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Browse files- target/composite/BreadSelection/20250815/lerobot/extras/episode_000081/ep_meta.json +659 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000082/ep_meta.json +656 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000146/ep_meta.json +730 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000147/ep_meta.json +660 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000152/ep_meta.json +727 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000207/ep_meta.json +645 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000210/ep_meta.json +657 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000279/ep_meta.json +728 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000307/ep_meta.json +655 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000313/ep_meta.json +729 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000328/ep_meta.json +656 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000354/ep_meta.json +637 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000374/ep_meta.json +805 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000397/ep_meta.json +556 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000414/ep_meta.json +659 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000453/ep_meta.json +805 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000463/ep_meta.json +658 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000472/ep_meta.json +673 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000478/ep_meta.json +728 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000480/ep_meta.json +734 -0
target/composite/BreadSelection/20250815/lerobot/extras/episode_000081/ep_meta.json
ADDED
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@@ -0,0 +1,659 @@
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 6,
|
| 3 |
+
"style_id": 6,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cutting_board",
|
| 7 |
+
"obj_groups": "cutting_board",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "counter_main_main_group",
|
| 11 |
+
"sample_region_kwargs": {
|
| 12 |
+
"ref": "cab_main_main_group",
|
| 13 |
+
"min_size": [
|
| 14 |
+
0.2102443155000001,
|
| 15 |
+
0.3375000067500002,
|
| 16 |
+
0.025346209500000008
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"size": [
|
| 20 |
+
1.0,
|
| 21 |
+
0.6
|
| 22 |
+
],
|
| 23 |
+
"pos": [
|
| 24 |
+
0.0,
|
| 25 |
+
-1.0
|
| 26 |
+
],
|
| 27 |
+
"rotation": [
|
| 28 |
+
1.5707963267948966,
|
| 29 |
+
1.5707963267948966
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"type": "object",
|
| 33 |
+
"info": {
|
| 34 |
+
"groups_containing_sampled_obj": [
|
| 35 |
+
"all",
|
| 36 |
+
"cutting_board",
|
| 37 |
+
"receptacle"
|
| 38 |
+
],
|
| 39 |
+
"groups": [
|
| 40 |
+
"cutting_board"
|
| 41 |
+
],
|
| 42 |
+
"cat": "cutting_board",
|
| 43 |
+
"split": "test",
|
| 44 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_2/model.xml"
|
| 45 |
+
},
|
| 46 |
+
"reset_region": {
|
| 47 |
+
"size": [
|
| 48 |
+
1.0000000000000004,
|
| 49 |
+
0.65
|
| 50 |
+
],
|
| 51 |
+
"offset": [
|
| 52 |
+
1.0,
|
| 53 |
+
-3.469446951953614e-17,
|
| 54 |
+
0.46
|
| 55 |
+
],
|
| 56 |
+
"name": "geom_0"
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"name": "distr_pastry_container",
|
| 61 |
+
"obj_groups": "plate",
|
| 62 |
+
"placement": {
|
| 63 |
+
"fixture": "counter_main_main_group",
|
| 64 |
+
"reuse_region_from": "cutting_board",
|
| 65 |
+
"size": [
|
| 66 |
+
1.0,
|
| 67 |
+
0.6
|
| 68 |
+
],
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
-1.0
|
| 72 |
+
],
|
| 73 |
+
"try_to_place_in": "plate"
|
| 74 |
+
},
|
| 75 |
+
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+
"stack_2_left_group_1": {
|
| 511 |
+
"cls": "HingeCabinet"
|
| 512 |
+
},
|
| 513 |
+
"stack_2_left_group_2": {
|
| 514 |
+
"cls": "Drawer"
|
| 515 |
+
},
|
| 516 |
+
"stack_2_left_group_3": {
|
| 517 |
+
"cls": "Drawer"
|
| 518 |
+
},
|
| 519 |
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"stack_3_left_group_base": {
|
| 520 |
+
"cls": "Box"
|
| 521 |
+
},
|
| 522 |
+
"stack_3_left_group_1": {
|
| 523 |
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"cls": "HingeCabinet"
|
| 524 |
+
},
|
| 525 |
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"stack_3_left_group_2": {
|
| 526 |
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"cls": "Drawer"
|
| 527 |
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},
|
| 528 |
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"cab_1_left_group": {
|
| 529 |
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"cls": "HingeCabinet"
|
| 530 |
+
},
|
| 531 |
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"shelves_left_group": {
|
| 532 |
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"cls": "OpenCabinet"
|
| 533 |
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},
|
| 534 |
+
"coffee_machine_left_group": {
|
| 535 |
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"cls": "CoffeeMachine"
|
| 536 |
+
},
|
| 537 |
+
"plant_left_group": {
|
| 538 |
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"cls": "Accessory"
|
| 539 |
+
},
|
| 540 |
+
"oil_bottle_left_group": {
|
| 541 |
+
"cls": "Accessory"
|
| 542 |
+
},
|
| 543 |
+
"salt_shaker_left_group": {
|
| 544 |
+
"cls": "Accessory"
|
| 545 |
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},
|
| 546 |
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"paprika_left_group": {
|
| 547 |
+
"cls": "Accessory"
|
| 548 |
+
},
|
| 549 |
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"cinnamon_left_group": {
|
| 550 |
+
"cls": "Accessory"
|
| 551 |
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},
|
| 552 |
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"turmeric_left_group": {
|
| 553 |
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"cls": "Accessory"
|
| 554 |
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},
|
| 555 |
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"oil_bottle_left_group_auxiliary_left_group": {
|
| 556 |
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"cls": "Accessory"
|
| 557 |
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},
|
| 558 |
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"salt_shaker_left_group_auxiliary_left_group": {
|
| 559 |
+
"cls": "Accessory"
|
| 560 |
+
}
|
| 561 |
+
},
|
| 562 |
+
"gen_textures": {},
|
| 563 |
+
"lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.",
|
| 564 |
+
"fixture_refs": {
|
| 565 |
+
"cab": "cab_main_main_group",
|
| 566 |
+
"counter": "counter_main_main_group"
|
| 567 |
+
},
|
| 568 |
+
"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": [
|
| 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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],
|
| 581 |
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"parent_body": "mobilebase0_support"
|
| 582 |
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},
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| 583 |
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"robot0_agentview_left": {
|
| 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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],
|
| 595 |
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"camera_attribs": {
|
| 596 |
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"fovy": "60"
|
| 597 |
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},
|
| 598 |
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"parent_body": "mobilebase0_support"
|
| 599 |
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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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|
| 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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|
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|
| 609 |
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|
| 610 |
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|
| 611 |
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],
|
| 612 |
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"camera_attribs": {
|
| 613 |
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"fovy": "60"
|
| 614 |
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},
|
| 615 |
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"parent_body": "mobilebase0_support"
|
| 616 |
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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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|
| 622 |
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],
|
| 623 |
