Fully slide the oven rack out.",
|
| 321 |
+
"fixture_refs": {
|
| 322 |
+
"oven": "oven_left_group_1"
|
| 323 |
+
},
|
| 324 |
+
"cam_configs": {
|
| 325 |
+
"robot0_agentview_center": {
|
| 326 |
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"pos": [
|
| 327 |
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-0.6,
|
| 328 |
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0.0,
|
| 329 |
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1.15
|
| 330 |
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],
|
| 331 |
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"quat": [
|
| 332 |
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|
| 333 |
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| 334 |
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|
| 335 |
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|
| 336 |
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],
|
| 337 |
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"parent_body": "mobilebase0_support"
|
| 338 |
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},
|
| 339 |
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"robot0_agentview_left": {
|
| 340 |
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"pos": [
|
| 341 |
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-0.5,
|
| 342 |
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0.35,
|
| 343 |
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1.05
|
| 344 |
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],
|
| 345 |
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"quat": [
|
| 346 |
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|
| 347 |
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|
| 348 |
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|
| 349 |
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-0.6775092
|
| 350 |
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],
|
| 351 |
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"camera_attribs": {
|
| 352 |
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"fovy": "60"
|
| 353 |
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},
|
| 354 |
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"parent_body": "mobilebase0_support"
|
| 355 |
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},
|
| 356 |
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"robot0_agentview_right": {
|
| 357 |
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"pos": [
|
| 358 |
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-0.5,
|
| 359 |
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-0.35,
|
| 360 |
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1.05
|
| 361 |
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],
|
| 362 |
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"quat": [
|
| 363 |
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|
| 364 |
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|
| 365 |
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|
| 366 |
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|
| 367 |
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],
|
| 368 |
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"camera_attribs": {
|
| 369 |
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"fovy": "60"
|
| 370 |
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},
|
| 371 |
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"parent_body": "mobilebase0_support"
|
| 372 |
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},
|
| 373 |
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"robot0_frontview": {
|
| 374 |
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"pos": [
|
| 375 |
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-0.5,
|
| 376 |
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0,
|
| 377 |
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0.95
|
| 378 |
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],
|
| 379 |
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"quat": [
|
| 380 |
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|
| 381 |
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|
| 382 |
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|
| 383 |
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|
| 384 |
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],
|
| 385 |
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"camera_attribs": {
|
| 386 |
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"fovy": "60"
|
| 387 |
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},
|
| 388 |
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"parent_body": "mobilebase0_support"
|
| 389 |
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},
|
| 390 |
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"robot0_eye_in_hand": {
|
| 391 |
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"pos": [
|
| 392 |
+
0.05,
|
| 393 |
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0,
|
| 394 |
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0
|
| 395 |
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],
|
| 396 |
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"quat": [
|
| 397 |
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0,
|
| 398 |
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|
| 399 |
+
0.707107,
|
| 400 |
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0
|
| 401 |
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],
|
| 402 |
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"parent_body": "robot0_right_hand"
|
| 403 |
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}
|
| 404 |
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},
|
| 405 |
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"init_robot_base_pos": [
|
| 406 |
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1.2451794642692433,
|
| 407 |
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|
| 408 |
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0.0
|
| 409 |
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],
|
| 410 |
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"init_robot_base_ori": [
|
| 411 |
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|
| 412 |
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0.0,
|
| 413 |
+
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|
| 414 |
+
],
|
| 415 |
+
"should_pull": true,
|
| 416 |
+
"rack_level": 1
|
| 417 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000026/ep_meta.json
ADDED
|
@@ -0,0 +1,441 @@
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|
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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": 12,
|
| 3 |
+
"style_id": 56,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_right_2_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_right_2_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_right_3_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_right_3_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"floor_1_room": {
|
| 37 |
+
"cls": "Floor"
|
| 38 |
+
},
|
| 39 |
+
"floor_1_backing_room": {
|
| 40 |
+
"cls": "Floor"
|
| 41 |
+
},
|
| 42 |
+
"wall_accessory_1_room": {
|
| 43 |
+
"cls": "WallAccessory"
|
| 44 |
+
},
|
| 45 |
+
"wall_accessory_2_room": {
|
| 46 |
+
"cls": "WallAccessory"
|
| 47 |
+
},
|
| 48 |
+
"wall_accessory_3_room": {
|
| 49 |
+
"cls": "WallAccessory"
|
| 50 |
+
},
|
| 51 |
+
"light_switch_1_room": {
|
| 52 |
+
"cls": "WallAccessory"
|
| 53 |
+
},
|
| 54 |
+
"wall_accessory_4_room": {
|
| 55 |
+
"cls": "WallAccessory"
|
| 56 |
+
},
|
| 57 |
+
"wall_accessory_5_room": {
|
| 58 |
+
"cls": "WallAccessory"
|
| 59 |
+
},
|
| 60 |
+
"window_group_room": {
|
| 61 |
+
"cls": "Window"
|
| 62 |
+
},
|
| 63 |
+
"stool_1_room": {
|
| 64 |
+
"cls": "Stool"
|
| 65 |
+
},
|
| 66 |
+
"stool_2_room": {
|
| 67 |
+
"cls": "Stool"
|
| 68 |
+
},
|
| 69 |
+
"stool_3_room": {
|
| 70 |
+
"cls": "Stool"
|
| 71 |
+
},
|
| 72 |
+
"stool_4_room": {
|
| 73 |
+
"cls": "Stool"
|
| 74 |
+
},
|
| 75 |
+
"stool_5_room": {
|
| 76 |
+
"cls": "Stool"
|
| 77 |
+
},
|
| 78 |
+
"stool_6_room": {
|
| 79 |
+
"cls": "Stool"
|
| 80 |
+
},
|
| 81 |
+
"counter_corner_1_main_group": {
|
| 82 |
+
"cls": "Counter"
|
| 83 |
+
},
|
| 84 |
+
"sink_1_main_group": {
|
| 85 |
+
"cls": "Sink"
|
| 86 |
+
},
|
| 87 |
+
"counter_1_main_group": {
|
| 88 |
+
"cls": "Counter"
|
| 89 |
+
},
|
| 90 |
+
"counter_corner_2_main_group": {
|
| 91 |
+
"cls": "Counter"
|
| 92 |
+
},
|
| 93 |
+
"box_1_main_group": {
|
| 94 |
+
"cls": "Box"
|
| 95 |
+
},
|
| 96 |
+
"stack_1_main_group_base": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"stack_1_main_group_1": {
|
| 100 |
+
"cls": "Drawer"
|
| 101 |
+
},
|
| 102 |
+
"stack_1_main_group_2": {
|
| 103 |
+
"cls": "Drawer"
|
| 104 |
+
},
|
| 105 |
+
"stack_1_main_group_3": {
|
| 106 |
+
"cls": "Drawer"
|
| 107 |
+
},
|
| 108 |
+
"stack_2_main_group_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_2_main_group_1": {
|
| 112 |
+
"cls": "SingleCabinet"
|
| 113 |
+
},
|
| 114 |
+
"stack_2_main_group_2": {
|
| 115 |
+
"cls": "Drawer"
|
| 116 |
+
},
|
| 117 |
+
"stack_3_main_group_base": {
|
| 118 |
+
"cls": "Box"
|
| 119 |
+
},
|
| 120 |
+
"stack_3_main_group_1": {
|
| 121 |
+
"cls": "HingeCabinet"
|
| 122 |
+
},
|
| 123 |
+
"dishwasher_1_main_group": {
|
| 124 |
+
"cls": "Dishwasher"
|
| 125 |
+
},
|
| 126 |
+
"stack_4_main_group_base": {
|
| 127 |
+
"cls": "Box"
|
| 128 |
+
},
|
| 129 |
+
"stack_4_main_group_1": {
|
| 130 |
+
"cls": "SingleCabinet"
|
| 131 |
+
},
|
| 132 |
+
"stack_4_main_group_2": {
|
| 133 |
+
"cls": "Drawer"
|
| 134 |
+
},
|
| 135 |
+
"stack_5_main_group_base": {
|
| 136 |
+
"cls": "Box"
|
| 137 |
+
},
|
| 138 |
+
"stack_5_main_group_1": {
|
| 139 |
+
"cls": "SingleCabinet"
|
| 140 |
+
},
|
| 141 |
+
"box_2_main_group": {
|
| 142 |
+
"cls": "Box"
|
| 143 |
+
},
|
| 144 |
+
"top_corner_1_main_group": {
|
| 145 |
+
"cls": "Box"
|
| 146 |
+
},
|
| 147 |
+
"cab_1_main_group": {
|
| 148 |
+
"cls": "HingeCabinet"
|
| 149 |
+
},
|
| 150 |
+
"cab_2_main_group": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
+
},
|
| 153 |
+
"top_corner_2_main_group": {
|
| 154 |
+
"cls": "Box"
|
| 155 |
+
},
|
| 156 |
+
"paper_towel_main_group": {
|
| 157 |
+
"cls": "Accessory"
|
| 158 |
+
},
|
| 159 |
+
"coffee_machine_main_group": {
|
| 160 |
+
"cls": "CoffeeMachine"
|
| 161 |
+
},
|
| 162 |
+
"toaster_main_group": {
|
| 163 |
+
"cls": "Toaster"
|
| 164 |
+
},
|
| 165 |
+
"knife_block_main_group": {
|
| 166 |
+
"cls": "Accessory"
|
| 167 |
+
},
|
| 168 |
+
"stovetop_left_group": {
|
| 169 |
+
"cls": "Stovetop"
|
| 170 |
+
},
|
| 171 |
+
"counter_1_left_group": {
|
| 172 |
+
"cls": "Counter"
|
| 173 |
+
},
|
| 174 |
+
"box_1_left_group": {
|
| 175 |
+
"cls": "Box"
|
| 176 |
+
},
|
| 177 |
+
"stack_1_left_group_base": {
|
| 178 |
+
"cls": "Box"
|
| 179 |
+
},
|
| 180 |
+
"stack_1_left_group_1": {
|
| 181 |
+
"cls": "SingleCabinet"
|
| 182 |
+
},
|
| 183 |
+
"stack_2_left_group_base": {
|
| 184 |
+
"cls": "Box"
|
| 185 |
+
},
|
| 186 |
+
"stack_2_left_group_1": {
|
| 187 |
+
"cls": "Drawer"
|
| 188 |
+
},
|
| 189 |
+
"stack_2_left_group_2": {
|
| 190 |
+
"cls": "Drawer"
|
| 191 |
+
},
|
| 192 |
+
"stack_2_left_group_3": {
|
| 193 |
+
"cls": "PanelCabinet"
|
| 194 |
+
},
|
| 195 |
+
"box_3_left_group": {
|
| 196 |
+
"cls": "Box"
|
| 197 |
+
},
|
| 198 |
+
"stack_3_left_group_base": {
|
| 199 |
+
"cls": "Box"
|
| 200 |
+
},
|
| 201 |
+
"stack_3_left_group_1": {
|
| 202 |
+
"cls": "Drawer"
|
| 203 |
+
},
|
| 204 |
+
"stack_3_left_group_2": {
|
| 205 |
+
"cls": "Drawer"
|
| 206 |
+
},
|
| 207 |
+
"stack_3_left_group_3": {
|
| 208 |
+
"cls": "Drawer"
|
| 209 |
+
},
|
| 210 |
+
"box_2_left_group": {
|
| 211 |
+
"cls": "Box"
|
| 212 |
+
},
|
| 213 |
+
"fridge_1_left_group": {
|
| 214 |
+
"cls": "FridgeFrenchDoor"
|
| 215 |
+
},
|
| 216 |
+
"fridge_1_housing_left_group": {
|
| 217 |
+
"cls": "HousingCabinet"
|
| 218 |
+
},
|
| 219 |
+
"hood_left_group": {
|
| 220 |
+
"cls": "Hood"
|
| 221 |
+
},
|
| 222 |
+
"cab_1_left_group": {
|
| 223 |
+
"cls": "HingeCabinet"
|
| 224 |
+
},
|
| 225 |
+
"cab_2_left_group": {
|
| 226 |
+
"cls": "SingleCabinet"
|
| 227 |
+
},
|
| 228 |
+
"cab_3_left_group": {
|
| 229 |
+
"cls": "HingeCabinet"
|
| 230 |
+
},
|
| 231 |
+
"toaster_oven_left_group": {
|
| 232 |
+
"cls": "ToasterOven"
|
| 233 |
+
},
|
| 234 |
+
"bottom_right_group_1_base": {
|
| 235 |
+
"cls": "Box"
|
| 236 |
+
},
|
| 237 |
+
"bottom_right_group_1_1": {
|
| 238 |
+
"cls": "Drawer"
|
| 239 |
+
},
|
| 240 |
+
"oven_right_group_1": {
|
| 241 |
+
"cls": "Oven"
|
| 242 |
+
},
|
| 243 |
+
"oven_housing_right_group_1": {
|
| 244 |
+
"cls": "HousingCabinet"
|
| 245 |
+
},
|
| 246 |
+
"microwave_right_group_1": {
|
| 247 |
+
"cls": "Microwave"
|
| 248 |
+
},
|
| 249 |
+
"microwave_housing_right_group_1": {
|
| 250 |
+
"cls": "HousingCabinet"
|
| 251 |
+
},
|
| 252 |
+
"top_right_group_1": {
|
| 253 |
+
"cls": "HingeCabinet"
|
| 254 |
+
},
|
| 255 |
+
"stack_1_right_group_1_base": {
|
| 256 |
+
"cls": "Box"
|
| 257 |
+
},
|
| 258 |
+
"stack_1_right_group_1_1": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
+
},
|
| 261 |
+
"stack_2_right_group_1_base": {
|
| 262 |
+
"cls": "Box"
|
| 263 |
+
},
|
| 264 |
+
"stack_2_right_group_1_1": {
|
| 265 |
+
"cls": "PanelCabinet"
|
| 266 |
+
},
|
| 267 |
+
"box_right_group_1": {
|
| 268 |
+
"cls": "Box"
|
| 269 |
+
},
|
| 270 |
+
"stack_3_right_group_1_base": {
|
| 271 |
+
"cls": "Box"
|
| 272 |
+
},
|
| 273 |
+
"stack_3_right_group_1_1": {
|
| 274 |
+
"cls": "HingeCabinet"
|
| 275 |
+
},
|
| 276 |
+
"counter_1_right_group_1": {
|
| 277 |
+
"cls": "Counter"
|
| 278 |
+
},
|
| 279 |
+
"cab_1_right_group_1": {
|
| 280 |
+
"cls": "HingeCabinet"
|
| 281 |
+
},
|
| 282 |
+
"cab_2_right_group_1": {
|
| 283 |
+
"cls": "SingleCabinet"
|
| 284 |
+
},
|
| 285 |
+
"cab_3_right_group_1": {
|
| 286 |
+
"cls": "HingeCabinet"
|
| 287 |
+
},
|
| 288 |
+
"island_island_group": {
|
| 289 |
+
"cls": "Counter"
|
| 290 |
+
},
|
| 291 |
+
"panel_stack_1_island_group_base": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"panel_stack_1_island_group_1": {
|
| 295 |
+
"cls": "PanelCabinet"
|
| 296 |
+
},
|
| 297 |
+
"stack_1_island_group_base": {
|
| 298 |
+
"cls": "Box"
|
| 299 |
+
},
|
| 300 |
+
"stack_1_island_group_1": {
|
| 301 |
+
"cls": "HingeCabinet"
|
| 302 |
+
},
|
| 303 |
+
"stack_1_island_group_2": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_2_island_group_base": {
|
| 307 |
+
"cls": "Box"
|
| 308 |
+
},
|
| 309 |
+
"stack_2_island_group_1": {
|
| 310 |
+
"cls": "HingeCabinet"
|
| 311 |
+
},
|
| 312 |
+
"stack_2_island_group_2": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
+
},
|
| 315 |
+
"stack_3_island_group_base": {
|
| 316 |
+
"cls": "Box"
|
| 317 |
+
},
|
| 318 |
+
"stack_3_island_group_1": {
|
| 319 |
+
"cls": "HingeCabinet"
|
| 320 |
+
},
|
| 321 |
+
"stack_3_island_group_2": {
|
| 322 |
+
"cls": "Drawer"
|
| 323 |
+
},
|
| 324 |
+
"stack_4_island_group_base": {
|
| 325 |
+
"cls": "Box"
|
| 326 |
+
},
|
| 327 |
+
"stack_4_island_group_1": {
|
| 328 |
+
"cls": "HingeCabinet"
|
| 329 |
+
},
|
| 330 |
+
"stack_4_island_group_2": {
|
| 331 |
+
"cls": "Drawer"
|
| 332 |
+
},
|
| 333 |
+
"panel_stack_2_island_group_base": {
|
| 334 |
+
"cls": "Box"
|
| 335 |
+
},
|
| 336 |
+
"panel_stack_2_island_group_1": {
|
| 337 |
+
"cls": "PanelCabinet"
|
| 338 |
+
},
|
| 339 |
+
"box_1_island_group": {
|
| 340 |
+
"cls": "Box"
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"gen_textures": {},
|
| 344 |
+
"lang": "Fully slide the bottom oven rack in.",
|
| 345 |
+
"fixture_refs": {
|
| 346 |
+
"oven": "oven_right_group_1"
|
| 347 |
+
},
|
| 348 |
+
"cam_configs": {
|
| 349 |
+
"robot0_agentview_center": {
|
| 350 |
+
"pos": [
|
| 351 |
+
-0.6,
|
| 352 |
+
0.0,
|
| 353 |
+
1.15
|
| 354 |
+
],
|
| 355 |
+
"quat": [
|
| 356 |
+
0.636945903301239,
|
| 357 |
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0.3325185477733612,
|
| 358 |
+
-0.3199238181114197,
|
| 359 |
+
-0.6175596117973328
|
| 360 |
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],
|
| 361 |
+
"parent_body": "mobilebase0_support"
|
| 362 |
+
},
|
| 363 |
+
"robot0_agentview_left": {
|
| 364 |
+
"pos": [
|
| 365 |
+
-0.5,
|
| 366 |
+
0.35,
|
| 367 |
+
1.05
|
| 368 |
+
],
|
| 369 |
+
"quat": [
|
| 370 |
+
0.55623853,
|
| 371 |
+
0.29935253,
|
| 372 |
+
-0.37678665,
|
| 373 |
+
-0.6775092
|
| 374 |
+
],
|
| 375 |
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"camera_attribs": {
|
| 376 |
+
"fovy": "60"
|
| 377 |
+
},
|
| 378 |
+
"parent_body": "mobilebase0_support"
|
| 379 |
+
},
|
| 380 |
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"robot0_agentview_right": {
|
| 381 |
+
"pos": [
|
| 382 |
+
-0.5,
|
| 383 |
+
-0.35,
|
| 384 |
+
1.05
|
| 385 |
+
],
|
| 386 |
+
"quat": [
|
| 387 |
+
0.6775091886520386,
|
| 388 |
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0.3767866790294647,
|
| 389 |
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-0.2993525564670563,
|
| 390 |
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-0.55623859167099
|
| 391 |
+
],
|
| 392 |
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"camera_attribs": {
|
| 393 |
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"fovy": "60"
|
| 394 |
+
},
|
| 395 |
+
"parent_body": "mobilebase0_support"
|
| 396 |
+
},
|
| 397 |
+
"robot0_frontview": {
|
| 398 |
+
"pos": [
|
| 399 |
+
-0.5,
|
| 400 |
+
0,
|
| 401 |
+
0.95
|
| 402 |
+
],
|
| 403 |
+
"quat": [
|
| 404 |
+
0.6088936924934387,
|
| 405 |
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0.3814677894115448,
|
| 406 |
+
-0.3673907518386841,
|
| 407 |
+
-0.5905545353889465
|
| 408 |
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],
|
| 409 |
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"camera_attribs": {
|
| 410 |
+
"fovy": "60"
|
| 411 |
+
},
|
| 412 |
+
"parent_body": "mobilebase0_support"
|
| 413 |
+
},
|
| 414 |
+
"robot0_eye_in_hand": {
|
| 415 |
+
"pos": [
|
| 416 |
+
0.05,
|
| 417 |
+
0,
|
| 418 |
+
0
|
| 419 |
+
],
|
| 420 |
+
"quat": [
|
| 421 |
+
0,
|
| 422 |
+
0.707107,
|
| 423 |
+
0.707107,
|
| 424 |
+
0
|
| 425 |
+
],
|
| 426 |
+
"parent_body": "robot0_right_hand"
|
| 427 |
+
}
|
| 428 |
+
},
|
| 429 |
+
"init_robot_base_pos": [
|
| 430 |
+
4.311922883440836,
|
| 431 |
+
-1.8696799440618865,
|
| 432 |
+
0.0
|
| 433 |
+
],
|
| 434 |
+
"init_robot_base_ori": [
|
| 435 |
+
0.0,
|
| 436 |
+
0.0,
|
| 437 |
+
3.422854288892552e-08
|
| 438 |
+
],
|
| 439 |
+
"should_pull": false,
|
| 440 |
+
"rack_level": 0
|
| 441 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000034/ep_meta.json
ADDED
|
@@ -0,0 +1,279 @@
|
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|
|
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|
|
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|
|
|
|
|
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|
|
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|
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|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
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|
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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": 37,
|
| 3 |
+
"style_id": 54,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_left_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_left_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_main_2_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_main_2_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_main_3_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_main_3_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"floor_1_room": {
|
| 31 |
+
"cls": "Floor"
|
| 32 |
+
},
|
| 33 |
+
"floor_1_backing_room": {
|
| 34 |
+
"cls": "Floor"
|
| 35 |
+
},
|
| 36 |
+
"wallaccessory_1_room": {
|
| 37 |
+
"cls": "WallAccessory"
|
| 38 |
+
},
|
| 39 |
+
"wallaccessory_2_room": {
|
| 40 |
+
"cls": "WallAccessory"
|
| 41 |
+
},
|
| 42 |
+
"stool_1_room": {
|
| 43 |
+
"cls": "Stool"
|
| 44 |
+
},
|
| 45 |
+
"stool_2_room": {
|
| 46 |
+
"cls": "Stool"
|
| 47 |
+
},
|
| 48 |
+
"stool_3_room": {
|
| 49 |
+
"cls": "Stool"
|
| 50 |
+
},
|
| 51 |
+
"stovetop_left_group_1": {
|
| 52 |
+
"cls": "Stovetop"
|
| 53 |
+
},
|
| 54 |
+
"counter_1_left_group_1": {
|
| 55 |
+
"cls": "Counter"
|
| 56 |
+
},
|
| 57 |
+
"hingecabinet_2_left_group_1": {
|
| 58 |
+
"cls": "HingeCabinet"
|
| 59 |
+
},
|
| 60 |
+
"hingecabinet_1_left_group_1": {
|
| 61 |
+
"cls": "HingeCabinet"
|
| 62 |
+
},
|
| 63 |
+
"microwave_left_group_1": {
|
| 64 |
+
"cls": "Microwave"
|
| 65 |
+
},
|
| 66 |
+
"cab_micro_left_group_1": {
|
| 67 |
+
"cls": "HingeCabinet"
|
| 68 |
+
},
|
| 69 |
+
"cube_1_left_group_1": {
|
| 70 |
+
"cls": "Box"
|
| 71 |
+
},
|
| 72 |
+
"fridgefrenchdoor_left_group_1": {
|
| 73 |
+
"cls": "FridgeFrenchDoor"
|
| 74 |
+
},
|
| 75 |
+
"fridgefrenchdoor_housing_left_group_1": {
|
| 76 |
+
"cls": "HousingCabinet"
|
| 77 |
+
},
|
| 78 |
+
"bottom_left_group_1_base": {
|
| 79 |
+
"cls": "Box"
|
| 80 |
+
},
|
| 81 |
+
"bottom_left_group_1_1": {
|
| 82 |
+
"cls": "Drawer"
|
| 83 |
+
},
|
| 84 |
+
"oven_left_group_1": {
|
| 85 |
+
"cls": "Oven"
|
| 86 |
+
},
|
| 87 |
+
"oven_housing_left_group_1": {
|
| 88 |
+
"cls": "HousingCabinet"
|
| 89 |
+
},
|
| 90 |
+
"hingecabinet_3_left_group_1": {
|
| 91 |
+
"cls": "HingeCabinet"
|
| 92 |
+
},
|
| 93 |
+
"microwave_cabinet_left_group_1": {
|
| 94 |
+
"cls": "HingeCabinet"
|
| 95 |
+
},
|
| 96 |
+
"top_left_group_1": {
|
| 97 |
+
"cls": "HingeCabinet"
|
| 98 |
+
},
|
| 99 |
+
"stack_1_left_group_1_base": {
|
| 100 |
+
"cls": "Box"
|
| 101 |
+
},
|
| 102 |
+
"stack_1_left_group_1_1": {
|
| 103 |
+
"cls": "HingeCabinet"
|
| 104 |
+
},
|
| 105 |
+
"stack_1_left_group_1_2": {
|
| 106 |
+
"cls": "Drawer"
|
| 107 |
+
},
|
| 108 |
+
"stack_2_left_group_1_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_2_left_group_1_1": {
|
| 112 |
+
"cls": "Drawer"
|
| 113 |
+
},
|
| 114 |
+
"stack_2_left_group_1_2": {
|
| 115 |
+
"cls": "Drawer"
|
| 116 |
+
},
|
| 117 |
+
"stack_2_left_group_1_3": {
|
| 118 |
+
"cls": "PanelCabinet"
|
| 119 |
+
},
|
| 120 |
+
"stack_3_left_group_1_base": {
|
| 121 |
+
"cls": "Box"
|
| 122 |
+
},
|
| 123 |
+
"stack_3_left_group_1_1": {
|
| 124 |
+
"cls": "HingeCabinet"
|
| 125 |
+
},
|
| 126 |
+
"stack_3_left_group_1_2": {
|
| 127 |
+
"cls": "Drawer"
|
| 128 |
+
},
|
| 129 |
+
"papertowel_left_group_1": {
|
| 130 |
+
"cls": "Accessory"
|
| 131 |
+
},
|
| 132 |
+
"coffee_machine_left_group_1": {
|
| 133 |
+
"cls": "CoffeeMachine"
|
| 134 |
+
},
|
| 135 |
+
"toaster_left_group_1": {
|
| 136 |
+
"cls": "Toaster"
|
| 137 |
+
},
|
| 138 |
+
"sink_island_group_1": {
|
| 139 |
+
"cls": "Sink"
|
| 140 |
+
},
|
| 141 |
+
"island_island_group_1": {
|
| 142 |
+
"cls": "Counter"
|
| 143 |
+
},
|
| 144 |
+
"cube_5_island_group_1": {
|
| 145 |
+
"cls": "Box"
|
| 146 |
+
},
|
| 147 |
+
"cube_1_island_group_1": {
|
| 148 |
+
"cls": "Box"
|
| 149 |
+
},
|
| 150 |
+
"cube_2_island_group_1": {
|
| 151 |
+
"cls": "Box"
|
| 152 |
+
},
|
| 153 |
+
"cube_3_island_group_1": {
|
| 154 |
+
"cls": "Box"
|
| 155 |
+
},
|
| 156 |
+
"cube_4_island_group_1": {
|
| 157 |
+
"cls": "Box"
|
| 158 |
+
},
|
| 159 |
+
"stack_2_island_group_1_base": {
|
| 160 |
+
"cls": "Box"
|
| 161 |
+
},
|
| 162 |
+
"stack_2_island_group_1_1": {
|
| 163 |
+
"cls": "SingleCabinet"
|
| 164 |
+
},
|
| 165 |
+
"stack_2_island_group_1_2": {
|
| 166 |
+
"cls": "Drawer"
|
| 167 |
+
},
|
| 168 |
+
"stack_1_island_group_1_base": {
|
| 169 |
+
"cls": "Box"
|
| 170 |
+
},
|
| 171 |
+
"stack_1_island_group_1_1": {
|
| 172 |
+
"cls": "HingeCabinet"
|
| 173 |
+
},
|
| 174 |
+
"stack_1_island_group_1_2": {
|
| 175 |
+
"cls": "PanelCabinet"
|
| 176 |
+
},
|
| 177 |
+
"dishwasher_1_island_group_1": {
|
| 178 |
+
"cls": "Dishwasher"
|
| 179 |
+
}
|
| 180 |
+
},
|
| 181 |
+
"gen_textures": {},
|
| 182 |
+
"lang": "Fully slide the top oven rack in.",
|
| 183 |
+
"fixture_refs": {
|
| 184 |
+
"oven": "oven_left_group_1"
|
| 185 |
+
},
|
| 186 |
+
"cam_configs": {
|
| 187 |
+
"robot0_agentview_center": {
|
| 188 |
+
"pos": [
|
| 189 |
+
-0.6,
|
| 190 |
+
0.0,
|
| 191 |
+
1.15
|
| 192 |
+
],
|
| 193 |
+
"quat": [
|
| 194 |
+
0.636945903301239,
|
| 195 |
+
0.3325185477733612,
|
| 196 |
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-0.3199238181114197,
|
| 197 |
+
-0.6175596117973328
|
| 198 |
+
],
|
| 199 |
+
"parent_body": "mobilebase0_support"
|
| 200 |
+
},
|
| 201 |
+
"robot0_agentview_left": {
|
| 202 |
+
"pos": [
|
| 203 |
+
-0.5,
|
| 204 |
+
0.35,
|
| 205 |
+
1.05
|
| 206 |
+
],
|
| 207 |
+
"quat": [
|
| 208 |
+
0.55623853,
|
| 209 |
+
0.29935253,
|
| 210 |
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-0.37678665,
|
| 211 |
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-0.6775092
|
| 212 |
+
],
|
| 213 |
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"camera_attribs": {
|
| 214 |
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"fovy": "60"
|
| 215 |
+
},
|
| 216 |
+
"parent_body": "mobilebase0_support"
|
| 217 |
+
},
|
| 218 |
+
"robot0_agentview_right": {
|
| 219 |
+
"pos": [
|
| 220 |
+
-0.5,
|
| 221 |
+
-0.35,
|
| 222 |
+
1.05
|
| 223 |
+
],
|
| 224 |
+
"quat": [
|
| 225 |
+
0.6775091886520386,
|
| 226 |
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0.3767866790294647,
|
| 227 |
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-0.2993525564670563,
|
| 228 |
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-0.55623859167099
|
| 229 |
+
],
|
| 230 |
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"camera_attribs": {
|
| 231 |
+
"fovy": "60"
|
| 232 |
+
},
|
| 233 |
+
"parent_body": "mobilebase0_support"
|
| 234 |
+
},
|
| 235 |
+
"robot0_frontview": {
|
| 236 |
+
"pos": [
|
| 237 |
+
-0.5,
|
| 238 |
+
0,
|
| 239 |
+
0.95
|
| 240 |
+
],
|
| 241 |
+
"quat": [
|
| 242 |
+
0.6088936924934387,
|
| 243 |
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0.3814677894115448,
|
| 244 |
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-0.3673907518386841,
|
| 245 |
+
-0.5905545353889465
|
| 246 |
+
],
|
| 247 |
+
"camera_attribs": {
|
| 248 |
+
"fovy": "60"
|
| 249 |
+
},
|
| 250 |
+
"parent_body": "mobilebase0_support"
|
| 251 |
+
},
|
| 252 |
+
"robot0_eye_in_hand": {
|
| 253 |
+
"pos": [
|
| 254 |
+
0.05,
|
| 255 |
+
0,
|
| 256 |
+
0
|
| 257 |
+
],
|
| 258 |
+
"quat": [
|
| 259 |
+
0,
|
| 260 |
+
0.707107,
|
| 261 |
+
0.707107,
|
| 262 |
+
0
|
| 263 |
+
],
|
| 264 |
+
"parent_body": "robot0_right_hand"
|
| 265 |
+
}
|
| 266 |
+
},
|
| 267 |
+
"init_robot_base_pos": [
|
| 268 |
+
1.171262944842359,
|
| 269 |
+
-4.695714799418546,
|
| 270 |
+
0.0
|
| 271 |
+
],
|
| 272 |
+
"init_robot_base_ori": [
|
| 273 |
+
0.0,
|
| 274 |
+
0.0,
|
| 275 |
+
3.1412906566438026
|
| 276 |
+
],
|
| 277 |
+
"should_pull": false,
|
| 278 |
+
"rack_level": 1
|
| 279 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000035/ep_meta.json
ADDED
|
@@ -0,0 +1,417 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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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": 17,
|
| 3 |
+
"style_id": 39,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"window_group_room": {
|
| 25 |
+
"cls": "Window"
|
| 26 |
+
},
|
| 27 |
+
"floor_1_room": {
|
| 28 |
+
"cls": "Floor"
|
| 29 |
+
},
|
| 30 |
+
"floor_1_backing_room": {
|
| 31 |
+
"cls": "Floor"
|
| 32 |
+
},
|
| 33 |
+
"wall_accessory_1_room": {
|
| 34 |
+
"cls": "WallAccessory"
|
| 35 |
+
},
|
| 36 |
+
"wall_accessory_2_room": {
|
| 37 |
+
"cls": "WallAccessory"
|
| 38 |
+
},
|
| 39 |
+
"wall_accessory_3_room": {
|
| 40 |
+
"cls": "WallAccessory"
|
| 41 |
+
},
|
| 42 |
+
"wall_accessory_4_room": {
|
| 43 |
+
"cls": "WallAccessory"
|
| 44 |
+
},
|
| 45 |
+
"light_switch_1_room": {
|
| 46 |
+
"cls": "WallAccessory"
|
| 47 |
+
},
|
| 48 |
+
"wall_accessory_5_room": {
|
| 49 |
+
"cls": "WallAccessory"
|
| 50 |
+
},
|
| 51 |
+
"wall_accessory_6_room": {
|
| 52 |
+
"cls": "WallAccessory"
|
| 53 |
+
},
|
| 54 |
+
"stool_1_room": {
|
| 55 |
+
"cls": "Stool"
|
| 56 |
+
},
|
| 57 |
+
"stool_2_room": {
|
| 58 |
+
"cls": "Stool"
|
| 59 |
+
},
|
| 60 |
+
"stool_3_room": {
|
| 61 |
+
"cls": "Stool"
|
| 62 |
+
},
|
| 63 |
+
"counter_corner_1_main_group_1": {
|
| 64 |
+
"cls": "Counter"
|
| 65 |
+
},
|
| 66 |
+
"stovetop_main_group_1": {
|
| 67 |
+
"cls": "Stovetop"
|
| 68 |
+
},
|
| 69 |
+
"counter_1_main_group_1": {
|
| 70 |
+
"cls": "Counter"
|
| 71 |
+
},
|
| 72 |
+
"counter_corner_2_main_group_1": {
|
| 73 |
+
"cls": "Counter"
|
| 74 |
+
},
|
| 75 |
+
"box_1_main_group_1": {
|
| 76 |
+
"cls": "Box"
|
| 77 |
+
},
|
| 78 |
+
"stack_1_main_group_1_base": {
|
| 79 |
+
"cls": "Box"
|
| 80 |
+
},
|
| 81 |
+
"stack_1_main_group_1_1": {
|
| 82 |
+
"cls": "SingleCabinet"
|
| 83 |
+
},
|
| 84 |
+
"stack_2_main_group_1_base": {
|
| 85 |
+
"cls": "Box"
|
| 86 |
+
},
|
| 87 |
+
"stack_2_main_group_1_1": {
|
| 88 |
+
"cls": "Drawer"
|
| 89 |
+
},
|
| 90 |
+
"stack_2_main_group_1_2": {
|
| 91 |
+
"cls": "Drawer"
|
| 92 |
+
},
|
| 93 |
+
"stack_2_main_group_1_3": {
|
| 94 |
+
"cls": "Drawer"
|
| 95 |
+
},
|
| 96 |
+
"stack_3_main_group_1_base": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"stack_3_main_group_1_1": {
|
| 100 |
+
"cls": "SingleCabinet"
|
| 101 |
+
},
|
| 102 |
+
"stack_4_main_group_1_base": {
|
| 103 |
+
"cls": "Box"
|
| 104 |
+
},
|
| 105 |
+
"stack_4_main_group_1_1": {
|
| 106 |
+
"cls": "HingeCabinet"
|
| 107 |
+
},
|
| 108 |
+
"stack_5_main_group_1_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_5_main_group_1_1": {
|
| 112 |
+
"cls": "SingleCabinet"
|
| 113 |
+
},
|
| 114 |
+
"stack_6_main_group_1_base": {
|
| 115 |
+
"cls": "Box"
|
| 116 |
+
},
|
| 117 |
+
"stack_6_main_group_1_1": {
|
| 118 |
+
"cls": "Drawer"
|
| 119 |
+
},
|
| 120 |
+
"stack_6_main_group_1_2": {
|
| 121 |
+
"cls": "Drawer"
|
| 122 |
+
},
|
| 123 |
+
"stack_6_main_group_1_3": {
|
| 124 |
+
"cls": "Drawer"
|
| 125 |
+
},
|
| 126 |
+
"stack_7_main_group_1_base": {
|
| 127 |
+
"cls": "Box"
|
| 128 |
+
},
|
| 129 |
+
"stack_7_main_group_1_1": {
|
| 130 |
+
"cls": "SingleCabinet"
|
| 131 |
+
},
|
| 132 |
+
"box_2_main_group_1": {
|
| 133 |
+
"cls": "Box"
|
| 134 |
+
},
|
| 135 |
+
"hood_main_group_1": {
|
| 136 |
+
"cls": "Hood"
|
| 137 |
+
},
|
| 138 |
+
"cab_corner_main_group_1": {
|
| 139 |
+
"cls": "Box"
|
| 140 |
+
},
|
| 141 |
+
"cab_1_main_group_1": {
|
| 142 |
+
"cls": "HingeCabinet"
|
| 143 |
+
},
|
| 144 |
+
"cab_2_main_group_1": {
|
| 145 |
+
"cls": "HingeCabinet"
|
| 146 |
+
},
|
| 147 |
+
"cab_3_main_group_1": {
|
| 148 |
+
"cls": "SingleCabinet"
|
| 149 |
+
},
|
| 150 |
+
"cab_4_main_group_1": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
+
},
|
| 153 |
+
"cab_5_main_group_1": {
|
| 154 |
+
"cls": "HingeCabinet"
|
| 155 |
+
},
|
| 156 |
+
"cab_6_main_group_1": {
|
| 157 |
+
"cls": "SingleCabinet"
|
| 158 |
+
},
|
| 159 |
+
"cab_corner_2_main_group_1": {
|
| 160 |
+
"cls": "Box"
|
| 161 |
+
},
|
| 162 |
+
"coffee_machine_main_group_1": {
|
| 163 |
+
"cls": "CoffeeMachine"
|
| 164 |
+
},
|
| 165 |
+
"toaster_main_group_1": {
|
| 166 |
+
"cls": "Toaster"
|
| 167 |
+
},
|
| 168 |
+
"paper_towel_main_group_1": {
|
| 169 |
+
"cls": "Accessory"
|
| 170 |
+
},
|
| 171 |
+
"knife_block_main_group_1": {
|
| 172 |
+
"cls": "Accessory"
|
| 173 |
+
},
|
| 174 |
+
"counter_1_left_group_1": {
|
| 175 |
+
"cls": "Counter"
|
| 176 |
+
},
|
| 177 |
+
"stack_1_left_group_1_base": {
|
| 178 |
+
"cls": "Box"
|
| 179 |
+
},
|
| 180 |
+
"stack_1_left_group_1_1": {
|
| 181 |
+
"cls": "Drawer"
|
| 182 |
+
},
|
| 183 |
+
"stack_1_left_group_1_2": {
|
| 184 |
+
"cls": "Drawer"
|
| 185 |
+
},
|
| 186 |
+
"stack_1_left_group_1_3": {
|
| 187 |
+
"cls": "Drawer"
|
| 188 |
+
},
|
| 189 |
+
"box_left_group_1": {
|
| 190 |
+
"cls": "Box"
|
| 191 |
+
},
|
| 192 |
+
"bottom_left_group_1_base": {
|
| 193 |
+
"cls": "Box"
|
| 194 |
+
},
|
| 195 |
+
"bottom_left_group_1_1": {
|
| 196 |
+
"cls": "Drawer"
|
| 197 |
+
},
|
| 198 |
+
"oven_left_group_1": {
|
| 199 |
+
"cls": "Oven"
|
| 200 |
+
},
|
| 201 |
+
"oven_housing_left_group_1": {
|
| 202 |
+
"cls": "HousingCabinet"
|
| 203 |
+
},
|
| 204 |
+
"microwave_left_group_1": {
|
| 205 |
+
"cls": "Microwave"
|
| 206 |
+
},
|
| 207 |
+
"microwave_housing_left_group_1": {
|
| 208 |
+
"cls": "HousingCabinet"
|
| 209 |
+
},
|
| 210 |
+
"top_left_group_1": {
|
| 211 |
+
"cls": "HingeCabinet"
|
| 212 |
+
},
|
| 213 |
+
"fridge_1_left_group_1": {
|
| 214 |
+
"cls": "FridgeBottomFreezer"
|
| 215 |
+
},
|
| 216 |
+
"fridge_1_housing_left_group_1": {
|
| 217 |
+
"cls": "HousingCabinet"
|
| 218 |
+
},
|
| 219 |
+
"fridge_cabinet_left_group_1": {
|
| 220 |
+
"cls": "HingeCabinet"
|
| 221 |
+
},
|
| 222 |
+
"cab_1_left_group_1": {
|
| 223 |
+
"cls": "HingeCabinet"
|
| 224 |
+
},
|
| 225 |
+
"toaster_oven_left_group_1": {
|
| 226 |
+
"cls": "ToasterOven"
|
| 227 |
+
},
|
| 228 |
+
"box_right_group_1": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
+
},
|
| 231 |
+
"stack_1_right_group_1_base": {
|
| 232 |
+
"cls": "Box"
|
| 233 |
+
},
|
| 234 |
+
"stack_1_right_group_1_1": {
|
| 235 |
+
"cls": "Drawer"
|
| 236 |
+
},
|
| 237 |
+
"stack_1_right_group_1_2": {
|
| 238 |
+
"cls": "Drawer"
|
| 239 |
+
},
|
| 240 |
+
"stack_1_right_group_1_3": {
|
| 241 |
+
"cls": "Drawer"
|
| 242 |
+
},
|
| 243 |
+
"stack_2_right_group_1_base": {
|
| 244 |
+
"cls": "Box"
|
| 245 |
+
},
|
| 246 |
+
"stack_2_right_group_1_1": {
|
| 247 |
+
"cls": "Drawer"
|
| 248 |
+
},
|
| 249 |
+
"stack_2_right_group_1_2": {
|
| 250 |
+
"cls": "Drawer"
|
| 251 |
+
},
|
| 252 |
+
"stack_2_right_group_1_3": {
|
| 253 |
+
"cls": "Drawer"
|
| 254 |
+
},
|
| 255 |
+
"stack_3_right_group_1_base": {
|
| 256 |
+
"cls": "Box"
|
| 257 |
+
},
|
| 258 |
+
"stack_3_right_group_1_1": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
+
},
|
| 261 |
+
"dishwasher_1_right_group_1": {
|
| 262 |
+
"cls": "Dishwasher"
|
| 263 |
+
},
|
| 264 |
+
"stack_4_right_group_1_base": {
|
| 265 |
+
"cls": "Box"
|
| 266 |
+
},
|
| 267 |
+
"stack_4_right_group_1_1": {
|
| 268 |
+
"cls": "Drawer"
|
| 269 |
+
},
|
| 270 |
+
"stack_4_right_group_1_2": {
|
| 271 |
+
"cls": "Drawer"
|
| 272 |
+
},
|
| 273 |
+
"stack_4_right_group_1_3": {
|
| 274 |
+
"cls": "Drawer"
|
| 275 |
+
},
|
| 276 |
+
"sink_1_right_group_1": {
|
| 277 |
+
"cls": "Sink"
|
| 278 |
+
},
|
| 279 |
+
"counter_1_right_group_1": {
|
| 280 |
+
"cls": "Counter"
|
| 281 |
+
},
|
| 282 |
+
"cab_1_right_group_1": {
|
| 283 |
+
"cls": "OpenCabinet"
|
| 284 |
+
},
|
| 285 |
+
"cab_2_right_group_1": {
|
| 286 |
+
"cls": "OpenCabinet"
|
| 287 |
+
},
|
| 288 |
+
"island_island_group_1": {
|
| 289 |
+
"cls": "Counter"
|
| 290 |
+
},
|
| 291 |
+
"stack_1_island_group_1_base": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"stack_1_island_group_1_1": {
|
| 295 |
+
"cls": "Drawer"
|
| 296 |
+
},
|
| 297 |
+
"stack_1_island_group_1_2": {
|
| 298 |
+
"cls": "Drawer"
|
| 299 |
+
},
|
| 300 |
+
"stack_2_island_group_1_base": {
|
| 301 |
+
"cls": "Box"
|
| 302 |
+
},
|
| 303 |
+
"stack_2_island_group_1_1": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_2_island_group_1_2": {
|
| 307 |
+
"cls": "Drawer"
|
| 308 |
+
},
|
| 309 |
+
"stack_3_island_group_1_base": {
|
| 310 |
+
"cls": "Box"
|
| 311 |
+
},
|
| 312 |
+
"stack_3_island_group_1_1": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
+
},
|
| 315 |
+
"stack_3_island_group_1_2": {
|
| 316 |
+
"cls": "Drawer"
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"gen_textures": {},
|
| 320 |
+
"lang": "Fully slide the top oven rack in.",
|
| 321 |
+
"fixture_refs": {
|
| 322 |
+
"oven": "oven_left_group_1"
|
| 323 |
+
},
|
| 324 |
+
"cam_configs": {
|
| 325 |
+
"robot0_agentview_center": {
|
| 326 |
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"pos": [
|
| 327 |
+
-0.6,
|
| 328 |
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0.0,
|
| 329 |
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1.15
|
| 330 |
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],
|
| 331 |
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"quat": [
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| 332 |
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|
| 333 |
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| 334 |
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| 335 |
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|
| 336 |
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],
|
| 337 |
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"parent_body": "mobilebase0_support"
|
| 338 |
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},
|
| 339 |
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"robot0_agentview_left": {
|
| 340 |
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"pos": [
|
| 341 |
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-0.5,
|
| 342 |
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0.35,
|
| 343 |
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1.05
|
| 344 |
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],
|
| 345 |
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"quat": [
|
| 346 |
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0.55623853,
|
| 347 |
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0.29935253,
|
| 348 |
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-0.37678665,
|
| 349 |
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-0.6775092
|
| 350 |
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],
|
| 351 |
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"camera_attribs": {
|
| 352 |
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"fovy": "60"
|
| 353 |
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},
|
| 354 |
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"parent_body": "mobilebase0_support"
|
| 355 |
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},
|
| 356 |
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"robot0_agentview_right": {
|
| 357 |
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"pos": [
|
| 358 |
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-0.5,