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"quat": [
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| 624 |
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|
| 625 |
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|
| 626 |
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|
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|
| 628 |
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],
|
| 629 |
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"camera_attribs": {
|
| 630 |
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"fovy": "60"
|
| 631 |
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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": [
|
| 636 |
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0.05,
|
| 637 |
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0,
|
| 638 |
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0
|
| 639 |
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],
|
| 640 |
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"quat": [
|
| 641 |
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0,
|
| 642 |
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|
| 643 |
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0.707107,
|
| 644 |
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0
|
| 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 |
+
}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000082/ep_meta.json
ADDED
|
@@ -0,0 +1,656 @@
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|
| 403 |
+
"cls": "OpenCabinet"
|
| 404 |
+
},
|
| 405 |
+
"cab_2_main_group": {
|
| 406 |
+
"cls": "HingeCabinet"
|
| 407 |
+
},
|
| 408 |
+
"stack_3_main_group_base": {
|
| 409 |
+
"cls": "Box"
|
| 410 |
+
},
|
| 411 |
+
"stack_3_main_group_1": {
|
| 412 |
+
"cls": "HingeCabinet"
|
| 413 |
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},
|
| 414 |
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"stack_3_main_group_2": {
|
| 415 |
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"cls": "Drawer"
|
| 416 |
+
},
|
| 417 |
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"stack_3_main_group_3": {
|
| 418 |
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"cls": "Drawer"
|
| 419 |
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},
|
| 420 |
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"stack_4_main_group_base": {
|
| 421 |
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"cls": "Box"
|
| 422 |
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},
|
| 423 |
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"stack_4_main_group_1": {
|
| 424 |
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"cls": "HingeCabinet"
|
| 425 |
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},
|
| 426 |
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"stack_4_main_group_2": {
|
| 427 |
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"cls": "Drawer"
|
| 428 |
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},
|
| 429 |
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"stack_4_main_group_3": {
|
| 430 |
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"cls": "Drawer"
|
| 431 |
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},
|
| 432 |
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"stack_5_main_group_base": {
|
| 433 |
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"cls": "Box"
|
| 434 |
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},
|
| 435 |
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"stack_5_main_group_1": {
|
| 436 |
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"cls": "HingeCabinet"
|
| 437 |
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},
|
| 438 |
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"stack_5_main_group_2": {
|
| 439 |
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"cls": "Drawer"
|
| 440 |
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},
|
| 441 |
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"stack_5_main_group_3": {
|
| 442 |
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"cls": "Drawer"
|
| 443 |
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},
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| 444 |
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"stack_6_main_group_base": {
|
| 445 |
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"cls": "Box"
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| 446 |
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},
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| 447 |
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"stack_6_main_group_1": {
|
| 448 |
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"cls": "Drawer"
|
| 449 |
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},
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| 450 |
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"stack_6_main_group_2": {
|
| 451 |
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"cls": "Drawer"
|
| 452 |
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},
|
| 453 |
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"stack_6_main_group_3": {
|
| 454 |
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"cls": "Drawer"
|
| 455 |
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},
|
| 456 |
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"stack_6_main_group_4": {
|
| 457 |
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"cls": "Drawer"
|
| 458 |
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},
|
| 459 |
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"toaster_main_group": {
|
| 460 |
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"cls": "Toaster"
|
| 461 |
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},
|
| 462 |
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"knife_block_main_group": {
|
| 463 |
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"cls": "Accessory"
|
| 464 |
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},
|
| 465 |
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"paper_towel_main_group": {
|
| 466 |
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"cls": "Accessory"
|
| 467 |
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},
|
| 468 |
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"coffee_machine_main_group": {
|
| 469 |
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"cls": "CoffeeMachine"
|
| 470 |
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},
|
| 471 |
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"digital_scale_main_group": {
|
| 472 |
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"cls": "Accessory"
|
| 473 |
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},
|
| 474 |
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"oil_bottle_main_group": {
|
| 475 |
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"cls": "Accessory"
|
| 476 |
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},
|
| 477 |
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"jar_main_group": {
|
| 478 |
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"cls": "Accessory"
|
| 479 |
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},
|
| 480 |
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"paprika_main_group": {
|
| 481 |
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"cls": "Accessory"
|
| 482 |
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},
|
| 483 |
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"cinnamon_main_group": {
|
| 484 |
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"cls": "Accessory"
|
| 485 |
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},
|
| 486 |
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"turmeric_main_group": {
|
| 487 |
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"cls": "Accessory"
|
| 488 |
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},
|
| 489 |
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"oil_bottle_main_group_auxiliary_main_group": {
|
| 490 |
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"cls": "Accessory"
|
| 491 |
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},
|
| 492 |
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"jar_main_group_auxiliary_main_group": {
|
| 493 |
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"cls": "Accessory"
|
| 494 |
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},
|
| 495 |
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"sink_island_group": {
|
| 496 |
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"cls": "Sink"
|
| 497 |
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},
|
| 498 |
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"island_island_group": {
|
| 499 |
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"cls": "Counter"
|
| 500 |
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},
|
| 501 |
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"island_stack_1_island_group_base": {
|
| 502 |
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"cls": "Box"
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| 503 |
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},
|
| 504 |
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"island_stack_1_island_group_1": {
|
| 505 |
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"cls": "HingeCabinet"
|
| 506 |
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},
|
| 507 |
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"island_stack_1_island_group_2": {
|
| 508 |
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"cls": "PanelCabinet"
|
| 509 |
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},
|
| 510 |
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"dishwasher_island_group": {
|
| 511 |
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"cls": "Dishwasher"
|
| 512 |
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},
|
| 513 |
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"island_panel_cab_right_island_group_base": {
|
| 514 |
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"cls": "Box"
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| 515 |
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},
|
| 516 |
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"island_panel_cab_right_island_group_1": {
|
| 517 |
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"cls": "PanelCabinet"
|
| 518 |
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},
|
| 519 |
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"island_cab_left_island_group_base": {
|
| 520 |
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"cls": "Box"
|
| 521 |
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},
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| 522 |
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"island_cab_left_island_group_1": {
|
| 523 |
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"cls": "Drawer"
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| 524 |
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},
|
| 525 |
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"island_cab_left_island_group_2": {
|
| 526 |
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"cls": "Drawer"
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| 527 |
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},
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| 528 |
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"island_cab_left_island_group_3": {
|
| 529 |
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"cls": "Drawer"
|
| 530 |
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},
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| 531 |
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"island_cab_left_island_group_4": {
|
| 532 |
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"cls": "Drawer"
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| 533 |
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},
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| 534 |
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"island_panel_cab_left_island_group_base": {
|
| 535 |
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"cls": "Box"
|
| 536 |
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},
|
| 537 |
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"island_panel_cab_left_island_group_1": {
|
| 538 |
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"cls": "PanelCabinet"
|
| 539 |
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},
|
| 540 |
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"island_base_box_island_group": {
|
| 541 |
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"cls": "Box"
|
| 542 |
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},
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| 543 |
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"plant_island_group": {
|
| 544 |
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"cls": "Accessory"
|
| 545 |
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},
|
| 546 |
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"soap_dispenser_island_group": {
|
| 547 |
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"cls": "Accessory"
|
| 548 |
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},
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| 549 |
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"fruit_bowl_island_group": {
|
| 550 |
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"cls": "Accessory"
|
| 551 |
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},
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| 552 |
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"salt_shaker_island_group": {
|
| 553 |
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"cls": "Accessory"
|
| 554 |
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},
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| 555 |
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"salt_shaker_island_group_auxiliary_island_group": {
|
| 556 |
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"cls": "Accessory"
|
| 557 |
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}
|
| 558 |
+
},
|
| 559 |
+
"gen_textures": {},
|
| 560 |
+
"lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.",
|
| 561 |
+
"fixture_refs": {
|
| 562 |
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"cab": "cab_main_main_group",
|
| 563 |
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"counter": "counter_main_main_group"
|
| 564 |
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},
|
| 565 |
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"cam_configs": {
|
| 566 |
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"robot0_agentview_center": {
|
| 567 |
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"pos": [
|
| 568 |
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-0.6,
|
| 569 |
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0.0,
|
| 570 |
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|
| 571 |
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],
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"quat": [
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| 573 |
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| 579 |
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| 581 |
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| 582 |
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| 594 |
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| 596 |
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| 598 |
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| 599 |
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| 600 |
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},
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"parent_body": "mobilebase0_support"
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| 613 |
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},
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| 615 |
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"pos": [
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| 616 |
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],
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| 628 |
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| 629 |
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"parent_body": "mobilebase0_support"
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| 630 |
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| 632 |
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"pos": [
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| 644 |
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}
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},
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|
| 655 |
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]
|
| 656 |
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}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000146/ep_meta.json
ADDED
|
@@ -0,0 +1,730 @@
|
|
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|
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|
| 1 |
+
{
|
| 2 |
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"layout_id": 9,