|
| 359 |
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-0.35,
|
| 360 |
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1.05
|
| 361 |
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],
|
| 362 |
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"quat": [
|
| 363 |
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|
| 364 |
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|
| 365 |
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|
| 366 |
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|
| 367 |
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],
|
| 368 |
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"camera_attribs": {
|
| 369 |
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"fovy": "60"
|
| 370 |
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},
|
| 371 |
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"parent_body": "mobilebase0_support"
|
| 372 |
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},
|
| 373 |
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"robot0_frontview": {
|
| 374 |
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"pos": [
|
| 375 |
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-0.5,
|
| 376 |
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0,
|
| 377 |
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0.95
|
| 378 |
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],
|
| 379 |
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"quat": [
|
| 380 |
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0.6088936924934387,
|
| 381 |
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|
| 382 |
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-0.3673907518386841,
|
| 383 |
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|
| 384 |
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],
|
| 385 |
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"camera_attribs": {
|
| 386 |
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"fovy": "60"
|
| 387 |
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},
|
| 388 |
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"parent_body": "mobilebase0_support"
|
| 389 |
+
},
|
| 390 |
+
"robot0_eye_in_hand": {
|
| 391 |
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"pos": [
|
| 392 |
+
0.05,
|
| 393 |
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0,
|
| 394 |
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0
|
| 395 |
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],
|
| 396 |
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"quat": [
|
| 397 |
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0,
|
| 398 |
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0.707107,
|
| 399 |
+
0.707107,
|
| 400 |
+
0
|
| 401 |
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],
|
| 402 |
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"parent_body": "robot0_right_hand"
|
| 403 |
+
}
|
| 404 |
+
},
|
| 405 |
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"init_robot_base_pos": [
|
| 406 |
+
0.9804154046840425,
|
| 407 |
+
-1.3366850005135995,
|
| 408 |
+
0.0
|
| 409 |
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],
|
| 410 |
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"init_robot_base_ori": [
|
| 411 |
+
0.0,
|
| 412 |
+
0.0,
|
| 413 |
+
3.1415926193612504
|
| 414 |
+
],
|
| 415 |
+
"should_pull": false,
|
| 416 |
+
"rack_level": 1
|
| 417 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000040/ep_meta.json
ADDED
|
@@ -0,0 +1,279 @@
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 37,
|
| 3 |
+
"style_id": 36,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_left_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_left_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_main_2_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_main_2_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_main_3_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_main_3_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"floor_1_room": {
|
| 31 |
+
"cls": "Floor"
|
| 32 |
+
},
|
| 33 |
+
"floor_1_backing_room": {
|
| 34 |
+
"cls": "Floor"
|
| 35 |
+
},
|
| 36 |
+
"wallaccessory_1_room": {
|
| 37 |
+
"cls": "WallAccessory"
|
| 38 |
+
},
|
| 39 |
+
"wallaccessory_2_room": {
|
| 40 |
+
"cls": "WallAccessory"
|
| 41 |
+
},
|
| 42 |
+
"stool_1_room": {
|
| 43 |
+
"cls": "Stool"
|
| 44 |
+
},
|
| 45 |
+
"stool_2_room": {
|
| 46 |
+
"cls": "Stool"
|
| 47 |
+
},
|
| 48 |
+
"stool_3_room": {
|
| 49 |
+
"cls": "Stool"
|
| 50 |
+
},
|
| 51 |
+
"stovetop_left_group_1": {
|
| 52 |
+
"cls": "Stovetop"
|
| 53 |
+
},
|
| 54 |
+
"counter_1_left_group_1": {
|
| 55 |
+
"cls": "Counter"
|
| 56 |
+
},
|
| 57 |
+
"hingecabinet_2_left_group_1": {
|
| 58 |
+
"cls": "HingeCabinet"
|
| 59 |
+
},
|
| 60 |
+
"hingecabinet_1_left_group_1": {
|
| 61 |
+
"cls": "HingeCabinet"
|
| 62 |
+
},
|
| 63 |
+
"microwave_left_group_1": {
|
| 64 |
+
"cls": "Microwave"
|
| 65 |
+
},
|
| 66 |
+
"cab_micro_left_group_1": {
|
| 67 |
+
"cls": "HingeCabinet"
|
| 68 |
+
},
|
| 69 |
+
"cube_1_left_group_1": {
|
| 70 |
+
"cls": "Box"
|
| 71 |
+
},
|
| 72 |
+
"fridgefrenchdoor_left_group_1": {
|
| 73 |
+
"cls": "FridgeFrenchDoor"
|
| 74 |
+
},
|
| 75 |
+
"fridgefrenchdoor_housing_left_group_1": {
|
| 76 |
+
"cls": "HousingCabinet"
|
| 77 |
+
},
|
| 78 |
+
"bottom_left_group_1_base": {
|
| 79 |
+
"cls": "Box"
|
| 80 |
+
},
|
| 81 |
+
"bottom_left_group_1_1": {
|
| 82 |
+
"cls": "Drawer"
|
| 83 |
+
},
|
| 84 |
+
"oven_left_group_1": {
|
| 85 |
+
"cls": "Oven"
|
| 86 |
+
},
|
| 87 |
+
"oven_housing_left_group_1": {
|
| 88 |
+
"cls": "HousingCabinet"
|
| 89 |
+
},
|
| 90 |
+
"hingecabinet_3_left_group_1": {
|
| 91 |
+
"cls": "HingeCabinet"
|
| 92 |
+
},
|
| 93 |
+
"microwave_cabinet_left_group_1": {
|
| 94 |
+
"cls": "HingeCabinet"
|
| 95 |
+
},
|
| 96 |
+
"top_left_group_1": {
|
| 97 |
+
"cls": "HingeCabinet"
|
| 98 |
+
},
|
| 99 |
+
"stack_1_left_group_1_base": {
|
| 100 |
+
"cls": "Box"
|
| 101 |
+
},
|
| 102 |
+
"stack_1_left_group_1_1": {
|
| 103 |
+
"cls": "HingeCabinet"
|
| 104 |
+
},
|
| 105 |
+
"stack_1_left_group_1_2": {
|
| 106 |
+
"cls": "Drawer"
|
| 107 |
+
},
|
| 108 |
+
"stack_2_left_group_1_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_2_left_group_1_1": {
|
| 112 |
+
"cls": "Drawer"
|
| 113 |
+
},
|
| 114 |
+
"stack_2_left_group_1_2": {
|
| 115 |
+
"cls": "Drawer"
|
| 116 |
+
},
|
| 117 |
+
"stack_2_left_group_1_3": {
|
| 118 |
+
"cls": "PanelCabinet"
|
| 119 |
+
},
|
| 120 |
+
"stack_3_left_group_1_base": {
|
| 121 |
+
"cls": "Box"
|
| 122 |
+
},
|
| 123 |
+
"stack_3_left_group_1_1": {
|
| 124 |
+
"cls": "HingeCabinet"
|
| 125 |
+
},
|
| 126 |
+
"stack_3_left_group_1_2": {
|
| 127 |
+
"cls": "Drawer"
|
| 128 |
+
},
|
| 129 |
+
"papertowel_left_group_1": {
|
| 130 |
+
"cls": "Accessory"
|
| 131 |
+
},
|
| 132 |
+
"coffee_machine_left_group_1": {
|
| 133 |
+
"cls": "CoffeeMachine"
|
| 134 |
+
},
|
| 135 |
+
"toaster_left_group_1": {
|
| 136 |
+
"cls": "Toaster"
|
| 137 |
+
},
|
| 138 |
+
"sink_island_group_1": {
|
| 139 |
+
"cls": "Sink"
|
| 140 |
+
},
|
| 141 |
+
"island_island_group_1": {
|
| 142 |
+
"cls": "Counter"
|
| 143 |
+
},
|
| 144 |
+
"cube_5_island_group_1": {
|
| 145 |
+
"cls": "Box"
|
| 146 |
+
},
|
| 147 |
+
"cube_1_island_group_1": {
|
| 148 |
+
"cls": "Box"
|
| 149 |
+
},
|
| 150 |
+
"cube_2_island_group_1": {
|
| 151 |
+
"cls": "Box"
|
| 152 |
+
},
|
| 153 |
+
"cube_3_island_group_1": {
|
| 154 |
+
"cls": "Box"
|
| 155 |
+
},
|
| 156 |
+
"cube_4_island_group_1": {
|
| 157 |
+
"cls": "Box"
|
| 158 |
+
},
|
| 159 |
+
"stack_2_island_group_1_base": {
|
| 160 |
+
"cls": "Box"
|
| 161 |
+
},
|
| 162 |
+
"stack_2_island_group_1_1": {
|
| 163 |
+
"cls": "SingleCabinet"
|
| 164 |
+
},
|
| 165 |
+
"stack_2_island_group_1_2": {
|
| 166 |
+
"cls": "Drawer"
|
| 167 |
+
},
|
| 168 |
+
"stack_1_island_group_1_base": {
|
| 169 |
+
"cls": "Box"
|
| 170 |
+
},
|
| 171 |
+
"stack_1_island_group_1_1": {
|
| 172 |
+
"cls": "HingeCabinet"
|
| 173 |
+
},
|
| 174 |
+
"stack_1_island_group_1_2": {
|
| 175 |
+
"cls": "PanelCabinet"
|
| 176 |
+
},
|
| 177 |
+
"dishwasher_1_island_group_1": {
|
| 178 |
+
"cls": "Dishwasher"
|
| 179 |
+
}
|
| 180 |
+
},
|
| 181 |
+
"gen_textures": {},
|
| 182 |
+
"lang": "Fully slide the top oven rack out.",
|
| 183 |
+
"fixture_refs": {
|
| 184 |
+
"oven": "oven_left_group_1"
|
| 185 |
+
},
|
| 186 |
+
"cam_configs": {
|
| 187 |
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"robot0_agentview_center": {
|
| 188 |
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"pos": [
|
| 189 |
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-0.6,
|
| 190 |
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0.0,
|
| 191 |
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|
| 192 |
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],
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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| 197 |
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| 198 |
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|
| 199 |
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"parent_body": "mobilebase0_support"
|
| 200 |
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},
|
| 201 |
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"robot0_agentview_left": {
|
| 202 |
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"pos": [
|
| 203 |
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-0.5,
|
| 204 |
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|
| 205 |
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|
| 206 |
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],
|
| 207 |
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"quat": [
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| 208 |
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| 209 |
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| 210 |
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| 211 |
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|
| 212 |
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],
|
| 213 |
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"camera_attribs": {
|
| 214 |
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|
| 215 |
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},
|
| 216 |
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"parent_body": "mobilebase0_support"
|
| 217 |
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},
|
| 218 |
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"robot0_agentview_right": {
|
| 219 |
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"pos": [
|
| 220 |
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-0.5,
|
| 221 |
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-0.35,
|
| 222 |
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1.05
|
| 223 |
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],
|
| 224 |
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"quat": [
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| 225 |
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| 226 |
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| 227 |
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| 228 |
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|
| 229 |
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],
|
| 230 |
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"camera_attribs": {
|
| 231 |
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"fovy": "60"
|
| 232 |
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},
|
| 233 |
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"parent_body": "mobilebase0_support"
|
| 234 |
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},
|
| 235 |
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"robot0_frontview": {
|
| 236 |
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"pos": [
|
| 237 |
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-0.5,
|
| 238 |
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0,
|
| 239 |
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|
| 240 |
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],
|
| 241 |
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"quat": [
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| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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"camera_attribs": {
|
| 248 |
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"fovy": "60"
|
| 249 |
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},
|
| 250 |
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"parent_body": "mobilebase0_support"
|
| 251 |
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},
|
| 252 |
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"robot0_eye_in_hand": {
|
| 253 |
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"pos": [
|
| 254 |
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0.05,
|
| 255 |
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0,
|
| 256 |
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0
|
| 257 |
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],
|
| 258 |
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"quat": [
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| 259 |
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0,
|
| 260 |
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|
| 261 |
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0.707107,
|
| 262 |
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0
|
| 263 |
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],
|
| 264 |
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"parent_body": "robot0_right_hand"
|
| 265 |
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}
|
| 266 |
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},
|
| 267 |
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"init_robot_base_pos": [
|
| 268 |
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|
| 269 |
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|
| 270 |
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0.0
|
| 271 |
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],
|
| 272 |
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"init_robot_base_ori": [
|
| 273 |
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|
| 274 |
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0.0,
|
| 275 |
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|
| 276 |
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],
|
| 277 |
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"should_pull": true,
|
| 278 |
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"rack_level": 1
|
| 279 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000042/ep_meta.json
ADDED
|
@@ -0,0 +1,414 @@
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|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
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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": 15,
|
| 3 |
+
"style_id": 15,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_left_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_left_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_left_2_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_left_2_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_left_3_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_left_3_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_front_1_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_front_1_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"wall_right_1_room": {
|
| 37 |
+
"cls": "Wall"
|
| 38 |
+
},
|
| 39 |
+
"wall_right_1_backing_room": {
|
| 40 |
+
"cls": "Wall"
|
| 41 |
+
},
|
| 42 |
+
"wall_right_2_room": {
|
| 43 |
+
"cls": "Wall"
|
| 44 |
+
},
|
| 45 |
+
"wall_right_2_backing_room": {
|
| 46 |
+
"cls": "Wall"
|
| 47 |
+
},
|
| 48 |
+
"wall_front_2_room": {
|
| 49 |
+
"cls": "Wall"
|
| 50 |
+
},
|
| 51 |
+
"wall_front_2_backing_room": {
|
| 52 |
+
"cls": "Wall"
|
| 53 |
+
},
|
| 54 |
+
"wall_main_2_room": {
|
| 55 |
+
"cls": "Wall"
|
| 56 |
+
},
|
| 57 |
+
"wall_main_2_backing_room": {
|
| 58 |
+
"cls": "Wall"
|
| 59 |
+
},
|
| 60 |
+
"wall_left_4_room": {
|
| 61 |
+
"cls": "Wall"
|
| 62 |
+
},
|
| 63 |
+
"wall_left_4_backing_room": {
|
| 64 |
+
"cls": "Wall"
|
| 65 |
+
},
|
| 66 |
+
"wall_left_5_room": {
|
| 67 |
+
"cls": "Wall"
|
| 68 |
+
},
|
| 69 |
+
"wall_left_5_backing_room": {
|
| 70 |
+
"cls": "Wall"
|
| 71 |
+
},
|
| 72 |
+
"floor_1_room": {
|
| 73 |
+
"cls": "Floor"
|
| 74 |
+
},
|
| 75 |
+
"floor_1_backing_room": {
|
| 76 |
+
"cls": "Floor"
|
| 77 |
+
},
|
| 78 |
+
"floor_2_room": {
|
| 79 |
+
"cls": "Floor"
|
| 80 |
+
},
|
| 81 |
+
"floor_2_backing_room": {
|
| 82 |
+
"cls": "Floor"
|
| 83 |
+
},
|
| 84 |
+
"floor_3_room": {
|
| 85 |
+
"cls": "Floor"
|
| 86 |
+
},
|
| 87 |
+
"floor_3_backing_room": {
|
| 88 |
+
"cls": "Floor"
|
| 89 |
+
},
|
| 90 |
+
"wall_accessory_1_room": {
|
| 91 |
+
"cls": "WallAccessory"
|
| 92 |
+
},
|
| 93 |
+
"wall_accessory_2_room": {
|
| 94 |
+
"cls": "WallAccessory"
|
| 95 |
+
},
|
| 96 |
+
"wall_accessory_3_room": {
|
| 97 |
+
"cls": "WallAccessory"
|
| 98 |
+
},
|
| 99 |
+
"light_switch_room": {
|
| 100 |
+
"cls": "WallAccessory"
|
| 101 |
+
},
|
| 102 |
+
"wall_accessory_4_room": {
|
| 103 |
+
"cls": "WallAccessory"
|
| 104 |
+
},
|
| 105 |
+
"wall_accessory_5_room": {
|
| 106 |
+
"cls": "WallAccessory"
|
| 107 |
+
},
|
| 108 |
+
"wall_accessory_6_room": {
|
| 109 |
+
"cls": "WallAccessory"
|
| 110 |
+
},
|
| 111 |
+
"stool_1_room": {
|
| 112 |
+
"cls": "Stool"
|
| 113 |
+
},
|
| 114 |
+
"stool_2_room": {
|
| 115 |
+
"cls": "Stool"
|
| 116 |
+
},
|
| 117 |
+
"stool_3_room": {
|
| 118 |
+
"cls": "Stool"
|
| 119 |
+
},
|
| 120 |
+
"fridge_1_main_group_1": {
|
| 121 |
+
"cls": "FridgeFrenchDoor"
|
| 122 |
+
},
|
| 123 |
+
"fridge_1_housing_main_group_1": {
|
| 124 |
+
"cls": "HousingCabinet"
|
| 125 |
+
},
|
| 126 |
+
"fridge_top_main_group_1": {
|
| 127 |
+
"cls": "HingeCabinet"
|
| 128 |
+
},
|
| 129 |
+
"bottom_main_group_1_base": {
|
| 130 |
+
"cls": "Box"
|
| 131 |
+
},
|
| 132 |
+
"bottom_main_group_1_1": {
|
| 133 |
+
"cls": "Drawer"
|
| 134 |
+
},
|
| 135 |
+
"oven_main_group_1": {
|
| 136 |
+
"cls": "Oven"
|
| 137 |
+
},
|
| 138 |
+
"oven_housing_main_group_1": {
|
| 139 |
+
"cls": "HousingCabinet"
|
| 140 |
+
},
|
| 141 |
+
"microwave_main_group_1": {
|
| 142 |
+
"cls": "Microwave"
|
| 143 |
+
},
|
| 144 |
+
"microwave_housing_main_group_1": {
|
| 145 |
+
"cls": "HousingCabinet"
|
| 146 |
+
},
|
| 147 |
+
"top_main_group_1": {
|
| 148 |
+
"cls": "HingeCabinet"
|
| 149 |
+
},
|
| 150 |
+
"counter_1_main_group_1": {
|
| 151 |
+
"cls": "Counter"
|
| 152 |
+
},
|
| 153 |
+
"stack_1_main_group_1_base": {
|
| 154 |
+
"cls": "Box"
|
| 155 |
+
},
|
| 156 |
+
"stack_1_main_group_1_1": {
|
| 157 |
+
"cls": "Drawer"
|
| 158 |
+
},
|
| 159 |
+
"stack_1_main_group_1_2": {
|
| 160 |
+
"cls": "Drawer"
|
| 161 |
+
},
|
| 162 |
+
"stack_1_main_group_1_3": {
|
| 163 |
+
"cls": "Drawer"
|
| 164 |
+
},
|
| 165 |
+
"stack_2_main_group_1_base": {
|
| 166 |
+
"cls": "Box"
|
| 167 |
+
},
|
| 168 |
+
"stack_2_main_group_1_1": {
|
| 169 |
+
"cls": "SingleCabinet"
|
| 170 |
+
},
|
| 171 |
+
"stack_2_main_group_1_2": {
|
| 172 |
+
"cls": "Drawer"
|
| 173 |
+
},
|
| 174 |
+
"cab_1_main_group_1": {
|
| 175 |
+
"cls": "HingeCabinet"
|
| 176 |
+
},
|
| 177 |
+
"toaster_main_group_1": {
|
| 178 |
+
"cls": "Toaster"
|
| 179 |
+
},
|
| 180 |
+
"stovetop_1_left_group_1": {
|
| 181 |
+
"cls": "Stovetop"
|
| 182 |
+
},
|
| 183 |
+
"counter_1_left_group_1": {
|
| 184 |
+
"cls": "Counter"
|
| 185 |
+
},
|
| 186 |
+
"stack_1_left_group_1_base": {
|
| 187 |
+
"cls": "Box"
|
| 188 |
+
},
|
| 189 |
+
"stack_1_left_group_1_1": {
|
| 190 |
+
"cls": "HingeCabinet"
|
| 191 |
+
},
|
| 192 |
+
"stack_1_left_group_1_2": {
|
| 193 |
+
"cls": "PanelCabinet"
|
| 194 |
+
},
|
| 195 |
+
"stack_2_left_group_1_base": {
|
| 196 |
+
"cls": "Box"
|
| 197 |
+
},
|
| 198 |
+
"stack_2_left_group_1_1": {
|
| 199 |
+
"cls": "HingeCabinet"
|
| 200 |
+
},
|
| 201 |
+
"stack_2_left_group_1_2": {
|
| 202 |
+
"cls": "Drawer"
|
| 203 |
+
},
|
| 204 |
+
"stack_3_left_group_1_base": {
|
| 205 |
+
"cls": "Box"
|
| 206 |
+
},
|
| 207 |
+
"stack_3_left_group_1_1": {
|
| 208 |
+
"cls": "HingeCabinet"
|
| 209 |
+
},
|
| 210 |
+
"stack_3_left_group_1_2": {
|
| 211 |
+
"cls": "Drawer"
|
| 212 |
+
},
|
| 213 |
+
"hood_left_group_1": {
|
| 214 |
+
"cls": "Hood"
|
| 215 |
+
},
|
| 216 |
+
"cab_1_left_group_1": {
|
| 217 |
+
"cls": "HingeCabinet"
|
| 218 |
+
},
|
| 219 |
+
"cab_2_left_group_1": {
|
| 220 |
+
"cls": "HingeCabinet"
|
| 221 |
+
},
|
| 222 |
+
"coffee_machine_left_group_1": {
|
| 223 |
+
"cls": "CoffeeMachine"
|
| 224 |
+
},
|
| 225 |
+
"counter_1_front_group_1": {
|
| 226 |
+
"cls": "Counter"
|
| 227 |
+
},
|
| 228 |
+
"stack_1_front_group_1_base": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
+
},
|
| 231 |
+
"stack_1_front_group_1_1": {
|
| 232 |
+
"cls": "HingeCabinet"
|
| 233 |
+
},
|
| 234 |
+
"stack_1_front_group_1_2": {
|
| 235 |
+
"cls": "Drawer"
|
| 236 |
+
},
|
| 237 |
+
"stack_2_front_group_1_base": {
|
| 238 |
+
"cls": "Box"
|
| 239 |
+
},
|
| 240 |
+
"stack_2_front_group_1_1": {
|
| 241 |
+
"cls": "HingeCabinet"
|
| 242 |
+
},
|
| 243 |
+
"stack_2_front_group_1_2": {
|
| 244 |
+
"cls": "Drawer"
|
| 245 |
+
},
|
| 246 |
+
"stack_3_front_group_1_base": {
|
| 247 |
+
"cls": "Box"
|
| 248 |
+
},
|
| 249 |
+
"stack_3_front_group_1_1": {
|
| 250 |
+
"cls": "HingeCabinet"
|
| 251 |
+
},
|
| 252 |
+
"stack_3_front_group_1_2": {
|
| 253 |
+
"cls": "Drawer"
|
| 254 |
+
},
|
| 255 |
+
"cab_1_front_group_1": {
|
| 256 |
+
"cls": "HingeCabinet"
|
| 257 |
+
},
|
| 258 |
+
"cab_2_front_group_1": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
+
},
|
| 261 |
+
"cab_3_front_group_1": {
|
| 262 |
+
"cls": "HingeCabinet"
|
| 263 |
+
},
|
| 264 |
+
"toaster_oven_front_group_1": {
|
| 265 |
+
"cls": "ToasterOven"
|
| 266 |
+
},
|
| 267 |
+
"sink_island_group": {
|
| 268 |
+
"cls": "Sink"
|
| 269 |
+
},
|
| 270 |
+
"island_island_group": {
|
| 271 |
+
"cls": "Counter"
|
| 272 |
+
},
|
| 273 |
+
"panel_stack_island_group_base": {
|
| 274 |
+
"cls": "Box"
|
| 275 |
+
},
|
| 276 |
+
"panel_stack_island_group_1": {
|
| 277 |
+
"cls": "PanelCabinet"
|
| 278 |
+
},
|
| 279 |
+
"dishwasher_island_group": {
|
| 280 |
+
"cls": "Dishwasher"
|
| 281 |
+
},
|
| 282 |
+
"box_island_group": {
|
| 283 |
+
"cls": "Box"
|
| 284 |
+
},
|
| 285 |
+
"stack_1_island_group_base": {
|
| 286 |
+
"cls": "Box"
|
| 287 |
+
},
|
| 288 |
+
"stack_1_island_group_1": {
|
| 289 |
+
"cls": "HingeCabinet"
|
| 290 |
+
},
|
| 291 |
+
"stack_1_island_group_2": {
|
| 292 |
+
"cls": "PanelCabinet"
|
| 293 |
+
},
|
| 294 |
+
"stack_2_island_group_base": {
|
| 295 |
+
"cls": "Box"
|
| 296 |
+
},
|
| 297 |
+
"stack_2_island_group_1": {
|
| 298 |
+
"cls": "HingeCabinet"
|
| 299 |
+
},
|
| 300 |
+
"stack_2_island_group_2": {
|
| 301 |
+
"cls": "Drawer"
|
| 302 |
+
},
|
| 303 |
+
"stack_2_island_group_3": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_3_island_group_base": {
|
| 307 |
+
"cls": "Box"
|
| 308 |
+
},
|
| 309 |
+
"stack_3_island_group_1": {
|
| 310 |
+
"cls": "PanelCabinet"
|
| 311 |
+
},
|
| 312 |
+
"paper_towel_island_group": {
|
| 313 |
+
"cls": "Accessory"
|
| 314 |
+
}
|
| 315 |
+
},
|
| 316 |
+
"gen_textures": {},
|
| 317 |
+
"lang": "Fully slide the oven rack in.",
|
| 318 |
+
"fixture_refs": {
|
| 319 |
+
"oven": "oven_main_group_1"
|
| 320 |
+
},
|
| 321 |
+
"cam_configs": {
|
| 322 |
+
"robot0_agentview_center": {
|
| 323 |
+
"pos": [
|
| 324 |
+
-0.6,
|
| 325 |
+
0.0,
|
| 326 |
+
1.15
|
| 327 |
+
],
|
| 328 |
+
"quat": [
|
| 329 |
+
0.636945903301239,
|
| 330 |
+
0.3325185477733612,
|
| 331 |
+
-0.3199238181114197,
|
| 332 |
+
-0.6175596117973328
|
| 333 |
+
],
|
| 334 |
+
"parent_body": "mobilebase0_support"
|
| 335 |
+
},
|
| 336 |
+
"robot0_agentview_left": {
|
| 337 |
+
"pos": [
|
| 338 |
+
-0.5,
|
| 339 |
+
0.35,
|
| 340 |
+
1.05
|
| 341 |
+
],
|
| 342 |
+
"quat": [
|
| 343 |
+
0.55623853,
|
| 344 |
+
0.29935253,
|
| 345 |
+
-0.37678665,
|
| 346 |
+
-0.6775092
|
| 347 |
+
],
|
| 348 |
+
"camera_attribs": {
|
| 349 |
+
"fovy": "60"
|
| 350 |
+
},
|
| 351 |
+
"parent_body": "mobilebase0_support"
|
| 352 |
+
},
|
| 353 |
+
"robot0_agentview_right": {
|
| 354 |
+
"pos": [
|
| 355 |
+
-0.5,
|
| 356 |
+
-0.35,
|
| 357 |
+
1.05
|
| 358 |
+
],
|
| 359 |
+
"quat": [
|
| 360 |
+
0.6775091886520386,
|
| 361 |
+
0.3767866790294647,
|
| 362 |
+
-0.2993525564670563,
|
| 363 |
+
-0.55623859167099
|
| 364 |
+
],
|
| 365 |
+
"camera_attribs": {
|
| 366 |
+
"fovy": "60"
|
| 367 |
+
},
|
| 368 |
+
"parent_body": "mobilebase0_support"
|
| 369 |
+
},
|
| 370 |
+
"robot0_frontview": {
|
| 371 |
+
"pos": [
|
| 372 |
+
-0.5,
|
| 373 |
+
0,
|
| 374 |
+
0.95
|
| 375 |
+
],
|
| 376 |
+
"quat": [
|
| 377 |
+
0.6088936924934387,
|
| 378 |
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0.3814677894115448,
|
| 379 |
+
-0.3673907518386841,
|
| 380 |
+
-0.5905545353889465
|
| 381 |
+
],
|
| 382 |
+
"camera_attribs": {
|
| 383 |
+
"fovy": "60"
|
| 384 |
+
},
|
| 385 |
+
"parent_body": "mobilebase0_support"
|
| 386 |
+
},
|
| 387 |
+
"robot0_eye_in_hand": {
|
| 388 |
+
"pos": [
|
| 389 |
+
0.05,
|
| 390 |
+
0,
|
| 391 |
+
0
|
| 392 |
+
],
|
| 393 |
+
"quat": [
|
| 394 |
+
0,
|
| 395 |
+
0.707107,
|
| 396 |
+
0.707107,
|
| 397 |
+
0
|
| 398 |
+
],
|
| 399 |
+
"parent_body": "robot0_right_hand"
|
| 400 |
+
}
|
| 401 |
+
},
|
| 402 |
+
"init_robot_base_pos": [
|
| 403 |
+
0.4932198245418478,
|
| 404 |
+
-0.7432351093932077,
|
| 405 |
+
0.0
|
| 406 |
+
],
|
| 407 |
+
"init_robot_base_ori": [
|
| 408 |
+
0.0,
|
| 409 |
+
0.0,
|
| 410 |
+
1.5707963267948966
|
| 411 |
+
],
|
| 412 |
+
"should_pull": false,
|
| 413 |
+
"rack_level": 1
|
| 414 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000046/ep_meta.json
ADDED
|
@@ -0,0 +1,399 @@
|
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|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
|
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|
|
|
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|
|
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|
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|
|
|
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|
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|
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|
|
|
|
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|
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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": 35,
|
| 3 |
+
"style_id": 56,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_main_2_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_main_2_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_right_2_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_right_2_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"wall_main_3_room": {
|
| 37 |
+
"cls": "Wall"
|
| 38 |
+
},
|
| 39 |
+
"wall_main_3_backing_room": {
|
| 40 |
+
"cls": "Wall"
|
| 41 |
+
},
|
| 42 |
+
"floor_1_room": {
|
| 43 |
+
"cls": "Floor"
|
| 44 |
+
},
|
| 45 |
+
"floor_1_backing_room": {
|
| 46 |
+
"cls": "Floor"
|
| 47 |
+
},
|
| 48 |
+
"wallaccessory_room": {
|
| 49 |
+
"cls": "WallAccessory"
|
| 50 |
+
},
|
| 51 |
+
"wallaccessory.002_room": {
|
| 52 |
+
"cls": "WallAccessory"
|
| 53 |
+
},
|
| 54 |
+
"wallaccessory.003_room": {
|
| 55 |
+
"cls": "WallAccessory"
|
| 56 |
+
},
|
| 57 |
+
"stool_3_room": {
|
| 58 |
+
"cls": "Stool"
|
| 59 |
+
},
|
| 60 |
+
"stool_2_room": {
|
| 61 |
+
"cls": "Stool"
|
| 62 |
+
},
|
| 63 |
+
"stool_1_room": {
|
| 64 |
+
"cls": "Stool"
|
| 65 |
+
},
|
| 66 |
+
"counter_1_main_group_1": {
|
| 67 |
+
"cls": "Counter"
|
| 68 |
+
},
|
| 69 |
+
"counter_corner_1_main_group_1": {
|
| 70 |
+
"cls": "Counter"
|
| 71 |
+
},
|
| 72 |
+
"hingecabinet_1_main_group_1": {
|
| 73 |
+
"cls": "HingeCabinet"
|
| 74 |
+
},
|
| 75 |
+
"box_1_main_group_1": {
|
| 76 |
+
"cls": "Box"
|
| 77 |
+
},
|
| 78 |
+
"hingecabinet_2_main_group_1": {
|
| 79 |
+
"cls": "HingeCabinet"
|
| 80 |
+
},
|
| 81 |
+
"stack_1_main_group_1_base": {
|
| 82 |
+
"cls": "Box"
|
| 83 |
+
},
|
| 84 |
+
"stack_1_main_group_1_1": {
|
| 85 |
+
"cls": "Drawer"
|
| 86 |
+
},
|
| 87 |
+
"stack_1_main_group_1_2": {
|
| 88 |
+
"cls": "Drawer"
|
| 89 |
+
},
|
| 90 |
+
"stack_1_main_group_1_3": {
|
| 91 |
+
"cls": "Drawer"
|
| 92 |
+
},
|
| 93 |
+
"stack_2_main_group_1_base": {
|
| 94 |
+
"cls": "Box"
|
| 95 |
+
},
|
| 96 |
+
"stack_2_main_group_1_1": {
|
| 97 |
+
"cls": "SingleCabinet"
|
| 98 |
+
},
|
| 99 |
+
"fridgefrenchdoor_main_group_1": {
|
| 100 |
+
"cls": "FridgeFrenchDoor"
|
| 101 |
+
},
|
| 102 |
+
"fridgefrenchdoor_housing_main_group_1": {
|
| 103 |
+
"cls": "HousingCabinet"
|
| 104 |
+
},
|
| 105 |
+
"knifeblock_main_group_1": {
|
| 106 |
+
"cls": "Accessory"
|
| 107 |
+
},
|
| 108 |
+
"paper_towel_main_group_1": {
|
| 109 |
+
"cls": "Accessory"
|
| 110 |
+
},
|
| 111 |
+
"toaster_main_group_1": {
|
| 112 |
+
"cls": "Toaster"
|
| 113 |
+
},
|
| 114 |
+
"sink_right_group_1": {
|
| 115 |
+
"cls": "Sink"
|
| 116 |
+
},
|
| 117 |
+
"counter_1_right_group_1": {
|
| 118 |
+
"cls": "Counter"
|
| 119 |
+
},
|
| 120 |
+
"counter_2_right_group_1": {
|
| 121 |
+
"cls": "Counter"
|
| 122 |
+
},
|
| 123 |
+
"singlecabinet_1_right_group_1": {
|
| 124 |
+
"cls": "SingleCabinet"
|
| 125 |
+
},
|
| 126 |
+
"cube_2_right_group_1": {
|
| 127 |
+
"cls": "Box"
|
| 128 |
+
},
|
| 129 |
+
"stack_3_right_group_1_base": {
|
| 130 |
+
"cls": "Box"
|
| 131 |
+
},
|
| 132 |
+
"stack_3_right_group_1_1": {
|
| 133 |
+
"cls": "Drawer"
|
| 134 |
+
},
|
| 135 |
+
"stack_3_right_group_1_2": {
|
| 136 |
+
"cls": "Drawer"
|
| 137 |
+
},
|
| 138 |
+
"stack_3_right_group_1_3": {
|
| 139 |
+
"cls": "Drawer"
|
| 140 |
+
},
|
| 141 |
+
"stack_1_right_group_1_base": {
|
| 142 |
+
"cls": "Box"
|
| 143 |
+
},
|
| 144 |
+
"stack_1_right_group_1_1": {
|
| 145 |
+
"cls": "SingleCabinet"
|
| 146 |
+
},
|
| 147 |
+
"cube_1_right_group_1": {
|
| 148 |
+
"cls": "Box"
|
| 149 |
+
},
|
| 150 |
+
"stack_2_right_group_1_base": {
|
| 151 |
+
"cls": "Box"
|
| 152 |
+
},
|
| 153 |
+
"stack_2_right_group_1_1": {
|
| 154 |
+
"cls": "HingeCabinet"
|
| 155 |
+
},
|
| 156 |
+
"stack_2_right_group_1_2": {
|
| 157 |
+
"cls": "PanelCabinet"
|
| 158 |
+
},
|
| 159 |
+
"dishwasher_1_right_group_1": {
|
| 160 |
+
"cls": "Dishwasher"
|
| 161 |
+
},
|
| 162 |
+
"cube_3_right_group_1": {
|
| 163 |
+
"cls": "Box"
|
| 164 |
+
},
|
| 165 |
+
"stovetop_left_group_1": {
|
| 166 |
+
"cls": "Stovetop"
|
| 167 |
+
},
|
| 168 |
+
"counter_1_left_group_1": {
|
| 169 |
+
"cls": "Counter"
|
| 170 |
+
},
|
| 171 |
+
"hingecabinet_3_left_group_1": {
|
| 172 |
+
"cls": "HingeCabinet"
|
| 173 |
+
},
|
| 174 |
+
"hingecabinet_2_left_group_1": {
|
| 175 |
+
"cls": "HingeCabinet"
|
| 176 |
+
},
|
| 177 |
+
"hingecabinet_1_left_group_1": {
|
| 178 |
+
"cls": "HingeCabinet"
|
| 179 |
+
},
|
| 180 |
+
"bottom_left_group_1_base": {
|
| 181 |
+
"cls": "Box"
|
| 182 |
+
},
|
| 183 |
+
"bottom_left_group_1_1": {
|
| 184 |
+
"cls": "Drawer"
|
| 185 |
+
},
|
| 186 |
+
"oven_left_group_1": {
|
| 187 |
+
"cls": "Oven"
|
| 188 |
+
},
|
| 189 |
+
"oven_housing_left_group_1": {
|
| 190 |
+
"cls": "HousingCabinet"
|
| 191 |
+
},
|
| 192 |
+
"microwave_left_group_1": {
|
| 193 |
+
"cls": "Microwave"
|
| 194 |
+
},
|
| 195 |
+
"microwave_housing_left_group_1": {
|
| 196 |
+
"cls": "HousingCabinet"
|
| 197 |
+
},
|
| 198 |
+
"top_left_group_1": {
|
| 199 |
+
"cls": "HingeCabinet"
|
| 200 |
+
},
|
| 201 |
+
"stack_1_left_group_1_base": {
|
| 202 |
+
"cls": "Box"
|
| 203 |
+
},
|
| 204 |
+
"stack_1_left_group_1_1": {
|
| 205 |
+
"cls": "HingeCabinet"
|
| 206 |
+
},
|
| 207 |
+
"stack_1_left_group_1_2": {
|
| 208 |
+
"cls": "Drawer"
|
| 209 |
+
},
|
| 210 |
+
"stack_2_left_group_1_base": {
|
| 211 |
+
"cls": "Box"
|
| 212 |
+
},
|
| 213 |
+
"stack_2_left_group_1_1": {
|
| 214 |
+
"cls": "HingeCabinet"
|
| 215 |
+
},
|
| 216 |
+
"stack_2_left_group_1_2": {
|
| 217 |
+
"cls": "PanelCabinet"
|
| 218 |
+
},
|
| 219 |
+
"stack_3_left_group_1_base": {
|
| 220 |
+
"cls": "Box"
|
| 221 |
+
},
|
| 222 |
+
"stack_3_left_group_1_1": {
|
| 223 |
+
"cls": "HingeCabinet"
|
| 224 |
+
},
|
| 225 |
+
"stack_3_left_group_1_2": {
|
| 226 |
+
"cls": "Drawer"
|
| 227 |
+
},
|
| 228 |
+
"coffeemachine_left_group_1": {
|
| 229 |
+
"cls": "CoffeeMachine"
|
| 230 |
+
},
|
| 231 |
+
"toaster_oven_left_group_1": {
|
| 232 |
+
"cls": "ToasterOven"
|
| 233 |
+
},
|
| 234 |
+
"counter_1_island_group": {
|
| 235 |
+
"cls": "Counter"
|
| 236 |
+
},
|
| 237 |
+
"stack_2_island_group_base": {
|
| 238 |
+
"cls": "Box"
|
| 239 |
+
},
|
| 240 |
+
"stack_2_island_group_1": {
|
| 241 |
+
"cls": "Drawer"
|
| 242 |
+
},
|
| 243 |
+
"stack_2_island_group_2": {
|
| 244 |
+
"cls": "Drawer"
|
| 245 |
+
},
|
| 246 |
+
"stack_1_island_group_base": {
|
| 247 |
+
"cls": "Box"
|
| 248 |
+
},
|
| 249 |
+
"stack_1_island_group_1": {
|
| 250 |
+
"cls": "SingleCabinet"
|
| 251 |
+
},
|
| 252 |
+
"stack_3_island_group_base": {
|
| 253 |
+
"cls": "Box"
|
| 254 |
+
},
|
| 255 |
+
"stack_3_island_group_1": {
|
| 256 |
+
"cls": "SingleCabinet"
|
| 257 |
+
},
|
| 258 |
+
"plant_island_group": {
|
| 259 |
+
"cls": "Accessory"
|
| 260 |
+
},
|
| 261 |
+
"stack_2_dining_area_group_base": {
|
| 262 |
+
"cls": "Box"
|
| 263 |
+
},
|
| 264 |
+
"stack_2_dining_area_group_1": {
|
| 265 |
+
"cls": "HingeCabinet"
|
| 266 |
+
},
|
| 267 |
+
"stack_2_dining_area_group_2": {
|
| 268 |
+
"cls": "Drawer"
|
| 269 |
+
},
|
| 270 |
+
"stack_4_dining_area_group_base": {
|
| 271 |
+
"cls": "Box"
|
| 272 |
+
},
|
| 273 |
+
"stack_4_dining_area_group_1": {
|
| 274 |
+
"cls": "SingleCabinet"
|
| 275 |
+
},
|
| 276 |
+
"stack_1_dining_area_group_base": {
|
| 277 |
+
"cls": "Box"
|
| 278 |
+
},
|
| 279 |
+
"stack_1_dining_area_group_1": {
|
| 280 |
+
"cls": "SingleCabinet"
|
| 281 |
+
},
|
| 282 |
+
"stack_3_dining_area_group_base": {
|
| 283 |
+
"cls": "Box"
|
| 284 |
+
},
|
| 285 |
+
"stack_3_dining_area_group_1": {
|
| 286 |
+
"cls": "HingeCabinet"
|
| 287 |
+
},
|
| 288 |
+
"stack_3_dining_area_group_2": {
|
| 289 |
+
"cls": "Drawer"
|
| 290 |
+
},
|
| 291 |
+
"stool_3_stool_group_1": {
|
| 292 |
+
"cls": "Stool"
|
| 293 |
+
},
|
| 294 |
+
"stool_2_stool_group_1": {
|
| 295 |
+
"cls": "Stool"
|
| 296 |
+
},
|
| 297 |
+
"stool_1_stool_group_1": {
|
| 298 |
+
"cls": "Stool"
|
| 299 |
+
}
|
| 300 |
+
},
|
| 301 |
+
"gen_textures": {},
|
| 302 |
+
"lang": "Fully slide the top oven rack out.",
|
| 303 |
+
"fixture_refs": {
|
| 304 |
+
"oven": "oven_left_group_1"
|
| 305 |
+
},
|
| 306 |
+
"cam_configs": {
|
| 307 |
+
"robot0_agentview_center": {
|
| 308 |
+
"pos": [
|
| 309 |
+
-0.6,
|
| 310 |
+
0.0,
|
| 311 |
+
1.15
|
| 312 |
+
],
|
| 313 |
+
"quat": [
|
| 314 |
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0.636945903301239,
|
| 315 |
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0.3325185477733612,
|
| 316 |
+
-0.3199238181114197,
|
| 317 |
+
-0.6175596117973328
|
| 318 |
+
],
|
| 319 |
+
"parent_body": "mobilebase0_support"
|
| 320 |
+
},
|
| 321 |
+
"robot0_agentview_left": {
|
| 322 |
+
"pos": [
|
| 323 |
+
-0.5,
|
| 324 |
+
0.35,
|
| 325 |
+
1.05
|
| 326 |
+
],
|
| 327 |
+
"quat": [
|
| 328 |
+
0.55623853,
|
| 329 |
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0.29935253,
|
| 330 |
+
-0.37678665,
|
| 331 |
+
-0.6775092
|
| 332 |
+
],
|
| 333 |
+
"camera_attribs": {
|
| 334 |
+
"fovy": "60"
|
| 335 |
+
},
|
| 336 |
+
"parent_body": "mobilebase0_support"
|
| 337 |
+
},
|
| 338 |
+
"robot0_agentview_right": {
|
| 339 |
+
"pos": [
|
| 340 |
+
-0.5,
|
| 341 |
+
-0.35,
|
| 342 |
+
1.05
|
| 343 |
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],
|
| 344 |
+
"quat": [
|
| 345 |
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0.6775091886520386,
|
| 346 |
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0.3767866790294647,
|
| 347 |
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-0.2993525564670563,
|
| 348 |
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-0.55623859167099
|
| 349 |
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],
|
| 350 |
+
"camera_attribs": {
|
| 351 |
+
"fovy": "60"
|
| 352 |
+
},
|
| 353 |
+
"parent_body": "mobilebase0_support"
|
| 354 |
+
},
|
| 355 |
+
"robot0_frontview": {
|
| 356 |
+
"pos": [
|
| 357 |
+
-0.5,
|
| 358 |
+
0,
|
| 359 |
+
0.95
|
| 360 |
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],
|
| 361 |
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"quat": [
|
| 362 |
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0.6088936924934387,
|
| 363 |
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0.3814677894115448,
|
| 364 |
+
-0.3673907518386841,
|
| 365 |
+
-0.5905545353889465
|
| 366 |
+
],
|
| 367 |
+
"camera_attribs": {
|
| 368 |
+
"fovy": "60"
|
| 369 |
+
},
|
| 370 |
+
"parent_body": "mobilebase0_support"
|
| 371 |
+
},
|
| 372 |
+
"robot0_eye_in_hand": {
|
| 373 |
+
"pos": [
|
| 374 |
+
0.05,
|
| 375 |
+
0,
|
| 376 |
+
0
|
| 377 |
+
],
|
| 378 |
+
"quat": [
|
| 379 |
+
0,
|
| 380 |
+
0.707107,
|
| 381 |
+
0.707107,
|
| 382 |
+
0
|
| 383 |
+
],
|
| 384 |
+
"parent_body": "robot0_right_hand"
|
| 385 |
+
}
|
| 386 |
+
},
|
| 387 |
+
"init_robot_base_pos": [
|
| 388 |
+
1.178700556475756,
|
| 389 |
+
-3.67098725106382,
|
| 390 |
+
0.0
|
| 391 |
+
],
|
| 392 |
+
"init_robot_base_ori": [
|
| 393 |
+
0.0,
|
| 394 |
+
0.0,
|
| 395 |
+
3.1415924507432367
|
| 396 |
+
],
|
| 397 |
+
"should_pull": true,
|
| 398 |
+
"rack_level": 1
|
| 399 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000047/ep_meta.json
ADDED
|
@@ -0,0 +1,375 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 18,
|
| 3 |
+
"style_id": 48,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_right_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_right_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_left_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_left_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_left_3_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_left_3_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_left_2_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_left_2_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"floor_1_room": {
|
| 37 |
+
"cls": "Floor"
|
| 38 |
+
},
|
| 39 |
+
"floor_1_backing_room": {
|
| 40 |
+
"cls": "Floor"
|
| 41 |
+
},
|
| 42 |
+
"light_switch_1_room": {
|
| 43 |
+
"cls": "WallAccessory"
|
| 44 |
+
},
|
| 45 |
+
"light_switch_2_room": {
|
| 46 |
+
"cls": "WallAccessory"
|
| 47 |
+
},
|
| 48 |
+
"light_switch_3_room": {
|
| 49 |
+
"cls": "WallAccessory"
|
| 50 |
+
},
|
| 51 |
+
"light_switch_4_room": {
|
| 52 |
+
"cls": "WallAccessory"
|
| 53 |
+
},
|
| 54 |
+
"wall_accessory_1_room": {
|
| 55 |
+
"cls": "WallAccessory"
|
| 56 |
+
},
|
| 57 |
+
"light_switch_5_room": {
|
| 58 |
+
"cls": "WallAccessory"
|
| 59 |
+
},
|
| 60 |
+
"light_switch_6_room": {
|
| 61 |
+
"cls": "WallAccessory"
|
| 62 |
+
},
|
| 63 |
+
"light_switch_7_room": {
|
| 64 |
+
"cls": "WallAccessory"
|
| 65 |
+
},
|
| 66 |
+
"window_group_1_room": {
|
| 67 |
+
"cls": "Window"
|
| 68 |
+
},
|
| 69 |
+
"window_group_2_room": {
|
| 70 |
+
"cls": "Window"
|
| 71 |
+
},
|
| 72 |
+
"bottom_main_group_base": {
|
| 73 |
+
"cls": "Box"
|
| 74 |
+
},
|
| 75 |
+
"bottom_main_group_1": {
|
| 76 |
+
"cls": "Drawer"
|
| 77 |
+
},
|
| 78 |
+
"oven_main_group": {
|
| 79 |
+
"cls": "Oven"
|
| 80 |
+
},
|
| 81 |
+
"oven_housing_main_group": {
|
| 82 |
+
"cls": "HousingCabinet"
|
| 83 |
+
},
|
| 84 |
+
"microwave_main_group": {
|
| 85 |
+
"cls": "Microwave"
|
| 86 |
+
},
|
| 87 |
+
"microwave_housing_main_group": {
|
| 88 |
+
"cls": "HousingCabinet"
|
| 89 |
+
},
|
| 90 |
+
"top_main_group": {
|
| 91 |
+
"cls": "HingeCabinet"
|
| 92 |
+
},
|
| 93 |
+
"fridge_main_group": {
|
| 94 |
+
"cls": "FridgeSideBySide"
|
| 95 |
+
},
|
| 96 |
+
"fridge_housing_main_group": {
|
| 97 |
+
"cls": "HousingCabinet"
|
| 98 |
+
},
|
| 99 |
+
"counter_1_main_group": {
|
| 100 |
+
"cls": "Counter"
|
| 101 |
+
},
|
| 102 |
+
"counter_corner_main_group": {
|
| 103 |
+
"cls": "Counter"
|
| 104 |
+
},
|
| 105 |
+
"stack_1_main_group_base": {
|
| 106 |
+
"cls": "Box"
|
| 107 |
+
},
|
| 108 |
+
"stack_1_main_group_1": {
|
| 109 |
+
"cls": "SingleCabinet"
|
| 110 |
+
},
|
| 111 |
+
"box_1_main_group": {
|
| 112 |
+
"cls": "Box"
|
| 113 |
+
},
|
| 114 |
+
"cab_1_main_group": {
|
| 115 |
+
"cls": "HingeCabinet"
|
| 116 |
+
},
|
| 117 |
+
"cab_2_main_group": {
|
| 118 |
+
"cls": "HingeCabinet"
|
| 119 |
+
},
|
| 120 |
+
"toaster_oven_main_group": {
|
| 121 |
+
"cls": "ToasterOven"
|
| 122 |
+
},
|
| 123 |
+
"plant_main_group": {
|
| 124 |
+
"cls": "Accessory"
|
| 125 |
+
},
|
| 126 |
+
"stovetop_left_group": {
|
| 127 |
+
"cls": "Stovetop"
|
| 128 |
+
},
|
| 129 |
+
"counter_1_left_group": {
|
| 130 |
+
"cls": "Counter"
|
| 131 |
+
},
|
| 132 |
+
"stack_1_left_group_base": {
|
| 133 |
+
"cls": "Box"
|
| 134 |
+
},
|
| 135 |
+
"stack_1_left_group_1": {
|
| 136 |
+
"cls": "SingleCabinet"
|
| 137 |
+
},
|
| 138 |
+
"stack_2_left_group_base": {
|
| 139 |
+
"cls": "Box"
|
| 140 |
+
},
|
| 141 |
+
"stack_2_left_group_1": {
|
| 142 |
+
"cls": "Drawer"
|
| 143 |
+
},
|
| 144 |
+
"stack_2_left_group_2": {
|
| 145 |
+
"cls": "Drawer"
|
| 146 |
+
},
|
| 147 |
+
"stack_2_left_group_3": {
|
| 148 |
+
"cls": "Drawer"
|
| 149 |
+
},
|
| 150 |
+
"stack_2_left_group_4": {
|
| 151 |
+
"cls": "Drawer"
|
| 152 |
+
},
|
| 153 |
+
"stack_2_left_group_5": {
|
| 154 |
+
"cls": "Drawer"
|
| 155 |
+
},
|
| 156 |
+
"stack_2_left_group_6": {
|
| 157 |
+
"cls": "Drawer"
|
| 158 |
+
},
|
| 159 |
+
"stack_3_left_group_base": {
|
| 160 |
+
"cls": "Box"
|
| 161 |
+
},
|
| 162 |
+
"stack_3_left_group_1": {
|
| 163 |
+
"cls": "Drawer"
|
| 164 |
+
},
|
| 165 |
+
"stack_3_left_group_2": {
|
| 166 |
+
"cls": "Drawer"
|
| 167 |
+
},
|
| 168 |
+
"stack_3_left_group_3": {
|
| 169 |
+
"cls": "PanelCabinet"
|
| 170 |
+
},
|
| 171 |
+
"stack_4_left_group_base": {
|
| 172 |
+
"cls": "Box"
|
| 173 |
+
},
|
| 174 |
+
"stack_4_left_group_1": {
|
| 175 |
+
"cls": "Drawer"
|
| 176 |
+
},
|
| 177 |
+
"stack_4_left_group_2": {
|
| 178 |
+
"cls": "Drawer"
|
| 179 |
+
},
|
| 180 |
+
"stack_4_left_group_3": {
|
| 181 |
+
"cls": "Drawer"
|
| 182 |
+
},
|
| 183 |
+
"stack_4_left_group_4": {
|
| 184 |
+
"cls": "Drawer"
|
| 185 |
+
},
|
| 186 |
+
"stack_4_left_group_5": {
|
| 187 |
+
"cls": "Drawer"
|
| 188 |
+
},
|
| 189 |
+
"stack_4_left_group_6": {
|
| 190 |
+
"cls": "Drawer"
|
| 191 |
+
},
|
| 192 |
+
"stack_5_left_group_base": {
|
| 193 |
+
"cls": "Box"
|
| 194 |
+
},
|
| 195 |
+
"stack_5_left_group_1": {
|
| 196 |
+
"cls": "SingleCabinet"
|
| 197 |
+
},
|
| 198 |
+
"hood_left_group": {
|
| 199 |
+
"cls": "Hood"
|
| 200 |
+
},
|
| 201 |
+
"cab_1_left_group": {
|
| 202 |
+
"cls": "HingeCabinet"
|
| 203 |
+
},
|
| 204 |
+
"cab_2_left_group": {
|
| 205 |
+
"cls": "HingeCabinet"
|
| 206 |
+
},
|
| 207 |
+
"paper_towel_left_group": {
|
| 208 |
+
"cls": "Accessory"
|
| 209 |
+
},
|
| 210 |
+
"coffee_machine_left_group": {
|
| 211 |
+
"cls": "CoffeeMachine"
|
| 212 |
+
},
|
| 213 |
+
"sink_1_right_group": {
|
| 214 |
+
"cls": "Sink"
|
| 215 |
+
},
|
| 216 |
+
"counter_1_right_group": {
|
| 217 |
+
"cls": "Counter"
|
| 218 |
+
},
|
| 219 |
+
"box_1_right_group": {
|
| 220 |
+
"cls": "Box"
|
| 221 |
+
},
|
| 222 |
+
"stack_1_right_group_base": {
|
| 223 |
+
"cls": "Box"
|
| 224 |
+
},
|
| 225 |
+
"stack_1_right_group_1": {
|
| 226 |
+
"cls": "SingleCabinet"
|
| 227 |
+
},
|
| 228 |
+
"stack_2_right_group_base": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
+
},
|
| 231 |
+
"stack_2_right_group_1": {
|
| 232 |
+
"cls": "Drawer"
|
| 233 |
+
},
|
| 234 |
+
"stack_2_right_group_2": {
|
| 235 |
+
"cls": "Drawer"
|
| 236 |
+
},
|
| 237 |
+
"stack_2_right_group_3": {
|
| 238 |
+
"cls": "Drawer"
|
| 239 |
+
},
|
| 240 |
+
"stack_3_right_group_base": {
|
| 241 |
+
"cls": "Box"
|
| 242 |
+
},
|
| 243 |
+
"stack_3_right_group_1": {
|
| 244 |
+
"cls": "SingleCabinet"
|
| 245 |
+
},
|
| 246 |
+
"stack_4_right_group_base": {
|
| 247 |
+
"cls": "Box"
|
| 248 |
+
},
|
| 249 |
+
"stack_4_right_group_1": {
|
| 250 |
+
"cls": "SingleCabinet"
|
| 251 |
+
},
|
| 252 |
+
"stack_5_right_group_base": {
|
| 253 |
+
"cls": "Box"
|
| 254 |
+
},
|
| 255 |
+
"stack_5_right_group_1": {
|
| 256 |
+
"cls": "HingeCabinet"
|
| 257 |
+
},
|
| 258 |
+
"dishwasher_1_right_group": {
|
| 259 |
+
"cls": "Dishwasher"
|
| 260 |
+
},
|
| 261 |
+
"panel_stack_right_group_base": {
|
| 262 |
+
"cls": "Box"
|
| 263 |
+
},
|
| 264 |
+
"panel_stack_right_group_1": {
|
| 265 |
+
"cls": "PanelCabinet"
|
| 266 |
+
},
|
| 267 |
+
"wall_stack_right_group_base": {
|
| 268 |
+
"cls": "Box"
|
| 269 |
+
},
|
| 270 |
+
"wall_stack_right_group_1": {
|
| 271 |
+
"cls": "HingeCabinet"
|
| 272 |
+
},
|
| 273 |
+
"toaster_right_group": {
|
| 274 |
+
"cls": "Toaster"
|
| 275 |
+
}
|
| 276 |
+
},
|
| 277 |
+
"gen_textures": {},
|
| 278 |
+
"lang": "Fully slide the top oven rack out.",
|
| 279 |
+
"fixture_refs": {
|
| 280 |
+
"oven": "oven_main_group"
|
| 281 |
+
},
|
| 282 |
+
"cam_configs": {
|
| 283 |
+
"robot0_agentview_center": {
|
| 284 |
+
"pos": [
|
| 285 |
+
-0.6,
|
| 286 |
+
0.0,
|
| 287 |
+
1.15
|
| 288 |
+
],
|
| 289 |
+
"quat": [
|
| 290 |
+
0.636945903301239,
|
| 291 |
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0.3325185477733612,
|
| 292 |
+
-0.3199238181114197,
|
| 293 |
+
-0.6175596117973328
|
| 294 |
+
],
|
| 295 |
+
"parent_body": "mobilebase0_support"
|
| 296 |
+
},
|
| 297 |
+
"robot0_agentview_left": {
|
| 298 |
+
"pos": [
|
| 299 |
+
-0.5,
|
| 300 |
+
0.35,
|
| 301 |
+
1.05
|
| 302 |
+
],
|
| 303 |
+
"quat": [
|
| 304 |
+
0.55623853,
|
| 305 |
+
0.29935253,
|
| 306 |
+
-0.37678665,
|
| 307 |
+
-0.6775092
|
| 308 |
+
],
|
| 309 |
+
"camera_attribs": {
|
| 310 |
+
"fovy": "60"
|
| 311 |
+
},
|
| 312 |
+
"parent_body": "mobilebase0_support"
|
| 313 |
+
},
|
| 314 |
+
"robot0_agentview_right": {
|
| 315 |
+
"pos": [
|
| 316 |
+
-0.5,
|
| 317 |
+
-0.35,
|
| 318 |
+
1.05
|
| 319 |
+
],
|
| 320 |
+
"quat": [
|
| 321 |
+
0.6775091886520386,
|
| 322 |
+
0.3767866790294647,
|
| 323 |
+
-0.2993525564670563,
|
| 324 |
+
-0.55623859167099
|
| 325 |
+
],
|
| 326 |
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"camera_attribs": {
|
| 327 |
+
"fovy": "60"
|
| 328 |
+
},
|
| 329 |
+
"parent_body": "mobilebase0_support"
|
| 330 |
+
},
|
| 331 |
+
"robot0_frontview": {
|
| 332 |
+
"pos": [
|
| 333 |
+
-0.5,
|
| 334 |
+
0,
|
| 335 |
+
0.95
|
| 336 |
+
],
|
| 337 |
+
"quat": [
|
| 338 |
+
0.6088936924934387,
|
| 339 |
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0.3814677894115448,
|
| 340 |
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-0.3673907518386841,
|
| 341 |
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-0.5905545353889465
|
| 342 |
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],
|
| 343 |
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"camera_attribs": {
|
| 344 |
+
"fovy": "60"
|
| 345 |
+
},
|
| 346 |
+
"parent_body": "mobilebase0_support"
|
| 347 |
+
},
|
| 348 |
+
"robot0_eye_in_hand": {
|
| 349 |
+
"pos": [
|
| 350 |
+
0.05,
|
| 351 |
+
0,
|
| 352 |
+
0
|
| 353 |
+
],
|
| 354 |
+
"quat": [
|
| 355 |
+
0,
|
| 356 |
+
0.707107,
|
| 357 |
+
0.707107,
|
| 358 |
+
0
|
| 359 |
+
],
|
| 360 |
+
"parent_body": "robot0_right_hand"
|
| 361 |
+
}
|
| 362 |
+
},
|
| 363 |
+
"init_robot_base_pos": [
|
| 364 |
+
0.7613643842429053,
|
| 365 |
+
-1.2848590451923827,
|
| 366 |
+
0.0
|
| 367 |
+
],
|
| 368 |
+
"init_robot_base_ori": [
|
| 369 |
+
0.0,
|
| 370 |
+
0.0,
|
| 371 |
+
1.5707963267948966
|
| 372 |
+
],
|
| 373 |
+
"should_pull": true,
|
| 374 |
+
"rack_level": 1
|
| 375 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000052/ep_meta.json
ADDED
|
@@ -0,0 +1,357 @@
|
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|
|
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|
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|
|
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|
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|
|
|
|
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|
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|
|
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|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": 42,
|
| 3 |
+
"style_id": 30,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_main_2_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_main_2_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_main_3_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_main_3_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"wall_main_4_room": {
|
| 37 |
+
"cls": "Wall"
|
| 38 |
+
},
|
| 39 |
+
"wall_main_4_backing_room": {
|
| 40 |
+
"cls": "Wall"
|
| 41 |
+
},
|
| 42 |
+
"wall_left_2_room": {
|
| 43 |
+
"cls": "Wall"
|
| 44 |
+
},
|
| 45 |
+
"wall_left_2_backing_room": {
|
| 46 |
+
"cls": "Wall"
|
| 47 |
+
},
|
| 48 |
+
"floor_1_room": {
|
| 49 |
+
"cls": "Floor"
|
| 50 |
+
},
|
| 51 |
+
"floor_1_backing_room": {
|
| 52 |
+
"cls": "Floor"
|
| 53 |
+
},
|
| 54 |
+
"floor_2_room": {
|
| 55 |
+
"cls": "Floor"
|
| 56 |
+
},
|
| 57 |
+
"floor_2_backing_room": {
|
| 58 |
+
"cls": "Floor"
|
| 59 |
+
},
|
| 60 |
+
"wallaccessory_room": {
|
| 61 |
+
"cls": "WallAccessory"
|
| 62 |
+
},
|
| 63 |
+
"lightswitch_room": {
|
| 64 |
+
"cls": "WallAccessory"
|
| 65 |
+
},
|
| 66 |
+
"wallaccessory.002_room": {
|
| 67 |
+
"cls": "WallAccessory"
|
| 68 |
+
},
|
| 69 |
+
"window_group_room": {
|
| 70 |
+
"cls": "Window"
|
| 71 |
+
},
|
| 72 |
+
"stool_1_room": {
|
| 73 |
+
"cls": "Stool"
|
| 74 |
+
},
|
| 75 |
+
"stool_2_room": {
|
| 76 |
+
"cls": "Stool"
|
| 77 |
+
},
|
| 78 |
+
"stool_4_room": {
|
| 79 |
+
"cls": "Stool"
|
| 80 |
+
},
|
| 81 |
+
"stool_3_room": {
|
| 82 |
+
"cls": "Stool"
|
| 83 |
+
},
|
| 84 |
+
"counter_1_main_group_1": {
|
| 85 |
+
"cls": "Counter"
|
| 86 |
+
},
|
| 87 |
+
"counter_corner_1_main_group_1": {
|
| 88 |
+
"cls": "Counter"
|
| 89 |
+
},
|
| 90 |
+
"stack_1_main_group_1_base": {
|
| 91 |
+
"cls": "Box"
|
| 92 |
+
},
|
| 93 |
+
"stack_1_main_group_1_1": {
|
| 94 |
+
"cls": "HingeCabinet"
|
| 95 |
+
},
|
| 96 |
+
"cube_1_main_group_1": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"fridgefrenchdoor_main_group_1": {
|
| 100 |
+
"cls": "FridgeFrenchDoor"
|
| 101 |
+
},
|
| 102 |
+
"fridgefrenchdoor_housing_main_group_1": {
|
| 103 |
+
"cls": "HousingCabinet"
|
| 104 |
+
},
|
| 105 |
+
"hingecabinet_1_main_group_1": {
|
| 106 |
+
"cls": "HingeCabinet"
|
| 107 |
+
},
|
| 108 |
+
"coffeemachine_main_group_1": {
|
| 109 |
+
"cls": "CoffeeMachine"
|
| 110 |
+
},
|
| 111 |
+
"papertowel_main_group_1": {
|
| 112 |
+
"cls": "Accessory"
|
| 113 |
+
},
|
| 114 |
+
"stovetop_right_group_1": {
|
| 115 |
+
"cls": "Stovetop"
|
| 116 |
+
},
|
| 117 |
+
"counter_1_right_group_1": {
|
| 118 |
+
"cls": "Counter"
|
| 119 |
+
},
|
| 120 |
+
"hingecabinet_3_right_group_1": {
|
| 121 |
+
"cls": "HingeCabinet"
|
| 122 |
+
},
|
| 123 |
+
"hingecabinet_4_right_group_1": {
|
| 124 |
+
"cls": "HingeCabinet"
|
| 125 |
+
},
|
| 126 |
+
"hingecabinet_1_right_group_1": {
|
| 127 |
+
"cls": "HingeCabinet"
|
| 128 |
+
},
|
| 129 |
+
"hingecabinet_2_right_group_1": {
|
| 130 |
+
"cls": "HingeCabinet"
|
| 131 |
+
},
|
| 132 |
+
"stack_1_right_group_1_base": {
|
| 133 |
+
"cls": "Box"
|
| 134 |
+
},
|
| 135 |
+
"stack_1_right_group_1_1": {
|
| 136 |
+
"cls": "SingleCabinet"
|
| 137 |
+
},
|
| 138 |
+
"stack_2_right_group_1_base": {
|
| 139 |
+
"cls": "Box"
|
| 140 |
+
},
|
| 141 |
+
"stack_2_right_group_1_1": {
|
| 142 |
+
"cls": "Drawer"
|
| 143 |
+
},
|
| 144 |
+
"stack_2_right_group_1_2": {
|
| 145 |
+
"cls": "Drawer"
|
| 146 |
+
},
|
| 147 |
+
"stack_2_right_group_1_3": {
|
| 148 |
+
"cls": "Drawer"
|
| 149 |
+
},
|
| 150 |
+
"stack_3_right_group_1_base": {
|
| 151 |
+
"cls": "Box"
|
| 152 |
+
},
|
| 153 |
+
"stack_3_right_group_1_1": {
|
| 154 |
+
"cls": "Drawer"
|
| 155 |
+
},
|
| 156 |
+
"stack_3_right_group_1_2": {
|
| 157 |
+
"cls": "Drawer"
|
| 158 |
+
},
|
| 159 |
+
"stack_3_right_group_1_3": {
|
| 160 |
+
"cls": "PanelCabinet"
|
| 161 |
+
},
|
| 162 |
+
"stack_4_right_group_1_base": {
|
| 163 |
+
"cls": "Box"
|
| 164 |
+
},
|
| 165 |
+
"stack_4_right_group_1_1": {
|
| 166 |
+
"cls": "HingeCabinet"
|
| 167 |
+
},
|
| 168 |
+
"stack_4_right_group_1_2": {
|
| 169 |
+
"cls": "Drawer"
|
| 170 |
+
},
|
| 171 |
+
"cube_1_right_group_1": {
|
| 172 |
+
"cls": "Box"
|
| 173 |
+
},
|
| 174 |
+
"bottom_right_group_1_base": {
|
| 175 |
+
"cls": "Box"
|
| 176 |
+
},
|
| 177 |
+
"bottom_right_group_1_1": {
|
| 178 |
+
"cls": "Drawer"
|
| 179 |
+
},
|
| 180 |
+
"oven_right_group_1": {
|
| 181 |
+
"cls": "Oven"
|
| 182 |
+
},
|
| 183 |
+
"oven_housing_right_group_1": {
|
| 184 |
+
"cls": "HousingCabinet"
|
| 185 |
+
},
|
| 186 |
+
"microwave_right_group_1": {
|
| 187 |
+
"cls": "Microwave"
|
| 188 |
+
},
|
| 189 |
+
"microwave_housing_right_group_1": {
|
| 190 |
+
"cls": "HousingCabinet"
|
| 191 |
+
},
|
| 192 |
+
"top_right_group_1": {
|
| 193 |
+
"cls": "HingeCabinet"
|
| 194 |
+
},
|
| 195 |
+
"toaster_right_group_1": {
|
| 196 |
+
"cls": "Toaster"
|
| 197 |
+
},
|
| 198 |
+
"counter_1_left_group_1": {
|
| 199 |
+
"cls": "Counter"
|
| 200 |
+
},
|
| 201 |
+
"stack_1_left_group_1_base": {
|
| 202 |
+
"cls": "Box"
|
| 203 |
+
},
|
| 204 |
+
"stack_1_left_group_1_1": {
|
| 205 |
+
"cls": "HingeCabinet"
|
| 206 |
+
},
|
| 207 |
+
"stack_2_left_group_1_base": {
|
| 208 |
+
"cls": "Box"
|
| 209 |
+
},
|
| 210 |
+
"stack_2_left_group_1_1": {
|
| 211 |
+
"cls": "SingleCabinet"
|
| 212 |
+
},
|
| 213 |
+
"knifeblock_left_group_1": {
|
| 214 |
+
"cls": "Accessory"
|
| 215 |
+
},
|
| 216 |
+
"toaster_oven_left_group_1": {
|
| 217 |
+
"cls": "ToasterOven"
|
| 218 |
+
},
|
| 219 |
+
"plant_left_group_1": {
|
| 220 |
+
"cls": "Accessory"
|
| 221 |
+
},
|
| 222 |
+
"cube_1_island_group_1": {
|
| 223 |
+
"cls": "Box"
|
| 224 |
+
},
|
| 225 |
+
"cube_2_island_group_1": {
|
| 226 |
+
"cls": "Box"
|
| 227 |
+
},
|
| 228 |
+
"cube_3_island_group_1": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
+
},
|
| 231 |
+
"sink_island_group_1": {
|
| 232 |
+
"cls": "Sink"
|
| 233 |
+
},
|
| 234 |
+
"island_island_group_1": {
|
| 235 |
+
"cls": "Counter"
|
| 236 |
+
},
|
| 237 |
+
"stack_1_island_group_1_base": {
|
| 238 |
+
"cls": "Box"
|
| 239 |
+
},
|
| 240 |
+
"stack_1_island_group_1_1": {
|
| 241 |
+
"cls": "SingleCabinet"
|
| 242 |
+
},
|
| 243 |
+
"stack_3_island_group_1_base": {
|
| 244 |
+
"cls": "Box"
|
| 245 |
+
},
|
| 246 |
+
"stack_3_island_group_1_1": {
|
| 247 |
+
"cls": "SingleCabinet"
|
| 248 |
+
},
|
| 249 |
+
"stack_2_island_group_1_base": {
|
| 250 |
+
"cls": "Box"
|
| 251 |
+
},
|
| 252 |
+
"stack_2_island_group_1_1": {
|
| 253 |
+
"cls": "HingeCabinet"
|
| 254 |
+
},
|
| 255 |
+
"dishwasher_1_island_group_1": {
|
| 256 |
+
"cls": "Dishwasher"
|
| 257 |
+
}
|
| 258 |
+
},
|
| 259 |
+
"gen_textures": {},
|
| 260 |
+
"lang": "Fully slide the oven rack out.",
|
| 261 |
+
"fixture_refs": {
|
| 262 |
+
"oven": "oven_right_group_1"
|
| 263 |
+
},
|
| 264 |
+
"cam_configs": {
|
| 265 |
+
"robot0_agentview_center": {
|
| 266 |
+
"pos": [
|
| 267 |
+
-0.6,
|
| 268 |
+
0.0,
|
| 269 |
+
1.15
|
| 270 |
+
],
|
| 271 |
+
"quat": [
|
| 272 |
+
0.636945903301239,
|
| 273 |
+
0.3325185477733612,
|
| 274 |
+
-0.3199238181114197,
|
| 275 |
+
-0.6175596117973328
|
| 276 |
+
],
|
| 277 |
+
"parent_body": "mobilebase0_support"
|
| 278 |
+
},
|
| 279 |
+
"robot0_agentview_left": {
|
| 280 |
+
"pos": [
|
| 281 |
+
-0.5,
|
| 282 |
+
0.35,
|
| 283 |
+
1.05
|
| 284 |
+
],
|
| 285 |
+
"quat": [
|
| 286 |
+
0.55623853,
|
| 287 |
+
0.29935253,
|
| 288 |
+
-0.37678665,
|
| 289 |
+
-0.6775092
|
| 290 |
+
],
|
| 291 |
+
"camera_attribs": {
|
| 292 |
+
"fovy": "60"
|
| 293 |
+
},
|
| 294 |
+
"parent_body": "mobilebase0_support"
|
| 295 |
+
},
|
| 296 |
+
"robot0_agentview_right": {
|
| 297 |
+
"pos": [
|
| 298 |
+
-0.5,
|
| 299 |
+
-0.35,
|
| 300 |
+
1.05
|
| 301 |
+
],
|
| 302 |
+
"quat": [
|
| 303 |
+
0.6775091886520386,
|
| 304 |
+
0.3767866790294647,
|
| 305 |
+
-0.2993525564670563,
|
| 306 |
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-0.55623859167099
|
| 307 |
+
],
|
| 308 |
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"camera_attribs": {
|
| 309 |
+
"fovy": "60"
|
| 310 |
+
},
|
| 311 |
+
"parent_body": "mobilebase0_support"
|
| 312 |
+
},
|
| 313 |
+
"robot0_frontview": {
|
| 314 |
+
"pos": [
|
| 315 |
+
-0.5,
|
| 316 |
+
0,
|
| 317 |
+
0.95
|
| 318 |
+
],
|
| 319 |
+
"quat": [
|
| 320 |
+
0.6088936924934387,
|
| 321 |
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0.3814677894115448,
|
| 322 |
+
-0.3673907518386841,
|
| 323 |
+
-0.5905545353889465
|
| 324 |
+
],
|
| 325 |
+
"camera_attribs": {
|
| 326 |
+
"fovy": "60"
|
| 327 |
+
},
|
| 328 |
+
"parent_body": "mobilebase0_support"
|
| 329 |
+
},
|
| 330 |
+
"robot0_eye_in_hand": {
|
| 331 |
+
"pos": [
|
| 332 |
+
0.05,
|
| 333 |
+
0,
|
| 334 |
+
0
|
| 335 |
+
],
|
| 336 |
+
"quat": [
|
| 337 |
+
0,
|
| 338 |
+
0.707107,
|
| 339 |
+
0.707107,
|
| 340 |
+
0
|
| 341 |
+
],
|
| 342 |
+
"parent_body": "robot0_right_hand"
|
| 343 |
+
}
|
| 344 |
+
},
|
| 345 |
+
"init_robot_base_pos": [
|
| 346 |
+
4.0488572138807015,
|
| 347 |
+
-4.060605944161682,
|
| 348 |
+
0.0
|
| 349 |
+
],
|
| 350 |
+
"init_robot_base_ori": [
|
| 351 |
+
0.0,
|
| 352 |
+
0.0,
|
| 353 |
+
0.00030199704781619374
|
| 354 |
+
],
|
| 355 |
+
"should_pull": true,
|
| 356 |
+
"rack_level": 1
|
| 357 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000054/ep_meta.json
ADDED
|
@@ -0,0 +1,414 @@
|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
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|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": 15,
|
| 3 |
+
"style_id": 22,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_left_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_left_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_left_2_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_left_2_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_left_3_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_left_3_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_front_1_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_front_1_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"wall_right_1_room": {
|
| 37 |
+
"cls": "Wall"
|
| 38 |
+
},
|
| 39 |
+
"wall_right_1_backing_room": {
|
| 40 |
+
"cls": "Wall"
|
| 41 |
+
},
|
| 42 |
+
"wall_right_2_room": {
|
| 43 |
+
"cls": "Wall"
|
| 44 |
+
},
|
| 45 |
+
"wall_right_2_backing_room": {
|
| 46 |
+
"cls": "Wall"
|
| 47 |
+
},
|
| 48 |
+
"wall_front_2_room": {
|
| 49 |
+
"cls": "Wall"
|
| 50 |
+
},
|
| 51 |
+
"wall_front_2_backing_room": {
|
| 52 |
+
"cls": "Wall"
|
| 53 |
+
},
|
| 54 |
+
"wall_main_2_room": {
|
| 55 |
+
"cls": "Wall"
|
| 56 |
+
},
|
| 57 |
+
"wall_main_2_backing_room": {
|
| 58 |
+
"cls": "Wall"
|
| 59 |
+
},
|
| 60 |
+
"wall_left_4_room": {
|
| 61 |
+
"cls": "Wall"
|
| 62 |
+
},
|
| 63 |
+
"wall_left_4_backing_room": {
|
| 64 |
+
"cls": "Wall"
|
| 65 |
+
},
|
| 66 |
+
"wall_left_5_room": {
|
| 67 |
+
"cls": "Wall"
|
| 68 |
+
},
|
| 69 |
+
"wall_left_5_backing_room": {
|
| 70 |
+
"cls": "Wall"
|
| 71 |
+
},
|
| 72 |
+
"floor_1_room": {
|
| 73 |
+
"cls": "Floor"
|
| 74 |
+
},
|
| 75 |
+
"floor_1_backing_room": {
|
| 76 |
+
"cls": "Floor"
|
| 77 |
+
},
|
| 78 |
+
"floor_2_room": {
|
| 79 |
+
"cls": "Floor"
|
| 80 |
+
},
|
| 81 |
+
"floor_2_backing_room": {
|
| 82 |
+
"cls": "Floor"
|
| 83 |
+
},
|
| 84 |
+
"floor_3_room": {
|
| 85 |
+
"cls": "Floor"
|
| 86 |
+
},
|
| 87 |
+
"floor_3_backing_room": {
|
| 88 |
+
"cls": "Floor"
|
| 89 |
+
},
|
| 90 |
+
"wall_accessory_1_room": {
|
| 91 |
+
"cls": "WallAccessory"
|
| 92 |
+
},
|
| 93 |
+
"wall_accessory_2_room": {
|
| 94 |
+
"cls": "WallAccessory"
|
| 95 |
+
},
|
| 96 |
+
"wall_accessory_3_room": {
|
| 97 |
+
"cls": "WallAccessory"
|
| 98 |
+
},
|
| 99 |
+
"light_switch_room": {
|
| 100 |
+
"cls": "WallAccessory"
|
| 101 |
+
},
|
| 102 |
+
"wall_accessory_4_room": {
|
| 103 |
+
"cls": "WallAccessory"
|
| 104 |
+
},
|
| 105 |
+
"wall_accessory_5_room": {
|
| 106 |
+
"cls": "WallAccessory"
|
| 107 |
+
},
|
| 108 |
+
"wall_accessory_6_room": {
|
| 109 |
+
"cls": "WallAccessory"
|
| 110 |
+
},
|
| 111 |
+
"stool_1_room": {
|
| 112 |
+
"cls": "Stool"
|
| 113 |
+
},
|
| 114 |
+
"stool_2_room": {
|
| 115 |
+
"cls": "Stool"
|
| 116 |
+
},
|
| 117 |
+
"stool_3_room": {
|
| 118 |
+
"cls": "Stool"
|
| 119 |
+
},
|
| 120 |
+
"fridge_1_main_group_1": {
|
| 121 |
+
"cls": "FridgeFrenchDoor"
|
| 122 |
+
},
|
| 123 |
+
"fridge_1_housing_main_group_1": {
|
| 124 |
+
"cls": "HousingCabinet"
|
| 125 |
+
},
|
| 126 |
+
"fridge_top_main_group_1": {
|
| 127 |
+
"cls": "HingeCabinet"
|
| 128 |
+
},
|
| 129 |
+
"bottom_main_group_1_base": {
|
| 130 |
+
"cls": "Box"
|
| 131 |
+
},
|
| 132 |
+
"bottom_main_group_1_1": {
|
| 133 |
+
"cls": "Drawer"
|
| 134 |
+
},
|
| 135 |
+
"oven_main_group_1": {
|
| 136 |
+
"cls": "Oven"
|
| 137 |
+
},
|
| 138 |
+
"oven_housing_main_group_1": {
|
| 139 |
+
"cls": "HousingCabinet"
|
| 140 |
+
},
|
| 141 |
+
"microwave_main_group_1": {
|
| 142 |
+
"cls": "Microwave"
|
| 143 |
+
},
|
| 144 |
+
"microwave_housing_main_group_1": {
|
| 145 |
+
"cls": "HousingCabinet"
|
| 146 |
+
},
|
| 147 |
+
"top_main_group_1": {
|
| 148 |
+
"cls": "HingeCabinet"
|
| 149 |
+
},
|
| 150 |
+
"counter_1_main_group_1": {
|
| 151 |
+
"cls": "Counter"
|
| 152 |
+
},
|
| 153 |
+
"stack_1_main_group_1_base": {
|
| 154 |
+
"cls": "Box"
|
| 155 |
+
},
|
| 156 |
+
"stack_1_main_group_1_1": {
|
| 157 |
+
"cls": "Drawer"
|
| 158 |
+
},
|
| 159 |
+
"stack_1_main_group_1_2": {
|
| 160 |
+
"cls": "Drawer"
|
| 161 |
+
},
|
| 162 |
+
"stack_1_main_group_1_3": {
|
| 163 |
+
"cls": "Drawer"
|
| 164 |
+
},
|
| 165 |
+
"stack_2_main_group_1_base": {
|
| 166 |
+
"cls": "Box"
|
| 167 |
+
},
|
| 168 |
+
"stack_2_main_group_1_1": {
|
| 169 |
+
"cls": "SingleCabinet"
|
| 170 |
+
},
|
| 171 |
+
"stack_2_main_group_1_2": {
|
| 172 |
+
"cls": "Drawer"
|
| 173 |
+
},
|
| 174 |
+
"cab_1_main_group_1": {
|
| 175 |
+
"cls": "HingeCabinet"
|
| 176 |
+
},
|
| 177 |
+
"toaster_main_group_1": {
|
| 178 |
+
"cls": "Toaster"
|
| 179 |
+
},
|
| 180 |
+
"stovetop_1_left_group_1": {
|
| 181 |
+
"cls": "Stovetop"
|
| 182 |
+
},
|
| 183 |
+
"counter_1_left_group_1": {
|
| 184 |
+
"cls": "Counter"
|
| 185 |
+
},
|
| 186 |
+
"stack_1_left_group_1_base": {
|
| 187 |
+
"cls": "Box"
|
| 188 |
+
},
|
| 189 |
+
"stack_1_left_group_1_1": {
|
| 190 |
+
"cls": "HingeCabinet"
|
| 191 |
+
},
|
| 192 |
+
"stack_1_left_group_1_2": {
|
| 193 |
+
"cls": "PanelCabinet"
|
| 194 |
+
},
|
| 195 |
+
"stack_2_left_group_1_base": {
|
| 196 |
+
"cls": "Box"
|
| 197 |
+
},
|
| 198 |
+
"stack_2_left_group_1_1": {
|
| 199 |
+
"cls": "HingeCabinet"
|
| 200 |
+
},
|
| 201 |
+
"stack_2_left_group_1_2": {
|
| 202 |
+
"cls": "Drawer"
|
| 203 |
+
},
|
| 204 |
+
"stack_3_left_group_1_base": {
|
| 205 |
+
"cls": "Box"
|
| 206 |
+
},
|
| 207 |
+
"stack_3_left_group_1_1": {
|
| 208 |
+
"cls": "HingeCabinet"
|
| 209 |
+
},
|
| 210 |
+
"stack_3_left_group_1_2": {
|
| 211 |
+
"cls": "Drawer"
|
| 212 |
+
},
|
| 213 |
+
"hood_left_group_1": {
|
| 214 |
+
"cls": "Hood"
|
| 215 |
+
},
|
| 216 |
+
"cab_1_left_group_1": {
|
| 217 |
+
"cls": "HingeCabinet"
|
| 218 |
+
},
|
| 219 |
+
"cab_2_left_group_1": {
|
| 220 |
+
"cls": "HingeCabinet"
|
| 221 |
+
},
|
| 222 |
+
"coffee_machine_left_group_1": {
|
| 223 |
+
"cls": "CoffeeMachine"
|
| 224 |
+
},
|
| 225 |
+
"counter_1_front_group_1": {
|
| 226 |
+
"cls": "Counter"
|
| 227 |
+
},
|
| 228 |
+
"stack_1_front_group_1_base": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
+
},
|
| 231 |
+
"stack_1_front_group_1_1": {
|
| 232 |
+
"cls": "HingeCabinet"
|
| 233 |
+
},
|
| 234 |
+
"stack_1_front_group_1_2": {
|
| 235 |
+
"cls": "Drawer"
|
| 236 |
+
},
|
| 237 |
+
"stack_2_front_group_1_base": {
|
| 238 |
+
"cls": "Box"
|
| 239 |
+
},
|
| 240 |
+
"stack_2_front_group_1_1": {
|
| 241 |
+
"cls": "HingeCabinet"
|
| 242 |
+
},
|
| 243 |
+
"stack_2_front_group_1_2": {
|
| 244 |
+
"cls": "Drawer"
|
| 245 |
+
},
|
| 246 |
+
"stack_3_front_group_1_base": {
|
| 247 |
+
"cls": "Box"
|
| 248 |
+
},
|
| 249 |
+
"stack_3_front_group_1_1": {
|
| 250 |
+
"cls": "HingeCabinet"
|
| 251 |
+
},
|
| 252 |
+
"stack_3_front_group_1_2": {
|
| 253 |
+
"cls": "Drawer"
|
| 254 |
+
},
|
| 255 |
+
"cab_1_front_group_1": {
|
| 256 |
+
"cls": "HingeCabinet"
|
| 257 |
+
},
|
| 258 |
+
"cab_2_front_group_1": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
+
},
|
| 261 |
+
"cab_3_front_group_1": {
|
| 262 |
+
"cls": "HingeCabinet"
|
| 263 |
+
},
|
| 264 |
+
"toaster_oven_front_group_1": {
|
| 265 |
+
"cls": "ToasterOven"
|
| 266 |
+
},
|
| 267 |
+
"sink_island_group": {
|
| 268 |
+
"cls": "Sink"
|
| 269 |
+
},
|
| 270 |
+
"island_island_group": {
|
| 271 |
+
"cls": "Counter"
|
| 272 |
+
},
|
| 273 |
+
"panel_stack_island_group_base": {
|
| 274 |
+
"cls": "Box"
|
| 275 |
+
},
|
| 276 |
+
"panel_stack_island_group_1": {
|
| 277 |
+
"cls": "PanelCabinet"
|
| 278 |
+
},
|
| 279 |
+
"dishwasher_island_group": {
|
| 280 |
+
"cls": "Dishwasher"
|
| 281 |
+
},
|
| 282 |
+
"box_island_group": {
|
| 283 |
+
"cls": "Box"
|
| 284 |
+
},
|
| 285 |
+
"stack_1_island_group_base": {
|
| 286 |
+
"cls": "Box"
|
| 287 |
+
},
|
| 288 |
+
"stack_1_island_group_1": {
|
| 289 |
+
"cls": "HingeCabinet"
|
| 290 |
+
},
|
| 291 |
+
"stack_1_island_group_2": {
|
| 292 |
+
"cls": "PanelCabinet"
|
| 293 |
+
},
|
| 294 |
+
"stack_2_island_group_base": {
|
| 295 |
+
"cls": "Box"
|
| 296 |
+
},
|
| 297 |
+
"stack_2_island_group_1": {
|
| 298 |
+
"cls": "HingeCabinet"
|
| 299 |
+
},
|
| 300 |
+
"stack_2_island_group_2": {
|
| 301 |
+
"cls": "Drawer"
|
| 302 |
+
},
|
| 303 |
+
"stack_2_island_group_3": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_3_island_group_base": {
|
| 307 |
+
"cls": "Box"
|
| 308 |
+
},
|
| 309 |
+
"stack_3_island_group_1": {
|
| 310 |
+
"cls": "PanelCabinet"
|
| 311 |
+
},
|
| 312 |
+
"paper_towel_island_group": {
|
| 313 |
+
"cls": "Accessory"
|
| 314 |
+
}
|
| 315 |
+
},
|
| 316 |
+
"gen_textures": {},
|
| 317 |
+
"lang": "Fully slide the oven rack in.",
|
| 318 |
+
"fixture_refs": {
|
| 319 |
+
"oven": "oven_main_group_1"
|
| 320 |
+
},
|
| 321 |
+
"cam_configs": {
|
| 322 |
+
"robot0_agentview_center": {
|
| 323 |
+
"pos": [
|
| 324 |
+
-0.6,
|
| 325 |
+
0.0,
|
| 326 |
+
1.15
|
| 327 |
+
],
|
| 328 |
+
"quat": [
|
| 329 |
+
0.636945903301239,
|
| 330 |
+
0.3325185477733612,
|
| 331 |
+
-0.3199238181114197,
|
| 332 |
+
-0.6175596117973328
|
| 333 |
+
],
|
| 334 |
+
"parent_body": "mobilebase0_support"
|
| 335 |
+
},
|
| 336 |
+
"robot0_agentview_left": {
|
| 337 |
+
"pos": [
|
| 338 |
+
-0.5,
|
| 339 |
+
0.35,
|
| 340 |
+
1.05
|
| 341 |
+
],
|
| 342 |
+
"quat": [
|
| 343 |
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0.55623853,
|
| 344 |
+
0.29935253,
|
| 345 |
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-0.37678665,
|
| 346 |
+
-0.6775092
|
| 347 |
+
],
|
| 348 |
+
"camera_attribs": {
|
| 349 |
+
"fovy": "60"
|
| 350 |
+
},
|
| 351 |
+
"parent_body": "mobilebase0_support"
|
| 352 |
+
},
|
| 353 |
+
"robot0_agentview_right": {
|
| 354 |
+
"pos": [
|
| 355 |
+
-0.5,
|
| 356 |
+
-0.35,
|
| 357 |
+
1.05
|
| 358 |
+
],
|
| 359 |
+
"quat": [
|
| 360 |
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0.6775091886520386,
|
| 361 |
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0.3767866790294647,
|
| 362 |
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-0.2993525564670563,
|
| 363 |
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-0.55623859167099
|
| 364 |
+
],
|
| 365 |
+
"camera_attribs": {
|
| 366 |
+
"fovy": "60"
|
| 367 |
+
},
|
| 368 |
+
"parent_body": "mobilebase0_support"
|
| 369 |
+
},
|
| 370 |
+
"robot0_frontview": {
|
| 371 |
+
"pos": [
|
| 372 |
+
-0.5,
|
| 373 |
+
0,
|
| 374 |
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0.95
|
| 375 |
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],
|
| 376 |
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"quat": [
|
| 377 |
+
0.6088936924934387,
|
| 378 |
+
0.3814677894115448,
|
| 379 |
+
-0.3673907518386841,
|
| 380 |
+
-0.5905545353889465
|
| 381 |
+
],
|
| 382 |
+
"camera_attribs": {
|
| 383 |
+
"fovy": "60"
|
| 384 |
+
},
|
| 385 |
+
"parent_body": "mobilebase0_support"
|
| 386 |
+
},
|
| 387 |
+
"robot0_eye_in_hand": {
|
| 388 |
+
"pos": [
|
| 389 |
+
0.05,
|
| 390 |
+
0,
|
| 391 |
+
0
|
| 392 |
+
],
|
| 393 |
+
"quat": [
|
| 394 |
+
0,
|
| 395 |
+
0.707107,
|
| 396 |
+
0.707107,
|
| 397 |
+
0
|
| 398 |
+
],
|
| 399 |
+
"parent_body": "robot0_right_hand"
|
| 400 |
+
}
|
| 401 |
+
},
|
| 402 |
+
"init_robot_base_pos": [
|
| 403 |
+
0.9025731284597056,
|
| 404 |
+
-0.7691074515298084,
|
| 405 |
+
0.0
|
| 406 |
+
],
|
| 407 |
+
"init_robot_base_ori": [
|
| 408 |
+
0.0,
|
| 409 |
+
0.0,
|
| 410 |
+
1.5707963267948966
|
| 411 |
+
],
|
| 412 |
+
"should_pull": false,
|
| 413 |
+
"rack_level": 0
|
| 414 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000057/ep_meta.json
ADDED
|
@@ -0,0 +1,357 @@
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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": 42,
|
| 3 |
+
"style_id": 27,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_main_2_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_main_2_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_main_3_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_main_3_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"wall_main_4_room": {
|
| 37 |
+
"cls": "Wall"
|
| 38 |
+
},
|
| 39 |
+
"wall_main_4_backing_room": {
|
| 40 |
+
"cls": "Wall"
|
| 41 |
+
},
|
| 42 |
+
"wall_left_2_room": {
|
| 43 |
+
"cls": "Wall"
|
| 44 |
+
},
|
| 45 |
+
"wall_left_2_backing_room": {
|
| 46 |
+
"cls": "Wall"
|
| 47 |
+
},
|
| 48 |
+
"floor_1_room": {
|
| 49 |
+
"cls": "Floor"
|
| 50 |
+
},
|
| 51 |
+
"floor_1_backing_room": {
|
| 52 |
+
"cls": "Floor"
|
| 53 |
+
},
|
| 54 |
+
"floor_2_room": {
|
| 55 |
+
"cls": "Floor"
|
| 56 |
+
},
|
| 57 |
+
"floor_2_backing_room": {
|
| 58 |
+
"cls": "Floor"
|
| 59 |
+
},
|
| 60 |
+
"wallaccessory_room": {
|
| 61 |
+
"cls": "WallAccessory"
|
| 62 |
+
},
|
| 63 |
+
"lightswitch_room": {
|
| 64 |
+
"cls": "WallAccessory"
|
| 65 |
+
},
|
| 66 |
+
"wallaccessory.002_room": {
|
| 67 |
+
"cls": "WallAccessory"
|
| 68 |
+
},
|
| 69 |
+
"window_group_room": {
|
| 70 |
+
"cls": "Window"
|
| 71 |
+
},
|
| 72 |
+
"stool_1_room": {
|
| 73 |
+
"cls": "Stool"
|
| 74 |
+
},
|
| 75 |
+
"stool_2_room": {
|
| 76 |
+
"cls": "Stool"
|
| 77 |
+
},
|
| 78 |
+
"stool_4_room": {
|
| 79 |
+
"cls": "Stool"
|
| 80 |
+
},
|
| 81 |
+
"stool_3_room": {
|
| 82 |
+
"cls": "Stool"
|
| 83 |
+
},
|
| 84 |
+
"counter_1_main_group_1": {
|
| 85 |
+
"cls": "Counter"
|
| 86 |
+
},
|
| 87 |
+
"counter_corner_1_main_group_1": {
|
| 88 |
+
"cls": "Counter"
|
| 89 |
+
},
|
| 90 |
+
"stack_1_main_group_1_base": {
|
| 91 |
+
"cls": "Box"
|
| 92 |
+
},
|
| 93 |
+
"stack_1_main_group_1_1": {
|
| 94 |
+
"cls": "HingeCabinet"
|
| 95 |
+
},
|
| 96 |
+
"cube_1_main_group_1": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"fridgefrenchdoor_main_group_1": {
|
| 100 |
+
"cls": "FridgeFrenchDoor"
|
| 101 |
+
},
|
| 102 |
+
"fridgefrenchdoor_housing_main_group_1": {
|
| 103 |
+
"cls": "HousingCabinet"
|
| 104 |
+
},
|
| 105 |
+
"hingecabinet_1_main_group_1": {
|
| 106 |
+
"cls": "HingeCabinet"
|
| 107 |
+
},
|
| 108 |
+
"coffeemachine_main_group_1": {
|
| 109 |
+
"cls": "CoffeeMachine"
|
| 110 |
+
},
|
| 111 |
+
"papertowel_main_group_1": {
|
| 112 |
+
"cls": "Accessory"
|
| 113 |
+
},
|
| 114 |
+
"stovetop_right_group_1": {
|
| 115 |
+
"cls": "Stovetop"
|
| 116 |
+
},
|
| 117 |
+
"counter_1_right_group_1": {
|
| 118 |
+
"cls": "Counter"
|
| 119 |
+
},
|
| 120 |
+
"hingecabinet_3_right_group_1": {
|
| 121 |
+
"cls": "HingeCabinet"
|
| 122 |
+
},
|
| 123 |
+
"hingecabinet_4_right_group_1": {
|
| 124 |
+
"cls": "HingeCabinet"
|
| 125 |
+
},
|
| 126 |
+
"hingecabinet_1_right_group_1": {
|
| 127 |
+
"cls": "HingeCabinet"
|
| 128 |
+
},
|
| 129 |
+
"hingecabinet_2_right_group_1": {
|
| 130 |
+
"cls": "HingeCabinet"
|
| 131 |
+
},
|
| 132 |
+
"stack_1_right_group_1_base": {
|
| 133 |
+
"cls": "Box"
|
| 134 |
+
},
|
| 135 |
+
"stack_1_right_group_1_1": {
|
| 136 |
+
"cls": "SingleCabinet"
|
| 137 |
+
},
|
| 138 |
+
"stack_2_right_group_1_base": {
|
| 139 |
+
"cls": "Box"
|
| 140 |
+
},
|
| 141 |
+
"stack_2_right_group_1_1": {
|
| 142 |
+
"cls": "Drawer"
|
| 143 |
+
},
|
| 144 |
+
"stack_2_right_group_1_2": {
|
| 145 |
+
"cls": "Drawer"
|
| 146 |
+
},
|
| 147 |
+
"stack_2_right_group_1_3": {
|
| 148 |
+
"cls": "Drawer"
|
| 149 |
+
},
|
| 150 |
+
"stack_3_right_group_1_base": {
|
| 151 |
+
"cls": "Box"
|
| 152 |
+
},
|
| 153 |
+
"stack_3_right_group_1_1": {
|
| 154 |
+
"cls": "Drawer"
|
| 155 |
+
},
|
| 156 |
+
"stack_3_right_group_1_2": {
|
| 157 |
+
"cls": "Drawer"
|
| 158 |
+
},
|
| 159 |
+
"stack_3_right_group_1_3": {
|
| 160 |
+
"cls": "PanelCabinet"
|
| 161 |
+
},
|
| 162 |
+
"stack_4_right_group_1_base": {
|
| 163 |
+
"cls": "Box"
|
| 164 |
+
},
|
| 165 |
+
"stack_4_right_group_1_1": {
|
| 166 |
+
"cls": "HingeCabinet"
|
| 167 |
+
},
|
| 168 |
+
"stack_4_right_group_1_2": {
|
| 169 |
+
"cls": "Drawer"
|
| 170 |
+
},
|
| 171 |
+
"cube_1_right_group_1": {
|
| 172 |
+
"cls": "Box"
|
| 173 |
+
},
|
| 174 |
+
"bottom_right_group_1_base": {
|
| 175 |
+
"cls": "Box"
|
| 176 |
+
},
|
| 177 |
+
"bottom_right_group_1_1": {
|
| 178 |
+
"cls": "Drawer"
|
| 179 |
+
},
|
| 180 |
+
"oven_right_group_1": {
|
| 181 |
+
"cls": "Oven"
|
| 182 |
+
},
|
| 183 |
+
"oven_housing_right_group_1": {
|
| 184 |
+
"cls": "HousingCabinet"
|
| 185 |
+
},
|
| 186 |
+
"microwave_right_group_1": {
|
| 187 |
+
"cls": "Microwave"
|
| 188 |
+
},
|
| 189 |
+
"microwave_housing_right_group_1": {
|
| 190 |
+
"cls": "HousingCabinet"
|
| 191 |
+
},
|
| 192 |
+
"top_right_group_1": {
|
| 193 |
+
"cls": "HingeCabinet"
|
| 194 |
+
},
|
| 195 |
+
"toaster_right_group_1": {
|
| 196 |
+
"cls": "Toaster"
|
| 197 |
+
},
|
| 198 |
+
"counter_1_left_group_1": {
|
| 199 |
+
"cls": "Counter"
|
| 200 |
+
},
|
| 201 |
+
"stack_1_left_group_1_base": {
|
| 202 |
+
"cls": "Box"
|
| 203 |
+
},
|
| 204 |
+
"stack_1_left_group_1_1": {
|
| 205 |
+
"cls": "HingeCabinet"
|
| 206 |
+
},
|
| 207 |
+
"stack_2_left_group_1_base": {
|
| 208 |
+
"cls": "Box"
|
| 209 |
+
},
|
| 210 |
+
"stack_2_left_group_1_1": {
|
| 211 |
+
"cls": "SingleCabinet"
|
| 212 |
+
},
|
| 213 |
+
"knifeblock_left_group_1": {
|
| 214 |
+
"cls": "Accessory"
|
| 215 |
+
},
|
| 216 |
+
"toaster_oven_left_group_1": {
|
| 217 |
+
"cls": "ToasterOven"
|
| 218 |
+
},
|
| 219 |
+
"plant_left_group_1": {
|
| 220 |
+
"cls": "Accessory"
|
| 221 |
+
},
|
| 222 |
+
"cube_1_island_group_1": {
|
| 223 |
+
"cls": "Box"
|
| 224 |
+
},
|
| 225 |
+
"cube_2_island_group_1": {
|
| 226 |
+
"cls": "Box"
|
| 227 |
+
},
|
| 228 |
+
"cube_3_island_group_1": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
+
},
|
| 231 |
+
"sink_island_group_1": {
|
| 232 |
+
"cls": "Sink"
|
| 233 |
+
},
|
| 234 |
+
"island_island_group_1": {
|
| 235 |
+
"cls": "Counter"
|
| 236 |
+
},
|
| 237 |
+
"stack_1_island_group_1_base": {
|
| 238 |
+
"cls": "Box"
|
| 239 |
+
},
|
| 240 |
+
"stack_1_island_group_1_1": {
|
| 241 |
+
"cls": "SingleCabinet"
|
| 242 |
+
},
|
| 243 |
+
"stack_3_island_group_1_base": {
|
| 244 |
+
"cls": "Box"
|
| 245 |
+
},
|
| 246 |
+
"stack_3_island_group_1_1": {
|
| 247 |
+
"cls": "SingleCabinet"
|
| 248 |
+
},
|
| 249 |
+
"stack_2_island_group_1_base": {
|
| 250 |
+
"cls": "Box"
|
| 251 |
+
},
|
| 252 |
+
"stack_2_island_group_1_1": {
|
| 253 |
+
"cls": "HingeCabinet"
|
| 254 |
+
},
|
| 255 |
+
"dishwasher_1_island_group_1": {
|
| 256 |
+
"cls": "Dishwasher"
|
| 257 |
+
}
|
| 258 |
+
},
|
| 259 |
+
"gen_textures": {},
|
| 260 |
+
"lang": "Fully slide the top oven rack out.",
|
| 261 |
+
"fixture_refs": {
|
| 262 |
+
"oven": "oven_right_group_1"
|
| 263 |
+
},
|
| 264 |
+
"cam_configs": {
|
| 265 |
+
"robot0_agentview_center": {
|
| 266 |
+
"pos": [
|
| 267 |
+
-0.6,
|
| 268 |
+
0.0,
|
| 269 |
+
1.15
|