|
| 3 |
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"style_id": 9,
|
| 4 |
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|
| 5 |
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{
|
| 6 |
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"name": "cutting_board",
|
| 7 |
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|
| 8 |
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"init_robot_here": true,
|
| 9 |
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"placement": {
|
| 10 |
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"fixture": "counter_main_main_group",
|
| 11 |
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"sample_region_kwargs": {
|
| 12 |
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"ref": "cab_main_main_group",
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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| 18 |
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| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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],
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| 23 |
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|
| 24 |
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0.0,
|
| 25 |
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|
| 26 |
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],
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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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"type": "object",
|
| 33 |
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"info": {
|
| 34 |
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|
| 35 |
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"all",
|
| 36 |
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|
| 37 |
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|
| 38 |
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],
|
| 39 |
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|
| 40 |
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|
| 41 |
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],
|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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},
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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],
|
| 51 |
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| 52 |
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|
| 53 |
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|
| 54 |
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| 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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"placement": {
|
| 63 |
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"fixture": "counter_main_main_group",
|
| 64 |
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|
| 65 |
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|
| 66 |
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1.0,
|
| 67 |
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|
| 68 |
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],
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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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"type": "object",
|
| 76 |
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"info": {
|
| 77 |
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|
| 78 |
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"all",
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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],
|
| 84 |
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|
| 85 |
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|
| 86 |
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],
|
| 87 |
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"cat": "plate",
|
| 88 |
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"split": "test",
|
| 89 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
|
| 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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],
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| 96 |
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| 97 |
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|
| 98 |
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0.0,
|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"name": "geom_0"
|
| 102 |
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}
|
| 103 |
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},
|
| 104 |
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{
|
| 105 |
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"name": "distr_pastry",
|
| 106 |
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|
| 107 |
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"baguette",
|
| 108 |
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"cupcake"
|
| 109 |
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],
|
| 110 |
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|
| 111 |
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|
| 112 |
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0.01,
|
| 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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"on_top": true
|
| 119 |
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}
|
| 120 |
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},
|
| 121 |
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"type": "object",
|
| 122 |
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|
| 123 |
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|
| 124 |
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"all",
|
| 125 |
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|
| 126 |
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|
| 127 |
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"food",
|
| 128 |
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"in_container",
|
| 129 |
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|
| 130 |
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],
|
| 131 |
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|
| 132 |
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"baguette",
|
| 133 |
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"cupcake"
|
| 134 |
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],
|
| 135 |
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"cat": "baguette",
|
| 136 |
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"split": "test",
|
| 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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"name": "croissant_container",
|
| 142 |
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|
| 143 |
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"placement": {
|
| 144 |
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"fixture": "counter_main_main_group",
|
| 145 |
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|
| 146 |
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|
| 147 |
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1.0,
|
| 148 |
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|
| 149 |
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],
|
| 150 |
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|
| 151 |
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0.0,
|
| 152 |
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-1.0
|
| 153 |
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],
|
| 154 |
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"try_to_place_in": "plate"
|
| 155 |
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},
|
| 156 |
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"type": "object",
|
| 157 |
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"info": {
|
| 158 |
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"groups_containing_sampled_obj": [
|
| 159 |
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"all",
|
| 160 |
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"plate",
|
| 161 |
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"receptacle",
|
| 162 |
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"container",
|
| 163 |
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"container_set2"
|
| 164 |
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],
|
| 165 |
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"groups": [
|
| 166 |
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"plate"
|
| 167 |
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],