| 270 |
+
],
|
| 271 |
+
"quat": [
|
| 272 |
+
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|
| 273 |
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0.3325185477733612,
|
| 274 |
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-0.3199238181114197,
|
| 275 |
+
-0.6175596117973328
|
| 276 |
+
],
|
| 277 |
+
"parent_body": "mobilebase0_support"
|
| 278 |
+
},
|
| 279 |
+
"robot0_agentview_left": {
|
| 280 |
+
"pos": [
|
| 281 |
+
-0.5,
|
| 282 |
+
0.35,
|
| 283 |
+
1.05
|
| 284 |
+
],
|
| 285 |
+
"quat": [
|
| 286 |
+
0.55623853,
|
| 287 |
+
0.29935253,
|
| 288 |
+
-0.37678665,
|
| 289 |
+
-0.6775092
|
| 290 |
+
],
|
| 291 |
+
"camera_attribs": {
|
| 292 |
+
"fovy": "60"
|
| 293 |
+
},
|
| 294 |
+
"parent_body": "mobilebase0_support"
|
| 295 |
+
},
|
| 296 |
+
"robot0_agentview_right": {
|
| 297 |
+
"pos": [
|
| 298 |
+
-0.5,
|
| 299 |
+
-0.35,
|
| 300 |
+
1.05
|
| 301 |
+
],
|
| 302 |
+
"quat": [
|
| 303 |
+
0.6775091886520386,
|
| 304 |
+
0.3767866790294647,
|
| 305 |
+
-0.2993525564670563,
|
| 306 |
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-0.55623859167099
|
| 307 |
+
],
|
| 308 |
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"camera_attribs": {
|
| 309 |
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"fovy": "60"
|
| 310 |
+
},
|
| 311 |
+
"parent_body": "mobilebase0_support"
|
| 312 |
+
},
|
| 313 |
+
"robot0_frontview": {
|
| 314 |
+
"pos": [
|
| 315 |
+
-0.5,
|
| 316 |
+
0,
|
| 317 |
+
0.95
|
| 318 |
+
],
|
| 319 |
+
"quat": [
|
| 320 |
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0.6088936924934387,
|
| 321 |
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0.3814677894115448,
|
| 322 |
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-0.3673907518386841,
|
| 323 |
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-0.5905545353889465
|
| 324 |
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],
|
| 325 |
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"camera_attribs": {
|
| 326 |
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"fovy": "60"
|
| 327 |
+
},
|
| 328 |
+
"parent_body": "mobilebase0_support"
|
| 329 |
+
},
|
| 330 |
+
"robot0_eye_in_hand": {
|
| 331 |
+
"pos": [
|
| 332 |
+
0.05,
|
| 333 |
+
0,
|
| 334 |
+
0
|
| 335 |
+
],
|
| 336 |
+
"quat": [
|
| 337 |
+
0,
|
| 338 |
+
0.707107,
|
| 339 |
+
0.707107,
|
| 340 |
+
0
|
| 341 |
+
],
|
| 342 |
+
"parent_body": "robot0_right_hand"
|
| 343 |
+
}
|
| 344 |
+
},
|
| 345 |
+
"init_robot_base_pos": [
|
| 346 |
+
4.210348142143282,
|
| 347 |
+
-3.12666904878571,
|
| 348 |
+
0.0
|
| 349 |
+
],
|
| 350 |
+
"init_robot_base_ori": [
|
| 351 |
+
0.0,
|
| 352 |
+
0.0,
|
| 353 |
+
0.00030199704781619374
|
| 354 |
+
],
|
| 355 |
+
"should_pull": true,
|
| 356 |
+
"rack_level": 1
|
| 357 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000058/ep_meta.json
ADDED
|
@@ -0,0 +1,276 @@
|
|
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|
|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": 34,
|
| 3 |
+
"style_id": 45,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_left_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_left_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"floor_1_room": {
|
| 19 |
+
"cls": "Floor"
|
| 20 |
+
},
|
| 21 |
+
"floor_1_backing_room": {
|
| 22 |
+
"cls": "Floor"
|
| 23 |
+
},
|
| 24 |
+
"stool_2_room": {
|
| 25 |
+
"cls": "Stool"
|
| 26 |
+
},
|
| 27 |
+
"stool_3_room": {
|
| 28 |
+
"cls": "Stool"
|
| 29 |
+
},
|
| 30 |
+
"stool_4_room": {
|
| 31 |
+
"cls": "Stool"
|
| 32 |
+
},
|
| 33 |
+
"stool_1_room": {
|
| 34 |
+
"cls": "Stool"
|
| 35 |
+
},
|
| 36 |
+
"stovetop_left_group_1": {
|
| 37 |
+
"cls": "Stovetop"
|
| 38 |
+
},
|
| 39 |
+
"counter_1_left_group_1": {
|
| 40 |
+
"cls": "Counter"
|
| 41 |
+
},
|
| 42 |
+
"hingecabinet_4_left_group_1": {
|
| 43 |
+
"cls": "HingeCabinet"
|
| 44 |
+
},
|
| 45 |
+
"hingecabinet_3_left_group_1": {
|
| 46 |
+
"cls": "HingeCabinet"
|
| 47 |
+
},
|
| 48 |
+
"hingecabinet_2_left_group_1": {
|
| 49 |
+
"cls": "HingeCabinet"
|
| 50 |
+
},
|
| 51 |
+
"singlecabinet_1_left_group_1": {
|
| 52 |
+
"cls": "SingleCabinet"
|
| 53 |
+
},
|
| 54 |
+
"bottom_left_group_1_base": {
|
| 55 |
+
"cls": "Box"
|
| 56 |
+
},
|
| 57 |
+
"bottom_left_group_1_1": {
|
| 58 |
+
"cls": "Drawer"
|
| 59 |
+
},
|
| 60 |
+
"oven_left_group_1": {
|
| 61 |
+
"cls": "Oven"
|
| 62 |
+
},
|
| 63 |
+
"microwave_left_group_1": {
|
| 64 |
+
"cls": "Microwave"
|
| 65 |
+
},
|
| 66 |
+
"fridgefrenchdoor_left_group_1": {
|
| 67 |
+
"cls": "FridgeFrenchDoor"
|
| 68 |
+
},
|
| 69 |
+
"fridgefrenchdoor_housing_left_group_1": {
|
| 70 |
+
"cls": "HousingCabinet"
|
| 71 |
+
},
|
| 72 |
+
"oven_housing_left_group_1": {
|
| 73 |
+
"cls": "HousingCabinet"
|
| 74 |
+
},
|
| 75 |
+
"hingecabinet_1_left_group_1": {
|
| 76 |
+
"cls": "HingeCabinet"
|
| 77 |
+
},
|
| 78 |
+
"microwave_housing_left_group_1": {
|
| 79 |
+
"cls": "HousingCabinet"
|
| 80 |
+
},
|
| 81 |
+
"top_left_group_1": {
|
| 82 |
+
"cls": "HingeCabinet"
|
| 83 |
+
},
|
| 84 |
+
"stack_3_left_group_1_base": {
|
| 85 |
+
"cls": "Box"
|
| 86 |
+
},
|
| 87 |
+
"stack_3_left_group_1_1": {
|
| 88 |
+
"cls": "Drawer"
|
| 89 |
+
},
|
| 90 |
+
"stack_3_left_group_1_2": {
|
| 91 |
+
"cls": "Drawer"
|
| 92 |
+
},
|
| 93 |
+
"stack_3_left_group_1_3": {
|
| 94 |
+
"cls": "PanelCabinet"
|
| 95 |
+
},
|
| 96 |
+
"stack_2_left_group_1_base": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"stack_2_left_group_1_1": {
|
| 100 |
+
"cls": "Drawer"
|
| 101 |
+
},
|
| 102 |
+
"stack_2_left_group_1_2": {
|
| 103 |
+
"cls": "Drawer"
|
| 104 |
+
},
|
| 105 |
+
"stack_2_left_group_1_3": {
|
| 106 |
+
"cls": "Drawer"
|
| 107 |
+
},
|
| 108 |
+
"stack_4_left_group_1_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_4_left_group_1_1": {
|
| 112 |
+
"cls": "Drawer"
|
| 113 |
+
},
|
| 114 |
+
"stack_4_left_group_1_2": {
|
| 115 |
+
"cls": "Drawer"
|
| 116 |
+
},
|
| 117 |
+
"stack_4_left_group_1_3": {
|
| 118 |
+
"cls": "Drawer"
|
| 119 |
+
},
|
| 120 |
+
"stack_1_left_group_1_base": {
|
| 121 |
+
"cls": "Box"
|
| 122 |
+
},
|
| 123 |
+
"stack_1_left_group_1_1": {
|
| 124 |
+
"cls": "SingleCabinet"
|
| 125 |
+
},
|
| 126 |
+
"coffee_machine_left_group_1": {
|
| 127 |
+
"cls": "CoffeeMachine"
|
| 128 |
+
},
|
| 129 |
+
"toaster_left_group_1": {
|
| 130 |
+
"cls": "Toaster"
|
| 131 |
+
},
|
| 132 |
+
"toaster_oven_left_group_1": {
|
| 133 |
+
"cls": "ToasterOven"
|
| 134 |
+
},
|
| 135 |
+
"sink_island_group_1": {
|
| 136 |
+
"cls": "Sink"
|
| 137 |
+
},
|
| 138 |
+
"island_island_group_1": {
|
| 139 |
+
"cls": "Counter"
|
| 140 |
+
},
|
| 141 |
+
"cube_1_island_group_1": {
|
| 142 |
+
"cls": "Box"
|
| 143 |
+
},
|
| 144 |
+
"cube_2_island_group_1": {
|
| 145 |
+
"cls": "Box"
|
| 146 |
+
},
|
| 147 |
+
"cube_3_island_group_1": {
|
| 148 |
+
"cls": "Box"
|
| 149 |
+
},
|
| 150 |
+
"stack_2_island_group_1_base": {
|
| 151 |
+
"cls": "Box"
|
| 152 |
+
},
|
| 153 |
+
"stack_2_island_group_1_1": {
|
| 154 |
+
"cls": "HingeCabinet"
|
| 155 |
+
},
|
| 156 |
+
"stack_3_island_group_1_base": {
|
| 157 |
+
"cls": "Box"
|
| 158 |
+
},
|
| 159 |
+
"stack_3_island_group_1_1": {
|
| 160 |
+
"cls": "SingleCabinet"
|
| 161 |
+
},
|
| 162 |
+
"stack_1_island_group_1_base": {
|
| 163 |
+
"cls": "Box"
|
| 164 |
+
},
|
| 165 |
+
"stack_1_island_group_1_1": {
|
| 166 |
+
"cls": "SingleCabinet"
|
| 167 |
+
},
|
| 168 |
+
"cube_4_island_group_1": {
|
| 169 |
+
"cls": "Box"
|
| 170 |
+
},
|
| 171 |
+
"dishwasher_1_island_group_1": {
|
| 172 |
+
"cls": "Dishwasher"
|
| 173 |
+
},
|
| 174 |
+
"paper_towel_island_group_1": {
|
| 175 |
+
"cls": "Accessory"
|
| 176 |
+
}
|
| 177 |
+
},
|
| 178 |
+
"gen_textures": {},
|
| 179 |
+
"lang": "Fully slide the oven rack in.",
|
| 180 |
+
"fixture_refs": {
|
| 181 |
+
"oven": "oven_left_group_1"
|
| 182 |
+
},
|
| 183 |
+
"cam_configs": {
|
| 184 |
+
"robot0_agentview_center": {
|
| 185 |
+
"pos": [
|
| 186 |
+
-0.6,
|
| 187 |
+
0.0,
|
| 188 |
+
1.15
|
| 189 |
+
],
|
| 190 |
+
"quat": [
|
| 191 |
+
0.636945903301239,
|
| 192 |
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0.3325185477733612,
|
| 193 |
+
-0.3199238181114197,
|
| 194 |
+
-0.6175596117973328
|
| 195 |
+
],
|
| 196 |
+
"parent_body": "mobilebase0_support"
|
| 197 |
+
},
|
| 198 |
+
"robot0_agentview_left": {
|
| 199 |
+
"pos": [
|
| 200 |
+
-0.5,
|
| 201 |
+
0.35,
|
| 202 |
+
1.05
|
| 203 |
+
],
|
| 204 |
+
"quat": [
|
| 205 |
+
0.55623853,
|
| 206 |
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0.29935253,
|
| 207 |
+
-0.37678665,
|
| 208 |
+
-0.6775092
|
| 209 |
+
],
|
| 210 |
+
"camera_attribs": {
|
| 211 |
+
"fovy": "60"
|
| 212 |
+
},
|
| 213 |
+
"parent_body": "mobilebase0_support"
|
| 214 |
+
},
|
| 215 |
+
"robot0_agentview_right": {
|
| 216 |
+
"pos": [
|
| 217 |
+
-0.5,
|
| 218 |
+
-0.35,
|
| 219 |
+
1.05
|
| 220 |
+
],
|
| 221 |
+
"quat": [
|
| 222 |
+
0.6775091886520386,
|
| 223 |
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0.3767866790294647,
|
| 224 |
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-0.2993525564670563,
|
| 225 |
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-0.55623859167099
|
| 226 |
+
],
|
| 227 |
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"camera_attribs": {
|
| 228 |
+
"fovy": "60"
|
| 229 |
+
},
|
| 230 |
+
"parent_body": "mobilebase0_support"
|
| 231 |
+
},
|
| 232 |
+
"robot0_frontview": {
|
| 233 |
+
"pos": [
|
| 234 |
+
-0.5,
|
| 235 |
+
0,
|
| 236 |
+
0.95
|
| 237 |
+
],
|
| 238 |
+
"quat": [
|
| 239 |
+
0.6088936924934387,
|
| 240 |
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0.3814677894115448,
|
| 241 |
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-0.3673907518386841,
|
| 242 |
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-0.5905545353889465
|
| 243 |
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],
|
| 244 |
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"camera_attribs": {
|
| 245 |
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"fovy": "60"
|
| 246 |
+
},
|
| 247 |
+
"parent_body": "mobilebase0_support"
|
| 248 |
+
},
|
| 249 |
+
"robot0_eye_in_hand": {
|
| 250 |
+
"pos": [
|
| 251 |
+
0.05,
|
| 252 |
+
0,
|
| 253 |
+
0
|
| 254 |
+
],
|
| 255 |
+
"quat": [
|
| 256 |
+
0,
|
| 257 |
+
0.707107,
|
| 258 |
+
0.707107,
|
| 259 |
+
0
|
| 260 |
+
],
|
| 261 |
+
"parent_body": "robot0_right_hand"
|
| 262 |
+
}
|
| 263 |
+
},
|
| 264 |
+
"init_robot_base_pos": [
|
| 265 |
+
1.1707660306043588,
|
| 266 |
+
-0.9338244303020524,
|
| 267 |
+
0.0
|
| 268 |
+
],
|
| 269 |
+
"init_robot_base_ori": [
|
| 270 |
+
0.0,
|
| 271 |
+
0.0,
|
| 272 |
+
3.1412906566438026
|
| 273 |
+
],
|
| 274 |
+
"should_pull": false,
|
| 275 |
+
"rack_level": 1
|
| 276 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000061/ep_meta.json
ADDED
|
@@ -0,0 +1,357 @@
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 42,
|
| 3 |
+
"style_id": 51,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_main_2_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_main_2_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_main_3_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_main_3_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"wall_main_4_room": {
|
| 37 |
+
"cls": "Wall"
|
| 38 |
+
},
|
| 39 |
+
"wall_main_4_backing_room": {
|
| 40 |
+
"cls": "Wall"
|
| 41 |
+
},
|
| 42 |
+
"wall_left_2_room": {
|
| 43 |
+
"cls": "Wall"
|
| 44 |
+
},
|
| 45 |
+
"wall_left_2_backing_room": {
|
| 46 |
+
"cls": "Wall"
|
| 47 |
+
},
|
| 48 |
+
"floor_1_room": {
|
| 49 |
+
"cls": "Floor"
|
| 50 |
+
},
|
| 51 |
+
"floor_1_backing_room": {
|
| 52 |
+
"cls": "Floor"
|
| 53 |
+
},
|
| 54 |
+
"floor_2_room": {
|
| 55 |
+
"cls": "Floor"
|
| 56 |
+
},
|
| 57 |
+
"floor_2_backing_room": {
|
| 58 |
+
"cls": "Floor"
|
| 59 |
+
},
|
| 60 |
+
"wallaccessory_room": {
|
| 61 |
+
"cls": "WallAccessory"
|
| 62 |
+
},
|
| 63 |
+
"lightswitch_room": {
|
| 64 |
+
"cls": "WallAccessory"
|
| 65 |
+
},
|
| 66 |
+
"wallaccessory.002_room": {
|
| 67 |
+
"cls": "WallAccessory"
|
| 68 |
+
},
|
| 69 |
+
"window_group_room": {
|
| 70 |
+
"cls": "Window"
|
| 71 |
+
},
|
| 72 |
+
"stool_1_room": {
|
| 73 |
+
"cls": "Stool"
|
| 74 |
+
},
|
| 75 |
+
"stool_2_room": {
|
| 76 |
+
"cls": "Stool"
|
| 77 |
+
},
|
| 78 |
+
"stool_4_room": {
|
| 79 |
+
"cls": "Stool"
|
| 80 |
+
},
|
| 81 |
+
"stool_3_room": {
|
| 82 |
+
"cls": "Stool"
|
| 83 |
+
},
|
| 84 |
+
"counter_1_main_group_1": {
|
| 85 |
+
"cls": "Counter"
|
| 86 |
+
},
|
| 87 |
+
"counter_corner_1_main_group_1": {
|
| 88 |
+
"cls": "Counter"
|
| 89 |
+
},
|
| 90 |
+
"stack_1_main_group_1_base": {
|
| 91 |
+
"cls": "Box"
|
| 92 |
+
},
|
| 93 |
+
"stack_1_main_group_1_1": {
|
| 94 |
+
"cls": "HingeCabinet"
|
| 95 |
+
},
|
| 96 |
+
"cube_1_main_group_1": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"fridgefrenchdoor_main_group_1": {
|
| 100 |
+
"cls": "FridgeFrenchDoor"
|
| 101 |
+
},
|
| 102 |
+
"fridgefrenchdoor_housing_main_group_1": {
|
| 103 |
+
"cls": "HousingCabinet"
|
| 104 |
+
},
|
| 105 |
+
"hingecabinet_1_main_group_1": {
|
| 106 |
+
"cls": "HingeCabinet"
|
| 107 |
+
},
|
| 108 |
+
"coffeemachine_main_group_1": {
|
| 109 |
+
"cls": "CoffeeMachine"
|
| 110 |
+
},
|
| 111 |
+
"papertowel_main_group_1": {
|
| 112 |
+
"cls": "Accessory"
|
| 113 |
+
},
|
| 114 |
+
"stovetop_right_group_1": {
|
| 115 |
+
"cls": "Stovetop"
|
| 116 |
+
},
|
| 117 |
+
"counter_1_right_group_1": {
|
| 118 |
+
"cls": "Counter"
|
| 119 |
+
},
|
| 120 |
+
"hingecabinet_3_right_group_1": {
|
| 121 |
+
"cls": "HingeCabinet"
|
| 122 |
+
},
|
| 123 |
+
"hingecabinet_4_right_group_1": {
|
| 124 |
+
"cls": "HingeCabinet"
|
| 125 |
+
},
|
| 126 |
+
"hingecabinet_1_right_group_1": {
|
| 127 |
+
"cls": "HingeCabinet"
|
| 128 |
+
},
|
| 129 |
+
"hingecabinet_2_right_group_1": {
|
| 130 |
+
"cls": "HingeCabinet"
|
| 131 |
+
},
|
| 132 |
+
"stack_1_right_group_1_base": {
|
| 133 |
+
"cls": "Box"
|
| 134 |
+
},
|
| 135 |
+
"stack_1_right_group_1_1": {
|
| 136 |
+
"cls": "SingleCabinet"
|
| 137 |
+
},
|
| 138 |
+
"stack_2_right_group_1_base": {
|
| 139 |
+
"cls": "Box"
|
| 140 |
+
},
|
| 141 |
+
"stack_2_right_group_1_1": {
|
| 142 |
+
"cls": "Drawer"
|
| 143 |
+
},
|
| 144 |
+
"stack_2_right_group_1_2": {
|
| 145 |
+
"cls": "Drawer"
|
| 146 |
+
},
|
| 147 |
+
"stack_2_right_group_1_3": {
|
| 148 |
+
"cls": "Drawer"
|
| 149 |
+
},
|
| 150 |
+
"stack_3_right_group_1_base": {
|
| 151 |
+
"cls": "Box"
|
| 152 |
+
},
|
| 153 |
+
"stack_3_right_group_1_1": {
|
| 154 |
+
"cls": "Drawer"
|
| 155 |
+
},
|
| 156 |
+
"stack_3_right_group_1_2": {
|
| 157 |
+
"cls": "Drawer"
|
| 158 |
+
},
|
| 159 |
+
"stack_3_right_group_1_3": {
|
| 160 |
+
"cls": "PanelCabinet"
|
| 161 |
+
},
|
| 162 |
+
"stack_4_right_group_1_base": {
|
| 163 |
+
"cls": "Box"
|
| 164 |
+
},
|
| 165 |
+
"stack_4_right_group_1_1": {
|
| 166 |
+
"cls": "HingeCabinet"
|
| 167 |
+
},
|
| 168 |
+
"stack_4_right_group_1_2": {
|
| 169 |
+
"cls": "Drawer"
|
| 170 |
+
},
|
| 171 |
+
"cube_1_right_group_1": {
|
| 172 |
+
"cls": "Box"
|
| 173 |
+
},
|
| 174 |
+
"bottom_right_group_1_base": {
|
| 175 |
+
"cls": "Box"
|
| 176 |
+
},
|
| 177 |
+
"bottom_right_group_1_1": {
|
| 178 |
+
"cls": "Drawer"
|
| 179 |
+
},
|
| 180 |
+
"oven_right_group_1": {
|
| 181 |
+
"cls": "Oven"
|
| 182 |
+
},
|
| 183 |
+
"oven_housing_right_group_1": {
|
| 184 |
+
"cls": "HousingCabinet"
|
| 185 |
+
},
|
| 186 |
+
"microwave_right_group_1": {
|
| 187 |
+
"cls": "Microwave"
|
| 188 |
+
},
|
| 189 |
+
"microwave_housing_right_group_1": {
|
| 190 |
+
"cls": "HousingCabinet"
|
| 191 |
+
},
|
| 192 |
+
"top_right_group_1": {
|
| 193 |
+
"cls": "HingeCabinet"
|
| 194 |
+
},
|
| 195 |
+
"toaster_right_group_1": {
|
| 196 |
+
"cls": "Toaster"
|
| 197 |
+
},
|
| 198 |
+
"counter_1_left_group_1": {
|
| 199 |
+
"cls": "Counter"
|
| 200 |
+
},
|
| 201 |
+
"stack_1_left_group_1_base": {
|
| 202 |
+
"cls": "Box"
|
| 203 |
+
},
|
| 204 |
+
"stack_1_left_group_1_1": {
|
| 205 |
+
"cls": "HingeCabinet"
|
| 206 |
+
},
|
| 207 |
+
"stack_2_left_group_1_base": {
|
| 208 |
+
"cls": "Box"
|
| 209 |
+
},
|
| 210 |
+
"stack_2_left_group_1_1": {
|
| 211 |
+
"cls": "SingleCabinet"
|
| 212 |
+
},
|
| 213 |
+
"knifeblock_left_group_1": {
|
| 214 |
+
"cls": "Accessory"
|
| 215 |
+
},
|
| 216 |
+
"toaster_oven_left_group_1": {
|
| 217 |
+
"cls": "ToasterOven"
|
| 218 |
+
},
|
| 219 |
+
"plant_left_group_1": {
|
| 220 |
+
"cls": "Accessory"
|
| 221 |
+
},
|
| 222 |
+
"cube_1_island_group_1": {
|
| 223 |
+
"cls": "Box"
|
| 224 |
+
},
|
| 225 |
+
"cube_2_island_group_1": {
|
| 226 |
+
"cls": "Box"
|
| 227 |
+
},
|
| 228 |
+
"cube_3_island_group_1": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
+
},
|
| 231 |
+
"sink_island_group_1": {
|
| 232 |
+
"cls": "Sink"
|
| 233 |
+
},
|
| 234 |
+
"island_island_group_1": {
|
| 235 |
+
"cls": "Counter"
|
| 236 |
+
},
|
| 237 |
+
"stack_1_island_group_1_base": {
|
| 238 |
+
"cls": "Box"
|
| 239 |
+
},
|
| 240 |
+
"stack_1_island_group_1_1": {
|
| 241 |
+
"cls": "SingleCabinet"
|
| 242 |
+
},
|
| 243 |
+
"stack_3_island_group_1_base": {
|
| 244 |
+
"cls": "Box"
|
| 245 |
+
},
|
| 246 |
+
"stack_3_island_group_1_1": {
|
| 247 |
+
"cls": "SingleCabinet"
|
| 248 |
+
},
|
| 249 |
+
"stack_2_island_group_1_base": {
|
| 250 |
+
"cls": "Box"
|
| 251 |
+
},
|
| 252 |
+
"stack_2_island_group_1_1": {
|
| 253 |
+
"cls": "HingeCabinet"
|
| 254 |
+
},
|
| 255 |
+
"dishwasher_1_island_group_1": {
|
| 256 |
+
"cls": "Dishwasher"
|
| 257 |
+
}
|
| 258 |
+
},
|
| 259 |
+
"gen_textures": {},
|
| 260 |
+
"lang": "Fully slide the bottom oven rack in.",
|
| 261 |
+
"fixture_refs": {
|
| 262 |
+
"oven": "oven_right_group_1"
|
| 263 |
+
},
|
| 264 |
+
"cam_configs": {
|
| 265 |
+
"robot0_agentview_center": {
|
| 266 |
+
"pos": [
|
| 267 |
+
-0.6,
|
| 268 |
+
0.0,
|
| 269 |
+
1.15
|
| 270 |
+
],
|
| 271 |
+
"quat": [
|
| 272 |
+
0.636945903301239,
|
| 273 |
+
0.3325185477733612,
|
| 274 |
+
-0.3199238181114197,
|
| 275 |
+
-0.6175596117973328
|
| 276 |
+
],
|
| 277 |
+
"parent_body": "mobilebase0_support"
|
| 278 |
+
},
|
| 279 |
+
"robot0_agentview_left": {
|
| 280 |
+
"pos": [
|
| 281 |
+
-0.5,
|
| 282 |
+
0.35,
|
| 283 |
+
1.05
|
| 284 |
+
],
|
| 285 |
+
"quat": [
|
| 286 |
+
0.55623853,
|
| 287 |
+
0.29935253,
|
| 288 |
+
-0.37678665,
|
| 289 |
+
-0.6775092
|
| 290 |
+
],
|
| 291 |
+
"camera_attribs": {
|
| 292 |
+
"fovy": "60"
|
| 293 |
+
},
|
| 294 |
+
"parent_body": "mobilebase0_support"
|
| 295 |
+
},
|
| 296 |
+
"robot0_agentview_right": {
|
| 297 |
+
"pos": [
|
| 298 |
+
-0.5,
|
| 299 |
+
-0.35,
|
| 300 |
+
1.05
|
| 301 |
+
],
|
| 302 |
+
"quat": [
|
| 303 |
+
0.6775091886520386,
|
| 304 |
+
0.3767866790294647,
|
| 305 |
+
-0.2993525564670563,
|
| 306 |
+
-0.55623859167099
|
| 307 |
+
],
|
| 308 |
+
"camera_attribs": {
|
| 309 |
+
"fovy": "60"
|
| 310 |
+
},
|
| 311 |
+
"parent_body": "mobilebase0_support"
|
| 312 |
+
},
|
| 313 |
+
"robot0_frontview": {
|
| 314 |
+
"pos": [
|
| 315 |
+
-0.5,
|
| 316 |
+
0,
|
| 317 |
+
0.95
|
| 318 |
+
],
|
| 319 |
+
"quat": [
|
| 320 |
+
0.6088936924934387,
|
| 321 |
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0.3814677894115448,
|
| 322 |
+
-0.3673907518386841,
|
| 323 |
+
-0.5905545353889465
|
| 324 |
+
],
|
| 325 |
+
"camera_attribs": {
|
| 326 |
+
"fovy": "60"
|
| 327 |
+
},
|
| 328 |
+
"parent_body": "mobilebase0_support"
|
| 329 |
+
},
|
| 330 |
+
"robot0_eye_in_hand": {
|
| 331 |
+
"pos": [
|
| 332 |
+
0.05,
|
| 333 |
+
0,
|
| 334 |
+
0
|
| 335 |
+
],
|
| 336 |
+
"quat": [
|
| 337 |
+
0,
|
| 338 |
+
0.707107,
|
| 339 |
+
0.707107,
|
| 340 |
+
0
|
| 341 |
+
],
|
| 342 |
+
"parent_body": "robot0_right_hand"
|
| 343 |
+
}
|
| 344 |
+
},
|
| 345 |
+
"init_robot_base_pos": [
|
| 346 |
+
4.288511516939337,
|
| 347 |
+
-4.122085198091511,
|
| 348 |
+
0.0
|
| 349 |
+
],
|
| 350 |
+
"init_robot_base_ori": [
|
| 351 |
+
0.0,
|
| 352 |
+
0.0,
|
| 353 |
+
0.00030199704781619374
|
| 354 |
+
],
|
| 355 |
+
"should_pull": false,
|
| 356 |
+
"rack_level": 0
|
| 357 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000065/ep_meta.json
ADDED
|
@@ -0,0 +1,504 @@
|
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|
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|
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|
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|
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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": 39,
|
| 3 |
+
"style_id": 50,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_right_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_right_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_main_2_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_main_2_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_right_2_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_right_2_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_front_1_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_front_1_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"wall_front_5_room": {
|
| 37 |
+
"cls": "Wall"
|
| 38 |
+
},
|
| 39 |
+
"wall_front_5_backing_room": {
|
| 40 |
+
"cls": "Wall"
|
| 41 |
+
},
|
| 42 |
+
"wall_right_5_room": {
|
| 43 |
+
"cls": "Wall"
|
| 44 |
+
},
|
| 45 |
+
"wall_right_5_backing_room": {
|
| 46 |
+
"cls": "Wall"
|
| 47 |
+
},
|
| 48 |
+
"wall_front_4_room": {
|
| 49 |
+
"cls": "Wall"
|
| 50 |
+
},
|
| 51 |
+
"wall_front_4_backing_room": {
|
| 52 |
+
"cls": "Wall"
|
| 53 |
+
},
|
| 54 |
+
"wall_right_4_room": {
|
| 55 |
+
"cls": "Wall"
|
| 56 |
+
},
|
| 57 |
+
"wall_right_4_backing_room": {
|
| 58 |
+
"cls": "Wall"
|
| 59 |
+
},
|
| 60 |
+
"wall_right_3_room": {
|
| 61 |
+
"cls": "Wall"
|
| 62 |
+
},
|
| 63 |
+
"wall_right_3_backing_room": {
|
| 64 |
+
"cls": "Wall"
|
| 65 |
+
},
|
| 66 |
+
"wall_front_3_room": {
|
| 67 |
+
"cls": "Wall"
|
| 68 |
+
},
|
| 69 |
+
"wall_front_3_backing_room": {
|
| 70 |
+
"cls": "Wall"
|
| 71 |
+
},
|
| 72 |
+
"wall_front_2_room": {
|
| 73 |
+
"cls": "Wall"
|
| 74 |
+
},
|
| 75 |
+
"wall_front_2_backing_room": {
|
| 76 |
+
"cls": "Wall"
|
| 77 |
+
},
|
| 78 |
+
"wall_front_6_room": {
|
| 79 |
+
"cls": "Wall"
|
| 80 |
+
},
|
| 81 |
+
"wall_front_6_backing_room": {
|
| 82 |
+
"cls": "Wall"
|
| 83 |
+
},
|
| 84 |
+
"wall_front_7_room": {
|
| 85 |
+
"cls": "Wall"
|
| 86 |
+
},
|
| 87 |
+
"wall_front_7_backing_room": {
|
| 88 |
+
"cls": "Wall"
|
| 89 |
+
},
|
| 90 |
+
"floor_1_room": {
|
| 91 |
+
"cls": "Floor"
|
| 92 |
+
},
|
| 93 |
+
"floor_1_backing_room": {
|
| 94 |
+
"cls": "Floor"
|
| 95 |
+
},
|
| 96 |
+
"floor_2_room": {
|
| 97 |
+
"cls": "Floor"
|
| 98 |
+
},
|
| 99 |
+
"floor_2_backing_room": {
|
| 100 |
+
"cls": "Floor"
|
| 101 |
+
},
|
| 102 |
+
"floor_3_room": {
|
| 103 |
+
"cls": "Floor"
|
| 104 |
+
},
|
| 105 |
+
"floor_3_backing_room": {
|
| 106 |
+
"cls": "Floor"
|
| 107 |
+
},
|
| 108 |
+
"wallaccessory_2_room": {
|
| 109 |
+
"cls": "WallAccessory"
|
| 110 |
+
},
|
| 111 |
+
"wallaccessory_1_room": {
|
| 112 |
+
"cls": "WallAccessory"
|
| 113 |
+
},
|
| 114 |
+
"wallaccessory_4_room": {
|
| 115 |
+
"cls": "WallAccessory"
|
| 116 |
+
},
|
| 117 |
+
"wallaccessory_3_room": {
|
| 118 |
+
"cls": "WallAccessory"
|
| 119 |
+
},
|
| 120 |
+
"lightswitch_room": {
|
| 121 |
+
"cls": "WallAccessory"
|
| 122 |
+
},
|
| 123 |
+
"wallaccessory_5_room": {
|
| 124 |
+
"cls": "WallAccessory"
|
| 125 |
+
},
|
| 126 |
+
"wallaccessory_6.001_room": {
|
| 127 |
+
"cls": "WallAccessory"
|
| 128 |
+
},
|
| 129 |
+
"window_group_room": {
|
| 130 |
+
"cls": "Window"
|
| 131 |
+
},
|
| 132 |
+
"sink_main_group_1": {
|
| 133 |
+
"cls": "Sink"
|
| 134 |
+
},
|
| 135 |
+
"counter_1_main_group_1": {
|
| 136 |
+
"cls": "Counter"
|
| 137 |
+
},
|
| 138 |
+
"fridgefrenchdoor_main_group_1": {
|
| 139 |
+
"cls": "FridgeFrenchDoor"
|
| 140 |
+
},
|
| 141 |
+
"fridgefrenchdoor_housing_main_group_1": {
|
| 142 |
+
"cls": "HousingCabinet"
|
| 143 |
+
},
|
| 144 |
+
"hingecabinet_1_main_group_1": {
|
| 145 |
+
"cls": "HingeCabinet"
|
| 146 |
+
},
|
| 147 |
+
"singlecabinet_5_main_group_1": {
|
| 148 |
+
"cls": "SingleCabinet"
|
| 149 |
+
},
|
| 150 |
+
"singlecabinet_4_main_group_1": {
|
| 151 |
+
"cls": "SingleCabinet"
|
| 152 |
+
},
|
| 153 |
+
"singlecabinet_1_main_group_1": {
|
| 154 |
+
"cls": "SingleCabinet"
|
| 155 |
+
},
|
| 156 |
+
"singlecabinet_2_main_group_1": {
|
| 157 |
+
"cls": "SingleCabinet"
|
| 158 |
+
},
|
| 159 |
+
"singlecabinet_3_main_group_1": {
|
| 160 |
+
"cls": "SingleCabinet"
|
| 161 |
+
},
|
| 162 |
+
"stack_1_main_group_1_base": {
|
| 163 |
+
"cls": "Box"
|
| 164 |
+
},
|
| 165 |
+
"stack_1_main_group_1_1": {
|
| 166 |
+
"cls": "SingleCabinet"
|
| 167 |
+
},
|
| 168 |
+
"stack_1_main_group_1_2": {
|
| 169 |
+
"cls": "Drawer"
|
| 170 |
+
},
|
| 171 |
+
"stack_2_main_group_1_base": {
|
| 172 |
+
"cls": "Box"
|
| 173 |
+
},
|
| 174 |
+
"stack_2_main_group_1_1": {
|
| 175 |
+
"cls": "SingleCabinet"
|
| 176 |
+
},
|
| 177 |
+
"stack_2_main_group_1_2": {
|
| 178 |
+
"cls": "Drawer"
|
| 179 |
+
},
|
| 180 |
+
"stack_3_main_group_1_base": {
|
| 181 |
+
"cls": "Box"
|
| 182 |
+
},
|
| 183 |
+
"stack_3_main_group_1_1": {
|
| 184 |
+
"cls": "Drawer"
|
| 185 |
+
},
|
| 186 |
+
"stack_3_main_group_1_2": {
|
| 187 |
+
"cls": "Drawer"
|
| 188 |
+
},
|
| 189 |
+
"stack_3_main_group_1_3": {
|
| 190 |
+
"cls": "Drawer"
|
| 191 |
+
},
|
| 192 |
+
"stack_4_main_group_1_base": {
|
| 193 |
+
"cls": "Box"
|
| 194 |
+
},
|
| 195 |
+
"stack_4_main_group_1_1": {
|
| 196 |
+
"cls": "SingleCabinet"
|
| 197 |
+
},
|
| 198 |
+
"stack_4_main_group_1_2": {
|
| 199 |
+
"cls": "Drawer"
|
| 200 |
+
},
|
| 201 |
+
"cube_1_main_group_1": {
|
| 202 |
+
"cls": "Box"
|
| 203 |
+
},
|
| 204 |
+
"stack_5_main_group_1_base": {
|
| 205 |
+
"cls": "Box"
|
| 206 |
+
},
|
| 207 |
+
"stack_5_main_group_1_1": {
|
| 208 |
+
"cls": "SingleCabinet"
|
| 209 |
+
},
|
| 210 |
+
"stack_5_main_group_1_2": {
|
| 211 |
+
"cls": "Drawer"
|
| 212 |
+
},
|
| 213 |
+
"stack_6_main_group_1_base": {
|
| 214 |
+
"cls": "Box"
|
| 215 |
+
},
|
| 216 |
+
"stack_6_main_group_1_1": {
|
| 217 |
+
"cls": "SingleCabinet"
|
| 218 |
+
},
|
| 219 |
+
"stack_6_main_group_1_2": {
|
| 220 |
+
"cls": "Drawer"
|
| 221 |
+
},
|
| 222 |
+
"stack_7_main_group_1_base": {
|
| 223 |
+
"cls": "Box"
|
| 224 |
+
},
|
| 225 |
+
"stack_7_main_group_1_1": {
|
| 226 |
+
"cls": "HingeCabinet"
|
| 227 |
+
},
|
| 228 |
+
"stack_7_main_group_1_2": {
|
| 229 |
+
"cls": "PanelCabinet"
|
| 230 |
+
},
|
| 231 |
+
"dishwasher_1_main_group_1": {
|
| 232 |
+
"cls": "Dishwasher"
|
| 233 |
+
},
|
| 234 |
+
"toaster_main_group_1": {
|
| 235 |
+
"cls": "Toaster"
|
| 236 |
+
},
|
| 237 |
+
"knifeblock_main_group_1": {
|
| 238 |
+
"cls": "Accessory"
|
| 239 |
+
},
|
| 240 |
+
"papertowel_main_group_1": {
|
| 241 |
+
"cls": "Accessory"
|
| 242 |
+
},
|
| 243 |
+
"stovetop_island_group_1": {
|
| 244 |
+
"cls": "Stovetop"
|
| 245 |
+
},
|
| 246 |
+
"island_island_group_1": {
|
| 247 |
+
"cls": "Counter"
|
| 248 |
+
},
|
| 249 |
+
"stack_1_island_group_1_base": {
|
| 250 |
+
"cls": "Box"
|
| 251 |
+
},
|
| 252 |
+
"stack_1_island_group_1_1": {
|
| 253 |
+
"cls": "SingleCabinet"
|
| 254 |
+
},
|
| 255 |
+
"stack_1_island_group_1_2": {
|
| 256 |
+
"cls": "Drawer"
|
| 257 |
+
},
|
| 258 |
+
"stack_2_island_group_1_base": {
|
| 259 |
+
"cls": "Box"
|
| 260 |
+
},
|
| 261 |
+
"stack_2_island_group_1_1": {
|
| 262 |
+
"cls": "SingleCabinet"
|
| 263 |
+
},
|
| 264 |
+
"stack_2_island_group_1_2": {
|
| 265 |
+
"cls": "Drawer"
|
| 266 |
+
},
|
| 267 |
+
"stack_3_island_group_1_base": {
|
| 268 |
+
"cls": "Box"
|
| 269 |
+
},
|
| 270 |
+
"stack_3_island_group_1_1": {
|
| 271 |
+
"cls": "SingleCabinet"
|
| 272 |
+
},
|
| 273 |
+
"stack_3_island_group_1_2": {
|
| 274 |
+
"cls": "Drawer"
|
| 275 |
+
},
|
| 276 |
+
"stack_4_island_group_1_base": {
|
| 277 |
+
"cls": "Box"
|
| 278 |
+
},
|
| 279 |
+
"stack_4_island_group_1_1": {
|
| 280 |
+
"cls": "SingleCabinet"
|
| 281 |
+
},
|
| 282 |
+
"stack_4_island_group_1_2": {
|
| 283 |
+
"cls": "Drawer"
|
| 284 |
+
},
|
| 285 |
+
"stack_5_island_group_2.001_base": {
|
| 286 |
+
"cls": "Box"
|
| 287 |
+
},
|
| 288 |
+
"stack_5_island_group_2.001_1": {
|
| 289 |
+
"cls": "SingleCabinet"
|
| 290 |
+
},
|
| 291 |
+
"stack_5_island_group_2.001_2": {
|
| 292 |
+
"cls": "Drawer"
|
| 293 |
+
},
|
| 294 |
+
"stack_6_island_group_2.001_base": {
|
| 295 |
+
"cls": "Box"
|
| 296 |
+
},
|
| 297 |
+
"stack_6_island_group_2.001_1": {
|
| 298 |
+
"cls": "SingleCabinet"
|
| 299 |
+
},
|
| 300 |
+
"stack_6_island_group_2.001_2": {
|
| 301 |
+
"cls": "Drawer"
|
| 302 |
+
},
|
| 303 |
+
"stack_7_island_group_2.001_base": {
|
| 304 |
+
"cls": "Box"
|
| 305 |
+
},
|
| 306 |
+
"stack_7_island_group_2.001_1": {
|
| 307 |
+
"cls": "SingleCabinet"
|
| 308 |
+
},
|
| 309 |
+
"stack_7_island_group_2.001_2": {
|
| 310 |
+
"cls": "Drawer"
|
| 311 |
+
},
|
| 312 |
+
"stack_8_island_group_2.001_base": {
|
| 313 |
+
"cls": "Box"
|
| 314 |
+
},
|
| 315 |
+
"stack_8_island_group_2.001_1": {
|
| 316 |
+
"cls": "SingleCabinet"
|
| 317 |
+
},
|
| 318 |
+
"stack_8_island_group_2.001_2": {
|
| 319 |
+
"cls": "Drawer"
|
| 320 |
+
},
|
| 321 |
+
"counter_1_front_group_1": {
|
| 322 |
+
"cls": "Counter"
|
| 323 |
+
},
|
| 324 |
+
"hingecabinet_2_front_group_1": {
|
| 325 |
+
"cls": "HingeCabinet"
|
| 326 |
+
},
|
| 327 |
+
"hingecabinet_1_front_group_1": {
|
| 328 |
+
"cls": "HingeCabinet"
|
| 329 |
+
},
|
| 330 |
+
"stack_1_front_group_1_base": {
|
| 331 |
+
"cls": "Box"
|
| 332 |
+
},
|
| 333 |
+
"stack_1_front_group_1_1": {
|
| 334 |
+
"cls": "SingleCabinet"
|
| 335 |
+
},
|
| 336 |
+
"stack_1_front_group_1_2": {
|
| 337 |
+
"cls": "Drawer"
|
| 338 |
+
},
|
| 339 |
+
"stack_2_front_group_1_base": {
|
| 340 |
+
"cls": "Box"
|
| 341 |
+
},
|
| 342 |
+
"stack_2_front_group_1_1": {
|
| 343 |
+
"cls": "SingleCabinet"
|
| 344 |
+
},
|
| 345 |
+
"stack_2_front_group_1_2": {
|
| 346 |
+
"cls": "Drawer"
|
| 347 |
+
},
|
| 348 |
+
"stack_3_front_group_1_base": {
|
| 349 |
+
"cls": "Box"
|
| 350 |
+
},
|
| 351 |
+
"stack_3_front_group_1_1": {
|
| 352 |
+
"cls": "SingleCabinet"
|
| 353 |
+
},
|
| 354 |
+
"stack_3_front_group_1_2": {
|
| 355 |
+
"cls": "Drawer"
|
| 356 |
+
},
|
| 357 |
+
"stack_4_front_group_1_base": {
|
| 358 |
+
"cls": "Box"
|
| 359 |
+
},
|
| 360 |
+
"stack_4_front_group_1_1": {
|
| 361 |
+
"cls": "SingleCabinet"
|
| 362 |
+
},
|
| 363 |
+
"stack_4_front_group_1_2": {
|
| 364 |
+
"cls": "Drawer"
|
| 365 |
+
},
|
| 366 |
+
"stack_5_front_group_1_base": {
|
| 367 |
+
"cls": "Box"
|
| 368 |
+
},
|
| 369 |
+
"stack_5_front_group_1_1": {
|
| 370 |
+
"cls": "Drawer"
|
| 371 |
+
},
|
| 372 |
+
"stack_5_front_group_1_2": {
|
| 373 |
+
"cls": "Drawer"
|
| 374 |
+
},
|
| 375 |
+
"stack_5_front_group_1_3": {
|
| 376 |
+
"cls": "Drawer"
|
| 377 |
+
},
|
| 378 |
+
"bottom_front_group_1_base": {
|
| 379 |
+
"cls": "Box"
|
| 380 |
+
},
|
| 381 |
+
"bottom_front_group_1_1": {
|
| 382 |
+
"cls": "Drawer"
|
| 383 |
+
},
|
| 384 |
+
"oven_front_group_1": {
|
| 385 |
+
"cls": "Oven"
|
| 386 |
+
},
|
| 387 |
+
"oven_housing_front_group_1": {
|
| 388 |
+
"cls": "HousingCabinet"
|
| 389 |
+
},
|
| 390 |
+
"microwave_front_group_1": {
|
| 391 |
+
"cls": "Microwave"
|
| 392 |
+
},
|
| 393 |
+
"microwave_housing_front_group_1": {
|
| 394 |
+
"cls": "HousingCabinet"
|
| 395 |
+
},
|
| 396 |
+
"top_front_group_1": {
|
| 397 |
+
"cls": "HingeCabinet"
|
| 398 |
+
},
|
| 399 |
+
"coffeemachine_front_group_1": {
|
| 400 |
+
"cls": "CoffeeMachine"
|
| 401 |
+
},
|
| 402 |
+
"toaster_oven_front_group_1": {
|
| 403 |
+
"cls": "ToasterOven"
|
| 404 |
+
}
|
| 405 |
+
},
|
| 406 |
+
"gen_textures": {},
|
| 407 |
+
"lang": "Fully slide the oven rack in.",
|
| 408 |
+
"fixture_refs": {
|
| 409 |
+
"oven": "oven_front_group_1"
|
| 410 |
+
},
|
| 411 |
+
"cam_configs": {
|
| 412 |
+
"robot0_agentview_center": {
|
| 413 |
+
"pos": [
|
| 414 |
+
-0.6,
|
| 415 |
+
0.0,
|
| 416 |
+
1.15
|
| 417 |
+
],
|
| 418 |
+
"quat": [
|
| 419 |
+
0.636945903301239,
|
| 420 |
+
0.3325185477733612,
|
| 421 |
+
-0.3199238181114197,
|
| 422 |
+
-0.6175596117973328
|
| 423 |
+
],
|
| 424 |
+
"parent_body": "mobilebase0_support"
|
| 425 |
+
},
|
| 426 |
+
"robot0_agentview_left": {
|
| 427 |
+
"pos": [
|
| 428 |
+
-0.5,
|
| 429 |
+
0.35,
|
| 430 |
+
1.05
|
| 431 |
+
],
|
| 432 |
+
"quat": [
|
| 433 |
+
0.55623853,
|
| 434 |
+
0.29935253,
|
| 435 |
+
-0.37678665,
|
| 436 |
+
-0.6775092
|
| 437 |
+
],
|
| 438 |
+
"camera_attribs": {
|
| 439 |
+
"fovy": "60"
|
| 440 |
+
},
|
| 441 |
+
"parent_body": "mobilebase0_support"
|
| 442 |
+
},
|
| 443 |
+
"robot0_agentview_right": {
|
| 444 |
+
"pos": [
|
| 445 |
+
-0.5,
|
| 446 |
+
-0.35,
|
| 447 |
+
1.05
|
| 448 |
+
],
|
| 449 |
+
"quat": [
|
| 450 |
+
0.6775091886520386,
|
| 451 |
+
0.3767866790294647,
|
| 452 |
+
-0.2993525564670563,
|
| 453 |
+
-0.55623859167099
|
| 454 |
+
],
|
| 455 |
+
"camera_attribs": {
|
| 456 |
+
"fovy": "60"
|
| 457 |
+
},
|
| 458 |
+
"parent_body": "mobilebase0_support"
|
| 459 |
+
},
|
| 460 |
+
"robot0_frontview": {
|
| 461 |
+
"pos": [
|
| 462 |
+
-0.5,
|
| 463 |
+
0,
|
| 464 |
+
0.95
|
| 465 |
+
],
|
| 466 |
+
"quat": [
|
| 467 |
+
0.6088936924934387,
|
| 468 |
+
0.3814677894115448,
|
| 469 |
+
-0.3673907518386841,
|
| 470 |
+
-0.5905545353889465
|
| 471 |
+
],
|
| 472 |
+
"camera_attribs": {
|
| 473 |
+
"fovy": "60"
|
| 474 |
+
},
|
| 475 |
+
"parent_body": "mobilebase0_support"
|
| 476 |
+
},
|
| 477 |
+
"robot0_eye_in_hand": {
|
| 478 |
+
"pos": [
|
| 479 |
+
0.05,
|
| 480 |
+
0,
|
| 481 |
+
0
|
| 482 |
+
],
|
| 483 |
+
"quat": [
|
| 484 |
+
0,
|
| 485 |
+
0.707107,
|
| 486 |
+
0.707107,
|
| 487 |
+
0
|
| 488 |
+
],
|
| 489 |
+
"parent_body": "robot0_right_hand"
|
| 490 |
+
}
|
| 491 |
+
},
|
| 492 |
+
"init_robot_base_pos": [
|
| 493 |
+
3.4277132347670958,
|
| 494 |
+
-5.253145104354975,
|
| 495 |
+
0.0
|
| 496 |
+
],
|
| 497 |
+
"init_robot_base_ori": [
|
| 498 |
+
0.0,
|
| 499 |
+
0.0,
|
| 500 |
+
-1.57079623937212
|
| 501 |
+
],
|
| 502 |
+
"should_pull": false,
|
| 503 |
+
"rack_level": 1
|
| 504 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000067/ep_meta.json
ADDED
|
@@ -0,0 +1,417 @@
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
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|
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|
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|
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|
|
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|
|
|
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|
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|
|
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|
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|
|
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|
|
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|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
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|
|
|
|
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|
|
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|
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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": 17,
|
| 3 |
+
"style_id": 58,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"window_group_room": {
|
| 25 |
+
"cls": "Window"
|
| 26 |
+
},
|
| 27 |
+
"floor_1_room": {
|
| 28 |
+
"cls": "Floor"
|
| 29 |
+
},
|
| 30 |
+
"floor_1_backing_room": {
|
| 31 |
+
"cls": "Floor"
|
| 32 |
+
},
|
| 33 |
+
"wall_accessory_1_room": {
|
| 34 |
+
"cls": "WallAccessory"
|
| 35 |
+
},
|
| 36 |
+
"wall_accessory_2_room": {
|
| 37 |
+
"cls": "WallAccessory"
|
| 38 |
+
},
|
| 39 |
+
"wall_accessory_3_room": {
|
| 40 |
+
"cls": "WallAccessory"
|
| 41 |
+
},
|
| 42 |
+
"wall_accessory_4_room": {
|
| 43 |
+
"cls": "WallAccessory"
|
| 44 |
+
},
|
| 45 |
+
"light_switch_1_room": {
|
| 46 |
+
"cls": "WallAccessory"
|
| 47 |
+
},
|
| 48 |
+
"wall_accessory_5_room": {
|
| 49 |
+
"cls": "WallAccessory"
|
| 50 |
+
},
|
| 51 |
+
"wall_accessory_6_room": {
|
| 52 |
+
"cls": "WallAccessory"
|
| 53 |
+
},
|
| 54 |
+
"stool_1_room": {
|
| 55 |
+
"cls": "Stool"
|
| 56 |
+
},
|
| 57 |
+
"stool_2_room": {
|
| 58 |
+
"cls": "Stool"
|
| 59 |
+
},
|
| 60 |
+
"stool_3_room": {
|
| 61 |
+
"cls": "Stool"
|
| 62 |
+
},
|
| 63 |
+
"counter_corner_1_main_group_1": {
|
| 64 |
+
"cls": "Counter"
|
| 65 |
+
},
|
| 66 |
+
"stovetop_main_group_1": {
|
| 67 |
+
"cls": "Stovetop"
|
| 68 |
+
},
|
| 69 |
+
"counter_1_main_group_1": {
|
| 70 |
+
"cls": "Counter"
|
| 71 |
+
},
|
| 72 |
+
"counter_corner_2_main_group_1": {
|
| 73 |
+
"cls": "Counter"
|
| 74 |
+
},
|
| 75 |
+
"box_1_main_group_1": {
|
| 76 |
+
"cls": "Box"
|
| 77 |
+
},
|
| 78 |
+
"stack_1_main_group_1_base": {
|
| 79 |
+
"cls": "Box"
|
| 80 |
+
},
|
| 81 |
+
"stack_1_main_group_1_1": {
|
| 82 |
+
"cls": "SingleCabinet"
|
| 83 |
+
},
|
| 84 |
+
"stack_2_main_group_1_base": {
|
| 85 |
+
"cls": "Box"
|
| 86 |
+
},
|
| 87 |
+
"stack_2_main_group_1_1": {
|
| 88 |
+
"cls": "Drawer"
|
| 89 |
+
},
|
| 90 |
+
"stack_2_main_group_1_2": {
|
| 91 |
+
"cls": "Drawer"
|
| 92 |
+
},
|
| 93 |
+
"stack_2_main_group_1_3": {
|
| 94 |
+
"cls": "Drawer"
|
| 95 |
+
},
|
| 96 |
+
"stack_3_main_group_1_base": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"stack_3_main_group_1_1": {
|
| 100 |
+
"cls": "SingleCabinet"
|
| 101 |
+
},
|
| 102 |
+
"stack_4_main_group_1_base": {
|
| 103 |
+
"cls": "Box"
|
| 104 |
+
},
|
| 105 |
+
"stack_4_main_group_1_1": {
|
| 106 |
+
"cls": "HingeCabinet"
|
| 107 |
+
},
|
| 108 |
+
"stack_5_main_group_1_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_5_main_group_1_1": {
|
| 112 |
+
"cls": "SingleCabinet"
|
| 113 |
+
},
|
| 114 |
+
"stack_6_main_group_1_base": {
|
| 115 |
+
"cls": "Box"
|
| 116 |
+
},
|
| 117 |
+
"stack_6_main_group_1_1": {
|
| 118 |
+
"cls": "Drawer"
|
| 119 |
+
},
|
| 120 |
+
"stack_6_main_group_1_2": {
|
| 121 |
+
"cls": "Drawer"
|
| 122 |
+
},
|
| 123 |
+
"stack_6_main_group_1_3": {
|
| 124 |
+
"cls": "Drawer"
|
| 125 |
+
},
|
| 126 |
+
"stack_7_main_group_1_base": {
|
| 127 |
+
"cls": "Box"
|
| 128 |
+
},
|
| 129 |
+
"stack_7_main_group_1_1": {
|
| 130 |
+
"cls": "SingleCabinet"
|
| 131 |
+
},
|
| 132 |
+
"box_2_main_group_1": {
|
| 133 |
+
"cls": "Box"
|
| 134 |
+
},
|
| 135 |
+