|
| 168 |
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"cat": "plate",
|
| 169 |
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"split": "test",
|
| 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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2.8999999999999995,
|
| 175 |
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0.65
|
| 176 |
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],
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| 177 |
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| 178 |
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|
| 179 |
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0.0,
|
| 180 |
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|
| 181 |
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],
|
| 182 |
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"name": "geom_0"
|
| 183 |
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}
|
| 184 |
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},
|
| 185 |
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{
|
| 186 |
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"name": "croissant",
|
| 187 |
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|
| 188 |
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"placement": {
|
| 189 |
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"size": [
|
| 190 |
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0.01,
|
| 191 |
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0.01
|
| 192 |
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],
|
| 193 |
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"ensure_object_boundary_in_range": false,
|
| 194 |
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"sample_args": {
|
| 195 |
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"reference": "croissant_container",
|
| 196 |
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"on_top": true
|
| 197 |
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}
|
| 198 |
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},
|
| 199 |
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"type": "object",
|
| 200 |
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"info": {
|
| 201 |
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"groups_containing_sampled_obj": [
|
| 202 |
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"all",
|
| 203 |
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"croissant",
|
| 204 |
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"pastry",
|
| 205 |
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"food",
|
| 206 |
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"in_container"
|
| 207 |
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],
|
| 208 |
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"groups": [
|
| 209 |
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"croissant"
|
| 210 |
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],
|
| 211 |
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"cat": "croissant",
|
| 212 |
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"split": "test",
|
| 213 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_4/model.xml"
|
| 214 |
+
}
|
| 215 |
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},
|
| 216 |
+
{
|
| 217 |
+
"name": "jam",
|
| 218 |
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"obj_groups": "jam",
|
| 219 |
+
"placement": {
|
| 220 |
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"fixture": "cab_main_main_group",
|
| 221 |
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"size": [
|
| 222 |
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1.0,
|
| 223 |
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0.2
|
| 224 |
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],
|
| 225 |
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"pos": [
|
| 226 |
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0,
|
| 227 |
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|
| 228 |
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]
|
| 229 |
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},
|
| 230 |
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"type": "object",
|
| 231 |
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"info": {
|
| 232 |
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"groups_containing_sampled_obj": [
|
| 233 |
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"all",
|
| 234 |
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"jam",
|
| 235 |
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"packaged_food"
|
| 236 |
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],
|
| 237 |
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"groups": [
|
| 238 |
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"jam"
|
| 239 |
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],
|
| 240 |
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"cat": "jam",
|
| 241 |
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"split": "test",
|
| 242 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_4/model.xml"
|
| 243 |
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},
|
| 244 |
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|
| 245 |
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"offset": [
|
| 246 |
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0.0,
|
| 247 |
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0.0,
|
| 248 |
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|
| 249 |
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],
|
| 250 |
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"size": [
|
| 251 |
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0.94,
|
| 252 |
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0.34
|
| 253 |
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],
|
| 254 |
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{
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| 259 |
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|
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| 261 |
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|
| 262 |
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| 264 |
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|
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|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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"food",
|
| 287 |
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|
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],
|
| 289 |
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|
| 290 |
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|
| 291 |
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],
|
| 292 |
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"cat": "bread",
|
| 293 |
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"split": "test",
|
| 294 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_4/model.xml"
|
| 295 |
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},
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},
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},
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},
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},
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"cls": "Oven"
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},
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},
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"cls": "Microwave"
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},
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},
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"cls": "HingeCabinet"
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| 631 |
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}
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| 632 |
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},
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| 633 |
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"gen_textures": {},
|
| 634 |
+
"lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.",
|
| 635 |
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"fixture_refs": {
|
| 636 |
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"cab": "cab_main_main_group",
|
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"counter": "counter_main_main_group"
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| 638 |
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},
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"cam_configs": {