"hood_main_group_1": {
|
| 136 |
+
"cls": "Hood"
|
| 137 |
+
},
|
| 138 |
+
"cab_corner_main_group_1": {
|
| 139 |
+
"cls": "Box"
|
| 140 |
+
},
|
| 141 |
+
"cab_1_main_group_1": {
|
| 142 |
+
"cls": "HingeCabinet"
|
| 143 |
+
},
|
| 144 |
+
"cab_2_main_group_1": {
|
| 145 |
+
"cls": "HingeCabinet"
|
| 146 |
+
},
|
| 147 |
+
"cab_3_main_group_1": {
|
| 148 |
+
"cls": "SingleCabinet"
|
| 149 |
+
},
|
| 150 |
+
"cab_4_main_group_1": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
+
},
|
| 153 |
+
"cab_5_main_group_1": {
|
| 154 |
+
"cls": "HingeCabinet"
|
| 155 |
+
},
|
| 156 |
+
"cab_6_main_group_1": {
|
| 157 |
+
"cls": "SingleCabinet"
|
| 158 |
+
},
|
| 159 |
+
"cab_corner_2_main_group_1": {
|
| 160 |
+
"cls": "Box"
|
| 161 |
+
},
|
| 162 |
+
"coffee_machine_main_group_1": {
|
| 163 |
+
"cls": "CoffeeMachine"
|
| 164 |
+
},
|
| 165 |
+
"toaster_main_group_1": {
|
| 166 |
+
"cls": "Toaster"
|
| 167 |
+
},
|
| 168 |
+
"paper_towel_main_group_1": {
|
| 169 |
+
"cls": "Accessory"
|
| 170 |
+
},
|
| 171 |
+
"knife_block_main_group_1": {
|
| 172 |
+
"cls": "Accessory"
|
| 173 |
+
},
|
| 174 |
+
"counter_1_left_group_1": {
|
| 175 |
+
"cls": "Counter"
|
| 176 |
+
},
|
| 177 |
+
"stack_1_left_group_1_base": {
|
| 178 |
+
"cls": "Box"
|
| 179 |
+
},
|
| 180 |
+
"stack_1_left_group_1_1": {
|
| 181 |
+
"cls": "Drawer"
|
| 182 |
+
},
|
| 183 |
+
"stack_1_left_group_1_2": {
|
| 184 |
+
"cls": "Drawer"
|
| 185 |
+
},
|
| 186 |
+
"stack_1_left_group_1_3": {
|
| 187 |
+
"cls": "Drawer"
|
| 188 |
+
},
|
| 189 |
+
"box_left_group_1": {
|
| 190 |
+
"cls": "Box"
|
| 191 |
+
},
|
| 192 |
+
"bottom_left_group_1_base": {
|
| 193 |
+
"cls": "Box"
|
| 194 |
+
},
|
| 195 |
+
"bottom_left_group_1_1": {
|
| 196 |
+
"cls": "Drawer"
|
| 197 |
+
},
|
| 198 |
+
"oven_left_group_1": {
|
| 199 |
+
"cls": "Oven"
|
| 200 |
+
},
|
| 201 |
+
"oven_housing_left_group_1": {
|
| 202 |
+
"cls": "HousingCabinet"
|
| 203 |
+
},
|
| 204 |
+
"microwave_left_group_1": {
|
| 205 |
+
"cls": "Microwave"
|
| 206 |
+
},
|
| 207 |
+
"microwave_housing_left_group_1": {
|
| 208 |
+
"cls": "HousingCabinet"
|
| 209 |
+
},
|
| 210 |
+
"top_left_group_1": {
|
| 211 |
+
"cls": "HingeCabinet"
|
| 212 |
+
},
|
| 213 |
+
"fridge_1_left_group_1": {
|
| 214 |
+
"cls": "FridgeBottomFreezer"
|
| 215 |
+
},
|
| 216 |
+
"fridge_1_housing_left_group_1": {
|
| 217 |
+
"cls": "HousingCabinet"
|
| 218 |
+
},
|
| 219 |
+
"fridge_cabinet_left_group_1": {
|
| 220 |
+
"cls": "HingeCabinet"
|
| 221 |
+
},
|
| 222 |
+
"cab_1_left_group_1": {
|
| 223 |
+
"cls": "HingeCabinet"
|
| 224 |
+
},
|
| 225 |
+
"toaster_oven_left_group_1": {
|
| 226 |
+
"cls": "ToasterOven"
|
| 227 |
+
},
|
| 228 |
+
"box_right_group_1": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
+
},
|
| 231 |
+
"stack_1_right_group_1_base": {
|
| 232 |
+
"cls": "Box"
|
| 233 |
+
},
|
| 234 |
+
"stack_1_right_group_1_1": {
|
| 235 |
+
"cls": "Drawer"
|
| 236 |
+
},
|
| 237 |
+
"stack_1_right_group_1_2": {
|
| 238 |
+
"cls": "Drawer"
|
| 239 |
+
},
|
| 240 |
+
"stack_1_right_group_1_3": {
|
| 241 |
+
"cls": "Drawer"
|
| 242 |
+
},
|
| 243 |
+
"stack_2_right_group_1_base": {
|
| 244 |
+
"cls": "Box"
|
| 245 |
+
},
|
| 246 |
+
"stack_2_right_group_1_1": {
|
| 247 |
+
"cls": "Drawer"
|
| 248 |
+
},
|
| 249 |
+
"stack_2_right_group_1_2": {
|
| 250 |
+
"cls": "Drawer"
|
| 251 |
+
},
|
| 252 |
+
"stack_2_right_group_1_3": {
|
| 253 |
+
"cls": "Drawer"
|
| 254 |
+
},
|
| 255 |
+
"stack_3_right_group_1_base": {
|
| 256 |
+
"cls": "Box"
|
| 257 |
+
},
|
| 258 |
+
"stack_3_right_group_1_1": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
+
},
|
| 261 |
+
"dishwasher_1_right_group_1": {
|
| 262 |
+
"cls": "Dishwasher"
|
| 263 |
+
},
|
| 264 |
+
"stack_4_right_group_1_base": {
|
| 265 |
+
"cls": "Box"
|
| 266 |
+
},
|
| 267 |
+
"stack_4_right_group_1_1": {
|
| 268 |
+
"cls": "Drawer"
|
| 269 |
+
},
|
| 270 |
+
"stack_4_right_group_1_2": {
|
| 271 |
+
"cls": "Drawer"
|
| 272 |
+
},
|
| 273 |
+
"stack_4_right_group_1_3": {
|
| 274 |
+
"cls": "Drawer"
|
| 275 |
+
},
|
| 276 |
+
"sink_1_right_group_1": {
|
| 277 |
+
"cls": "Sink"
|
| 278 |
+
},
|
| 279 |
+
"counter_1_right_group_1": {
|
| 280 |
+
"cls": "Counter"
|
| 281 |
+
},
|
| 282 |
+
"cab_1_right_group_1": {
|
| 283 |
+
"cls": "OpenCabinet"
|
| 284 |
+
},
|
| 285 |
+
"cab_2_right_group_1": {
|
| 286 |
+
"cls": "OpenCabinet"
|
| 287 |
+
},
|
| 288 |
+
"island_island_group_1": {
|
| 289 |
+
"cls": "Counter"
|
| 290 |
+
},
|
| 291 |
+
"stack_1_island_group_1_base": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"stack_1_island_group_1_1": {
|
| 295 |
+
"cls": "Drawer"
|
| 296 |
+
},
|
| 297 |
+
"stack_1_island_group_1_2": {
|
| 298 |
+
"cls": "Drawer"
|
| 299 |
+
},
|
| 300 |
+
"stack_2_island_group_1_base": {
|
| 301 |
+
"cls": "Box"
|
| 302 |
+
},
|
| 303 |
+
"stack_2_island_group_1_1": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_2_island_group_1_2": {
|
| 307 |
+
"cls": "Drawer"
|
| 308 |
+
},
|
| 309 |
+
"stack_3_island_group_1_base": {
|
| 310 |
+
"cls": "Box"
|
| 311 |
+
},
|
| 312 |
+
"stack_3_island_group_1_1": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
+
},
|
| 315 |
+
"stack_3_island_group_1_2": {
|
| 316 |
+
"cls": "Drawer"
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"gen_textures": {},
|
| 320 |
+
"lang": "Fully slide the oven rack out.",
|
| 321 |
+
"fixture_refs": {
|
| 322 |
+
"oven": "oven_left_group_1"
|
| 323 |
+
},
|
| 324 |
+
"cam_configs": {
|
| 325 |
+
"robot0_agentview_center": {
|
| 326 |
+
"pos": [
|
| 327 |
+
-0.6,
|
| 328 |
+
0.0,
|
| 329 |
+
1.15
|
| 330 |
+
],
|
| 331 |
+
"quat": [
|
| 332 |
+
0.636945903301239,
|
| 333 |
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|
| 334 |
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|
| 335 |
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-0.6175596117973328
|
| 336 |
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],
|
| 337 |
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"parent_body": "mobilebase0_support"
|
| 338 |
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},
|
| 339 |
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"robot0_agentview_left": {
|
| 340 |
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"pos": [
|
| 341 |
+
-0.5,
|
| 342 |
+
0.35,
|
| 343 |
+
1.05
|
| 344 |
+
],
|
| 345 |
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"quat": [
|
| 346 |
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0.55623853,
|
| 347 |
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0.29935253,
|
| 348 |
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-0.37678665,
|
| 349 |
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-0.6775092
|
| 350 |
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],
|
| 351 |
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"camera_attribs": {
|
| 352 |
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"fovy": "60"
|
| 353 |
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},
|
| 354 |
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"parent_body": "mobilebase0_support"
|
| 355 |
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},
|
| 356 |
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"robot0_agentview_right": {
|
| 357 |
+
"pos": [
|
| 358 |
+
-0.5,
|
| 359 |
+
-0.35,
|
| 360 |
+
1.05
|
| 361 |
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],
|
| 362 |
+
"quat": [
|
| 363 |
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0.6775091886520386,
|
| 364 |
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0.3767866790294647,
|
| 365 |
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-0.2993525564670563,
|
| 366 |
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-0.55623859167099
|
| 367 |
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],
|
| 368 |
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"camera_attribs": {
|
| 369 |
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"fovy": "60"
|
| 370 |
+
},
|
| 371 |
+
"parent_body": "mobilebase0_support"
|
| 372 |
+
},
|
| 373 |
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"robot0_frontview": {
|
| 374 |
+
"pos": [
|
| 375 |
+
-0.5,
|
| 376 |
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0,
|
| 377 |
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0.95
|
| 378 |
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],
|
| 379 |
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"quat": [
|
| 380 |
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0.6088936924934387,
|
| 381 |
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0.3814677894115448,
|
| 382 |
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-0.3673907518386841,
|
| 383 |
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-0.5905545353889465
|
| 384 |
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],
|
| 385 |
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"camera_attribs": {
|
| 386 |
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"fovy": "60"
|
| 387 |
+
},
|
| 388 |
+
"parent_body": "mobilebase0_support"
|
| 389 |
+
},
|
| 390 |
+
"robot0_eye_in_hand": {
|
| 391 |
+
"pos": [
|
| 392 |
+
0.05,
|
| 393 |
+
0,
|
| 394 |
+
0
|
| 395 |
+
],
|
| 396 |
+
"quat": [
|
| 397 |
+
0,
|
| 398 |
+
0.707107,
|
| 399 |
+
0.707107,
|
| 400 |
+
0
|
| 401 |
+
],
|
| 402 |
+
"parent_body": "robot0_right_hand"
|
| 403 |
+
}
|
| 404 |
+
},
|
| 405 |
+
"init_robot_base_pos": [
|
| 406 |
+
1.2889216953593055,
|
| 407 |
+
-1.3753503261897444,
|
| 408 |
+
0.0
|
| 409 |
+
],
|
| 410 |
+
"init_robot_base_ori": [
|
| 411 |
+
0.0,
|
| 412 |
+
0.0,
|
| 413 |
+
3.1415926193612504
|
| 414 |
+
],
|
| 415 |
+
"should_pull": true,
|
| 416 |
+
"rack_level": 1
|
| 417 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000081/ep_meta.json
ADDED
|
@@ -0,0 +1,417 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": 17,
|
| 3 |
+
"style_id": 21,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"window_group_room": {
|
| 25 |
+
"cls": "Window"
|
| 26 |
+
},
|
| 27 |
+
"floor_1_room": {
|
| 28 |
+
"cls": "Floor"
|
| 29 |
+
},
|
| 30 |
+
"floor_1_backing_room": {
|
| 31 |
+
"cls": "Floor"
|
| 32 |
+
},
|
| 33 |
+
"wall_accessory_1_room": {
|
| 34 |
+
"cls": "WallAccessory"
|
| 35 |
+
},
|
| 36 |
+
"wall_accessory_2_room": {
|
| 37 |
+
"cls": "WallAccessory"
|
| 38 |
+
},
|
| 39 |
+
"wall_accessory_3_room": {
|
| 40 |
+
"cls": "WallAccessory"
|
| 41 |
+
},
|
| 42 |
+
"wall_accessory_4_room": {
|
| 43 |
+
"cls": "WallAccessory"
|
| 44 |
+
},
|
| 45 |
+
"light_switch_1_room": {
|
| 46 |
+
"cls": "WallAccessory"
|
| 47 |
+
},
|
| 48 |
+
"wall_accessory_5_room": {
|
| 49 |
+
"cls": "WallAccessory"
|
| 50 |
+
},
|
| 51 |
+
"wall_accessory_6_room": {
|
| 52 |
+
"cls": "WallAccessory"
|
| 53 |
+
},
|
| 54 |
+
"stool_1_room": {
|
| 55 |
+
"cls": "Stool"
|
| 56 |
+
},
|
| 57 |
+
"stool_2_room": {
|
| 58 |
+
"cls": "Stool"
|
| 59 |
+
},
|
| 60 |
+
"stool_3_room": {
|
| 61 |
+
"cls": "Stool"
|
| 62 |
+
},
|
| 63 |
+
"counter_corner_1_main_group_1": {
|
| 64 |
+
"cls": "Counter"
|
| 65 |
+
},
|
| 66 |
+
"stovetop_main_group_1": {
|
| 67 |
+
"cls": "Stovetop"
|
| 68 |
+
},
|
| 69 |
+
"counter_1_main_group_1": {
|
| 70 |
+
"cls": "Counter"
|
| 71 |
+
},
|
| 72 |
+
"counter_corner_2_main_group_1": {
|
| 73 |
+
"cls": "Counter"
|
| 74 |
+
},
|
| 75 |
+
"box_1_main_group_1": {
|
| 76 |
+
"cls": "Box"
|
| 77 |
+
},
|
| 78 |
+
"stack_1_main_group_1_base": {
|
| 79 |
+
"cls": "Box"
|
| 80 |
+
},
|
| 81 |
+
"stack_1_main_group_1_1": {
|
| 82 |
+
"cls": "SingleCabinet"
|
| 83 |
+
},
|
| 84 |
+
"stack_2_main_group_1_base": {
|
| 85 |
+
"cls": "Box"
|
| 86 |
+
},
|
| 87 |
+
"stack_2_main_group_1_1": {
|
| 88 |
+
"cls": "Drawer"
|
| 89 |
+
},
|
| 90 |
+
"stack_2_main_group_1_2": {
|
| 91 |
+
"cls": "Drawer"
|
| 92 |
+
},
|
| 93 |
+
"stack_2_main_group_1_3": {
|
| 94 |
+
"cls": "Drawer"
|
| 95 |
+
},
|
| 96 |
+
"stack_3_main_group_1_base": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"stack_3_main_group_1_1": {
|
| 100 |
+
"cls": "SingleCabinet"
|
| 101 |
+
},
|
| 102 |
+
"stack_4_main_group_1_base": {
|
| 103 |
+
"cls": "Box"
|
| 104 |
+
},
|
| 105 |
+
"stack_4_main_group_1_1": {
|
| 106 |
+
"cls": "HingeCabinet"
|
| 107 |
+
},
|
| 108 |
+
"stack_5_main_group_1_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_5_main_group_1_1": {
|
| 112 |
+
"cls": "SingleCabinet"
|
| 113 |
+
},
|
| 114 |
+
"stack_6_main_group_1_base": {
|
| 115 |
+
"cls": "Box"
|
| 116 |
+
},
|
| 117 |
+
"stack_6_main_group_1_1": {
|
| 118 |
+
"cls": "Drawer"
|
| 119 |
+
},
|
| 120 |
+
"stack_6_main_group_1_2": {
|
| 121 |
+
"cls": "Drawer"
|
| 122 |
+
},
|
| 123 |
+
"stack_6_main_group_1_3": {
|
| 124 |
+
"cls": "Drawer"
|
| 125 |
+
},
|
| 126 |
+
"stack_7_main_group_1_base": {
|
| 127 |
+
"cls": "Box"
|
| 128 |
+
},
|
| 129 |
+
"stack_7_main_group_1_1": {
|
| 130 |
+
"cls": "SingleCabinet"
|
| 131 |
+
},
|
| 132 |
+
"box_2_main_group_1": {
|
| 133 |
+
"cls": "Box"
|
| 134 |
+
},
|
| 135 |
+
"hood_main_group_1": {
|
| 136 |
+
"cls": "Hood"
|
| 137 |
+
},
|
| 138 |
+
"cab_corner_main_group_1": {
|
| 139 |
+
"cls": "Box"
|
| 140 |
+
},
|
| 141 |
+
"cab_1_main_group_1": {
|
| 142 |
+
"cls": "HingeCabinet"
|
| 143 |
+
},
|
| 144 |
+
"cab_2_main_group_1": {
|
| 145 |
+
"cls": "HingeCabinet"
|
| 146 |
+
},
|
| 147 |
+
"cab_3_main_group_1": {
|
| 148 |
+
"cls": "SingleCabinet"
|
| 149 |
+
},
|
| 150 |
+
"cab_4_main_group_1": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
+
},
|
| 153 |
+
"cab_5_main_group_1": {
|
| 154 |
+
"cls": "HingeCabinet"
|
| 155 |
+
},
|
| 156 |
+
"cab_6_main_group_1": {
|
| 157 |
+
"cls": "SingleCabinet"
|
| 158 |
+
},
|
| 159 |
+
"cab_corner_2_main_group_1": {
|
| 160 |
+
"cls": "Box"
|
| 161 |
+
},
|
| 162 |
+
"coffee_machine_main_group_1": {
|
| 163 |
+
"cls": "CoffeeMachine"
|
| 164 |
+
},
|
| 165 |
+
"toaster_main_group_1": {
|
| 166 |
+
"cls": "Toaster"
|
| 167 |
+
},
|
| 168 |
+
"paper_towel_main_group_1": {
|
| 169 |
+
"cls": "Accessory"
|
| 170 |
+
},
|
| 171 |
+
"knife_block_main_group_1": {
|
| 172 |
+
"cls": "Accessory"
|
| 173 |
+
},
|
| 174 |
+
"counter_1_left_group_1": {
|
| 175 |
+
"cls": "Counter"
|
| 176 |
+
},
|
| 177 |
+
"stack_1_left_group_1_base": {
|
| 178 |
+
"cls": "Box"
|
| 179 |
+
},
|
| 180 |
+
"stack_1_left_group_1_1": {
|
| 181 |
+
"cls": "Drawer"
|
| 182 |
+
},
|
| 183 |
+
"stack_1_left_group_1_2": {
|
| 184 |
+
"cls": "Drawer"
|
| 185 |
+
},
|
| 186 |
+
"stack_1_left_group_1_3": {
|
| 187 |
+
"cls": "Drawer"
|
| 188 |
+
},
|
| 189 |
+
"box_left_group_1": {
|
| 190 |
+
"cls": "Box"
|
| 191 |
+
},
|
| 192 |
+
"bottom_left_group_1_base": {
|
| 193 |
+
"cls": "Box"
|
| 194 |
+
},
|
| 195 |
+
"bottom_left_group_1_1": {
|
| 196 |
+
"cls": "Drawer"
|
| 197 |
+
},
|
| 198 |
+
"oven_left_group_1": {
|
| 199 |
+
"cls": "Oven"
|
| 200 |
+
},
|
| 201 |
+
"oven_housing_left_group_1": {
|
| 202 |
+
"cls": "HousingCabinet"
|
| 203 |
+
},
|
| 204 |
+
"microwave_left_group_1": {
|
| 205 |
+
"cls": "Microwave"
|
| 206 |
+
},
|
| 207 |
+
"microwave_housing_left_group_1": {
|
| 208 |
+
"cls": "HousingCabinet"
|
| 209 |
+
},
|
| 210 |
+
"top_left_group_1": {
|
| 211 |
+
"cls": "HingeCabinet"
|
| 212 |
+
},
|
| 213 |
+
"fridge_1_left_group_1": {
|
| 214 |
+
"cls": "FridgeBottomFreezer"
|
| 215 |
+
},
|
| 216 |
+
"fridge_1_housing_left_group_1": {
|
| 217 |
+
"cls": "HousingCabinet"
|
| 218 |
+
},
|
| 219 |
+
"fridge_cabinet_left_group_1": {
|
| 220 |
+
"cls": "HingeCabinet"
|
| 221 |
+
},
|
| 222 |
+
"cab_1_left_group_1": {
|
| 223 |
+
"cls": "HingeCabinet"
|
| 224 |
+
},
|
| 225 |
+
"toaster_oven_left_group_1": {
|
| 226 |
+
"cls": "ToasterOven"
|
| 227 |
+
},
|
| 228 |
+
"box_right_group_1": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
+
},
|
| 231 |
+
"stack_1_right_group_1_base": {
|
| 232 |
+
"cls": "Box"
|
| 233 |
+
},
|
| 234 |
+
"stack_1_right_group_1_1": {
|
| 235 |
+
"cls": "Drawer"
|
| 236 |
+
},
|
| 237 |
+
"stack_1_right_group_1_2": {
|
| 238 |
+
"cls": "Drawer"
|
| 239 |
+
},
|
| 240 |
+
"stack_1_right_group_1_3": {
|
| 241 |
+
"cls": "Drawer"
|
| 242 |
+
},
|
| 243 |
+
"stack_2_right_group_1_base": {
|
| 244 |
+
"cls": "Box"
|
| 245 |
+
},
|
| 246 |
+
"stack_2_right_group_1_1": {
|
| 247 |
+
"cls": "Drawer"
|
| 248 |
+
},
|
| 249 |
+
"stack_2_right_group_1_2": {
|
| 250 |
+
"cls": "Drawer"
|
| 251 |
+
},
|
| 252 |
+
"stack_2_right_group_1_3": {
|
| 253 |
+
"cls": "Drawer"
|
| 254 |
+
},
|
| 255 |
+
"stack_3_right_group_1_base": {
|
| 256 |
+
"cls": "Box"
|
| 257 |
+
},
|
| 258 |
+
"stack_3_right_group_1_1": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
+
},
|
| 261 |
+
"dishwasher_1_right_group_1": {
|
| 262 |
+
"cls": "Dishwasher"
|
| 263 |
+
},
|
| 264 |
+
"stack_4_right_group_1_base": {
|
| 265 |
+
"cls": "Box"
|
| 266 |
+
},
|
| 267 |
+
"stack_4_right_group_1_1": {
|
| 268 |
+
"cls": "Drawer"
|
| 269 |
+
},
|
| 270 |
+
"stack_4_right_group_1_2": {
|
| 271 |
+
"cls": "Drawer"
|
| 272 |
+
},
|
| 273 |
+
"stack_4_right_group_1_3": {
|
| 274 |
+
"cls": "Drawer"
|
| 275 |
+
},
|
| 276 |
+
"sink_1_right_group_1": {
|
| 277 |
+
"cls": "Sink"
|
| 278 |
+
},
|
| 279 |
+
"counter_1_right_group_1": {
|
| 280 |
+
"cls": "Counter"
|
| 281 |
+
},
|
| 282 |
+
"cab_1_right_group_1": {
|
| 283 |
+
"cls": "OpenCabinet"
|
| 284 |
+
},
|
| 285 |
+
"cab_2_right_group_1": {
|
| 286 |
+
"cls": "OpenCabinet"
|
| 287 |
+
},
|
| 288 |
+
"island_island_group_1": {
|
| 289 |
+
"cls": "Counter"
|
| 290 |
+
},
|
| 291 |
+
"stack_1_island_group_1_base": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"stack_1_island_group_1_1": {
|
| 295 |
+
"cls": "Drawer"
|
| 296 |
+
},
|
| 297 |
+
"stack_1_island_group_1_2": {
|
| 298 |
+
"cls": "Drawer"
|
| 299 |
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},
|
| 300 |
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"stack_2_island_group_1_base": {
|
| 301 |
+
"cls": "Box"
|
| 302 |
+
},
|
| 303 |
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"stack_2_island_group_1_1": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_2_island_group_1_2": {
|
| 307 |
+
"cls": "Drawer"
|
| 308 |
+
},
|
| 309 |
+
"stack_3_island_group_1_base": {
|
| 310 |
+
"cls": "Box"
|
| 311 |
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},
|
| 312 |
+
"stack_3_island_group_1_1": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
+
},
|
| 315 |
+
"stack_3_island_group_1_2": {
|
| 316 |
+
"cls": "Drawer"
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"gen_textures": {},
|
| 320 |
+
"lang": "Fully slide the oven rack out.",
|
| 321 |
+
"fixture_refs": {
|
| 322 |
+
"oven": "oven_left_group_1"
|
| 323 |
+
},
|
| 324 |
+
"cam_configs": {
|
| 325 |
+
"robot0_agentview_center": {
|
| 326 |
+
"pos": [
|
| 327 |
+
-0.6,
|
| 328 |
+
0.0,
|
| 329 |
+
1.15
|
| 330 |
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],
|
| 331 |
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"quat": [
|
| 332 |
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|
| 333 |
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|
| 334 |
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|
| 335 |
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|
| 336 |
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],
|
| 337 |
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"parent_body": "mobilebase0_support"
|
| 338 |
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},
|
| 339 |
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"robot0_agentview_left": {
|
| 340 |
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"pos": [
|
| 341 |
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-0.5,
|
| 342 |
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0.35,
|
| 343 |
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1.05
|
| 344 |
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],
|
| 345 |
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"quat": [
|
| 346 |
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0.55623853,
|
| 347 |
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0.29935253,
|
| 348 |
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-0.37678665,
|
| 349 |
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-0.6775092
|
| 350 |
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],
|
| 351 |
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"camera_attribs": {
|
| 352 |
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"fovy": "60"
|
| 353 |
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},
|
| 354 |
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"parent_body": "mobilebase0_support"
|
| 355 |
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},
|
| 356 |
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"robot0_agentview_right": {
|
| 357 |
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"pos": [
|
| 358 |
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-0.5,
|
| 359 |
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-0.35,
|
| 360 |
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1.05
|
| 361 |
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],
|
| 362 |
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"quat": [
|
| 363 |
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|
| 364 |
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|
| 365 |
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-0.2993525564670563,
|
| 366 |
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-0.55623859167099
|
| 367 |
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],
|
| 368 |
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"camera_attribs": {
|
| 369 |
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"fovy": "60"
|
| 370 |
+
},
|
| 371 |
+
"parent_body": "mobilebase0_support"
|
| 372 |
+
},
|
| 373 |
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"robot0_frontview": {
|
| 374 |
+
"pos": [
|
| 375 |
+
-0.5,
|
| 376 |
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0,
|
| 377 |
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0.95
|
| 378 |
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],
|
| 379 |
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"quat": [
|
| 380 |
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|
| 381 |
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|
| 382 |
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-0.3673907518386841,
|
| 383 |
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-0.5905545353889465
|
| 384 |
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],
|
| 385 |
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"camera_attribs": {
|
| 386 |
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"fovy": "60"
|
| 387 |
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},
|
| 388 |
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"parent_body": "mobilebase0_support"
|
| 389 |
+
},
|
| 390 |
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"robot0_eye_in_hand": {
|
| 391 |
+
"pos": [
|
| 392 |
+
0.05,
|
| 393 |
+
0,
|
| 394 |
+
0
|
| 395 |
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],
|
| 396 |
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"quat": [
|
| 397 |
+
0,
|
| 398 |
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0.707107,
|
| 399 |
+
0.707107,
|
| 400 |
+
0
|
| 401 |
+
],
|
| 402 |
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"parent_body": "robot0_right_hand"
|
| 403 |
+
}
|
| 404 |
+
},
|
| 405 |
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"init_robot_base_pos": [
|
| 406 |
+
1.0919045200921493,
|
| 407 |
+
-2.355955508085926,
|
| 408 |
+
0.0
|
| 409 |
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],
|
| 410 |
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"init_robot_base_ori": [
|
| 411 |
+
0.0,
|
| 412 |
+
0.0,
|
| 413 |
+
3.1415926193612504
|
| 414 |
+
],
|
| 415 |
+
"should_pull": true,
|
| 416 |
+
"rack_level": 1
|
| 417 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000082/ep_meta.json
ADDED
|
@@ -0,0 +1,441 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
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|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
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|
|
|
|
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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": 12,
|
| 3 |
+
"style_id": 23,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_right_2_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_right_2_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_right_3_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_right_3_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"floor_1_room": {
|
| 37 |
+
"cls": "Floor"
|
| 38 |
+
},
|
| 39 |
+
"floor_1_backing_room": {
|
| 40 |
+
"cls": "Floor"
|
| 41 |
+
},
|
| 42 |
+
"wall_accessory_1_room": {
|
| 43 |
+
"cls": "WallAccessory"
|
| 44 |
+
},
|
| 45 |
+
"wall_accessory_2_room": {
|
| 46 |
+
"cls": "WallAccessory"
|
| 47 |
+
},
|
| 48 |
+
"wall_accessory_3_room": {
|
| 49 |
+
"cls": "WallAccessory"
|
| 50 |
+
},
|
| 51 |
+
"light_switch_1_room": {
|
| 52 |
+
"cls": "WallAccessory"
|
| 53 |
+
},
|
| 54 |
+
"wall_accessory_4_room": {
|
| 55 |
+
"cls": "WallAccessory"
|
| 56 |
+
},
|
| 57 |
+
"wall_accessory_5_room": {
|
| 58 |
+
"cls": "WallAccessory"
|
| 59 |
+
},
|
| 60 |
+
"window_group_room": {
|
| 61 |
+
"cls": "Window"
|
| 62 |
+
},
|
| 63 |
+
"stool_1_room": {
|
| 64 |
+
"cls": "Stool"
|
| 65 |
+
},
|
| 66 |
+
"stool_2_room": {
|
| 67 |
+
"cls": "Stool"
|
| 68 |
+
},
|
| 69 |
+
"stool_3_room": {
|
| 70 |
+
"cls": "Stool"
|
| 71 |
+
},
|
| 72 |
+
"stool_4_room": {
|
| 73 |
+
"cls": "Stool"
|
| 74 |
+
},
|
| 75 |
+
"stool_5_room": {
|
| 76 |
+
"cls": "Stool"
|
| 77 |
+
},
|
| 78 |
+
"stool_6_room": {
|
| 79 |
+
"cls": "Stool"
|
| 80 |
+
},
|
| 81 |
+
"counter_corner_1_main_group": {
|
| 82 |
+
"cls": "Counter"
|
| 83 |
+
},
|
| 84 |
+
"sink_1_main_group": {
|
| 85 |
+
"cls": "Sink"
|
| 86 |
+
},
|
| 87 |
+
"counter_1_main_group": {
|
| 88 |
+
"cls": "Counter"
|
| 89 |
+
},
|
| 90 |
+
"counter_corner_2_main_group": {
|
| 91 |
+
"cls": "Counter"
|
| 92 |
+
},
|
| 93 |
+
"box_1_main_group": {
|
| 94 |
+
"cls": "Box"
|
| 95 |
+
},
|
| 96 |
+
"stack_1_main_group_base": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"stack_1_main_group_1": {
|
| 100 |
+
"cls": "Drawer"
|
| 101 |
+
},
|
| 102 |
+
"stack_1_main_group_2": {
|
| 103 |
+
"cls": "Drawer"
|
| 104 |
+
},
|
| 105 |
+
"stack_1_main_group_3": {
|
| 106 |
+
"cls": "Drawer"
|
| 107 |
+
},
|
| 108 |
+
"stack_2_main_group_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_2_main_group_1": {
|
| 112 |
+
"cls": "SingleCabinet"
|
| 113 |
+
},
|
| 114 |
+
"stack_2_main_group_2": {
|
| 115 |
+
"cls": "Drawer"
|
| 116 |
+
},
|
| 117 |
+
"stack_3_main_group_base": {
|
| 118 |
+
"cls": "Box"
|
| 119 |
+
},
|
| 120 |
+
"stack_3_main_group_1": {
|
| 121 |
+
"cls": "HingeCabinet"
|
| 122 |
+
},
|
| 123 |
+
"dishwasher_1_main_group": {
|
| 124 |
+
"cls": "Dishwasher"
|
| 125 |
+
},
|
| 126 |
+
"stack_4_main_group_base": {
|
| 127 |
+
"cls": "Box"
|
| 128 |
+
},
|
| 129 |
+
"stack_4_main_group_1": {
|
| 130 |
+
"cls": "SingleCabinet"
|
| 131 |
+
},
|
| 132 |
+
"stack_4_main_group_2": {
|
| 133 |
+
"cls": "Drawer"
|
| 134 |
+
},
|
| 135 |
+
"stack_5_main_group_base": {
|
| 136 |
+
"cls": "Box"
|
| 137 |
+
},
|
| 138 |
+
"stack_5_main_group_1": {
|
| 139 |
+
"cls": "SingleCabinet"
|
| 140 |
+
},
|
| 141 |
+
"box_2_main_group": {
|
| 142 |
+
"cls": "Box"
|
| 143 |
+
},
|
| 144 |
+
"top_corner_1_main_group": {
|
| 145 |
+
"cls": "Box"
|
| 146 |
+
},
|
| 147 |
+
"cab_1_main_group": {
|
| 148 |
+
"cls": "HingeCabinet"
|
| 149 |
+
},
|
| 150 |
+
"cab_2_main_group": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
+
},
|
| 153 |
+
"top_corner_2_main_group": {
|
| 154 |
+
"cls": "Box"
|
| 155 |
+
},
|
| 156 |
+
"paper_towel_main_group": {
|
| 157 |
+
"cls": "Accessory"
|
| 158 |
+
},
|
| 159 |
+
"coffee_machine_main_group": {
|
| 160 |
+
"cls": "CoffeeMachine"
|
| 161 |
+
},
|
| 162 |
+
"toaster_main_group": {
|
| 163 |
+
"cls": "Toaster"
|
| 164 |
+
},
|
| 165 |
+
"knife_block_main_group": {
|
| 166 |
+
"cls": "Accessory"
|
| 167 |
+
},
|
| 168 |
+
"stovetop_left_group": {
|
| 169 |
+
"cls": "Stovetop"
|
| 170 |
+
},
|
| 171 |
+
"counter_1_left_group": {
|
| 172 |
+
"cls": "Counter"
|
| 173 |
+
},
|
| 174 |
+
"box_1_left_group": {
|
| 175 |
+
"cls": "Box"
|
| 176 |
+
},
|
| 177 |
+
"stack_1_left_group_base": {
|
| 178 |
+
"cls": "Box"
|
| 179 |
+
},
|
| 180 |
+
"stack_1_left_group_1": {
|
| 181 |
+
"cls": "SingleCabinet"
|
| 182 |
+
},
|
| 183 |
+
"stack_2_left_group_base": {
|
| 184 |
+
"cls": "Box"
|
| 185 |
+
},
|
| 186 |
+
"stack_2_left_group_1": {
|
| 187 |
+
"cls": "Drawer"
|
| 188 |
+
},
|
| 189 |
+
"stack_2_left_group_2": {
|
| 190 |
+
"cls": "Drawer"
|
| 191 |
+
},
|
| 192 |
+
"stack_2_left_group_3": {
|
| 193 |
+
"cls": "PanelCabinet"
|
| 194 |
+
},
|
| 195 |
+
"box_3_left_group": {
|
| 196 |
+
"cls": "Box"
|
| 197 |
+
},
|
| 198 |
+
"stack_3_left_group_base": {
|
| 199 |
+
"cls": "Box"
|
| 200 |
+
},
|
| 201 |
+
"stack_3_left_group_1": {
|
| 202 |
+
"cls": "Drawer"
|
| 203 |
+
},
|
| 204 |
+
"stack_3_left_group_2": {
|
| 205 |
+
"cls": "Drawer"
|
| 206 |
+
},
|
| 207 |
+
"stack_3_left_group_3": {
|
| 208 |
+
"cls": "Drawer"
|
| 209 |
+
},
|
| 210 |
+
"box_2_left_group": {
|
| 211 |
+
"cls": "Box"
|
| 212 |
+
},
|
| 213 |
+
"fridge_1_left_group": {
|
| 214 |
+
"cls": "FridgeFrenchDoor"
|
| 215 |
+
},
|
| 216 |
+
"fridge_1_housing_left_group": {
|
| 217 |
+
"cls": "HousingCabinet"
|
| 218 |
+
},
|
| 219 |
+
"hood_left_group": {
|
| 220 |
+
"cls": "Hood"
|
| 221 |
+
},
|
| 222 |
+
"cab_1_left_group": {
|
| 223 |
+
"cls": "HingeCabinet"
|
| 224 |
+
},
|
| 225 |
+
"cab_2_left_group": {
|
| 226 |
+
"cls": "SingleCabinet"
|
| 227 |
+
},
|
| 228 |
+
"cab_3_left_group": {
|
| 229 |
+
"cls": "HingeCabinet"
|
| 230 |
+
},
|
| 231 |
+
"toaster_oven_left_group": {
|
| 232 |
+
"cls": "ToasterOven"
|
| 233 |
+
},
|
| 234 |
+
"bottom_right_group_1_base": {
|
| 235 |
+
"cls": "Box"
|
| 236 |
+
},
|
| 237 |
+
"bottom_right_group_1_1": {
|
| 238 |
+
"cls": "Drawer"
|
| 239 |
+
},
|
| 240 |
+
"oven_right_group_1": {
|
| 241 |
+
"cls": "Oven"
|
| 242 |
+
},
|
| 243 |
+
"oven_housing_right_group_1": {
|
| 244 |
+
"cls": "HousingCabinet"
|
| 245 |
+
},
|
| 246 |
+
"microwave_right_group_1": {
|
| 247 |
+
"cls": "Microwave"
|
| 248 |
+
},
|
| 249 |
+
"microwave_housing_right_group_1": {
|
| 250 |
+
"cls": "HousingCabinet"
|
| 251 |
+
},
|
| 252 |
+
"top_right_group_1": {
|
| 253 |
+
"cls": "HingeCabinet"
|
| 254 |
+
},
|
| 255 |
+
"stack_1_right_group_1_base": {
|
| 256 |
+
"cls": "Box"
|
| 257 |
+
},
|
| 258 |
+
"stack_1_right_group_1_1": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
+
},
|
| 261 |
+
"stack_2_right_group_1_base": {
|
| 262 |
+
"cls": "Box"
|
| 263 |
+
},
|
| 264 |
+
"stack_2_right_group_1_1": {
|
| 265 |
+
"cls": "PanelCabinet"
|
| 266 |
+
},
|
| 267 |
+
"box_right_group_1": {
|
| 268 |
+
"cls": "Box"
|
| 269 |
+
},
|
| 270 |
+
"stack_3_right_group_1_base": {
|
| 271 |
+
"cls": "Box"
|
| 272 |
+
},
|
| 273 |
+
"stack_3_right_group_1_1": {
|
| 274 |
+
"cls": "HingeCabinet"
|
| 275 |
+
},
|
| 276 |
+
"counter_1_right_group_1": {
|
| 277 |
+
"cls": "Counter"
|
| 278 |
+
},
|
| 279 |
+
"cab_1_right_group_1": {
|
| 280 |
+
"cls": "HingeCabinet"
|
| 281 |
+
},
|
| 282 |
+
"cab_2_right_group_1": {
|
| 283 |
+
"cls": "SingleCabinet"
|
| 284 |
+
},
|
| 285 |
+
"cab_3_right_group_1": {
|
| 286 |
+
"cls": "HingeCabinet"
|
| 287 |
+
},
|
| 288 |
+
"island_island_group": {
|
| 289 |
+
"cls": "Counter"
|
| 290 |
+
},
|
| 291 |
+
"panel_stack_1_island_group_base": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"panel_stack_1_island_group_1": {
|
| 295 |
+
"cls": "PanelCabinet"
|
| 296 |
+
},
|
| 297 |
+
"stack_1_island_group_base": {
|
| 298 |
+
"cls": "Box"
|
| 299 |
+
},
|
| 300 |
+
"stack_1_island_group_1": {
|
| 301 |
+
"cls": "HingeCabinet"
|
| 302 |
+
},
|
| 303 |
+
"stack_1_island_group_2": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_2_island_group_base": {
|
| 307 |
+
"cls": "Box"
|
| 308 |
+
},
|
| 309 |
+
"stack_2_island_group_1": {
|
| 310 |
+
"cls": "HingeCabinet"
|
| 311 |
+
},
|
| 312 |
+
"stack_2_island_group_2": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
+
},
|
| 315 |
+
"stack_3_island_group_base": {
|
| 316 |
+
"cls": "Box"
|
| 317 |
+
},
|
| 318 |
+
"stack_3_island_group_1": {
|
| 319 |
+
"cls": "HingeCabinet"
|
| 320 |
+
},
|
| 321 |
+
"stack_3_island_group_2": {
|
| 322 |
+
"cls": "Drawer"
|
| 323 |
+
},
|
| 324 |
+
"stack_4_island_group_base": {
|
| 325 |
+
"cls": "Box"
|
| 326 |
+
},
|
| 327 |
+
"stack_4_island_group_1": {
|
| 328 |
+
"cls": "HingeCabinet"
|
| 329 |
+
},
|
| 330 |
+
"stack_4_island_group_2": {
|
| 331 |
+
"cls": "Drawer"
|
| 332 |
+
},
|
| 333 |
+
"panel_stack_2_island_group_base": {
|
| 334 |
+
"cls": "Box"
|
| 335 |
+
},
|
| 336 |
+
"panel_stack_2_island_group_1": {
|
| 337 |
+
"cls": "PanelCabinet"
|
| 338 |
+
},
|
| 339 |
+
"box_1_island_group": {
|
| 340 |
+
"cls": "Box"
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"gen_textures": {},
|
| 344 |
+
"lang": "Fully slide the bottom oven rack in.",
|
| 345 |
+
"fixture_refs": {
|
| 346 |
+
"oven": "oven_right_group_1"
|
| 347 |
+
},
|
| 348 |
+
"cam_configs": {
|
| 349 |
+
"robot0_agentview_center": {
|
| 350 |
+
"pos": [
|
| 351 |
+
-0.6,
|
| 352 |
+
0.0,
|
| 353 |
+
1.15
|
| 354 |
+
],
|
| 355 |
+
"quat": [
|
| 356 |
+
0.636945903301239,
|
| 357 |
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0.3325185477733612,
|
| 358 |
+
-0.3199238181114197,
|
| 359 |
+
-0.6175596117973328
|
| 360 |
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],
|
| 361 |
+
"parent_body": "mobilebase0_support"
|
| 362 |
+
},
|
| 363 |
+
"robot0_agentview_left": {
|
| 364 |
+
"pos": [
|
| 365 |
+
-0.5,
|
| 366 |
+
0.35,
|
| 367 |
+
1.05
|
| 368 |
+
],
|
| 369 |
+
"quat": [
|
| 370 |
+
0.55623853,
|
| 371 |
+
0.29935253,
|
| 372 |
+
-0.37678665,
|
| 373 |
+
-0.6775092
|
| 374 |
+
],
|
| 375 |
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"camera_attribs": {
|
| 376 |
+
"fovy": "60"
|
| 377 |
+
},
|
| 378 |
+
"parent_body": "mobilebase0_support"
|
| 379 |
+
},
|
| 380 |
+
"robot0_agentview_right": {
|
| 381 |
+
"pos": [
|
| 382 |
+
-0.5,
|
| 383 |
+
-0.35,
|
| 384 |
+
1.05
|
| 385 |
+
],
|
| 386 |
+
"quat": [
|
| 387 |
+
0.6775091886520386,
|
| 388 |
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0.3767866790294647,
|
| 389 |
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-0.2993525564670563,
|
| 390 |
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-0.55623859167099
|
| 391 |
+
],
|
| 392 |
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"camera_attribs": {
|
| 393 |
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"fovy": "60"
|
| 394 |
+
},
|
| 395 |
+
"parent_body": "mobilebase0_support"
|
| 396 |
+
},
|
| 397 |
+
"robot0_frontview": {
|
| 398 |
+
"pos": [
|
| 399 |
+
-0.5,
|
| 400 |
+
0,
|
| 401 |
+
0.95
|
| 402 |
+
],
|
| 403 |
+
"quat": [
|
| 404 |
+
0.6088936924934387,
|
| 405 |
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0.3814677894115448,
|
| 406 |
+
-0.3673907518386841,
|
| 407 |
+
-0.5905545353889465
|
| 408 |
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],
|
| 409 |
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"camera_attribs": {
|
| 410 |
+
"fovy": "60"
|
| 411 |
+
},
|
| 412 |
+
"parent_body": "mobilebase0_support"
|
| 413 |
+
},
|
| 414 |
+
"robot0_eye_in_hand": {
|
| 415 |
+
"pos": [
|
| 416 |
+
0.05,
|
| 417 |
+
0,
|
| 418 |
+
0
|
| 419 |
+
],
|
| 420 |
+
"quat": [
|
| 421 |
+
0,
|
| 422 |
+
0.707107,
|
| 423 |
+
0.707107,
|
| 424 |
+
0
|
| 425 |
+
],
|
| 426 |
+
"parent_body": "robot0_right_hand"
|
| 427 |
+
}
|
| 428 |
+
},
|
| 429 |
+
"init_robot_base_pos": [
|
| 430 |
+
4.17371272308752,
|
| 431 |
+
-0.9232740441451245,
|
| 432 |
+
0.0
|
| 433 |
+
],
|
| 434 |
+
"init_robot_base_ori": [
|
| 435 |
+
0.0,
|
| 436 |
+
0.0,
|
| 437 |
+
3.422854288892552e-08
|
| 438 |
+
],
|
| 439 |
+
"should_pull": false,
|
| 440 |
+
"rack_level": 0
|
| 441 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000088/ep_meta.json
ADDED
|
@@ -0,0 +1,414 @@
|
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|
|
|
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|
|
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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": 15,
|
| 3 |
+
"style_id": 48,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_left_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_left_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_left_2_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_left_2_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_left_3_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_left_3_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_front_1_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_front_1_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"wall_right_1_room": {
|
| 37 |
+
"cls": "Wall"
|
| 38 |
+
},
|
| 39 |
+
"wall_right_1_backing_room": {
|
| 40 |
+
"cls": "Wall"
|
| 41 |
+
},
|
| 42 |
+
"wall_right_2_room": {
|
| 43 |
+
"cls": "Wall"
|
| 44 |
+
},
|
| 45 |
+
"wall_right_2_backing_room": {
|
| 46 |
+
"cls": "Wall"
|
| 47 |
+
},
|
| 48 |
+
"wall_front_2_room": {
|
| 49 |
+
"cls": "Wall"
|
| 50 |
+
},
|
| 51 |
+
"wall_front_2_backing_room": {
|
| 52 |
+
"cls": "Wall"
|
| 53 |
+
},
|
| 54 |
+
"wall_main_2_room": {
|
| 55 |
+
"cls": "Wall"
|
| 56 |
+
},
|
| 57 |
+
"wall_main_2_backing_room": {
|
| 58 |
+
"cls": "Wall"
|
| 59 |
+
},
|
| 60 |
+
"wall_left_4_room": {
|
| 61 |
+
"cls": "Wall"
|
| 62 |
+
},
|
| 63 |
+
"wall_left_4_backing_room": {
|
| 64 |
+
"cls": "Wall"
|
| 65 |
+
},
|
| 66 |
+
"wall_left_5_room": {
|
| 67 |
+
"cls": "Wall"
|
| 68 |
+
},
|
| 69 |
+
"wall_left_5_backing_room": {
|
| 70 |
+
"cls": "Wall"
|
| 71 |
+
},
|
| 72 |
+
"floor_1_room": {
|
| 73 |
+
"cls": "Floor"
|
| 74 |
+
},
|
| 75 |
+
"floor_1_backing_room": {
|
| 76 |
+
"cls": "Floor"
|
| 77 |
+
},
|
| 78 |
+
"floor_2_room": {
|
| 79 |
+
"cls": "Floor"
|
| 80 |
+
},
|
| 81 |
+
"floor_2_backing_room": {
|
| 82 |
+
"cls": "Floor"
|
| 83 |
+
},
|
| 84 |
+
"floor_3_room": {
|
| 85 |
+
"cls": "Floor"
|
| 86 |
+
},
|
| 87 |
+
"floor_3_backing_room": {
|
| 88 |
+
"cls": "Floor"
|
| 89 |
+
},
|
| 90 |
+
"wall_accessory_1_room": {
|
| 91 |
+
"cls": "WallAccessory"
|
| 92 |
+
},
|
| 93 |
+
"wall_accessory_2_room": {
|
| 94 |
+
"cls": "WallAccessory"
|
| 95 |
+
},
|
| 96 |
+
"wall_accessory_3_room": {
|
| 97 |
+
"cls": "WallAccessory"
|
| 98 |
+
},
|
| 99 |
+
"light_switch_room": {
|
| 100 |
+
"cls": "WallAccessory"
|
| 101 |
+
},
|
| 102 |
+
"wall_accessory_4_room": {
|
| 103 |
+
"cls": "WallAccessory"
|
| 104 |
+
},
|
| 105 |
+
"wall_accessory_5_room": {
|
| 106 |
+
"cls": "WallAccessory"
|
| 107 |
+
},
|
| 108 |
+
"wall_accessory_6_room": {
|
| 109 |
+
"cls": "WallAccessory"
|
| 110 |
+
},
|
| 111 |
+
"stool_1_room": {
|
| 112 |
+
"cls": "Stool"
|
| 113 |
+
},
|
| 114 |
+
"stool_2_room": {
|
| 115 |
+
"cls": "Stool"
|
| 116 |
+
},
|
| 117 |
+
"stool_3_room": {
|
| 118 |
+
"cls": "Stool"
|
| 119 |
+
},
|
| 120 |
+
"fridge_1_main_group_1": {
|
| 121 |
+
"cls": "FridgeFrenchDoor"
|
| 122 |
+
},
|
| 123 |
+
"fridge_1_housing_main_group_1": {
|
| 124 |
+
"cls": "HousingCabinet"
|
| 125 |
+
},
|
| 126 |
+
"fridge_top_main_group_1": {
|
| 127 |
+
"cls": "HingeCabinet"
|
| 128 |
+
},
|
| 129 |
+
"bottom_main_group_1_base": {
|
| 130 |
+
"cls": "Box"
|
| 131 |
+
},
|
| 132 |
+
"bottom_main_group_1_1": {
|
| 133 |
+
"cls": "Drawer"
|
| 134 |
+
},
|
| 135 |
+
"oven_main_group_1": {
|
| 136 |
+
"cls": "Oven"
|
| 137 |
+
},
|
| 138 |
+
"oven_housing_main_group_1": {
|
| 139 |
+
"cls": "HousingCabinet"
|
| 140 |
+
},
|
| 141 |
+
"microwave_main_group_1": {
|
| 142 |
+
"cls": "Microwave"
|
| 143 |
+
},
|
| 144 |
+
"microwave_housing_main_group_1": {
|
| 145 |
+
"cls": "HousingCabinet"
|
| 146 |
+
},
|
| 147 |
+
"top_main_group_1": {
|
| 148 |
+
"cls": "HingeCabinet"
|
| 149 |
+
},
|
| 150 |
+
"counter_1_main_group_1": {
|
| 151 |
+
"cls": "Counter"
|
| 152 |
+
},
|
| 153 |
+
"stack_1_main_group_1_base": {
|
| 154 |
+
"cls": "Box"
|
| 155 |
+
},
|
| 156 |
+
"stack_1_main_group_1_1": {
|
| 157 |
+
"cls": "Drawer"
|
| 158 |
+
},
|
| 159 |
+
"stack_1_main_group_1_2": {
|
| 160 |
+
"cls": "Drawer"
|
| 161 |
+
},
|
| 162 |
+
"stack_1_main_group_1_3": {
|
| 163 |
+
"cls": "Drawer"
|
| 164 |
+
},
|
| 165 |
+
"stack_2_main_group_1_base": {
|
| 166 |
+
"cls": "Box"
|
| 167 |
+
},
|
| 168 |
+
"stack_2_main_group_1_1": {
|
| 169 |
+
"cls": "SingleCabinet"
|
| 170 |
+
},
|
| 171 |
+
"stack_2_main_group_1_2": {
|
| 172 |
+
"cls": "Drawer"
|
| 173 |
+
},
|
| 174 |
+
"cab_1_main_group_1": {
|
| 175 |
+
"cls": "HingeCabinet"
|
| 176 |
+
},
|
| 177 |
+
"toaster_main_group_1": {
|
| 178 |
+
"cls": "Toaster"
|
| 179 |
+
},
|
| 180 |
+
"stovetop_1_left_group_1": {
|
| 181 |
+
"cls": "Stovetop"
|
| 182 |
+
},
|
| 183 |
+
"counter_1_left_group_1": {
|
| 184 |
+
"cls": "Counter"
|
| 185 |
+
},
|
| 186 |
+
"stack_1_left_group_1_base": {
|
| 187 |
+
"cls": "Box"
|
| 188 |
+
},
|
| 189 |
+
"stack_1_left_group_1_1": {
|
| 190 |
+
"cls": "HingeCabinet"
|
| 191 |
+
},
|
| 192 |
+
"stack_1_left_group_1_2": {
|
| 193 |
+
"cls": "PanelCabinet"
|
| 194 |
+
},
|
| 195 |
+
"stack_2_left_group_1_base": {
|
| 196 |
+
"cls": "Box"
|
| 197 |
+
},
|
| 198 |
+
"stack_2_left_group_1_1": {
|
| 199 |
+
"cls": "HingeCabinet"
|
| 200 |
+
},
|
| 201 |
+
"stack_2_left_group_1_2": {
|
| 202 |
+
"cls": "Drawer"
|
| 203 |
+
},
|
| 204 |
+
"stack_3_left_group_1_base": {
|
| 205 |
+
"cls": "Box"
|
| 206 |
+
},
|
| 207 |
+
"stack_3_left_group_1_1": {
|
| 208 |
+
"cls": "HingeCabinet"
|
| 209 |
+
},
|
| 210 |
+
"stack_3_left_group_1_2": {
|
| 211 |
+
"cls": "Drawer"
|
| 212 |
+
},
|
| 213 |
+
"hood_left_group_1": {
|
| 214 |
+
"cls": "Hood"
|
| 215 |
+
},
|
| 216 |
+
"cab_1_left_group_1": {
|
| 217 |
+
"cls": "HingeCabinet"
|
| 218 |
+
},
|
| 219 |
+
"cab_2_left_group_1": {
|
| 220 |
+
"cls": "HingeCabinet"
|
| 221 |
+
},
|
| 222 |
+
"coffee_machine_left_group_1": {
|
| 223 |
+
"cls": "CoffeeMachine"
|
| 224 |
+
},
|
| 225 |
+
"counter_1_front_group_1": {
|
| 226 |
+
"cls": "Counter"
|
| 227 |
+
},
|
| 228 |
+
"stack_1_front_group_1_base": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
+
},
|
| 231 |
+
"stack_1_front_group_1_1": {
|
| 232 |
+
"cls": "HingeCabinet"
|
| 233 |
+
},
|
| 234 |
+
"stack_1_front_group_1_2": {
|
| 235 |
+
"cls": "Drawer"
|
| 236 |
+
},
|
| 237 |
+
"stack_2_front_group_1_base": {
|
| 238 |
+
"cls": "Box"
|
| 239 |
+
},
|
| 240 |
+
"stack_2_front_group_1_1": {
|
| 241 |
+
"cls": "HingeCabinet"
|
| 242 |
+
},
|
| 243 |
+
"stack_2_front_group_1_2": {
|
| 244 |
+
"cls": "Drawer"
|
| 245 |
+
},
|
| 246 |
+
"stack_3_front_group_1_base": {
|
| 247 |
+
"cls": "Box"
|
| 248 |
+
},
|
| 249 |
+
"stack_3_front_group_1_1": {
|
| 250 |
+
"cls": "HingeCabinet"
|
| 251 |
+
},
|
| 252 |
+
"stack_3_front_group_1_2": {
|
| 253 |
+
"cls": "Drawer"
|
| 254 |
+
},
|
| 255 |
+
"cab_1_front_group_1": {
|
| 256 |
+
"cls": "HingeCabinet"
|
| 257 |
+
},
|
| 258 |
+
"cab_2_front_group_1": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
+
},
|
| 261 |
+
"cab_3_front_group_1": {
|
| 262 |
+
"cls": "HingeCabinet"
|
| 263 |
+
},
|
| 264 |
+
"toaster_oven_front_group_1": {
|
| 265 |
+
"cls": "ToasterOven"
|
| 266 |
+
},
|
| 267 |
+
"sink_island_group": {
|
| 268 |
+
"cls": "Sink"
|
| 269 |
+
},
|
| 270 |
+
"island_island_group": {
|
| 271 |
+
"cls": "Counter"
|
| 272 |
+
},
|
| 273 |
+
"panel_stack_island_group_base": {
|
| 274 |
+
"cls": "Box"
|
| 275 |
+
},
|
| 276 |
+
"panel_stack_island_group_1": {
|
| 277 |
+
"cls": "PanelCabinet"
|
| 278 |
+
},
|
| 279 |
+
"dishwasher_island_group": {
|
| 280 |
+
"cls": "Dishwasher"
|
| 281 |
+
},
|
| 282 |
+
"box_island_group": {
|
| 283 |
+
"cls": "Box"
|
| 284 |
+
},
|
| 285 |
+
"stack_1_island_group_base": {
|
| 286 |
+
"cls": "Box"
|
| 287 |
+
},
|
| 288 |
+
"stack_1_island_group_1": {
|
| 289 |
+
"cls": "HingeCabinet"
|
| 290 |
+
},
|
| 291 |
+
"stack_1_island_group_2": {
|
| 292 |
+
"cls": "PanelCabinet"
|
| 293 |
+
},
|
| 294 |
+
"stack_2_island_group_base": {
|
| 295 |
+
"cls": "Box"
|
| 296 |
+
},
|
| 297 |
+
"stack_2_island_group_1": {
|
| 298 |
+
"cls": "HingeCabinet"
|
| 299 |
+
},
|
| 300 |
+
"stack_2_island_group_2": {
|
| 301 |
+
"cls": "Drawer"
|
| 302 |
+
},
|
| 303 |
+
"stack_2_island_group_3": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_3_island_group_base": {
|
| 307 |
+
"cls": "Box"
|
| 308 |
+
},
|
| 309 |
+
"stack_3_island_group_1": {
|
| 310 |
+
"cls": "PanelCabinet"
|
| 311 |
+
},
|
| 312 |
+
"paper_towel_island_group": {
|
| 313 |
+
"cls": "Accessory"
|
| 314 |
+
}
|
| 315 |
+
},
|
| 316 |
+
"gen_textures": {},
|
| 317 |
+
"lang": "Fully slide the top oven rack in.",
|
| 318 |
+
"fixture_refs": {
|
| 319 |
+
"oven": "oven_main_group_1"
|
| 320 |
+
},
|
| 321 |
+
"cam_configs": {
|
| 322 |
+
"robot0_agentview_center": {
|
| 323 |
+
"pos": [
|
| 324 |
+
-0.6,
|
| 325 |
+
0.0,
|
| 326 |
+
1.15
|
| 327 |
+
],
|
| 328 |
+
"quat": [
|
| 329 |
+
0.636945903301239,
|
| 330 |
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|
| 331 |
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-0.3199238181114197,
|
| 332 |
+
-0.6175596117973328
|
| 333 |
+
],
|
| 334 |
+
"parent_body": "mobilebase0_support"
|
| 335 |
+
},
|
| 336 |
+
"robot0_agentview_left": {
|
| 337 |
+
"pos": [
|
| 338 |
+
-0.5,
|
| 339 |
+
0.35,
|
| 340 |
+
1.05
|
| 341 |
+
],
|
| 342 |
+
"quat": [
|
| 343 |
+
0.55623853,
|
| 344 |
+
0.29935253,
|
| 345 |
+
-0.37678665,
|
| 346 |
+
-0.6775092
|
| 347 |
+
],
|
| 348 |
+
"camera_attribs": {
|
| 349 |
+
"fovy": "60"
|
| 350 |
+
},
|
| 351 |
+
"parent_body": "mobilebase0_support"
|
| 352 |
+
},
|
| 353 |
+
"robot0_agentview_right": {
|
| 354 |
+
"pos": [
|
| 355 |
+
-0.5,
|
| 356 |
+
-0.35,
|
| 357 |
+
1.05
|
| 358 |
+
],
|
| 359 |
+
"quat": [
|
| 360 |
+
0.6775091886520386,
|
| 361 |
+
0.3767866790294647,
|
| 362 |
+
-0.2993525564670563,
|
| 363 |
+
-0.55623859167099
|
| 364 |
+
],
|
| 365 |
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"camera_attribs": {
|
| 366 |
+
"fovy": "60"
|
| 367 |
+
},
|
| 368 |
+
"parent_body": "mobilebase0_support"
|
| 369 |
+
},
|
| 370 |
+
"robot0_frontview": {
|
| 371 |
+
"pos": [
|
| 372 |
+
-0.5,
|
| 373 |
+
0,
|
| 374 |
+
0.95
|
| 375 |
+
],
|
| 376 |
+
"quat": [
|
| 377 |
+
0.6088936924934387,
|
| 378 |
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0.3814677894115448,
|
| 379 |
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-0.3673907518386841,
|
| 380 |
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-0.5905545353889465
|
| 381 |
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],
|
| 382 |
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"camera_attribs": {
|
| 383 |
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"fovy": "60"
|
| 384 |
+
},
|
| 385 |
+
"parent_body": "mobilebase0_support"
|
| 386 |
+
},
|
| 387 |
+
"robot0_eye_in_hand": {
|
| 388 |
+
"pos": [
|
| 389 |
+
0.05,
|
| 390 |
+
0,
|
| 391 |
+
0
|
| 392 |
+
],
|
| 393 |
+
"quat": [
|
| 394 |
+
0,
|
| 395 |
+
0.707107,
|
| 396 |
+
0.707107,
|
| 397 |
+
0
|
| 398 |
+
],
|
| 399 |
+
"parent_body": "robot0_right_hand"
|
| 400 |
+
}
|
| 401 |
+
},
|
| 402 |
+
"init_robot_base_pos": [
|
| 403 |
+
0.9244199156071491,
|
| 404 |
+
-0.6944800526830965,
|
| 405 |
+
0.0
|
| 406 |
+
],
|
| 407 |
+
"init_robot_base_ori": [
|
| 408 |
+
0.0,
|
| 409 |
+
0.0,
|
| 410 |
+
1.5707963267948966
|
| 411 |
+
],
|
| 412 |
+
"should_pull": false,
|
| 413 |
+
"rack_level": 1
|
| 414 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000089/ep_meta.json
ADDED
|
@@ -0,0 +1,417 @@
|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 17,
|
| 3 |
+
"style_id": 53,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"window_group_room": {
|
| 25 |
+
"cls": "Window"
|
| 26 |
+
},
|
| 27 |
+
"floor_1_room": {
|
| 28 |
+
"cls": "Floor"
|
| 29 |
+
},
|
| 30 |
+
"floor_1_backing_room": {
|
| 31 |
+
"cls": "Floor"
|
| 32 |
+
},
|
| 33 |
+
"wall_accessory_1_room": {
|
| 34 |
+
"cls": "WallAccessory"
|
| 35 |
+
},
|
| 36 |
+
"wall_accessory_2_room": {
|
| 37 |
+
"cls": "WallAccessory"
|
| 38 |
+
},
|
| 39 |
+
"wall_accessory_3_room": {
|
| 40 |
+
"cls": "WallAccessory"
|
| 41 |
+
},
|
| 42 |
+
"wall_accessory_4_room": {
|
| 43 |
+
"cls": "WallAccessory"
|
| 44 |
+
},
|
| 45 |
+
"light_switch_1_room": {
|
| 46 |
+
"cls": "WallAccessory"
|
| 47 |
+
},
|
| 48 |
+
"wall_accessory_5_room": {
|
| 49 |
+
"cls": "WallAccessory"
|
| 50 |
+
},
|
| 51 |
+
"wall_accessory_6_room": {
|
| 52 |
+
"cls": "WallAccessory"
|
| 53 |
+
},
|
| 54 |
+
"stool_1_room": {
|
| 55 |
+
"cls": "Stool"
|
| 56 |
+
},
|
| 57 |
+
"stool_2_room": {
|
| 58 |
+
"cls": "Stool"
|
| 59 |
+
},
|
| 60 |
+
"stool_3_room": {
|
| 61 |
+
"cls": "Stool"
|
| 62 |
+
},
|
| 63 |
+
"counter_corner_1_main_group_1": {
|
| 64 |
+
"cls": "Counter"
|
| 65 |
+
},
|
| 66 |
+
"stovetop_main_group_1": {
|
| 67 |
+
"cls": "Stovetop"
|
| 68 |
+
},
|
| 69 |
+
"counter_1_main_group_1": {
|
| 70 |
+
"cls": "Counter"
|
| 71 |
+
},
|
| 72 |
+
"counter_corner_2_main_group_1": {
|
| 73 |
+
"cls": "Counter"
|
| 74 |
+
},
|
| 75 |
+
"box_1_main_group_1": {
|
| 76 |
+
"cls": "Box"
|
| 77 |
+
},
|
| 78 |
+
"stack_1_main_group_1_base": {
|
| 79 |
+
"cls": "Box"
|
| 80 |
+
},
|
| 81 |
+
"stack_1_main_group_1_1": {
|
| 82 |
+
"cls": "SingleCabinet"
|
| 83 |
+
},
|
| 84 |
+
"stack_2_main_group_1_base": {
|
| 85 |
+
"cls": "Box"
|
| 86 |
+
},
|
| 87 |
+
"stack_2_main_group_1_1": {
|
| 88 |
+
"cls": "Drawer"
|
| 89 |
+
},
|
| 90 |
+
"stack_2_main_group_1_2": {
|
| 91 |
+
"cls": "Drawer"
|
| 92 |
+
},
|
| 93 |
+
"stack_2_main_group_1_3": {
|
| 94 |
+
"cls": "Drawer"
|
| 95 |
+
},
|
| 96 |
+
"stack_3_main_group_1_base": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"stack_3_main_group_1_1": {
|
| 100 |
+
"cls": "SingleCabinet"
|
| 101 |
+
},
|
| 102 |
+
"stack_4_main_group_1_base": {
|
| 103 |
+
"cls": "Box"
|
| 104 |
+
},
|
| 105 |
+
"stack_4_main_group_1_1": {
|
| 106 |
+
"cls": "HingeCabinet"
|
| 107 |
+
},
|
| 108 |
+
"stack_5_main_group_1_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_5_main_group_1_1": {
|
| 112 |
+
"cls": "SingleCabinet"
|
| 113 |
+
},
|
| 114 |
+
"stack_6_main_group_1_base": {
|
| 115 |
+
"cls": "Box"
|
| 116 |
+
},
|
| 117 |
+
"stack_6_main_group_1_1": {
|
| 118 |
+
"cls": "Drawer"
|
| 119 |
+
},
|
| 120 |
+
"stack_6_main_group_1_2": {
|
| 121 |
+
"cls": "Drawer"
|
| 122 |
+
},
|
| 123 |
+
"stack_6_main_group_1_3": {
|
| 124 |
+
"cls": "Drawer"
|
| 125 |
+
},
|
| 126 |
+
"stack_7_main_group_1_base": {
|
| 127 |
+
"cls": "Box"
|
| 128 |
+
},
|
| 129 |
+
"stack_7_main_group_1_1": {
|
| 130 |
+
"cls": "SingleCabinet"
|
| 131 |
+
},
|
| 132 |
+
"box_2_main_group_1": {
|
| 133 |
+
"cls": "Box"
|
| 134 |
+
},
|
| 135 |
+
"hood_main_group_1": {
|
| 136 |
+
"cls": "Hood"
|
| 137 |
+
},
|
| 138 |
+
"cab_corner_main_group_1": {
|
| 139 |
+
"cls": "Box"
|
| 140 |
+
},
|
| 141 |
+
"cab_1_main_group_1": {
|
| 142 |
+
"cls": "HingeCabinet"
|
| 143 |
+
},
|
| 144 |
+
"cab_2_main_group_1": {
|
| 145 |
+
"cls": "HingeCabinet"
|
| 146 |
+
},
|
| 147 |
+
"cab_3_main_group_1": {
|
| 148 |
+
"cls": "SingleCabinet"
|
| 149 |
+
},
|
| 150 |
+
"cab_4_main_group_1": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
+
},
|
| 153 |
+
"cab_5_main_group_1": {
|
| 154 |
+
"cls": "HingeCabinet"
|
| 155 |
+
},
|
| 156 |
+
"cab_6_main_group_1": {
|
| 157 |
+
"cls": "SingleCabinet"
|
| 158 |
+
},
|
| 159 |
+
"cab_corner_2_main_group_1": {
|
| 160 |
+
"cls": "Box"
|
| 161 |
+
},
|
| 162 |
+
"coffee_machine_main_group_1": {
|
| 163 |
+
"cls": "CoffeeMachine"
|
| 164 |
+
},
|
| 165 |
+
"toaster_main_group_1": {
|
| 166 |
+
"cls": "Toaster"
|
| 167 |
+
},
|
| 168 |
+
"paper_towel_main_group_1": {
|
| 169 |
+
"cls": "Accessory"
|
| 170 |
+
},
|
| 171 |
+
"knife_block_main_group_1": {
|
| 172 |
+
"cls": "Accessory"
|
| 173 |
+
},
|
| 174 |
+
"counter_1_left_group_1": {
|
| 175 |
+
"cls": "Counter"
|
| 176 |
+
},
|
| 177 |
+
"stack_1_left_group_1_base": {
|
| 178 |
+
"cls": "Box"
|
| 179 |
+
},
|
| 180 |
+
"stack_1_left_group_1_1": {
|
| 181 |
+
"cls": "Drawer"
|
| 182 |
+
},
|
| 183 |
+
"stack_1_left_group_1_2": {
|
| 184 |
+
"cls": "Drawer"
|
| 185 |
+
},
|
| 186 |
+
"stack_1_left_group_1_3": {
|
| 187 |
+
"cls": "Drawer"
|
| 188 |
+
},
|
| 189 |
+
"box_left_group_1": {
|
| 190 |
+
"cls": "Box"
|
| 191 |
+
},
|
| 192 |
+
"bottom_left_group_1_base": {
|
| 193 |
+
"cls": "Box"
|
| 194 |
+
},
|
| 195 |
+
"bottom_left_group_1_1": {
|
| 196 |
+
"cls": "Drawer"
|
| 197 |
+
},
|
| 198 |
+
"oven_left_group_1": {
|
| 199 |
+
"cls": "Oven"
|
| 200 |
+
},
|
| 201 |
+
"oven_housing_left_group_1": {
|
| 202 |
+
"cls": "HousingCabinet"
|
| 203 |
+
},
|
| 204 |
+
"microwave_left_group_1": {
|
| 205 |
+
"cls": "Microwave"
|
| 206 |
+
},
|
| 207 |
+
"microwave_housing_left_group_1": {
|
| 208 |
+
"cls": "HousingCabinet"
|
| 209 |
+
},
|
| 210 |
+
"top_left_group_1": {
|
| 211 |
+
"cls": "HingeCabinet"
|
| 212 |
+
},
|
| 213 |
+
"fridge_1_left_group_1": {
|
| 214 |
+
"cls": "FridgeBottomFreezer"
|
| 215 |
+
},
|
| 216 |
+
"fridge_1_housing_left_group_1": {
|
| 217 |
+
"cls": "HousingCabinet"
|
| 218 |
+
},
|
| 219 |
+
"fridge_cabinet_left_group_1": {
|
| 220 |
+
"cls": "HingeCabinet"
|
| 221 |
+
},
|
| 222 |
+
"cab_1_left_group_1": {
|
| 223 |
+
"cls": "HingeCabinet"
|
| 224 |
+
},
|
| 225 |
+
"toaster_oven_left_group_1": {
|
| 226 |
+
"cls": "ToasterOven"
|
| 227 |
+
},
|
| 228 |
+
"box_right_group_1": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
+
},
|
| 231 |
+
"stack_1_right_group_1_base": {
|
| 232 |
+
"cls": "Box"
|
| 233 |
+
},
|
| 234 |
+
"stack_1_right_group_1_1": {
|
| 235 |
+
"cls": "Drawer"
|
| 236 |
+
},
|
| 237 |
+
"stack_1_right_group_1_2": {
|
| 238 |
+
"cls": "Drawer"
|
| 239 |
+
},
|
| 240 |
+
"stack_1_right_group_1_3": {
|
| 241 |
+
"cls": "Drawer"
|
| 242 |
+
},
|
| 243 |
+
"stack_2_right_group_1_base": {
|
| 244 |
+
"cls": "Box"
|
| 245 |
+
},
|
| 246 |
+
"stack_2_right_group_1_1": {
|
| 247 |
+
"cls": "Drawer"
|
| 248 |
+
},
|
| 249 |
+
"stack_2_right_group_1_2": {
|
| 250 |
+
"cls": "Drawer"
|
| 251 |
+
},
|
| 252 |
+
"stack_2_right_group_1_3": {
|
| 253 |
+
"cls": "Drawer"
|
| 254 |
+
},
|
| 255 |
+
"stack_3_right_group_1_base": {
|
| 256 |
+
"cls": "Box"
|
| 257 |
+
},
|
| 258 |
+
"stack_3_right_group_1_1": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
+
},
|
| 261 |
+
"dishwasher_1_right_group_1": {
|
| 262 |
+
"cls": "Dishwasher"
|
| 263 |
+
},
|
| 264 |
+
"stack_4_right_group_1_base": {
|
| 265 |
+
"cls": "Box"
|
| 266 |
+
},
|
| 267 |
+
"stack_4_right_group_1_1": {
|
| 268 |
+
"cls": "Drawer"
|
| 269 |
+
},
|
| 270 |
+
"stack_4_right_group_1_2": {
|
| 271 |
+
"cls": "Drawer"
|
| 272 |
+
},
|
| 273 |
+
"stack_4_right_group_1_3": {
|
| 274 |
+
"cls": "Drawer"
|
| 275 |
+
},
|
| 276 |
+
"sink_1_right_group_1": {
|
| 277 |
+
"cls": "Sink"
|
| 278 |
+
},
|
| 279 |
+
"counter_1_right_group_1": {
|
| 280 |
+
"cls": "Counter"
|
| 281 |
+
},
|
| 282 |
+
"cab_1_right_group_1": {
|
| 283 |
+
"cls": "OpenCabinet"
|
| 284 |
+
},
|
| 285 |
+
"cab_2_right_group_1": {
|
| 286 |
+
"cls": "OpenCabinet"
|
| 287 |
+
},
|
| 288 |
+
"island_island_group_1": {
|
| 289 |
+
"cls": "Counter"
|
| 290 |
+
},
|
| 291 |
+
"stack_1_island_group_1_base": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"stack_1_island_group_1_1": {
|
| 295 |
+
"cls": "Drawer"
|
| 296 |
+
},
|
| 297 |
+
"stack_1_island_group_1_2": {
|
| 298 |
+
"cls": "Drawer"
|
| 299 |
+
},
|
| 300 |
+
"stack_2_island_group_1_base": {
|
| 301 |
+
"cls": "Box"
|
| 302 |
+
},
|
| 303 |
+
"stack_2_island_group_1_1": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_2_island_group_1_2": {
|
| 307 |
+
"cls": "Drawer"
|
| 308 |
+
},
|
| 309 |
+
"stack_3_island_group_1_base": {
|
| 310 |
+
"cls": "Box"
|
| 311 |
+
},
|
| 312 |
+
"stack_3_island_group_1_1": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
+
},
|
| 315 |
+
"stack_3_island_group_1_2": {
|
| 316 |
+
"cls": "Drawer"
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"gen_textures": {},
|
| 320 |
+
"lang": "Fully slide the top oven rack out.",
|
| 321 |
+
"fixture_refs": {
|
| 322 |
+
"oven": "oven_left_group_1"
|
| 323 |
+
},
|
| 324 |
+
"cam_configs": {
|
| 325 |
+
"robot0_agentview_center": {
|
| 326 |
+
"pos": [
|
| 327 |
+
-0.6,
|
| 328 |
+
0.0,
|
| 329 |
+
1.15
|
| 330 |
+
],
|
| 331 |
+
"quat": [
|
| 332 |
+
0.636945903301239,
|
| 333 |
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0.3325185477733612,
|
| 334 |
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-0.3199238181114197,
|
| 335 |
+
-0.6175596117973328
|
| 336 |
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],
|
| 337 |
+
"parent_body": "mobilebase0_support"
|
| 338 |
+
},
|
| 339 |
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"robot0_agentview_left": {
|
| 340 |
+
"pos": [
|
| 341 |
+
-0.5,
|
| 342 |
+
0.35,
|
| 343 |
+
1.05
|
| 344 |
+
],
|
| 345 |
+
"quat": [
|
| 346 |
+
0.55623853,
|
| 347 |
+
0.29935253,
|
| 348 |
+
-0.37678665,
|
| 349 |
+
-0.6775092
|
| 350 |
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],
|
| 351 |
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"camera_attribs": {
|
| 352 |
+
"fovy": "60"
|
| 353 |
+
},
|
| 354 |
+
"parent_body": "mobilebase0_support"
|
| 355 |
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},
|
| 356 |
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"robot0_agentview_right": {
|
| 357 |
+
"pos": [
|
| 358 |
+
-0.5,
|
| 359 |
+
-0.35,
|
| 360 |
+
1.05
|
| 361 |
+
],
|
| 362 |
+
"quat": [
|
| 363 |
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0.6775091886520386,
|
| 364 |
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0.3767866790294647,
|
| 365 |
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-0.2993525564670563,
|
| 366 |
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-0.55623859167099
|
| 367 |
+
],
|
| 368 |
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"camera_attribs": {
|
| 369 |
+
"fovy": "60"
|
| 370 |
+
},
|
| 371 |
+
"parent_body": "mobilebase0_support"
|
| 372 |
+
},
|
| 373 |
+
"robot0_frontview": {
|
| 374 |
+
"pos": [
|
| 375 |
+
-0.5,
|
| 376 |
+
0,
|
| 377 |
+
0.95
|
| 378 |
+
],
|
| 379 |
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"quat": [
|
| 380 |
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0.6088936924934387,
|
| 381 |
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0.3814677894115448,
|
| 382 |
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-0.3673907518386841,
|
| 383 |
+
-0.5905545353889465
|
| 384 |
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],
|
| 385 |
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"camera_attribs": {
|
| 386 |
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"fovy": "60"
|
| 387 |
+
},
|
| 388 |
+
"parent_body": "mobilebase0_support"
|
| 389 |
+
},
|
| 390 |
+
"robot0_eye_in_hand": {
|
| 391 |
+
"pos": [
|
| 392 |
+
0.05,
|
| 393 |
+
0,
|
| 394 |
+
0
|
| 395 |
+
],
|
| 396 |
+
"quat": [
|
| 397 |
+
0,
|
| 398 |
+
0.707107,
|
| 399 |
+
0.707107,
|
| 400 |
+
0
|
| 401 |
+
],
|
| 402 |
+
"parent_body": "robot0_right_hand"
|
| 403 |
+
}
|
| 404 |
+
},
|
| 405 |
+
"init_robot_base_pos": [
|
| 406 |
+
1.0905309775584517,
|
| 407 |
+
-1.4248525259876943,
|
| 408 |
+
0.0
|
| 409 |
+
],
|
| 410 |
+
"init_robot_base_ori": [
|
| 411 |
+
0.0,
|
| 412 |
+
0.0,
|
| 413 |
+
3.1415926193612504
|
| 414 |
+
],
|
| 415 |
+
"should_pull": true,
|
| 416 |
+
"rack_level": 1
|
| 417 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000097/ep_meta.json
ADDED
|
@@ -0,0 +1,441 @@
|
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|
|
|
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|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
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|
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|
|
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|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
|
|
|
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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": 29,
|
| 3 |
+
"style_id": 52,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_left_4_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_left_4_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_left_1_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_left_1_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_left_3_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_left_3_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"wall_left_2_room": {
|
| 37 |
+
"cls": "Wall"
|
| 38 |
+
},
|
| 39 |
+
"wall_left_2_backing_room": {
|
| 40 |
+
"cls": "Wall"
|
| 41 |
+
},
|
| 42 |
+
"wall_main_2_room": {
|
| 43 |
+
"cls": "Wall"
|
| 44 |
+
},
|
| 45 |
+
"wall_main_2_backing_room": {
|
| 46 |
+
"cls": "Wall"
|
| 47 |
+
},
|
| 48 |
+
"wall_front_1_room": {
|
| 49 |
+
"cls": "Wall"
|
| 50 |
+
},
|
| 51 |
+
"wall_front_1_backing_room": {
|
| 52 |
+
"cls": "Wall"
|
| 53 |
+
},
|
| 54 |
+
"floor_1_room": {
|
| 55 |
+
"cls": "Floor"
|
| 56 |
+
},
|
| 57 |
+
"floor_1_backing_room": {
|
| 58 |
+
"cls": "Floor"
|
| 59 |
+
},
|
| 60 |
+
"floor_2_room": {
|
| 61 |
+
"cls": "Floor"
|
| 62 |
+
},
|
| 63 |
+
"floor_2_backing_room": {
|
| 64 |
+
"cls": "Floor"
|
| 65 |
+
},
|
| 66 |
+
"light_switch_1_room": {
|
| 67 |
+
"cls": "WallAccessory"
|
| 68 |
+
},
|
| 69 |
+
"wall_accessory_1_room": {
|
| 70 |
+
"cls": "WallAccessory"
|
| 71 |
+
},
|
| 72 |
+
"light_switch_2_room": {
|
| 73 |
+
"cls": "WallAccessory"
|
| 74 |
+
},
|
| 75 |
+
"wall_accessory_2_room": {
|
| 76 |
+
"cls": "WallAccessory"
|
| 77 |
+
},
|
| 78 |
+
"stool_1_room": {
|
| 79 |
+
"cls": "Stool"
|
| 80 |
+
},
|
| 81 |
+
"stool_2_room": {
|
| 82 |
+
"cls": "Stool"
|
| 83 |
+
},
|
| 84 |
+
"stool_3_room": {
|
| 85 |
+
"cls": "Stool"
|
| 86 |
+
},
|
| 87 |
+
"stool_4_room": {
|
| 88 |
+
"cls": "Stool"
|
| 89 |
+
},
|
| 90 |
+
"bottom_main_group_base": {
|
| 91 |
+
"cls": "Box"
|
| 92 |
+
},
|
| 93 |
+
"bottom_main_group_1": {
|
| 94 |
+
"cls": "Drawer"
|
| 95 |
+
},
|
| 96 |
+
"oven_main_group": {
|
| 97 |
+
"cls": "Oven"
|
| 98 |
+
},
|
| 99 |
+
"oven_housing_main_group": {
|
| 100 |
+
"cls": "HousingCabinet"
|
| 101 |
+
},
|
| 102 |
+
"microwave_main_group": {
|
| 103 |
+
"cls": "Microwave"
|
| 104 |
+
},
|
| 105 |
+
"microwave_housing_main_group": {
|
| 106 |
+
"cls": "HousingCabinet"
|
| 107 |
+
},
|
| 108 |
+
"middle_main_group": {
|
| 109 |
+
"cls": "HingeCabinet"
|
| 110 |
+
},
|
| 111 |
+
"top_main_group": {
|
| 112 |
+
"cls": "HingeCabinet"
|
| 113 |
+
},
|
| 114 |
+
"fridge_main_group": {
|
| 115 |
+
"cls": "FridgeSideBySide"
|
| 116 |
+
},
|
| 117 |
+
"fridge_housing_main_group": {
|
| 118 |
+
"cls": "HousingCabinet"
|
| 119 |
+
},
|
| 120 |
+
"counter_1_main_group": {
|
| 121 |
+
"cls": "Counter"
|
| 122 |
+
},
|
| 123 |
+
"stack_1_main_group_base": {
|
| 124 |
+
"cls": "Box"
|
| 125 |
+
},
|
| 126 |
+
"stack_1_main_group_1": {
|
| 127 |
+
"cls": "Drawer"
|
| 128 |
+
},
|
| 129 |
+
"stack_1_main_group_2": {
|
| 130 |
+
"cls": "Drawer"
|
| 131 |
+
},
|
| 132 |
+
"stack_1_main_group_3": {
|
| 133 |
+
"cls": "Drawer"
|
| 134 |
+
},
|
| 135 |
+
"stack_2_main_group_base": {
|
| 136 |
+
"cls": "Box"
|
| 137 |
+
},
|
| 138 |
+
"stack_2_main_group_1": {
|
| 139 |
+
"cls": "Drawer"
|
| 140 |
+
},
|
| 141 |
+
"stack_2_main_group_2": {
|
| 142 |
+
"cls": "Drawer"
|
| 143 |
+
},
|
| 144 |
+
"stack_2_main_group_3": {
|
| 145 |
+
"cls": "Drawer"
|
| 146 |
+
},
|
| 147 |
+
"stack_3_main_group_base": {
|
| 148 |
+
"cls": "Box"
|
| 149 |
+
},
|
| 150 |
+
"stack_3_main_group_1": {
|
| 151 |
+
"cls": "Drawer"
|
| 152 |
+
},
|
| 153 |
+
"stack_3_main_group_2": {
|
| 154 |
+
"cls": "Drawer"
|
| 155 |
+
},
|
| 156 |
+
"stack_3_main_group_3": {
|
| 157 |
+
"cls": "Drawer"
|
| 158 |
+
},
|
| 159 |
+
"dishwasher_main_group": {
|
| 160 |
+
"cls": "Dishwasher"
|
| 161 |
+
},
|
| 162 |
+
"panel_stack_main_group_base": {
|
| 163 |
+
"cls": "Box"
|
| 164 |
+
},
|
| 165 |
+
"panel_stack_main_group_1": {
|
| 166 |
+
"cls": "PanelCabinet"
|
| 167 |
+
},
|
| 168 |
+
"cab_1_main_group": {
|
| 169 |
+
"cls": "HingeCabinet"
|
| 170 |
+
},
|
| 171 |
+
"cab_2_main_group": {
|
| 172 |
+
"cls": "HingeCabinet"
|
| 173 |
+
},
|
| 174 |
+
"cab_3_main_group": {
|
| 175 |
+
"cls": "HingeCabinet"
|
| 176 |
+
},
|
| 177 |
+
"cab_4_main_group": {
|
| 178 |
+
"cls": "HingeCabinet"
|
| 179 |
+
},
|
| 180 |
+
"cab_5_main_group": {
|
| 181 |
+
"cls": "HingeCabinet"
|
| 182 |
+
},
|
| 183 |
+
"cab_6_main_group": {
|
| 184 |
+
"cls": "HingeCabinet"
|
| 185 |
+
},
|
| 186 |
+
"toaster_oven_main_group": {
|
| 187 |
+
"cls": "ToasterOven"
|
| 188 |
+
},
|
| 189 |
+
"paper_towel_main_group": {
|
| 190 |
+
"cls": "Accessory"
|
| 191 |
+
},
|
| 192 |
+
"stovetop_left_group": {
|
| 193 |
+
"cls": "Stovetop"
|
| 194 |
+
},
|
| 195 |
+
"counter_1_left_group": {
|
| 196 |
+
"cls": "Counter"
|
| 197 |
+
},
|
| 198 |
+
"stack_1_left_group_base": {
|
| 199 |
+
"cls": "Box"
|
| 200 |
+
},
|
| 201 |
+
"stack_1_left_group_1": {
|
| 202 |
+
"cls": "Drawer"
|
| 203 |
+
},
|
| 204 |
+
"stack_1_left_group_2": {
|
| 205 |
+
"cls": "Drawer"
|
| 206 |
+
},
|
| 207 |
+
"stack_1_left_group_3": {
|
| 208 |
+
"cls": "Drawer"
|
| 209 |
+
},
|
| 210 |
+
"stack_2_left_group_base": {
|
| 211 |
+
"cls": "Box"
|
| 212 |
+
},
|
| 213 |
+
"stack_2_left_group_1": {
|
| 214 |
+
"cls": "Drawer"
|
| 215 |
+
},
|
| 216 |
+
"stack_2_left_group_2": {
|
| 217 |
+
"cls": "Drawer"
|
| 218 |
+
},
|
| 219 |
+
"stack_2_left_group_3": {
|
| 220 |
+
"cls": "Drawer"
|
| 221 |
+
},
|
| 222 |
+
"stack_3_left_group_base": {
|
| 223 |
+
"cls": "Box"
|
| 224 |
+
},
|
| 225 |
+
"stack_3_left_group_1": {
|
| 226 |
+
"cls": "Drawer"
|
| 227 |
+
},
|
| 228 |
+
"stack_3_left_group_2": {
|
| 229 |
+
"cls": "Drawer"
|
| 230 |
+
},
|
| 231 |
+
"stack_3_left_group_3": {
|
| 232 |
+
"cls": "PanelCabinet"
|
| 233 |
+
},
|
| 234 |
+
"stack_4_left_group_base": {
|
| 235 |
+
"cls": "Box"
|
| 236 |
+
},
|
| 237 |
+
"stack_4_left_group_1": {
|
| 238 |
+
"cls": "Drawer"
|
| 239 |
+
},
|
| 240 |
+
"stack_4_left_group_2": {
|
| 241 |
+
"cls": "Drawer"
|
| 242 |
+
},
|
| 243 |
+
"stack_4_left_group_3": {
|
| 244 |
+
"cls": "Drawer"
|
| 245 |
+
},
|
| 246 |
+
"stack_5_left_group_base": {
|
| 247 |
+
"cls": "Box"
|
| 248 |
+
},
|
| 249 |
+
"stack_5_left_group_1": {
|
| 250 |
+
"cls": "Drawer"
|
| 251 |
+
},
|
| 252 |
+
"stack_5_left_group_2": {
|
| 253 |
+
"cls": "Drawer"
|
| 254 |
+
},
|
| 255 |
+
"stack_5_left_group_3": {
|
| 256 |
+
"cls": "Drawer"
|
| 257 |
+
},
|
| 258 |
+
"hood_left_group": {
|
| 259 |
+
"cls": "Hood"
|
| 260 |
+
},
|
| 261 |
+
"cab_1_left_group": {
|
| 262 |
+
"cls": "HingeCabinet"
|
| 263 |
+
},
|
| 264 |
+
"cab_2_left_group": {
|
| 265 |
+
"cls": "HingeCabinet"
|
| 266 |
+
},
|
| 267 |
+
"cab_3_left_group": {
|
| 268 |
+
"cls": "HingeCabinet"
|
| 269 |
+
},
|
| 270 |
+
"cab_4_left_group": {
|
| 271 |
+
"cls": "HingeCabinet"
|
| 272 |
+
},
|
| 273 |
+
"coffee_machine_left_group": {
|
| 274 |
+
"cls": "CoffeeMachine"
|
| 275 |
+
},
|
| 276 |
+
"toaster_left_group": {
|
| 277 |
+
"cls": "Toaster"
|
| 278 |
+
},
|
| 279 |
+
"sink_island_group": {
|
| 280 |
+
"cls": "Sink"
|
| 281 |
+
},
|
| 282 |
+
"island_island_group": {
|
| 283 |
+
"cls": "Counter"
|
| 284 |
+
},
|
| 285 |
+
"panel_box_1_island_group_base": {
|
| 286 |
+
"cls": "Box"
|
| 287 |
+
},
|
| 288 |
+
"panel_box_1_island_group_1": {
|
| 289 |
+
"cls": "PanelCabinet"
|
| 290 |
+
},
|
| 291 |
+
"stack_1_island_group_base": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"stack_1_island_group_1": {
|
| 295 |
+
"cls": "Drawer"
|
| 296 |
+
},
|
| 297 |
+
"stack_1_island_group_2": {
|
| 298 |
+
"cls": "Drawer"
|
| 299 |
+
},
|
| 300 |
+
"stack_1_island_group_3": {
|
| 301 |
+
"cls": "Drawer"
|
| 302 |
+
},
|
| 303 |
+
"stack_2_island_group_base": {
|
| 304 |
+
"cls": "Box"
|
| 305 |
+
},
|
| 306 |
+
"stack_2_island_group_1": {
|
| 307 |
+
"cls": "SingleCabinet"
|
| 308 |
+
},
|
| 309 |
+
"stack_3_island_group_base": {
|
| 310 |
+
"cls": "Box"
|
| 311 |
+
},
|
| 312 |
+
"stack_3_island_group_1": {
|
| 313 |
+
"cls": "HingeCabinet"
|
| 314 |
+
},
|
| 315 |
+
"stack_4_island_group_base": {
|
| 316 |
+
"cls": "Box"
|
| 317 |
+
},
|
| 318 |
+
"stack_4_island_group_1": {
|
| 319 |
+
"cls": "SingleCabinet"
|
| 320 |
+
},
|
| 321 |
+
"stack_5_island_group_base": {
|
| 322 |
+
"cls": "Box"
|
| 323 |
+
},
|
| 324 |
+
"stack_5_island_group_1": {
|
| 325 |
+
"cls": "Drawer"
|
| 326 |
+
},
|
| 327 |
+
"stack_5_island_group_2": {
|
| 328 |
+
"cls": "Drawer"
|
| 329 |
+
},
|
| 330 |
+
"stack_5_island_group_3": {
|
| 331 |
+
"cls": "Drawer"
|
| 332 |
+
},
|
| 333 |
+
"panel_cab_2_island_group_base": {
|
| 334 |
+
"cls": "Box"
|
| 335 |
+
},
|
| 336 |
+
"panel_cab_2_island_group_1": {
|
| 337 |
+
"cls": "PanelCabinet"
|
| 338 |
+
},
|
| 339 |
+
"box_island_group": {
|
| 340 |
+
"cls": "Box"
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"gen_textures": {},
|
| 344 |
+
"lang": "Fully slide the top oven rack out.",
|
| 345 |
+
"fixture_refs": {
|
| 346 |
+
"oven": "oven_main_group"
|
| 347 |
+
},
|
| 348 |
+
"cam_configs": {
|
| 349 |
+
"robot0_agentview_center": {
|
| 350 |
+
"pos": [
|
| 351 |
+
-0.6,
|
| 352 |
+
0.0,
|
| 353 |
+
1.15
|
| 354 |
+
],
|
| 355 |
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"quat": [
|
| 356 |
+
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|
| 357 |
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|
| 358 |
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-0.3199238181114197,
|
| 359 |
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-0.6175596117973328
|
| 360 |
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],
|
| 361 |
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"parent_body": "mobilebase0_support"
|
| 362 |
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},
|
| 363 |
+
"robot0_agentview_left": {
|
| 364 |
+
"pos": [
|
| 365 |
+
-0.5,
|
| 366 |
+
0.35,
|
| 367 |
+
1.05
|
| 368 |
+
],
|
| 369 |
+
"quat": [
|
| 370 |
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0.55623853,
|
| 371 |
+
0.29935253,
|
| 372 |
+
-0.37678665,
|
| 373 |
+
-0.6775092
|
| 374 |
+
],
|
| 375 |
+
"camera_attribs": {
|
| 376 |
+
"fovy": "60"
|
| 377 |
+
},
|
| 378 |
+
"parent_body": "mobilebase0_support"
|
| 379 |
+
},
|
| 380 |
+
"robot0_agentview_right": {
|
| 381 |
+
"pos": [
|
| 382 |
+
-0.5,
|
| 383 |
+
-0.35,
|
| 384 |
+
1.05
|
| 385 |
+
],
|
| 386 |
+
"quat": [
|
| 387 |
+
0.6775091886520386,
|
| 388 |
+
0.3767866790294647,
|
| 389 |
+
-0.2993525564670563,
|
| 390 |
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-0.55623859167099
|
| 391 |
+
],
|
| 392 |
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"camera_attribs": {
|
| 393 |
+
"fovy": "60"
|
| 394 |
+
},
|
| 395 |
+
"parent_body": "mobilebase0_support"
|
| 396 |
+
},
|
| 397 |
+
"robot0_frontview": {
|
| 398 |
+
"pos": [
|
| 399 |
+
-0.5,
|
| 400 |
+
0,
|
| 401 |
+
0.95
|
| 402 |
+
],
|
| 403 |
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"quat": [
|
| 404 |
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0.6088936924934387,
|
| 405 |
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0.3814677894115448,
|
| 406 |
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-0.3673907518386841,
|
| 407 |
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-0.5905545353889465
|
| 408 |
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],
|
| 409 |
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"camera_attribs": {
|
| 410 |
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"fovy": "60"
|
| 411 |
+
},
|
| 412 |
+
"parent_body": "mobilebase0_support"
|
| 413 |
+
},
|
| 414 |
+
"robot0_eye_in_hand": {
|
| 415 |
+
"pos": [
|
| 416 |
+
0.05,
|
| 417 |
+
0,
|
| 418 |
+
0
|
| 419 |
+
],
|
| 420 |
+
"quat": [
|
| 421 |
+
0,
|
| 422 |
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0.707107,
|
| 423 |
+
0.707107,
|
| 424 |
+
0
|
| 425 |
+
],
|
| 426 |
+
"parent_body": "robot0_right_hand"
|
| 427 |
+
}
|
| 428 |
+
},
|
| 429 |
+
"init_robot_base_pos": [
|
| 430 |
+
0.8319660785071427,
|
| 431 |
+
-1.2633585125470828,
|
| 432 |
+
0.0
|
| 433 |
+
],
|
| 434 |
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"init_robot_base_ori": [
|
| 435 |
+
0.0,
|
| 436 |
+
0.0,
|
| 437 |
+
1.5707963267948966
|
| 438 |
+
],
|
| 439 |
+
"should_pull": true,
|
| 440 |
+
"rack_level": 1
|
| 441 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000098/ep_meta.json
ADDED
|
@@ -0,0 +1,417 @@
|
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|
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|
|
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|
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|
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|
|
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|
|
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|
|
|
|
|
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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": 17,
|
| 3 |
+
"style_id": 48,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"window_group_room": {
|
| 25 |
+
"cls": "Window"
|
| 26 |
+
},
|
| 27 |
+
"floor_1_room": {
|
| 28 |
+
"cls": "Floor"
|
| 29 |
+
},
|
| 30 |
+
"floor_1_backing_room": {
|
| 31 |
+
"cls": "Floor"
|
| 32 |
+
},
|
| 33 |
+
"wall_accessory_1_room": {
|
| 34 |
+
"cls": "WallAccessory"
|
| 35 |
+
},
|
| 36 |
+
"wall_accessory_2_room": {
|
| 37 |
+
"cls": "WallAccessory"
|
| 38 |
+
},
|
| 39 |
+
"wall_accessory_3_room": {
|
| 40 |
+
"cls": "WallAccessory"
|
| 41 |
+
},
|
| 42 |
+
"wall_accessory_4_room": {
|
| 43 |
+
"cls": "WallAccessory"
|
| 44 |
+
},
|
| 45 |
+
"light_switch_1_room": {
|
| 46 |
+
"cls": "WallAccessory"
|
| 47 |
+
},
|
| 48 |
+
"wall_accessory_5_room": {
|
| 49 |
+
"cls": "WallAccessory"
|
| 50 |
+
},
|
| 51 |
+
"wall_accessory_6_room": {
|
| 52 |
+
"cls": "WallAccessory"
|
| 53 |
+
},
|
| 54 |
+
"stool_1_room": {
|
| 55 |
+
"cls": "Stool"
|
| 56 |
+
},
|
| 57 |
+
"stool_2_room": {
|
| 58 |
+
"cls": "Stool"
|
| 59 |
+
},
|
| 60 |
+
"stool_3_room": {
|
| 61 |
+
"cls": "Stool"
|
| 62 |
+
},
|
| 63 |
+
"counter_corner_1_main_group_1": {
|
| 64 |
+
"cls": "Counter"
|
| 65 |
+
},
|
| 66 |
+
"stovetop_main_group_1": {
|
| 67 |
+
"cls": "Stovetop"
|
| 68 |
+
},
|
| 69 |
+
"counter_1_main_group_1": {
|
| 70 |
+
"cls": "Counter"
|
| 71 |
+
},
|
| 72 |
+
"counter_corner_2_main_group_1": {
|
| 73 |
+
"cls": "Counter"
|
| 74 |
+
},
|
| 75 |
+
"box_1_main_group_1": {
|
| 76 |
+
"cls": "Box"
|
| 77 |
+
},
|
| 78 |
+
"stack_1_main_group_1_base": {
|
| 79 |
+
"cls": "Box"
|
| 80 |
+
},
|
| 81 |
+
"stack_1_main_group_1_1": {
|
| 82 |
+
"cls": "SingleCabinet"
|
| 83 |
+
},
|
| 84 |
+
"stack_2_main_group_1_base": {
|
| 85 |
+
"cls": "Box"
|
| 86 |
+
},
|
| 87 |
+
"stack_2_main_group_1_1": {
|
| 88 |
+
"cls": "Drawer"
|
| 89 |
+
},
|
| 90 |
+
"stack_2_main_group_1_2": {
|
| 91 |
+
"cls": "Drawer"
|
| 92 |
+
},
|
| 93 |
+
"stack_2_main_group_1_3": {
|
| 94 |
+
"cls": "Drawer"
|
| 95 |
+
},
|
| 96 |
+
"stack_3_main_group_1_base": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"stack_3_main_group_1_1": {
|
| 100 |
+
"cls": "SingleCabinet"
|
| 101 |
+
},
|
| 102 |
+
"stack_4_main_group_1_base": {
|
| 103 |
+
"cls": "Box"
|
| 104 |
+
},
|
| 105 |
+
"stack_4_main_group_1_1": {
|
| 106 |
+
"cls": "HingeCabinet"
|
| 107 |
+
},
|
| 108 |
+
"stack_5_main_group_1_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_5_main_group_1_1": {
|
| 112 |
+
"cls": "SingleCabinet"
|
| 113 |
+
},
|
| 114 |
+
"stack_6_main_group_1_base": {
|
| 115 |
+
"cls": "Box"
|
| 116 |
+
},
|
| 117 |
+
"stack_6_main_group_1_1": {
|
| 118 |
+
"cls": "Drawer"
|
| 119 |
+
},
|
| 120 |
+
"stack_6_main_group_1_2": {
|
| 121 |
+
"cls": "Drawer"
|
| 122 |
+
},
|
| 123 |
+
"stack_6_main_group_1_3": {
|
| 124 |
+
"cls": "Drawer"
|
| 125 |
+
},
|
| 126 |
+
"stack_7_main_group_1_base": {
|
| 127 |
+
"cls": "Box"
|
| 128 |
+
},
|
| 129 |
+
"stack_7_main_group_1_1": {
|
| 130 |
+
"cls": "SingleCabinet"
|
| 131 |
+
},
|
| 132 |
+
"box_2_main_group_1": {
|
| 133 |
+
"cls": "Box"
|
| 134 |
+
},
|
| 135 |