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"pos": [
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-0.6,
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0.0,
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1.15
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0.636945903301239,
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0.3325185477733612,
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],
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| 656 |
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0.35,
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1.05
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0.29935253,
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],
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"fovy": "60"
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},
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| 673 |
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| 674 |
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| 675 |
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| 676 |
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| 677 |
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| 684 |
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| 685 |
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| 686 |
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| 687 |
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| 688 |
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| 689 |
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| 690 |
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|
| 702 |
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| 703 |
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|
| 704 |
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| 705 |
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|
| 706 |
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| 707 |
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| 708 |
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| 709 |
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| 711 |
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| 716 |
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| 717 |
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"parent_body": "robot0_right_hand"
|
| 718 |
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| 719 |
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| 720 |
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| 721 |
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|
| 722 |
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| 725 |
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| 726 |
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| 729 |
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|
| 730 |
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}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000147/ep_meta.json
ADDED
|
@@ -0,0 +1,660 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 6,
|
| 3 |
+
"style_id": 6,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cutting_board",
|
| 7 |
+
"obj_groups": "cutting_board",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "counter_1_left_group",
|
| 11 |
+
"sample_region_kwargs": {
|
| 12 |
+
"ref": "cab_1_left_group",
|
| 13 |
+
"min_size": [
|
| 14 |
+
0.2102443155000001,
|
| 15 |
+
0.3375000067500002,
|
| 16 |
+
0.025346209500000008
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"size": [
|
| 20 |
+
1.0,
|
| 21 |
+
0.6
|
| 22 |
+
],
|
| 23 |
+
"pos": [
|
| 24 |
+
0.0,
|
| 25 |
+
-1.0
|
| 26 |
+
],
|
| 27 |
+
"rotation": [
|
| 28 |
+
1.5707963267948966,
|
| 29 |
+
1.5707963267948966
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"type": "object",
|
| 33 |
+
"info": {
|
| 34 |
+
"groups_containing_sampled_obj": [
|
| 35 |
+
"all",
|
| 36 |
+
"cutting_board",
|
| 37 |
+
"receptacle"
|
| 38 |
+
],
|
| 39 |
+
"groups": [
|
| 40 |
+
"cutting_board"
|
| 41 |
+
],
|
| 42 |
+
"cat": "cutting_board",
|
| 43 |
+
"split": "test",
|
| 44 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_2/model.xml"
|
| 45 |
+
},
|
| 46 |
+
"reset_region": {
|
| 47 |
+
"size": [
|
| 48 |
+
0.9999999999999991,
|
| 49 |
+
0.65
|
| 50 |
+
],
|
| 51 |
+
"offset": [
|
| 52 |
+
-0.9000000000000004,
|
| 53 |
+
0.0,
|
| 54 |
+
0.46
|
| 55 |
+
],
|
| 56 |
+
"name": "geom_0"
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
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"stack_1_left_group_1": {
|
| 497 |
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"cls": "Drawer"
|
| 498 |
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},
|
| 499 |
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"stack_1_left_group_2": {
|
| 500 |
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"cls": "Drawer"
|
| 501 |
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},
|
| 502 |
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"stack_1_left_group_3": {
|
| 503 |
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"cls": "Drawer"
|
| 504 |
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},
|
| 505 |
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"stack_1_left_group_4": {
|
| 506 |
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"cls": "Drawer"
|
| 507 |
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},
|
| 508 |
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"stack_2_left_group_base": {
|
| 509 |
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"cls": "Box"
|
| 510 |
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},
|
| 511 |
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"stack_2_left_group_1": {
|
| 512 |
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"cls": "HingeCabinet"
|
| 513 |
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},
|
| 514 |
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"stack_2_left_group_2": {
|
| 515 |
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"cls": "Drawer"
|
| 516 |
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},
|
| 517 |
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"stack_2_left_group_3": {
|
| 518 |
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"cls": "Drawer"
|
| 519 |
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},
|
| 520 |
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"stack_3_left_group_base": {
|
| 521 |
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"cls": "Box"
|
| 522 |
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},
|
| 523 |
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"stack_3_left_group_1": {
|
| 524 |
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"cls": "HingeCabinet"
|
| 525 |
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},
|
| 526 |
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"stack_3_left_group_2": {
|
| 527 |
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"cls": "Drawer"
|
| 528 |
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},
|
| 529 |
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"cab_1_left_group": {
|
| 530 |
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"cls": "HingeCabinet"
|
| 531 |
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},
|
| 532 |
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"shelves_left_group": {
|
| 533 |
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"cls": "OpenCabinet"
|
| 534 |
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},
|
| 535 |
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"coffee_machine_left_group": {
|
| 536 |
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"cls": "CoffeeMachine"
|
| 537 |
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},
|
| 538 |
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"plant_left_group": {
|
| 539 |
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"cls": "Accessory"
|
| 540 |
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},
|
| 541 |
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"oil_bottle_left_group": {
|
| 542 |
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"cls": "Accessory"
|
| 543 |
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},
|
| 544 |
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"salt_shaker_left_group": {
|
| 545 |
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"cls": "Accessory"
|
| 546 |
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},
|
| 547 |
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"paprika_left_group": {
|
| 548 |
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"cls": "Accessory"
|
| 549 |