+
"hood_main_group_1": {
|
| 136 |
+
"cls": "Hood"
|
| 137 |
+
},
|
| 138 |
+
"cab_corner_main_group_1": {
|
| 139 |
+
"cls": "Box"
|
| 140 |
+
},
|
| 141 |
+
"cab_1_main_group_1": {
|
| 142 |
+
"cls": "HingeCabinet"
|
| 143 |
+
},
|
| 144 |
+
"cab_2_main_group_1": {
|
| 145 |
+
"cls": "HingeCabinet"
|
| 146 |
+
},
|
| 147 |
+
"cab_3_main_group_1": {
|
| 148 |
+
"cls": "SingleCabinet"
|
| 149 |
+
},
|
| 150 |
+
"cab_4_main_group_1": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
+
},
|
| 153 |
+
"cab_5_main_group_1": {
|
| 154 |
+
"cls": "HingeCabinet"
|
| 155 |
+
},
|
| 156 |
+
"cab_6_main_group_1": {
|
| 157 |
+
"cls": "SingleCabinet"
|
| 158 |
+
},
|
| 159 |
+
"cab_corner_2_main_group_1": {
|
| 160 |
+
"cls": "Box"
|
| 161 |
+
},
|
| 162 |
+
"coffee_machine_main_group_1": {
|
| 163 |
+
"cls": "CoffeeMachine"
|
| 164 |
+
},
|
| 165 |
+
"toaster_main_group_1": {
|
| 166 |
+
"cls": "Toaster"
|
| 167 |
+
},
|
| 168 |
+
"paper_towel_main_group_1": {
|
| 169 |
+
"cls": "Accessory"
|
| 170 |
+
},
|
| 171 |
+
"knife_block_main_group_1": {
|
| 172 |
+
"cls": "Accessory"
|
| 173 |
+
},
|
| 174 |
+
"counter_1_left_group_1": {
|
| 175 |
+
"cls": "Counter"
|
| 176 |
+
},
|
| 177 |
+
"stack_1_left_group_1_base": {
|
| 178 |
+
"cls": "Box"
|
| 179 |
+
},
|
| 180 |
+
"stack_1_left_group_1_1": {
|
| 181 |
+
"cls": "Drawer"
|
| 182 |
+
},
|
| 183 |
+
"stack_1_left_group_1_2": {
|
| 184 |
+
"cls": "Drawer"
|
| 185 |
+
},
|
| 186 |
+
"stack_1_left_group_1_3": {
|
| 187 |
+
"cls": "Drawer"
|
| 188 |
+
},
|
| 189 |
+
"box_left_group_1": {
|
| 190 |
+
"cls": "Box"
|
| 191 |
+
},
|
| 192 |
+
"bottom_left_group_1_base": {
|
| 193 |
+
"cls": "Box"
|
| 194 |
+
},
|
| 195 |
+
"bottom_left_group_1_1": {
|
| 196 |
+
"cls": "Drawer"
|
| 197 |
+
},
|
| 198 |
+
"oven_left_group_1": {
|
| 199 |
+
"cls": "Oven"
|
| 200 |
+
},
|
| 201 |
+
"oven_housing_left_group_1": {
|
| 202 |
+
"cls": "HousingCabinet"
|
| 203 |
+
},
|
| 204 |
+
"microwave_left_group_1": {
|
| 205 |
+
"cls": "Microwave"
|
| 206 |
+
},
|
| 207 |
+
"microwave_housing_left_group_1": {
|
| 208 |
+
"cls": "HousingCabinet"
|
| 209 |
+
},
|
| 210 |
+
"top_left_group_1": {
|
| 211 |
+
"cls": "HingeCabinet"
|
| 212 |
+
},
|
| 213 |
+
"fridge_1_left_group_1": {
|
| 214 |
+
"cls": "FridgeBottomFreezer"
|
| 215 |
+
},
|
| 216 |
+
"fridge_1_housing_left_group_1": {
|
| 217 |
+
"cls": "HousingCabinet"
|
| 218 |
+
},
|
| 219 |
+
"fridge_cabinet_left_group_1": {
|
| 220 |
+
"cls": "HingeCabinet"
|
| 221 |
+
},
|
| 222 |
+
"cab_1_left_group_1": {
|
| 223 |
+
"cls": "HingeCabinet"
|
| 224 |
+
},
|
| 225 |
+
"toaster_oven_left_group_1": {
|
| 226 |
+
"cls": "ToasterOven"
|
| 227 |
+
},
|
| 228 |
+
"box_right_group_1": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
+
},
|
| 231 |
+
"stack_1_right_group_1_base": {
|
| 232 |
+
"cls": "Box"
|
| 233 |
+
},
|
| 234 |
+
"stack_1_right_group_1_1": {
|
| 235 |
+
"cls": "Drawer"
|
| 236 |
+
},
|
| 237 |
+
"stack_1_right_group_1_2": {
|
| 238 |
+
"cls": "Drawer"
|
| 239 |
+
},
|
| 240 |
+
"stack_1_right_group_1_3": {
|
| 241 |
+
"cls": "Drawer"
|
| 242 |
+
},
|
| 243 |
+
"stack_2_right_group_1_base": {
|
| 244 |
+
"cls": "Box"
|
| 245 |
+
},
|
| 246 |
+
"stack_2_right_group_1_1": {
|
| 247 |
+
"cls": "Drawer"
|
| 248 |
+
},
|
| 249 |
+
"stack_2_right_group_1_2": {
|
| 250 |
+
"cls": "Drawer"
|
| 251 |
+
},
|
| 252 |
+
"stack_2_right_group_1_3": {
|
| 253 |
+
"cls": "Drawer"
|
| 254 |
+
},
|
| 255 |
+
"stack_3_right_group_1_base": {
|
| 256 |
+
"cls": "Box"
|
| 257 |
+
},
|
| 258 |
+
"stack_3_right_group_1_1": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
+
},
|
| 261 |
+
"dishwasher_1_right_group_1": {
|
| 262 |
+
"cls": "Dishwasher"
|
| 263 |
+
},
|
| 264 |
+
"stack_4_right_group_1_base": {
|
| 265 |
+
"cls": "Box"
|
| 266 |
+
},
|
| 267 |
+
"stack_4_right_group_1_1": {
|
| 268 |
+
"cls": "Drawer"
|
| 269 |
+
},
|
| 270 |
+
"stack_4_right_group_1_2": {
|
| 271 |
+
"cls": "Drawer"
|
| 272 |
+
},
|
| 273 |
+
"stack_4_right_group_1_3": {
|
| 274 |
+
"cls": "Drawer"
|
| 275 |
+
},
|
| 276 |
+
"sink_1_right_group_1": {
|
| 277 |
+
"cls": "Sink"
|
| 278 |
+
},
|
| 279 |
+
"counter_1_right_group_1": {
|
| 280 |
+
"cls": "Counter"
|
| 281 |
+
},
|
| 282 |
+
"cab_1_right_group_1": {
|
| 283 |
+
"cls": "OpenCabinet"
|
| 284 |
+
},
|
| 285 |
+
"cab_2_right_group_1": {
|
| 286 |
+
"cls": "OpenCabinet"
|
| 287 |
+
},
|
| 288 |
+
"island_island_group_1": {
|
| 289 |
+
"cls": "Counter"
|
| 290 |
+
},
|
| 291 |
+
"stack_1_island_group_1_base": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"stack_1_island_group_1_1": {
|
| 295 |
+
"cls": "Drawer"
|
| 296 |
+
},
|
| 297 |
+
"stack_1_island_group_1_2": {
|
| 298 |
+
"cls": "Drawer"
|
| 299 |
+
},
|
| 300 |
+
"stack_2_island_group_1_base": {
|
| 301 |
+
"cls": "Box"
|
| 302 |
+
},
|
| 303 |
+
"stack_2_island_group_1_1": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_2_island_group_1_2": {
|
| 307 |
+
"cls": "Drawer"
|
| 308 |
+
},
|
| 309 |
+
"stack_3_island_group_1_base": {
|
| 310 |
+
"cls": "Box"
|
| 311 |
+
},
|
| 312 |
+
"stack_3_island_group_1_1": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
+
},
|
| 315 |
+
"stack_3_island_group_1_2": {
|
| 316 |
+
"cls": "Drawer"
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"gen_textures": {},
|
| 320 |
+
"lang": "Fully slide the bottom oven rack in.",
|
| 321 |
+
"fixture_refs": {
|
| 322 |
+
"oven": "oven_left_group_1"
|
| 323 |
+
},
|
| 324 |
+
"cam_configs": {
|
| 325 |
+
"robot0_agentview_center": {
|
| 326 |
+
"pos": [
|
| 327 |
+
-0.6,
|
| 328 |
+
0.0,
|
| 329 |
+
1.15
|
| 330 |
+
],
|
| 331 |
+
"quat": [
|
| 332 |
+
0.636945903301239,
|
| 333 |
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0.3325185477733612,
|
| 334 |
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-0.3199238181114197,
|
| 335 |
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-0.6175596117973328
|
| 336 |
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],
|
| 337 |
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"parent_body": "mobilebase0_support"
|
| 338 |
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},
|
| 339 |
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"robot0_agentview_left": {
|
| 340 |
+
"pos": [
|
| 341 |
+
-0.5,
|
| 342 |
+
0.35,
|
| 343 |
+
1.05
|
| 344 |
+
],
|
| 345 |
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"quat": [
|
| 346 |
+
0.55623853,
|
| 347 |
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0.29935253,
|
| 348 |
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-0.37678665,
|
| 349 |
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-0.6775092
|
| 350 |
+
],
|
| 351 |
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"camera_attribs": {
|
| 352 |
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"fovy": "60"
|
| 353 |
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},
|
| 354 |
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"parent_body": "mobilebase0_support"
|
| 355 |
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},
|
| 356 |
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"robot0_agentview_right": {
|
| 357 |
+
"pos": [
|
| 358 |
+
-0.5,
|
| 359 |
+
-0.35,
|
| 360 |
+
1.05
|
| 361 |
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],
|
| 362 |
+
"quat": [
|
| 363 |
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0.6775091886520386,
|
| 364 |
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0.3767866790294647,
|
| 365 |
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-0.2993525564670563,
|
| 366 |
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-0.55623859167099
|
| 367 |
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],
|
| 368 |
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"camera_attribs": {
|
| 369 |
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"fovy": "60"
|
| 370 |
+
},
|
| 371 |
+
"parent_body": "mobilebase0_support"
|
| 372 |
+
},
|
| 373 |
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"robot0_frontview": {
|
| 374 |
+
"pos": [
|
| 375 |
+
-0.5,
|
| 376 |
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0,
|
| 377 |
+
0.95
|
| 378 |
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],
|
| 379 |
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"quat": [
|
| 380 |
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0.6088936924934387,
|
| 381 |
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0.3814677894115448,
|
| 382 |
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-0.3673907518386841,
|
| 383 |
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-0.5905545353889465
|
| 384 |
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],
|
| 385 |
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"camera_attribs": {
|
| 386 |
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"fovy": "60"
|
| 387 |
+
},
|
| 388 |
+
"parent_body": "mobilebase0_support"
|
| 389 |
+
},
|
| 390 |
+
"robot0_eye_in_hand": {
|
| 391 |
+
"pos": [
|
| 392 |
+
0.05,
|
| 393 |
+
0,
|
| 394 |
+
0
|
| 395 |
+
],
|
| 396 |
+
"quat": [
|
| 397 |
+
0,
|
| 398 |
+
0.707107,
|
| 399 |
+
0.707107,
|
| 400 |
+
0
|
| 401 |
+
],
|
| 402 |
+
"parent_body": "robot0_right_hand"
|
| 403 |
+
}
|
| 404 |
+
},
|
| 405 |
+
"init_robot_base_pos": [
|
| 406 |
+
1.2728070410577383,
|
| 407 |
+
-1.4213583493314994,
|
| 408 |
+
0.0
|
| 409 |
+
],
|
| 410 |
+
"init_robot_base_ori": [
|
| 411 |
+
0.0,
|
| 412 |
+
0.0,
|
| 413 |
+
3.1415926193612504
|
| 414 |
+
],
|
| 415 |
+
"should_pull": false,
|
| 416 |
+
"rack_level": 0
|
| 417 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000104/ep_meta.json
ADDED
|
@@ -0,0 +1,360 @@
|
|
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|
|
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|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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": 31,
|
| 3 |
+
"style_id": 35,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_right_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_right_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_main_2_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_main_2_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_left_1_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_left_1_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_main_3_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_main_3_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"floor_1_room": {
|
| 37 |
+
"cls": "Floor"
|
| 38 |
+
},
|
| 39 |
+
"floor_1_backing_room": {
|
| 40 |
+
"cls": "Floor"
|
| 41 |
+
},
|
| 42 |
+
"floor_2_room": {
|
| 43 |
+
"cls": "Floor"
|
| 44 |
+
},
|
| 45 |
+
"floor_2_backing_room": {
|
| 46 |
+
"cls": "Floor"
|
| 47 |
+
},
|
| 48 |
+
"stool_3_room": {
|
| 49 |
+
"cls": "Stool"
|
| 50 |
+
},
|
| 51 |
+
"stool_2_room": {
|
| 52 |
+
"cls": "Stool"
|
| 53 |
+
},
|
| 54 |
+
"stool_1_room": {
|
| 55 |
+
"cls": "Stool"
|
| 56 |
+
},
|
| 57 |
+
"stack_1_main_group_1_base": {
|
| 58 |
+
"cls": "Box"
|
| 59 |
+
},
|
| 60 |
+
"stack_1_main_group_1_1": {
|
| 61 |
+
"cls": "HingeCabinet"
|
| 62 |
+
},
|
| 63 |
+
"fridgebottomfreezer_main_group_1": {
|
| 64 |
+
"cls": "FridgeBottomFreezer"
|
| 65 |
+
},
|
| 66 |
+
"fridgebottomfreezer_housing_main_group_1": {
|
| 67 |
+
"cls": "HousingCabinet"
|
| 68 |
+
},
|
| 69 |
+
"bottom_main_group_1_base": {
|
| 70 |
+
"cls": "Box"
|
| 71 |
+
},
|
| 72 |
+
"bottom_main_group_1_1": {
|
| 73 |
+
"cls": "Drawer"
|
| 74 |
+
},
|
| 75 |
+
"oven_main_group_1": {
|
| 76 |
+
"cls": "Oven"
|
| 77 |
+
},
|
| 78 |
+
"microwave_main_group_1": {
|
| 79 |
+
"cls": "Microwave"
|
| 80 |
+
},
|
| 81 |
+
"hingecabinet_2_main_group_1": {
|
| 82 |
+
"cls": "HingeCabinet"
|
| 83 |
+
},
|
| 84 |
+
"hingecabinet_3_main_group_1": {
|
| 85 |
+
"cls": "HingeCabinet"
|
| 86 |
+
},
|
| 87 |
+
"cube_2_main_group_1": {
|
| 88 |
+
"cls": "Box"
|
| 89 |
+
},
|
| 90 |
+
"cube_3_main_group_1": {
|
| 91 |
+
"cls": "Box"
|
| 92 |
+
},
|
| 93 |
+
"cube_1_main_group_1": {
|
| 94 |
+
"cls": "Box"
|
| 95 |
+
},
|
| 96 |
+
"oven_housing_main_group_1": {
|
| 97 |
+
"cls": "HousingCabinet"
|
| 98 |
+
},
|
| 99 |
+
"hingecabinet_1_main_group_1": {
|
| 100 |
+
"cls": "HingeCabinet"
|
| 101 |
+
},
|
| 102 |
+
"microwave_housing_main_group_1": {
|
| 103 |
+
"cls": "HousingCabinet"
|
| 104 |
+
},
|
| 105 |
+
"top_main_group_1": {
|
| 106 |
+
"cls": "HingeCabinet"
|
| 107 |
+
},
|
| 108 |
+
"stovetop_right_group_1": {
|
| 109 |
+
"cls": "Stovetop"
|
| 110 |
+
},
|
| 111 |
+
"counter_1_right_group_1": {
|
| 112 |
+
"cls": "Counter"
|
| 113 |
+
},
|
| 114 |
+
"hingecabinet_1_right_group_1": {
|
| 115 |
+
"cls": "HingeCabinet"
|
| 116 |
+
},
|
| 117 |
+
"hingecabinet_2_right_group_1": {
|
| 118 |
+
"cls": "HingeCabinet"
|
| 119 |
+
},
|
| 120 |
+
"hingecabinet_3_right_group_1": {
|
| 121 |
+
"cls": "HingeCabinet"
|
| 122 |
+
},
|
| 123 |
+
"hingecabinet_4_right_group_1": {
|
| 124 |
+
"cls": "HingeCabinet"
|
| 125 |
+
},
|
| 126 |
+
"hood_right_group_1": {
|
| 127 |
+
"cls": "Hood"
|
| 128 |
+
},
|
| 129 |
+
"stack_2_right_group_1_base": {
|
| 130 |
+
"cls": "Box"
|
| 131 |
+
},
|
| 132 |
+
"stack_2_right_group_1_1": {
|
| 133 |
+
"cls": "HingeCabinet"
|
| 134 |
+
},
|
| 135 |
+
"stack_2_right_group_1_2": {
|
| 136 |
+
"cls": "Drawer"
|
| 137 |
+
},
|
| 138 |
+
"stack_1_right_group_1_base": {
|
| 139 |
+
"cls": "Box"
|
| 140 |
+
},
|
| 141 |
+
"stack_1_right_group_1_1": {
|
| 142 |
+
"cls": "HingeCabinet"
|
| 143 |
+
},
|
| 144 |
+
"stack_1_right_group_1_2": {
|
| 145 |
+
"cls": "Drawer"
|
| 146 |
+
},
|
| 147 |
+
"stack_4_right_group_1_base": {
|
| 148 |
+
"cls": "Box"
|
| 149 |
+
},
|
| 150 |
+
"stack_4_right_group_1_1": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
+
},
|
| 153 |
+
"stack_4_right_group_1_2": {
|
| 154 |
+
"cls": "Drawer"
|
| 155 |
+
},
|
| 156 |
+
"stack_3_right_group_1_base": {
|
| 157 |
+
"cls": "Box"
|
| 158 |
+
},
|
| 159 |
+
"stack_3_right_group_1_1": {
|
| 160 |
+
"cls": "Drawer"
|
| 161 |
+
},
|
| 162 |
+
"stack_3_right_group_1_2": {
|
| 163 |
+
"cls": "Drawer"
|
| 164 |
+
},
|
| 165 |
+
"stack_3_right_group_1_3": {
|
| 166 |
+
"cls": "PanelCabinet"
|
| 167 |
+
},
|
| 168 |
+
"stack_5_right_group_1_base": {
|
| 169 |
+
"cls": "Box"
|
| 170 |
+
},
|
| 171 |
+
"stack_5_right_group_1_1": {
|
| 172 |
+
"cls": "HingeCabinet"
|
| 173 |
+
},
|
| 174 |
+
"stack_5_right_group_1_2": {
|
| 175 |
+
"cls": "Drawer"
|
| 176 |
+
},
|
| 177 |
+
"coffee_machine_right_group_1": {
|
| 178 |
+
"cls": "CoffeeMachine"
|
| 179 |
+
},
|
| 180 |
+
"toaster_right_group_1": {
|
| 181 |
+
"cls": "Toaster"
|
| 182 |
+
},
|
| 183 |
+
"papertowel_right_group_1": {
|
| 184 |
+
"cls": "Accessory"
|
| 185 |
+
},
|
| 186 |
+
"toaster_oven_right_group_1": {
|
| 187 |
+
"cls": "ToasterOven"
|
| 188 |
+
},
|
| 189 |
+
"sink_island_group_1": {
|
| 190 |
+
"cls": "Sink"
|
| 191 |
+
},
|
| 192 |
+
"island_island_group_1": {
|
| 193 |
+
"cls": "Counter"
|
| 194 |
+
},
|
| 195 |
+
"cube_1_island_group_1": {
|
| 196 |
+
"cls": "Box"
|
| 197 |
+
},
|
| 198 |
+
"cube_2_island_group_1": {
|
| 199 |
+
"cls": "Box"
|
| 200 |
+
},
|
| 201 |
+
"cube_3_island_group_1": {
|
| 202 |
+
"cls": "Box"
|
| 203 |
+
},
|
| 204 |
+
"cube_4_island_group_1": {
|
| 205 |
+
"cls": "Box"
|
| 206 |
+
},
|
| 207 |
+
"cube_5_island_group_1": {
|
| 208 |
+
"cls": "Box"
|
| 209 |
+
},
|
| 210 |
+
"stack_1_island_group_1_base": {
|
| 211 |
+
"cls": "Box"
|
| 212 |
+
},
|
| 213 |
+
"stack_1_island_group_1_1": {
|
| 214 |
+
"cls": "Drawer"
|
| 215 |
+
},
|
| 216 |
+
"stack_1_island_group_1_2": {
|
| 217 |
+
"cls": "Drawer"
|
| 218 |
+
},
|
| 219 |
+
"stack_1_island_group_1_3": {
|
| 220 |
+
"cls": "Drawer"
|
| 221 |
+
},
|
| 222 |
+
"stack_2_island_group_1_base": {
|
| 223 |
+
"cls": "Box"
|
| 224 |
+
},
|
| 225 |
+
"stack_2_island_group_1_1": {
|
| 226 |
+
"cls": "HingeCabinet"
|
| 227 |
+
},
|
| 228 |
+
"stack_3_island_group_1_base": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
+
},
|
| 231 |
+
"stack_3_island_group_1_1": {
|
| 232 |
+
"cls": "SingleCabinet"
|
| 233 |
+
},
|
| 234 |
+
"stack_4_island_group_1_base": {
|
| 235 |
+
"cls": "Box"
|
| 236 |
+
},
|
| 237 |
+
"stack_4_island_group_1_1": {
|
| 238 |
+
"cls": "SingleCabinet"
|
| 239 |
+
},
|
| 240 |
+
"stack_5_island_group_1_base": {
|
| 241 |
+
"cls": "Box"
|
| 242 |
+
},
|
| 243 |
+
"stack_5_island_group_1_1": {
|
| 244 |
+
"cls": "Drawer"
|
| 245 |
+
},
|
| 246 |
+
"stack_5_island_group_1_2": {
|
| 247 |
+
"cls": "Drawer"
|
| 248 |
+
},
|
| 249 |
+
"stack_5_island_group_1_3": {
|
| 250 |
+
"cls": "Drawer"
|
| 251 |
+
},
|
| 252 |
+
"cube_6_island_group_1": {
|
| 253 |
+
"cls": "Box"
|
| 254 |
+
},
|
| 255 |
+
"cube_7_island_group_1": {
|
| 256 |
+
"cls": "Box"
|
| 257 |
+
},
|
| 258 |
+
"dishwasher_1_island_group_1": {
|
| 259 |
+
"cls": "Dishwasher"
|
| 260 |
+
}
|
| 261 |
+
},
|
| 262 |
+
"gen_textures": {},
|
| 263 |
+
"lang": "Fully slide the bottom oven rack out.",
|
| 264 |
+
"fixture_refs": {
|
| 265 |
+
"oven": "oven_main_group_1"
|
| 266 |
+
},
|
| 267 |
+
"cam_configs": {
|
| 268 |
+
"robot0_agentview_center": {
|
| 269 |
+
"pos": [
|
| 270 |
+
-0.6,
|
| 271 |
+
0.0,
|
| 272 |
+
1.15
|
| 273 |
+
],
|
| 274 |
+
"quat": [
|
| 275 |
+
0.636945903301239,
|
| 276 |
+
0.3325185477733612,
|
| 277 |
+
-0.3199238181114197,
|
| 278 |
+
-0.6175596117973328
|
| 279 |
+
],
|
| 280 |
+
"parent_body": "mobilebase0_support"
|
| 281 |
+
},
|
| 282 |
+
"robot0_agentview_left": {
|
| 283 |
+
"pos": [
|
| 284 |
+
-0.5,
|
| 285 |
+
0.35,
|
| 286 |
+
1.05
|
| 287 |
+
],
|
| 288 |
+
"quat": [
|
| 289 |
+
0.55623853,
|
| 290 |
+
0.29935253,
|
| 291 |
+
-0.37678665,
|
| 292 |
+
-0.6775092
|
| 293 |
+
],
|
| 294 |
+
"camera_attribs": {
|
| 295 |
+
"fovy": "60"
|
| 296 |
+
},
|
| 297 |
+
"parent_body": "mobilebase0_support"
|
| 298 |
+
},
|
| 299 |
+
"robot0_agentview_right": {
|
| 300 |
+
"pos": [
|
| 301 |
+
-0.5,
|
| 302 |
+
-0.35,
|
| 303 |
+
1.05
|
| 304 |
+
],
|
| 305 |
+
"quat": [
|
| 306 |
+
0.6775091886520386,
|
| 307 |
+
0.3767866790294647,
|
| 308 |
+
-0.2993525564670563,
|
| 309 |
+
-0.55623859167099
|
| 310 |
+
],
|
| 311 |
+
"camera_attribs": {
|
| 312 |
+
"fovy": "60"
|
| 313 |
+
},
|
| 314 |
+
"parent_body": "mobilebase0_support"
|
| 315 |
+
},
|
| 316 |
+
"robot0_frontview": {
|
| 317 |
+
"pos": [
|
| 318 |
+
-0.5,
|
| 319 |
+
0,
|
| 320 |
+
0.95
|
| 321 |
+
],
|
| 322 |
+
"quat": [
|
| 323 |
+
0.6088936924934387,
|
| 324 |
+
0.3814677894115448,
|
| 325 |
+
-0.3673907518386841,
|
| 326 |
+
-0.5905545353889465
|
| 327 |
+
],
|
| 328 |
+
"camera_attribs": {
|
| 329 |
+
"fovy": "60"
|
| 330 |
+
},
|
| 331 |
+
"parent_body": "mobilebase0_support"
|
| 332 |
+
},
|
| 333 |
+
"robot0_eye_in_hand": {
|
| 334 |
+
"pos": [
|
| 335 |
+
0.05,
|
| 336 |
+
0,
|
| 337 |
+
0
|
| 338 |
+
],
|
| 339 |
+
"quat": [
|
| 340 |
+
0,
|
| 341 |
+
0.707107,
|
| 342 |
+
0.707107,
|
| 343 |
+
0
|
| 344 |
+
],
|
| 345 |
+
"parent_body": "robot0_right_hand"
|
| 346 |
+
}
|
| 347 |
+
},
|
| 348 |
+
"init_robot_base_pos": [
|
| 349 |
+
1.5082112172550195,
|
| 350 |
+
-1.3391856620144185,
|
| 351 |
+
0.0
|
| 352 |
+
],
|
| 353 |
+
"init_robot_base_ori": [
|
| 354 |
+
0.0,
|
| 355 |
+
0.0,
|
| 356 |
+
1.5707963267948966
|
| 357 |
+
],
|
| 358 |
+
"should_pull": true,
|
| 359 |
+
"rack_level": 0
|
| 360 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000106/ep_meta.json
ADDED
|
@@ -0,0 +1,441 @@
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|
|
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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": 12,
|
| 3 |
+
"style_id": 19,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"wall_right_2_room": {
|
| 25 |
+
"cls": "Wall"
|
| 26 |
+
},
|
| 27 |
+
"wall_right_2_backing_room": {
|
| 28 |
+
"cls": "Wall"
|
| 29 |
+
},
|
| 30 |
+
"wall_right_3_room": {
|
| 31 |
+
"cls": "Wall"
|
| 32 |
+
},
|
| 33 |
+
"wall_right_3_backing_room": {
|
| 34 |
+
"cls": "Wall"
|
| 35 |
+
},
|
| 36 |
+
"floor_1_room": {
|
| 37 |
+
"cls": "Floor"
|
| 38 |
+
},
|
| 39 |
+
"floor_1_backing_room": {
|
| 40 |
+
"cls": "Floor"
|
| 41 |
+
},
|
| 42 |
+
"wall_accessory_1_room": {
|
| 43 |
+
"cls": "WallAccessory"
|
| 44 |
+
},
|
| 45 |
+
"wall_accessory_2_room": {
|
| 46 |
+
"cls": "WallAccessory"
|
| 47 |
+
},
|
| 48 |
+
"wall_accessory_3_room": {
|
| 49 |
+
"cls": "WallAccessory"
|
| 50 |
+
},
|
| 51 |
+
"light_switch_1_room": {
|
| 52 |
+
"cls": "WallAccessory"
|
| 53 |
+
},
|
| 54 |
+
"wall_accessory_4_room": {
|
| 55 |
+
"cls": "WallAccessory"
|
| 56 |
+
},
|
| 57 |
+
"wall_accessory_5_room": {
|
| 58 |
+
"cls": "WallAccessory"
|
| 59 |
+
},
|
| 60 |
+
"window_group_room": {
|
| 61 |
+
"cls": "Window"
|
| 62 |
+
},
|
| 63 |
+
"stool_1_room": {
|
| 64 |
+
"cls": "Stool"
|
| 65 |
+
},
|
| 66 |
+
"stool_2_room": {
|
| 67 |
+
"cls": "Stool"
|
| 68 |
+
},
|
| 69 |
+
"stool_3_room": {
|
| 70 |
+
"cls": "Stool"
|
| 71 |
+
},
|
| 72 |
+
"stool_4_room": {
|
| 73 |
+
"cls": "Stool"
|
| 74 |
+
},
|
| 75 |
+
"stool_5_room": {
|
| 76 |
+
"cls": "Stool"
|
| 77 |
+
},
|
| 78 |
+
"stool_6_room": {
|
| 79 |
+
"cls": "Stool"
|
| 80 |
+
},
|
| 81 |
+
"counter_corner_1_main_group": {
|
| 82 |
+
"cls": "Counter"
|
| 83 |
+
},
|
| 84 |
+
"sink_1_main_group": {
|
| 85 |
+
"cls": "Sink"
|
| 86 |
+
},
|
| 87 |
+
"counter_1_main_group": {
|
| 88 |
+
"cls": "Counter"
|
| 89 |
+
},
|
| 90 |
+
"counter_corner_2_main_group": {
|
| 91 |
+
"cls": "Counter"
|
| 92 |
+
},
|
| 93 |
+
"box_1_main_group": {
|
| 94 |
+
"cls": "Box"
|
| 95 |
+
},
|
| 96 |
+
"stack_1_main_group_base": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"stack_1_main_group_1": {
|
| 100 |
+
"cls": "Drawer"
|
| 101 |
+
},
|
| 102 |
+
"stack_1_main_group_2": {
|
| 103 |
+
"cls": "Drawer"
|
| 104 |
+
},
|
| 105 |
+
"stack_1_main_group_3": {
|
| 106 |
+
"cls": "Drawer"
|
| 107 |
+
},
|
| 108 |
+
"stack_2_main_group_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_2_main_group_1": {
|
| 112 |
+
"cls": "SingleCabinet"
|
| 113 |
+
},
|
| 114 |
+
"stack_2_main_group_2": {
|
| 115 |
+
"cls": "Drawer"
|
| 116 |
+
},
|
| 117 |
+
"stack_3_main_group_base": {
|
| 118 |
+
"cls": "Box"
|
| 119 |
+
},
|
| 120 |
+
"stack_3_main_group_1": {
|
| 121 |
+
"cls": "HingeCabinet"
|
| 122 |
+
},
|
| 123 |
+
"dishwasher_1_main_group": {
|
| 124 |
+
"cls": "Dishwasher"
|
| 125 |
+
},
|
| 126 |
+
"stack_4_main_group_base": {
|
| 127 |
+
"cls": "Box"
|
| 128 |
+
},
|
| 129 |
+
"stack_4_main_group_1": {
|
| 130 |
+
"cls": "SingleCabinet"
|
| 131 |
+
},
|
| 132 |
+
"stack_4_main_group_2": {
|
| 133 |
+
"cls": "Drawer"
|
| 134 |
+
},
|
| 135 |
+
"stack_5_main_group_base": {
|
| 136 |
+
"cls": "Box"
|
| 137 |
+
},
|
| 138 |
+
"stack_5_main_group_1": {
|
| 139 |
+
"cls": "SingleCabinet"
|
| 140 |
+
},
|
| 141 |
+
"box_2_main_group": {
|
| 142 |
+
"cls": "Box"
|
| 143 |
+
},
|
| 144 |
+
"top_corner_1_main_group": {
|
| 145 |
+
"cls": "Box"
|
| 146 |
+
},
|
| 147 |
+
"cab_1_main_group": {
|
| 148 |
+
"cls": "HingeCabinet"
|
| 149 |
+
},
|
| 150 |
+
"cab_2_main_group": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
+
},
|
| 153 |
+
"top_corner_2_main_group": {
|
| 154 |
+
"cls": "Box"
|
| 155 |
+
},
|
| 156 |
+
"paper_towel_main_group": {
|
| 157 |
+
"cls": "Accessory"
|
| 158 |
+
},
|
| 159 |
+
"coffee_machine_main_group": {
|
| 160 |
+
"cls": "CoffeeMachine"
|
| 161 |
+
},
|
| 162 |
+
"toaster_main_group": {
|
| 163 |
+
"cls": "Toaster"
|
| 164 |
+
},
|
| 165 |
+
"knife_block_main_group": {
|
| 166 |
+
"cls": "Accessory"
|
| 167 |
+
},
|
| 168 |
+
"stovetop_left_group": {
|
| 169 |
+
"cls": "Stovetop"
|
| 170 |
+
},
|
| 171 |
+
"counter_1_left_group": {
|
| 172 |
+
"cls": "Counter"
|
| 173 |
+
},
|
| 174 |
+
"box_1_left_group": {
|
| 175 |
+
"cls": "Box"
|
| 176 |
+
},
|
| 177 |
+
"stack_1_left_group_base": {
|
| 178 |
+
"cls": "Box"
|
| 179 |
+
},
|
| 180 |
+
"stack_1_left_group_1": {
|
| 181 |
+
"cls": "SingleCabinet"
|
| 182 |
+
},
|
| 183 |
+
"stack_2_left_group_base": {
|
| 184 |
+
"cls": "Box"
|
| 185 |
+
},
|
| 186 |
+
"stack_2_left_group_1": {
|
| 187 |
+
"cls": "Drawer"
|
| 188 |
+
},
|
| 189 |
+
"stack_2_left_group_2": {
|
| 190 |
+
"cls": "Drawer"
|
| 191 |
+
},
|
| 192 |
+
"stack_2_left_group_3": {
|
| 193 |
+
"cls": "PanelCabinet"
|
| 194 |
+
},
|
| 195 |
+
"box_3_left_group": {
|
| 196 |
+
"cls": "Box"
|
| 197 |
+
},
|
| 198 |
+
"stack_3_left_group_base": {
|
| 199 |
+
"cls": "Box"
|
| 200 |
+
},
|
| 201 |
+
"stack_3_left_group_1": {
|
| 202 |
+
"cls": "Drawer"
|
| 203 |
+
},
|
| 204 |
+
"stack_3_left_group_2": {
|
| 205 |
+
"cls": "Drawer"
|
| 206 |
+
},
|
| 207 |
+
"stack_3_left_group_3": {
|
| 208 |
+
"cls": "Drawer"
|
| 209 |
+
},
|
| 210 |
+
"box_2_left_group": {
|
| 211 |
+
"cls": "Box"
|
| 212 |
+
},
|
| 213 |
+
"fridge_1_left_group": {
|
| 214 |
+
"cls": "FridgeFrenchDoor"
|
| 215 |
+
},
|
| 216 |
+
"fridge_1_housing_left_group": {
|
| 217 |
+
"cls": "HousingCabinet"
|
| 218 |
+
},
|
| 219 |
+
"hood_left_group": {
|
| 220 |
+
"cls": "Hood"
|
| 221 |
+
},
|
| 222 |
+
"cab_1_left_group": {
|
| 223 |
+
"cls": "HingeCabinet"
|
| 224 |
+
},
|
| 225 |
+
"cab_2_left_group": {
|
| 226 |
+
"cls": "SingleCabinet"
|
| 227 |
+
},
|
| 228 |
+
"cab_3_left_group": {
|
| 229 |
+
"cls": "HingeCabinet"
|
| 230 |
+
},
|
| 231 |
+
"toaster_oven_left_group": {
|
| 232 |
+
"cls": "ToasterOven"
|
| 233 |
+
},
|
| 234 |
+
"bottom_right_group_1_base": {
|
| 235 |
+
"cls": "Box"
|
| 236 |
+
},
|
| 237 |
+
"bottom_right_group_1_1": {
|
| 238 |
+
"cls": "Drawer"
|
| 239 |
+
},
|
| 240 |
+
"oven_right_group_1": {
|
| 241 |
+
"cls": "Oven"
|
| 242 |
+
},
|
| 243 |
+
"oven_housing_right_group_1": {
|
| 244 |
+
"cls": "HousingCabinet"
|
| 245 |
+
},
|
| 246 |
+
"microwave_right_group_1": {
|
| 247 |
+
"cls": "Microwave"
|
| 248 |
+
},
|
| 249 |
+
"microwave_housing_right_group_1": {
|
| 250 |
+
"cls": "HousingCabinet"
|
| 251 |
+
},
|
| 252 |
+
"top_right_group_1": {
|
| 253 |
+
"cls": "HingeCabinet"
|
| 254 |
+
},
|
| 255 |
+
"stack_1_right_group_1_base": {
|
| 256 |
+
"cls": "Box"
|
| 257 |
+
},
|
| 258 |
+
"stack_1_right_group_1_1": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
+
},
|
| 261 |
+
"stack_2_right_group_1_base": {
|
| 262 |
+
"cls": "Box"
|
| 263 |
+
},
|
| 264 |
+
"stack_2_right_group_1_1": {
|
| 265 |
+
"cls": "PanelCabinet"
|
| 266 |
+
},
|
| 267 |
+
"box_right_group_1": {
|
| 268 |
+
"cls": "Box"
|
| 269 |
+
},
|
| 270 |
+
"stack_3_right_group_1_base": {
|
| 271 |
+
"cls": "Box"
|
| 272 |
+
},
|
| 273 |
+
"stack_3_right_group_1_1": {
|
| 274 |
+
"cls": "HingeCabinet"
|
| 275 |
+
},
|
| 276 |
+
"counter_1_right_group_1": {
|
| 277 |
+
"cls": "Counter"
|
| 278 |
+
},
|
| 279 |
+
"cab_1_right_group_1": {
|
| 280 |
+
"cls": "HingeCabinet"
|
| 281 |
+
},
|
| 282 |
+
"cab_2_right_group_1": {
|
| 283 |
+
"cls": "SingleCabinet"
|
| 284 |
+
},
|
| 285 |
+
"cab_3_right_group_1": {
|
| 286 |
+
"cls": "HingeCabinet"
|
| 287 |
+
},
|
| 288 |
+
"island_island_group": {
|
| 289 |
+
"cls": "Counter"
|
| 290 |
+
},
|
| 291 |
+
"panel_stack_1_island_group_base": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
+
"panel_stack_1_island_group_1": {
|
| 295 |
+
"cls": "PanelCabinet"
|
| 296 |
+
},
|
| 297 |
+
"stack_1_island_group_base": {
|
| 298 |
+
"cls": "Box"
|
| 299 |
+
},
|
| 300 |
+
"stack_1_island_group_1": {
|
| 301 |
+
"cls": "HingeCabinet"
|
| 302 |
+
},
|
| 303 |
+
"stack_1_island_group_2": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
+
},
|
| 306 |
+
"stack_2_island_group_base": {
|
| 307 |
+
"cls": "Box"
|
| 308 |
+
},
|
| 309 |
+
"stack_2_island_group_1": {
|
| 310 |
+
"cls": "HingeCabinet"
|
| 311 |
+
},
|
| 312 |
+
"stack_2_island_group_2": {
|
| 313 |
+
"cls": "Drawer"
|
| 314 |
+
},
|
| 315 |
+
"stack_3_island_group_base": {
|
| 316 |
+
"cls": "Box"
|
| 317 |
+
},
|
| 318 |
+
"stack_3_island_group_1": {
|
| 319 |
+
"cls": "HingeCabinet"
|
| 320 |
+
},
|
| 321 |
+
"stack_3_island_group_2": {
|
| 322 |
+
"cls": "Drawer"
|
| 323 |
+
},
|
| 324 |
+
"stack_4_island_group_base": {
|
| 325 |
+
"cls": "Box"
|
| 326 |
+
},
|
| 327 |
+
"stack_4_island_group_1": {
|
| 328 |
+
"cls": "HingeCabinet"
|
| 329 |
+
},
|
| 330 |
+
"stack_4_island_group_2": {
|
| 331 |
+
"cls": "Drawer"
|
| 332 |
+
},
|
| 333 |
+
"panel_stack_2_island_group_base": {
|
| 334 |
+
"cls": "Box"
|
| 335 |
+
},
|
| 336 |
+
"panel_stack_2_island_group_1": {
|
| 337 |
+
"cls": "PanelCabinet"
|
| 338 |
+
},
|
| 339 |
+
"box_1_island_group": {
|
| 340 |
+
"cls": "Box"
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"gen_textures": {},
|
| 344 |
+
"lang": "Fully slide the oven rack in.",
|
| 345 |
+
"fixture_refs": {
|
| 346 |
+
"oven": "oven_right_group_1"
|
| 347 |
+
},
|
| 348 |
+
"cam_configs": {
|
| 349 |
+
"robot0_agentview_center": {
|
| 350 |
+
"pos": [
|
| 351 |
+
-0.6,
|
| 352 |
+
0.0,
|
| 353 |
+
1.15
|
| 354 |
+
],
|
| 355 |
+
"quat": [
|
| 356 |
+
0.636945903301239,
|
| 357 |
+
0.3325185477733612,
|
| 358 |
+
-0.3199238181114197,
|
| 359 |
+
-0.6175596117973328
|
| 360 |
+
],
|
| 361 |
+
"parent_body": "mobilebase0_support"
|
| 362 |
+
},
|
| 363 |
+
"robot0_agentview_left": {
|
| 364 |
+
"pos": [
|
| 365 |
+
-0.5,
|
| 366 |
+
0.35,
|
| 367 |
+
1.05
|
| 368 |
+
],
|
| 369 |
+
"quat": [
|
| 370 |
+
0.55623853,
|
| 371 |
+
0.29935253,
|
| 372 |
+
-0.37678665,
|
| 373 |
+
-0.6775092
|
| 374 |
+
],
|
| 375 |
+
"camera_attribs": {
|
| 376 |
+
"fovy": "60"
|
| 377 |
+
},
|
| 378 |
+
"parent_body": "mobilebase0_support"
|
| 379 |
+
},
|
| 380 |
+
"robot0_agentview_right": {
|
| 381 |
+
"pos": [
|
| 382 |
+
-0.5,
|
| 383 |
+
-0.35,
|
| 384 |
+
1.05
|
| 385 |
+
],
|
| 386 |
+
"quat": [
|
| 387 |
+
0.6775091886520386,
|
| 388 |
+
0.3767866790294647,
|
| 389 |
+
-0.2993525564670563,
|
| 390 |
+
-0.55623859167099
|
| 391 |
+
],
|
| 392 |
+
"camera_attribs": {
|
| 393 |
+
"fovy": "60"
|
| 394 |
+
},
|
| 395 |
+
"parent_body": "mobilebase0_support"
|
| 396 |
+
},
|
| 397 |
+
"robot0_frontview": {
|
| 398 |
+
"pos": [
|
| 399 |
+
-0.5,
|
| 400 |
+
0,
|
| 401 |
+
0.95
|
| 402 |
+
],
|
| 403 |
+
"quat": [
|
| 404 |
+
0.6088936924934387,
|
| 405 |
+
0.3814677894115448,
|
| 406 |
+
-0.3673907518386841,
|
| 407 |
+
-0.5905545353889465
|
| 408 |
+
],
|
| 409 |
+
"camera_attribs": {
|
| 410 |
+
"fovy": "60"
|
| 411 |
+
},
|
| 412 |
+
"parent_body": "mobilebase0_support"
|
| 413 |
+
},
|
| 414 |
+
"robot0_eye_in_hand": {
|
| 415 |
+
"pos": [
|
| 416 |
+
0.05,
|
| 417 |
+
0,
|
| 418 |
+
0
|
| 419 |
+
],
|
| 420 |
+
"quat": [
|
| 421 |
+
0,
|
| 422 |
+
0.707107,
|
| 423 |
+
0.707107,
|
| 424 |
+
0
|
| 425 |
+
],
|
| 426 |
+
"parent_body": "robot0_right_hand"
|
| 427 |
+
}
|
| 428 |
+
},
|
| 429 |
+
"init_robot_base_pos": [
|
| 430 |
+
3.9333241961890164,
|
| 431 |
+
-0.8929894457735824,
|
| 432 |
+
0.0
|
| 433 |
+
],
|
| 434 |
+
"init_robot_base_ori": [
|
| 435 |
+
0.0,
|
| 436 |
+
0.0,
|
| 437 |
+
3.422854288892552e-08
|
| 438 |
+
],
|
| 439 |
+
"should_pull": false,
|
| 440 |
+
"rack_level": 0
|
| 441 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000108/ep_meta.json
ADDED
|
@@ -0,0 +1,417 @@
|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 17,
|
| 3 |
+
"style_id": 18,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"window_group_room": {
|
| 25 |
+
"cls": "Window"
|
| 26 |
+
},
|
| 27 |
+
"floor_1_room": {
|
| 28 |
+
"cls": "Floor"
|
| 29 |
+
},
|
| 30 |
+
"floor_1_backing_room": {
|
| 31 |
+
"cls": "Floor"
|
| 32 |
+
},
|
| 33 |
+
"wall_accessory_1_room": {
|
| 34 |
+
"cls": "WallAccessory"
|
| 35 |
+
},
|
| 36 |
+
"wall_accessory_2_room": {
|
| 37 |
+
"cls": "WallAccessory"
|
| 38 |
+
},
|
| 39 |
+
"wall_accessory_3_room": {
|
| 40 |
+
"cls": "WallAccessory"
|
| 41 |
+
},
|
| 42 |
+
"wall_accessory_4_room": {
|
| 43 |
+
"cls": "WallAccessory"
|
| 44 |
+
},
|
| 45 |
+
"light_switch_1_room": {
|
| 46 |
+
"cls": "WallAccessory"
|
| 47 |
+
},
|
| 48 |
+
"wall_accessory_5_room": {
|
| 49 |
+
"cls": "WallAccessory"
|
| 50 |
+
},
|
| 51 |
+
"wall_accessory_6_room": {
|
| 52 |
+
"cls": "WallAccessory"
|
| 53 |
+
},
|
| 54 |
+
"stool_1_room": {
|
| 55 |
+
"cls": "Stool"
|
| 56 |
+
},
|
| 57 |
+
"stool_2_room": {
|
| 58 |
+
"cls": "Stool"
|
| 59 |
+
},
|
| 60 |
+
"stool_3_room": {
|
| 61 |
+
"cls": "Stool"
|
| 62 |
+
},
|
| 63 |
+
"counter_corner_1_main_group_1": {
|
| 64 |
+
"cls": "Counter"
|
| 65 |
+
},
|
| 66 |
+
"stovetop_main_group_1": {
|
| 67 |
+
"cls": "Stovetop"
|
| 68 |
+
},
|
| 69 |
+
"counter_1_main_group_1": {
|
| 70 |
+
"cls": "Counter"
|
| 71 |
+
},
|
| 72 |
+
"counter_corner_2_main_group_1": {
|
| 73 |
+
"cls": "Counter"
|
| 74 |
+
},
|
| 75 |
+
"box_1_main_group_1": {
|
| 76 |
+
"cls": "Box"
|
| 77 |
+
},
|
| 78 |
+
"stack_1_main_group_1_base": {
|
| 79 |
+
"cls": "Box"
|
| 80 |
+
},
|
| 81 |
+
"stack_1_main_group_1_1": {
|
| 82 |
+
"cls": "SingleCabinet"
|
| 83 |
+
},
|
| 84 |
+
"stack_2_main_group_1_base": {
|
| 85 |
+
"cls": "Box"
|
| 86 |
+
},
|
| 87 |
+
"stack_2_main_group_1_1": {
|
| 88 |
+
"cls": "Drawer"
|
| 89 |
+
},
|
| 90 |
+
"stack_2_main_group_1_2": {
|
| 91 |
+
"cls": "Drawer"
|
| 92 |
+
},
|
| 93 |
+
"stack_2_main_group_1_3": {
|
| 94 |
+
"cls": "Drawer"
|
| 95 |
+
},
|
| 96 |
+
"stack_3_main_group_1_base": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"stack_3_main_group_1_1": {
|
| 100 |
+
"cls": "SingleCabinet"
|
| 101 |
+
},
|
| 102 |
+
"stack_4_main_group_1_base": {
|
| 103 |
+
"cls": "Box"
|
| 104 |
+
},
|
| 105 |
+
"stack_4_main_group_1_1": {
|
| 106 |
+
"cls": "HingeCabinet"
|
| 107 |
+
},
|
| 108 |
+
"stack_5_main_group_1_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_5_main_group_1_1": {
|
| 112 |
+
"cls": "SingleCabinet"
|
| 113 |
+
},
|
| 114 |
+
"stack_6_main_group_1_base": {
|
| 115 |
+
"cls": "Box"
|
| 116 |
+
},
|
| 117 |
+
"stack_6_main_group_1_1": {
|
| 118 |
+
"cls": "Drawer"
|
| 119 |
+
},
|
| 120 |
+
"stack_6_main_group_1_2": {
|
| 121 |
+
"cls": "Drawer"
|
| 122 |
+
},
|
| 123 |
+
"stack_6_main_group_1_3": {
|
| 124 |
+
"cls": "Drawer"
|
| 125 |
+
},
|
| 126 |
+
"stack_7_main_group_1_base": {
|
| 127 |
+
"cls": "Box"
|
| 128 |
+
},
|
| 129 |
+
"stack_7_main_group_1_1": {
|
| 130 |
+
"cls": "SingleCabinet"
|
| 131 |
+
},
|
| 132 |
+
"box_2_main_group_1": {
|
| 133 |
+
"cls": "Box"
|
| 134 |
+
},
|
| 135 |
+
"hood_main_group_1": {
|
| 136 |
+
"cls": "Hood"
|
| 137 |
+
},
|
| 138 |
+
"cab_corner_main_group_1": {
|
| 139 |
+
"cls": "Box"
|
| 140 |
+
},
|
| 141 |
+
"cab_1_main_group_1": {
|
| 142 |
+
"cls": "HingeCabinet"
|
| 143 |
+
},
|
| 144 |
+
"cab_2_main_group_1": {
|
| 145 |
+
"cls": "HingeCabinet"
|
| 146 |
+
},
|
| 147 |
+
"cab_3_main_group_1": {
|
| 148 |
+
"cls": "SingleCabinet"
|
| 149 |
+
},
|
| 150 |
+
"cab_4_main_group_1": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
+
},
|
| 153 |
+
"cab_5_main_group_1": {
|
| 154 |
+
"cls": "HingeCabinet"
|
| 155 |
+
},
|
| 156 |
+
"cab_6_main_group_1": {
|
| 157 |
+
"cls": "SingleCabinet"
|
| 158 |
+
},
|
| 159 |
+
"cab_corner_2_main_group_1": {
|
| 160 |
+
"cls": "Box"
|
| 161 |
+
},
|
| 162 |
+
"coffee_machine_main_group_1": {
|
| 163 |
+
"cls": "CoffeeMachine"
|
| 164 |
+
},
|
| 165 |
+
"toaster_main_group_1": {
|
| 166 |
+
"cls": "Toaster"
|
| 167 |
+
},
|
| 168 |
+
"paper_towel_main_group_1": {
|
| 169 |
+
"cls": "Accessory"
|
| 170 |
+
},
|
| 171 |
+
"knife_block_main_group_1": {
|
| 172 |
+
"cls": "Accessory"
|
| 173 |
+
},
|
| 174 |
+
"counter_1_left_group_1": {
|
| 175 |
+
"cls": "Counter"
|
| 176 |
+
},
|
| 177 |
+
"stack_1_left_group_1_base": {
|
| 178 |
+
"cls": "Box"
|
| 179 |
+
},
|
| 180 |
+
"stack_1_left_group_1_1": {
|
| 181 |
+
"cls": "Drawer"
|
| 182 |
+
},
|
| 183 |
+
"stack_1_left_group_1_2": {
|
| 184 |
+
"cls": "Drawer"
|
| 185 |
+
},
|
| 186 |
+
"stack_1_left_group_1_3": {
|
| 187 |
+
"cls": "Drawer"
|
| 188 |
+
},
|
| 189 |
+
"box_left_group_1": {
|
| 190 |
+
"cls": "Box"
|
| 191 |
+
},
|
| 192 |
+
"bottom_left_group_1_base": {
|
| 193 |
+
"cls": "Box"
|
| 194 |
+
},
|
| 195 |
+
"bottom_left_group_1_1": {
|
| 196 |
+
"cls": "Drawer"
|
| 197 |
+
},
|
| 198 |
+
"oven_left_group_1": {
|
| 199 |
+
"cls": "Oven"
|
| 200 |
+
},
|
| 201 |
+
"oven_housing_left_group_1": {
|
| 202 |
+
"cls": "HousingCabinet"
|
| 203 |
+
},
|
| 204 |
+
"microwave_left_group_1": {
|
| 205 |
+
"cls": "Microwave"
|
| 206 |
+
},
|
| 207 |
+
"microwave_housing_left_group_1": {
|
| 208 |
+
"cls": "HousingCabinet"
|
| 209 |
+
},
|
| 210 |
+
"top_left_group_1": {
|
| 211 |
+
"cls": "HingeCabinet"
|
| 212 |
+
},
|
| 213 |
+
"fridge_1_left_group_1": {
|
| 214 |
+
"cls": "FridgeBottomFreezer"
|
| 215 |
+
},
|
| 216 |
+
"fridge_1_housing_left_group_1": {
|
| 217 |
+
"cls": "HousingCabinet"
|
| 218 |
+
},
|
| 219 |
+
"fridge_cabinet_left_group_1": {
|
| 220 |
+
"cls": "HingeCabinet"
|
| 221 |
+
},
|
| 222 |
+
"cab_1_left_group_1": {
|
| 223 |
+
"cls": "HingeCabinet"
|
| 224 |
+
},
|
| 225 |
+
"toaster_oven_left_group_1": {
|
| 226 |
+
"cls": "ToasterOven"
|
| 227 |
+
},
|
| 228 |
+
"box_right_group_1": {
|
| 229 |
+
"cls": "Box"
|
| 230 |
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},
|
| 231 |
+
"stack_1_right_group_1_base": {
|
| 232 |
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"cls": "Box"
|
| 233 |
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},
|
| 234 |
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"stack_1_right_group_1_1": {
|
| 235 |
+
"cls": "Drawer"
|
| 236 |
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},
|
| 237 |
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"stack_1_right_group_1_2": {
|
| 238 |
+
"cls": "Drawer"
|
| 239 |
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},
|
| 240 |
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"stack_1_right_group_1_3": {
|
| 241 |
+
"cls": "Drawer"
|
| 242 |
+
},
|
| 243 |
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"stack_2_right_group_1_base": {
|
| 244 |
+
"cls": "Box"
|
| 245 |
+
},
|
| 246 |
+
"stack_2_right_group_1_1": {
|
| 247 |
+
"cls": "Drawer"
|
| 248 |
+
},
|
| 249 |
+
"stack_2_right_group_1_2": {
|
| 250 |
+
"cls": "Drawer"
|
| 251 |
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},
|
| 252 |
+
"stack_2_right_group_1_3": {
|
| 253 |
+
"cls": "Drawer"
|
| 254 |
+
},
|
| 255 |
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"stack_3_right_group_1_base": {