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},
|
| 550 |
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"cinnamon_left_group": {
|
| 551 |
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"cls": "Accessory"
|
| 552 |
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},
|
| 553 |
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"turmeric_left_group": {
|
| 554 |
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"cls": "Accessory"
|
| 555 |
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},
|
| 556 |
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"oil_bottle_left_group_auxiliary_left_group": {
|
| 557 |
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"cls": "Accessory"
|
| 558 |
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},
|
| 559 |
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"salt_shaker_left_group_auxiliary_left_group": {
|
| 560 |
+
"cls": "Accessory"
|
| 561 |
+
}
|
| 562 |
+
},
|
| 563 |
+
"gen_textures": {},
|
| 564 |
+
"lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.",
|
| 565 |
+
"fixture_refs": {
|
| 566 |
+
"cab": "cab_1_left_group",
|
| 567 |
+
"counter": "counter_1_left_group"
|
| 568 |
+
},
|
| 569 |
+
"cam_configs": {
|
| 570 |
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"robot0_agentview_center": {
|
| 571 |
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"pos": [
|
| 572 |
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-0.6,
|
| 573 |
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0.0,
|
| 574 |
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|
| 575 |
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],
|
| 576 |
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"quat": [
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| 577 |
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|
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|
| 581 |
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],
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| 582 |
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"parent_body": "mobilebase0_support"
|
| 583 |
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| 584 |
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|
| 585 |
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"pos": [
|
| 586 |
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|
| 587 |
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|
| 588 |
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|
| 589 |
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],
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| 590 |
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| 591 |
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|
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|
| 593 |
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|
| 594 |
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|
| 595 |
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],
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| 596 |
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"camera_attribs": {
|
| 597 |
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"fovy": "60"
|
| 598 |
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},
|
| 599 |
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"parent_body": "mobilebase0_support"
|
| 600 |
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},
|
| 601 |
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"robot0_agentview_right": {
|
| 602 |
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"pos": [
|
| 603 |
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|
| 604 |
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|
| 605 |
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|
| 606 |
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],
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| 607 |
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"quat": [
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| 608 |
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| 611 |
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|
| 612 |
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],
|
| 613 |
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"camera_attribs": {
|
| 614 |
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|
| 615 |
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},
|
| 616 |
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"parent_body": "mobilebase0_support"
|
| 617 |
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},
|
| 618 |
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"robot0_frontview": {
|
| 619 |
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"pos": [
|
| 620 |
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-0.5,
|
| 621 |
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|
| 622 |
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|
| 623 |
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],
|
| 624 |
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"quat": [
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|
| 629 |
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],
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| 630 |
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"camera_attribs": {
|
| 631 |
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"fovy": "60"
|
| 632 |
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},
|
| 633 |
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"parent_body": "mobilebase0_support"
|
| 634 |
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},
|
| 635 |
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"robot0_eye_in_hand": {
|
| 636 |
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"pos": [
|
| 637 |
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|
| 638 |
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0,
|
| 639 |
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0
|
| 640 |
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],
|
| 641 |
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"quat": [
|
| 642 |
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|
| 643 |
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|
| 644 |
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0.707107,
|
| 645 |
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0
|
| 646 |
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],
|
| 647 |
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"parent_body": "robot0_right_hand"
|
| 648 |
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}
|
| 649 |
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},
|
| 650 |
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"init_robot_base_pos": [
|
| 651 |
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|
| 652 |
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|
| 653 |
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|
| 654 |
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],
|
| 655 |
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"init_robot_base_ori": [
|
| 656 |
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|
| 657 |
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|
| 658 |
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|
| 659 |
+
]
|
| 660 |
+
}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000152/ep_meta.json
ADDED
|
@@ -0,0 +1,727 @@
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 14 |
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| 24 |
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| 25 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 40 |
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| 41 |
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| 44 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 76 |
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| 89 |
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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| 119 |
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| 121 |
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| 126 |
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| 127 |
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| 129 |
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| 130 |
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| 138 |
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| 139 |
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},
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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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| 146 |