|
| 256 |
+
"cls": "Box"
|
| 257 |
+
},
|
| 258 |
+
"stack_3_right_group_1_1": {
|
| 259 |
+
"cls": "HingeCabinet"
|
| 260 |
+
},
|
| 261 |
+
"dishwasher_1_right_group_1": {
|
| 262 |
+
"cls": "Dishwasher"
|
| 263 |
+
},
|
| 264 |
+
"stack_4_right_group_1_base": {
|
| 265 |
+
"cls": "Box"
|
| 266 |
+
},
|
| 267 |
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"stack_4_right_group_1_1": {
|
| 268 |
+
"cls": "Drawer"
|
| 269 |
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},
|
| 270 |
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"stack_4_right_group_1_2": {
|
| 271 |
+
"cls": "Drawer"
|
| 272 |
+
},
|
| 273 |
+
"stack_4_right_group_1_3": {
|
| 274 |
+
"cls": "Drawer"
|
| 275 |
+
},
|
| 276 |
+
"sink_1_right_group_1": {
|
| 277 |
+
"cls": "Sink"
|
| 278 |
+
},
|
| 279 |
+
"counter_1_right_group_1": {
|
| 280 |
+
"cls": "Counter"
|
| 281 |
+
},
|
| 282 |
+
"cab_1_right_group_1": {
|
| 283 |
+
"cls": "OpenCabinet"
|
| 284 |
+
},
|
| 285 |
+
"cab_2_right_group_1": {
|
| 286 |
+
"cls": "OpenCabinet"
|
| 287 |
+
},
|
| 288 |
+
"island_island_group_1": {
|
| 289 |
+
"cls": "Counter"
|
| 290 |
+
},
|
| 291 |
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"stack_1_island_group_1_base": {
|
| 292 |
+
"cls": "Box"
|
| 293 |
+
},
|
| 294 |
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"stack_1_island_group_1_1": {
|
| 295 |
+
"cls": "Drawer"
|
| 296 |
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},
|
| 297 |
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|
| 298 |
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"cls": "Drawer"
|
| 299 |
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},
|
| 300 |
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"stack_2_island_group_1_base": {
|
| 301 |
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"cls": "Box"
|
| 302 |
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},
|
| 303 |
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"stack_2_island_group_1_1": {
|
| 304 |
+
"cls": "Drawer"
|
| 305 |
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},
|
| 306 |
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"stack_2_island_group_1_2": {
|
| 307 |
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"cls": "Drawer"
|
| 308 |
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},
|
| 309 |
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"stack_3_island_group_1_base": {
|
| 310 |
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"cls": "Box"
|
| 311 |
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},
|
| 312 |
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"stack_3_island_group_1_1": {
|
| 313 |
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"cls": "Drawer"
|
| 314 |
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},
|
| 315 |
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"stack_3_island_group_1_2": {
|
| 316 |
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"cls": "Drawer"
|
| 317 |
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}
|
| 318 |
+
},
|
| 319 |
+
"gen_textures": {},
|
| 320 |
+
"lang": "Fully slide the oven rack in.",
|
| 321 |
+
"fixture_refs": {
|
| 322 |
+
"oven": "oven_left_group_1"
|
| 323 |
+
},
|
| 324 |
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"cam_configs": {
|
| 325 |
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"robot0_agentview_center": {
|
| 326 |
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"pos": [
|
| 327 |
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-0.6,
|
| 328 |
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0.0,
|
| 329 |
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1.15
|
| 330 |
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],
|
| 331 |
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"quat": [
|
| 332 |
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0.636945903301239,
|
| 333 |
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0.3325185477733612,
|
| 334 |
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|
| 335 |
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-0.6175596117973328
|
| 336 |
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],
|
| 337 |
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"parent_body": "mobilebase0_support"
|
| 338 |
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},
|
| 339 |
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"robot0_agentview_left": {
|
| 340 |
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"pos": [
|
| 341 |
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-0.5,
|
| 342 |
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0.35,
|
| 343 |
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1.05
|
| 344 |
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],
|
| 345 |
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"quat": [
|
| 346 |
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0.55623853,
|
| 347 |
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0.29935253,
|
| 348 |
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|
| 349 |
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-0.6775092
|
| 350 |
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],
|
| 351 |
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"camera_attribs": {
|
| 352 |
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"fovy": "60"
|
| 353 |
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},
|
| 354 |
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"parent_body": "mobilebase0_support"
|
| 355 |
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},
|
| 356 |
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"robot0_agentview_right": {
|
| 357 |
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"pos": [
|
| 358 |
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-0.5,
|
| 359 |
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-0.35,
|
| 360 |
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1.05
|
| 361 |
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],
|
| 362 |
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"quat": [
|
| 363 |
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0.6775091886520386,
|
| 364 |
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0.3767866790294647,
|
| 365 |
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|
| 366 |
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|
| 367 |
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],
|
| 368 |
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"camera_attribs": {
|
| 369 |
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"fovy": "60"
|
| 370 |
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},
|
| 371 |
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"parent_body": "mobilebase0_support"
|
| 372 |
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},
|
| 373 |
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"robot0_frontview": {
|
| 374 |
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"pos": [
|
| 375 |
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-0.5,
|
| 376 |
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0,
|
| 377 |
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0.95
|
| 378 |
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],
|
| 379 |
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"quat": [
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| 380 |
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0.6088936924934387,
|
| 381 |
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0.3814677894115448,
|
| 382 |
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|
| 383 |
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|
| 384 |
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],
|
| 385 |
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"camera_attribs": {
|
| 386 |
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"fovy": "60"
|
| 387 |
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},
|
| 388 |
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"parent_body": "mobilebase0_support"
|
| 389 |
+
},
|
| 390 |
+
"robot0_eye_in_hand": {
|
| 391 |
+
"pos": [
|
| 392 |
+
0.05,
|
| 393 |
+
0,
|
| 394 |
+
0
|
| 395 |
+
],
|
| 396 |
+
"quat": [
|
| 397 |
+
0,
|
| 398 |
+
0.707107,
|
| 399 |
+
0.707107,
|
| 400 |
+
0
|
| 401 |
+
],
|
| 402 |
+
"parent_body": "robot0_right_hand"
|
| 403 |
+
}
|
| 404 |
+
},
|
| 405 |
+
"init_robot_base_pos": [
|
| 406 |
+
1.2364243186877903,
|
| 407 |
+
-1.6291260009843347,
|
| 408 |
+
0.0
|
| 409 |
+
],
|
| 410 |
+
"init_robot_base_ori": [
|
| 411 |
+
0.0,
|
| 412 |
+
0.0,
|
| 413 |
+
3.1415926193612504
|
| 414 |
+
],
|
| 415 |
+
"should_pull": false,
|
| 416 |
+
"rack_level": 0
|
| 417 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000109/ep_meta.json
ADDED
|
@@ -0,0 +1,276 @@
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 34,
|
| 3 |
+
"style_id": 11,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_main_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_main_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_left_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_left_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"floor_1_room": {
|
| 19 |
+
"cls": "Floor"
|
| 20 |
+
},
|
| 21 |
+
"floor_1_backing_room": {
|
| 22 |
+
"cls": "Floor"
|
| 23 |
+
},
|
| 24 |
+
"stool_2_room": {
|
| 25 |
+
"cls": "Stool"
|
| 26 |
+
},
|
| 27 |
+
"stool_3_room": {
|
| 28 |
+
"cls": "Stool"
|
| 29 |
+
},
|
| 30 |
+
"stool_4_room": {
|
| 31 |
+
"cls": "Stool"
|
| 32 |
+
},
|
| 33 |
+
"stool_1_room": {
|
| 34 |
+
"cls": "Stool"
|
| 35 |
+
},
|
| 36 |
+
"stovetop_left_group_1": {
|
| 37 |
+
"cls": "Stovetop"
|
| 38 |
+
},
|
| 39 |
+
"counter_1_left_group_1": {
|
| 40 |
+
"cls": "Counter"
|
| 41 |
+
},
|
| 42 |
+
"hingecabinet_4_left_group_1": {
|
| 43 |
+
"cls": "HingeCabinet"
|
| 44 |
+
},
|
| 45 |
+
"hingecabinet_3_left_group_1": {
|
| 46 |
+
"cls": "HingeCabinet"
|
| 47 |
+
},
|
| 48 |
+
"hingecabinet_2_left_group_1": {
|
| 49 |
+
"cls": "HingeCabinet"
|
| 50 |
+
},
|
| 51 |
+
"singlecabinet_1_left_group_1": {
|
| 52 |
+
"cls": "SingleCabinet"
|
| 53 |
+
},
|
| 54 |
+
"bottom_left_group_1_base": {
|
| 55 |
+
"cls": "Box"
|
| 56 |
+
},
|
| 57 |
+
"bottom_left_group_1_1": {
|
| 58 |
+
"cls": "Drawer"
|
| 59 |
+
},
|
| 60 |
+
"oven_left_group_1": {
|
| 61 |
+
"cls": "Oven"
|
| 62 |
+
},
|
| 63 |
+
"microwave_left_group_1": {
|
| 64 |
+
"cls": "Microwave"
|
| 65 |
+
},
|
| 66 |
+
"fridgefrenchdoor_left_group_1": {
|
| 67 |
+
"cls": "FridgeFrenchDoor"
|
| 68 |
+
},
|
| 69 |
+
"fridgefrenchdoor_housing_left_group_1": {
|
| 70 |
+
"cls": "HousingCabinet"
|
| 71 |
+
},
|
| 72 |
+
"oven_housing_left_group_1": {
|
| 73 |
+
"cls": "HousingCabinet"
|
| 74 |
+
},
|
| 75 |
+
"hingecabinet_1_left_group_1": {
|
| 76 |
+
"cls": "HingeCabinet"
|
| 77 |
+
},
|
| 78 |
+
"microwave_housing_left_group_1": {
|
| 79 |
+
"cls": "HousingCabinet"
|
| 80 |
+
},
|
| 81 |
+
"top_left_group_1": {
|
| 82 |
+
"cls": "HingeCabinet"
|
| 83 |
+
},
|
| 84 |
+
"stack_3_left_group_1_base": {
|
| 85 |
+
"cls": "Box"
|
| 86 |
+
},
|
| 87 |
+
"stack_3_left_group_1_1": {
|
| 88 |
+
"cls": "Drawer"
|
| 89 |
+
},
|
| 90 |
+
"stack_3_left_group_1_2": {
|
| 91 |
+
"cls": "Drawer"
|
| 92 |
+
},
|
| 93 |
+
"stack_3_left_group_1_3": {
|
| 94 |
+
"cls": "PanelCabinet"
|
| 95 |
+
},
|
| 96 |
+
"stack_2_left_group_1_base": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"stack_2_left_group_1_1": {
|
| 100 |
+
"cls": "Drawer"
|
| 101 |
+
},
|
| 102 |
+
"stack_2_left_group_1_2": {
|
| 103 |
+
"cls": "Drawer"
|
| 104 |
+
},
|
| 105 |
+
"stack_2_left_group_1_3": {
|
| 106 |
+
"cls": "Drawer"
|
| 107 |
+
},
|
| 108 |
+
"stack_4_left_group_1_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_4_left_group_1_1": {
|
| 112 |
+
"cls": "Drawer"
|
| 113 |
+
},
|
| 114 |
+
"stack_4_left_group_1_2": {
|
| 115 |
+
"cls": "Drawer"
|
| 116 |
+
},
|
| 117 |
+
"stack_4_left_group_1_3": {
|
| 118 |
+
"cls": "Drawer"
|
| 119 |
+
},
|
| 120 |
+
"stack_1_left_group_1_base": {
|
| 121 |
+
"cls": "Box"
|
| 122 |
+
},
|
| 123 |
+
"stack_1_left_group_1_1": {
|
| 124 |
+
"cls": "SingleCabinet"
|
| 125 |
+
},
|
| 126 |
+
"coffee_machine_left_group_1": {
|
| 127 |
+
"cls": "CoffeeMachine"
|
| 128 |
+
},
|
| 129 |
+
"toaster_left_group_1": {
|
| 130 |
+
"cls": "Toaster"
|
| 131 |
+
},
|
| 132 |
+
"toaster_oven_left_group_1": {
|
| 133 |
+
"cls": "ToasterOven"
|
| 134 |
+
},
|
| 135 |
+
"sink_island_group_1": {
|
| 136 |
+
"cls": "Sink"
|
| 137 |
+
},
|
| 138 |
+
"island_island_group_1": {
|
| 139 |
+
"cls": "Counter"
|
| 140 |
+
},
|
| 141 |
+
"cube_1_island_group_1": {
|
| 142 |
+
"cls": "Box"
|
| 143 |
+
},
|
| 144 |
+
"cube_2_island_group_1": {
|
| 145 |
+
"cls": "Box"
|
| 146 |
+
},
|
| 147 |
+
"cube_3_island_group_1": {
|
| 148 |
+
"cls": "Box"
|
| 149 |
+
},
|
| 150 |
+
"stack_2_island_group_1_base": {
|
| 151 |
+
"cls": "Box"
|
| 152 |
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},
|
| 153 |
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"stack_2_island_group_1_1": {
|
| 154 |
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"cls": "HingeCabinet"
|
| 155 |
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},
|
| 156 |
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"stack_3_island_group_1_base": {
|
| 157 |
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"cls": "Box"
|
| 158 |
+
},
|
| 159 |
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"stack_3_island_group_1_1": {
|
| 160 |
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"cls": "SingleCabinet"
|
| 161 |
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},
|
| 162 |
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"stack_1_island_group_1_base": {
|
| 163 |
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"cls": "Box"
|
| 164 |
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},
|
| 165 |
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"stack_1_island_group_1_1": {
|
| 166 |
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"cls": "SingleCabinet"
|
| 167 |
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},
|
| 168 |
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"cube_4_island_group_1": {
|
| 169 |
+
"cls": "Box"
|
| 170 |
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},
|
| 171 |
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"dishwasher_1_island_group_1": {
|
| 172 |
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"cls": "Dishwasher"
|
| 173 |
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},
|
| 174 |
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"paper_towel_island_group_1": {
|
| 175 |
+
"cls": "Accessory"
|
| 176 |
+
}
|
| 177 |
+
},
|
| 178 |
+
"gen_textures": {},
|
| 179 |
+
"lang": "Fully slide the oven rack out.",
|
| 180 |
+
"fixture_refs": {
|
| 181 |
+
"oven": "oven_left_group_1"
|
| 182 |
+
},
|
| 183 |
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"cam_configs": {
|
| 184 |
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"robot0_agentview_center": {
|
| 185 |
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"pos": [
|
| 186 |
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-0.6,
|
| 187 |
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0.0,
|
| 188 |
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|
| 189 |
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],
|
| 190 |
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"quat": [
|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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],
|
| 196 |
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"parent_body": "mobilebase0_support"
|
| 197 |
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},
|
| 198 |
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"robot0_agentview_left": {
|
| 199 |
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"pos": [
|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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},
|
| 213 |
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"parent_body": "mobilebase0_support"
|
| 214 |
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},
|
| 215 |
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"robot0_agentview_right": {
|
| 216 |
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"pos": [
|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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],
|
| 221 |
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| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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"fovy": "60"
|
| 229 |
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},
|
| 230 |
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"parent_body": "mobilebase0_support"
|
| 231 |
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},
|
| 232 |
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"robot0_frontview": {
|
| 233 |
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"pos": [
|
| 234 |
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-0.5,
|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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"quat": [
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| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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],
|
| 244 |
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"camera_attribs": {
|
| 245 |
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"fovy": "60"
|
| 246 |
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},
|
| 247 |
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"parent_body": "mobilebase0_support"
|
| 248 |
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},
|
| 249 |
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"robot0_eye_in_hand": {
|
| 250 |
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"pos": [
|
| 251 |
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0.05,
|
| 252 |
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0,
|
| 253 |
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0
|
| 254 |
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],
|
| 255 |
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"quat": [
|
| 256 |
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|
| 257 |
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|
| 258 |
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0.707107,
|
| 259 |
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0
|
| 260 |
+
],
|
| 261 |
+
"parent_body": "robot0_right_hand"
|
| 262 |
+
}
|
| 263 |
+
},
|
| 264 |
+
"init_robot_base_pos": [
|
| 265 |
+
1.0955918976850036,
|
| 266 |
+
-0.3376826533660822,
|
| 267 |
+
0.0
|
| 268 |
+
],
|
| 269 |
+
"init_robot_base_ori": [
|
| 270 |
+
0.0,
|
| 271 |
+
0.0,
|
| 272 |
+
3.1412906566438026
|
| 273 |
+
],
|
| 274 |
+
"should_pull": true,
|
| 275 |
+
"rack_level": 1
|
| 276 |
+
}
|
pretrain/atomic/SlideOvenRack/20250820/lerobot/extras/episode_000112/ep_meta.json
ADDED
|
@@ -0,0 +1,417 @@
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|
|
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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": 17,
|
| 3 |
+
"style_id": 16,
|
| 4 |
+
"object_cfgs": [],
|
| 5 |
+
"fixtures": {
|
| 6 |
+
"wall_left_1_room": {
|
| 7 |
+
"cls": "Wall"
|
| 8 |
+
},
|
| 9 |
+
"wall_left_1_backing_room": {
|
| 10 |
+
"cls": "Wall"
|
| 11 |
+
},
|
| 12 |
+
"wall_main_1_room": {
|
| 13 |
+
"cls": "Wall"
|
| 14 |
+
},
|
| 15 |
+
"wall_main_1_backing_room": {
|
| 16 |
+
"cls": "Wall"
|
| 17 |
+
},
|
| 18 |
+
"wall_right_1_room": {
|
| 19 |
+
"cls": "Wall"
|
| 20 |
+
},
|
| 21 |
+
"wall_right_1_backing_room": {
|
| 22 |
+
"cls": "Wall"
|
| 23 |
+
},
|
| 24 |
+
"window_group_room": {
|
| 25 |
+
"cls": "Window"
|
| 26 |
+
},
|
| 27 |
+
"floor_1_room": {
|
| 28 |
+
"cls": "Floor"
|
| 29 |
+
},
|
| 30 |
+
"floor_1_backing_room": {
|
| 31 |
+
"cls": "Floor"
|
| 32 |
+
},
|
| 33 |
+
"wall_accessory_1_room": {
|
| 34 |
+
"cls": "WallAccessory"
|
| 35 |
+
},
|
| 36 |
+
"wall_accessory_2_room": {
|
| 37 |
+
"cls": "WallAccessory"
|
| 38 |
+
},
|
| 39 |
+
"wall_accessory_3_room": {
|
| 40 |
+
"cls": "WallAccessory"
|
| 41 |
+
},
|
| 42 |
+
"wall_accessory_4_room": {
|
| 43 |
+
"cls": "WallAccessory"
|
| 44 |
+
},
|
| 45 |
+
"light_switch_1_room": {
|
| 46 |
+
"cls": "WallAccessory"
|
| 47 |
+
},
|
| 48 |
+
"wall_accessory_5_room": {
|
| 49 |
+
"cls": "WallAccessory"
|
| 50 |
+
},
|
| 51 |
+
"wall_accessory_6_room": {
|
| 52 |
+
"cls": "WallAccessory"
|
| 53 |
+
},
|
| 54 |
+
"stool_1_room": {
|
| 55 |
+
"cls": "Stool"
|
| 56 |
+
},
|
| 57 |
+
"stool_2_room": {
|
| 58 |
+
"cls": "Stool"
|
| 59 |
+
},
|
| 60 |
+
"stool_3_room": {
|
| 61 |
+
"cls": "Stool"
|
| 62 |
+
},
|
| 63 |
+
"counter_corner_1_main_group_1": {
|
| 64 |
+
"cls": "Counter"
|
| 65 |
+
},
|
| 66 |
+
"stovetop_main_group_1": {
|
| 67 |
+
"cls": "Stovetop"
|
| 68 |
+
},
|
| 69 |
+
"counter_1_main_group_1": {
|
| 70 |
+
"cls": "Counter"
|
| 71 |
+
},
|
| 72 |
+
"counter_corner_2_main_group_1": {
|
| 73 |
+
"cls": "Counter"
|
| 74 |
+
},
|
| 75 |
+
"box_1_main_group_1": {
|
| 76 |
+
"cls": "Box"
|
| 77 |
+
},
|
| 78 |
+
"stack_1_main_group_1_base": {
|
| 79 |
+
"cls": "Box"
|
| 80 |
+
},
|
| 81 |
+
"stack_1_main_group_1_1": {
|
| 82 |
+
"cls": "SingleCabinet"
|
| 83 |
+
},
|
| 84 |
+
"stack_2_main_group_1_base": {
|
| 85 |
+
"cls": "Box"
|
| 86 |
+
},
|
| 87 |
+
"stack_2_main_group_1_1": {
|
| 88 |
+
"cls": "Drawer"
|
| 89 |
+
},
|
| 90 |
+
"stack_2_main_group_1_2": {
|
| 91 |
+
"cls": "Drawer"
|
| 92 |
+
},
|
| 93 |
+
"stack_2_main_group_1_3": {
|
| 94 |
+
"cls": "Drawer"
|
| 95 |
+
},
|
| 96 |
+
"stack_3_main_group_1_base": {
|
| 97 |
+
"cls": "Box"
|
| 98 |
+
},
|
| 99 |
+
"stack_3_main_group_1_1": {
|
| 100 |
+
"cls": "SingleCabinet"
|
| 101 |
+
},
|
| 102 |
+
"stack_4_main_group_1_base": {
|
| 103 |
+
"cls": "Box"
|
| 104 |
+
},
|
| 105 |
+
"stack_4_main_group_1_1": {
|
| 106 |
+
"cls": "HingeCabinet"
|
| 107 |
+
},
|
| 108 |
+
"stack_5_main_group_1_base": {
|
| 109 |
+
"cls": "Box"
|
| 110 |
+
},
|
| 111 |
+
"stack_5_main_group_1_1": {
|
| 112 |
+
"cls": "SingleCabinet"
|
| 113 |
+
},
|
| 114 |
+
"stack_6_main_group_1_base": {
|
| 115 |
+
"cls": "Box"
|
| 116 |
+
},
|
| 117 |
+
"stack_6_main_group_1_1": {
|
| 118 |
+
"cls": "Drawer"
|
| 119 |
+
},
|
| 120 |
+
"stack_6_main_group_1_2": {
|
| 121 |
+
"cls": "Drawer"
|
| 122 |
+
},
|
| 123 |
+
"stack_6_main_group_1_3": {
|
| 124 |
+
"cls": "Drawer"
|
| 125 |
+
},
|
| 126 |
+
"stack_7_main_group_1_base": {
|
| 127 |
+
"cls": "Box"
|
| 128 |
+
},
|
| 129 |
+
"stack_7_main_group_1_1": {
|
| 130 |
+
"cls": "SingleCabinet"
|
| 131 |
+
},
|
| 132 |
+
"box_2_main_group_1": {
|
| 133 |
+
"cls": "Box"
|
| 134 |
+
},
|
| 135 |
+
"hood_main_group_1": {
|
| 136 |
+
"cls": "Hood"
|
| 137 |
+
},
|
| 138 |
+
"cab_corner_main_group_1": {
|
| 139 |
+
"cls": "Box"
|
| 140 |
+
},
|
| 141 |
+
"cab_1_main_group_1": {
|
| 142 |
+
"cls": "HingeCabinet"
|
| 143 |
+
},
|
| 144 |
+
"cab_2_main_group_1": {
|
| 145 |
+
"cls": "HingeCabinet"
|
| 146 |
+
},
|
| 147 |
+
"cab_3_main_group_1": {
|
| 148 |
+
"cls": "SingleCabinet"
|
| 149 |
+
},
|
| 150 |
+
"cab_4_main_group_1": {
|
| 151 |
+
"cls": "HingeCabinet"
|
| 152 |
+
},
|
| 153 |
+
"cab_5_main_group_1": {
|
| 154 |
+
"cls": "HingeCabinet"
|
| 155 |
+
},
|
| 156 |
+
"cab_6_main_group_1": {
|
| 157 |
+
"cls": "SingleCabinet"
|
| 158 |
+
},
|
| 159 |
+
"cab_corner_2_main_group_1": {
|
| 160 |
+
"cls": "Box"
|
| 161 |
+
},
|
| 162 |
+
"coffee_machine_main_group_1": {
|
| 163 |
+
"cls": "CoffeeMachine"
|
| 164 |
+
},
|
| 165 |
+
"toaster_main_group_1": {
|
| 166 |
+
"cls": "Toaster"
|
| 167 |
+
},
|
| 168 |
+
"paper_towel_main_group_1": {
|
| 169 |
+
"cls": "Accessory"
|
| 170 |
+
},
|
| 171 |
+
"knife_block_main_group_1": {
|
| 172 |
+
"cls": "Accessory"
|
| 173 |
+
},
|
| 174 |
+
"counter_1_left_group_1": {
|
| 175 |
+
"cls": "Counter"
|
| 176 |
+
},
|
| 177 |
+
"stack_1_left_group_1_base": {
|
| 178 |
+
"cls": "Box"
|
| 179 |
+
},
|
| 180 |
+
"stack_1_left_group_1_1": {
|
| 181 |
+
"cls": "Drawer"
|
| 182 |
+
},
|
| 183 |
+
"stack_1_left_group_1_2": {
|
| 184 |
+
"cls": "Drawer"
|
| 185 |
+
},
|
| 186 |
+
"stack_1_left_group_1_3": {
|
| 187 |
+
"cls": "Drawer"
|
| 188 |
+
},
|
| 189 |
+
"box_left_group_1": {
|
| 190 |
+
"cls": "Box"
|
| 191 |
+
},
|
| 192 |
+
"bottom_left_group_1_base": {
|
| 193 |
+
"cls": "Box"
|
| 194 |
+
},
|
| 195 |
+
"bottom_left_group_1_1": {
|
| 196 |
+
"cls": "Drawer"
|
| 197 |
+
},
|
| 198 |
+
"oven_left_group_1": {
|
| 199 |
+
"cls": "Oven"
|
| 200 |
+
},
|
| 201 |
+
"oven_housing_left_group_1": {
|
| 202 |
+
"cls": "HousingCabinet"
|
| 203 |
+
},
|
| 204 |
+
"microwave_left_group_1": {
|
| 205 |
+
"cls": "Microwave"
|
| 206 |
+
},
|
| 207 |
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"microwave_housing_left_group_1": {
|
| 208 |
+
"cls": "HousingCabinet"
|
| 209 |
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},
|
| 210 |
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"top_left_group_1": {
|
| 211 |
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"cls": "HingeCabinet"
|
| 212 |
+
},
|
| 213 |
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"fridge_1_left_group_1": {
|
| 214 |
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"cls": "FridgeBottomFreezer"
|
| 215 |
+
},
|
| 216 |
+
"fridge_1_housing_left_group_1": {
|
| 217 |
+
"cls": "HousingCabinet"
|
| 218 |
+
},
|
| 219 |
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"fridge_cabinet_left_group_1": {
|
| 220 |
+
"cls": "HingeCabinet"
|
| 221 |
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},
|
| 222 |
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"cab_1_left_group_1": {
|
| 223 |
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"cls": "HingeCabinet"
|
| 224 |
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},
|
| 225 |
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"toaster_oven_left_group_1": {
|
| 226 |
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"cls": "ToasterOven"
|
| 227 |
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},
|
| 228 |
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"box_right_group_1": {
|
| 229 |
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"cls": "Box"
|
| 230 |
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},
|
| 231 |
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"stack_1_right_group_1_base": {
|
| 232 |
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"cls": "Box"
|
| 233 |
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},
|
| 234 |
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"stack_1_right_group_1_1": {
|
| 235 |
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"cls": "Drawer"
|
| 236 |
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},
|
| 237 |
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|
| 238 |
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"cls": "Drawer"
|
| 239 |
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},
|
| 240 |
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"stack_1_right_group_1_3": {
|
| 241 |
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"cls": "Drawer"
|
| 242 |
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},
|
| 243 |
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"stack_2_right_group_1_base": {
|
| 244 |
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"cls": "Box"
|
| 245 |
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},
|
| 246 |
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"stack_2_right_group_1_1": {
|
| 247 |
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"cls": "Drawer"
|
| 248 |
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},
|
| 249 |
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"stack_2_right_group_1_2": {
|
| 250 |
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"cls": "Drawer"
|
| 251 |
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},
|
| 252 |
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"stack_2_right_group_1_3": {
|
| 253 |
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"cls": "Drawer"
|
| 254 |
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},
|
| 255 |
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"stack_3_right_group_1_base": {
|
| 256 |
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"cls": "Box"
|
| 257 |
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},
|
| 258 |
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"stack_3_right_group_1_1": {
|
| 259 |
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"cls": "HingeCabinet"
|
| 260 |
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},
|
| 261 |
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"dishwasher_1_right_group_1": {
|
| 262 |
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"cls": "Dishwasher"
|
| 263 |
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},
|
| 264 |
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"stack_4_right_group_1_base": {
|
| 265 |
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"cls": "Box"
|
| 266 |
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},
|
| 267 |
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"stack_4_right_group_1_1": {
|
| 268 |
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"cls": "Drawer"
|
| 269 |
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},
|
| 270 |
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"stack_4_right_group_1_2": {
|
| 271 |
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"cls": "Drawer"
|
| 272 |
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},
|
| 273 |
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"stack_4_right_group_1_3": {
|
| 274 |
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"cls": "Drawer"
|
| 275 |
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},
|
| 276 |
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"sink_1_right_group_1": {
|
| 277 |
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"cls": "Sink"
|
| 278 |
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},
|
| 279 |
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"counter_1_right_group_1": {
|
| 280 |
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"cls": "Counter"
|
| 281 |
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},
|
| 282 |
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"cab_1_right_group_1": {
|
| 283 |
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"cls": "OpenCabinet"
|
| 284 |
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},
|
| 285 |
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"cab_2_right_group_1": {
|
| 286 |
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"cls": "OpenCabinet"
|
| 287 |
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},
|
| 288 |
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"island_island_group_1": {
|
| 289 |
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"cls": "Counter"
|
| 290 |
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},
|
| 291 |
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"stack_1_island_group_1_base": {
|
| 292 |
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"cls": "Box"
|
| 293 |
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},
|
| 294 |
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"stack_1_island_group_1_1": {
|
| 295 |
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"cls": "Drawer"
|
| 296 |
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},
|
| 297 |
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|
| 298 |
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"cls": "Drawer"
|
| 299 |
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},
|
| 300 |
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|
| 301 |
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"cls": "Box"
|
| 302 |
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},
|
| 303 |
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|
| 304 |
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"cls": "Drawer"
|
| 305 |
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},
|
| 306 |
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|
| 307 |
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"cls": "Drawer"
|
| 308 |
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},
|
| 309 |
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|
| 310 |
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"cls": "Box"
|
| 311 |
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},
|
| 312 |
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"stack_3_island_group_1_1": {
|
| 313 |
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"cls": "Drawer"
|
| 314 |
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},
|
| 315 |
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|
| 316 |
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"cls": "Drawer"
|
| 317 |
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}
|
| 318 |
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},
|
| 319 |
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"gen_textures": {},
|
| 320 |
+
"lang": "Fully slide the top oven rack in.",
|
| 321 |
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"fixture_refs": {
|
| 322 |
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"oven": "oven_left_group_1"
|
| 323 |
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},
|
| 324 |
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"cam_configs": {
|
| 325 |
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"robot0_agentview_center": {
|
| 326 |
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"pos": [
|
| 327 |
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-0.6,
|
| 328 |
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0.0,
|
| 329 |
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1.15
|
| 330 |
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],
|
| 331 |
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| 334 |
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| 335 |
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|
| 336 |
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],
|
| 337 |
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"parent_body": "mobilebase0_support"
|
| 338 |
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},
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|
| 340 |
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"pos": [
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| 341 |
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| 342 |
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0.35,
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| 343 |
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1.05
|
| 344 |
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],
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| 349 |
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|
| 350 |
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|
| 351 |
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|
| 352 |
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|
| 353 |
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},
|
| 354 |
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| 355 |
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|
| 356 |
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|
| 357 |
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| 358 |
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| 360 |
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},
|
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| 372 |
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| 373 |
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| 374 |
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"pos": [
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| 375 |
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| 377 |
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|
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},
|
| 388 |
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|
| 389 |
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},
|
| 390 |
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"robot0_eye_in_hand": {
|
| 391 |
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"pos": [
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| 392 |
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0.05,
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| 393 |
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0,
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| 394 |
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0
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| 395 |
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],
|
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| 398 |
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|
| 400 |
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| 401 |
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],
|
| 402 |
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"parent_body": "robot0_right_hand"
|
| 403 |
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}
|
| 404 |
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},
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| 405 |
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0.0,
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| 412 |
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0.0,
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| 413 |
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| 414 |
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],
|
| 415 |
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"should_pull": false,
|
| 416 |
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"rack_level": 1
|
| 417 |
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}
|