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| 148 |
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| 149 |
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| 151 |
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| 152 |
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| 153 |
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| 155 |
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| 156 |
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| 157 |
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| 159 |
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"all",
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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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],
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| 165 |
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| 166 |
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| 167 |
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],
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| 168 |
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| 169 |
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| 171 |
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| 186 |
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| 187 |
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| 188 |
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| 214 |
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| 217 |
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| 218 |
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| 219 |
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| 354 |
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"cls": "Stool"
|
| 355 |
+
},
|
| 356 |
+
"stool_2_room": {
|
| 357 |
+
"cls": "Stool"
|
| 358 |
+
},
|
| 359 |
+
"stool_3_room": {
|
| 360 |
+
"cls": "Stool"
|
| 361 |
+
},
|
| 362 |
+
"counter_corner_main_group": {
|
| 363 |
+
"cls": "Counter"
|
| 364 |
+
},
|
| 365 |
+
"counter_main_main_group": {
|
| 366 |
+
"cls": "Counter"
|
| 367 |
+
},
|
| 368 |
+
"stovetop_main_group": {
|
| 369 |
+
"cls": "Stovetop"
|
| 370 |
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},
|
| 371 |
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"counter_1_main_group": {
|
| 372 |
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"cls": "Counter"
|
| 373 |
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},
|
| 374 |
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"counter_corner_2_main_group": {
|
| 375 |
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"cls": "Counter"
|
| 376 |
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},
|
| 377 |
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"cab_corner_main_group": {
|
| 378 |
+
"cls": "Box"
|
| 379 |
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},
|
| 380 |
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"cab_corner_2_main_group": {
|
| 381 |
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"cls": "Box"
|
| 382 |
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},
|
| 383 |
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"cab_1_main_group": {
|
| 384 |
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"cls": "HingeCabinet"
|
| 385 |
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},
|
| 386 |
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"cab_main_main_group": {
|
| 387 |
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"cls": "HingeCabinet"
|
| 388 |
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},
|
| 389 |
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"cab_2_main_group": {
|
| 390 |
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"cls": "SingleCabinet"
|
| 391 |
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},
|
| 392 |
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"shelves_1_main_group": {
|
| 393 |
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"cls": "OpenCabinet"
|
| 394 |
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},
|
| 395 |
+
"hood_main_group": {
|
| 396 |
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"cls": "Hood"
|
| 397 |
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},
|
| 398 |
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"shelves_2_main_group": {
|
| 399 |
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"cls": "OpenCabinet"
|
| 400 |
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},
|
| 401 |
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"stack_1_main_group_base": {
|
| 402 |
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"cls": "Box"
|
| 403 |
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},
|
| 404 |
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"stack_1_main_group_1": {
|
| 405 |
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"cls": "Drawer"
|
| 406 |
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},
|
| 407 |
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"stack_1_main_group_2": {
|
| 408 |
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"cls": "Drawer"
|
| 409 |
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|
| 410 |
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"stack_1_main_group_3": {
|
| 411 |
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"cls": "Drawer"
|
| 412 |
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},
|
| 413 |
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"stack_1_main_group_4": {
|
| 414 |
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"cls": "Drawer"
|
| 415 |
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|
| 416 |
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"stack_2_main_group_base": {
|
| 417 |
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"cls": "Box"
|
| 418 |
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|
| 419 |
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|
| 420 |
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"cls": "HingeCabinet"
|
| 421 |
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|
| 422 |
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|
| 423 |
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"cls": "Drawer"
|
| 424 |
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| 425 |
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"stack_2_main_group_3": {
|
| 426 |
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"cls": "Drawer"
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| 427 |
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| 428 |
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|
| 429 |
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"cls": "Box"
|
| 430 |
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|
| 431 |
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|
| 432 |
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"cls": "HingeCabinet"
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| 433 |
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| 434 |
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|
| 435 |
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"cls": "Drawer"
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| 436 |
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|
| 438 |
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"cls": "Drawer"
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| 439 |
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| 440 |
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|
| 441 |
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"cls": "Box"
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| 442 |
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| 443 |
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|
| 444 |
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"cls": "HingeCabinet"
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| 445 |
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|
| 446 |
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|
| 447 |
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"cls": "Box"
|
| 448 |
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| 449 |
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|
| 450 |
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"cls": "SingleCabinet"
|
| 451 |
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},
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| 452 |
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"stack_5_main_group_2": {
|
| 453 |
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"cls": "Drawer"
|
| 454 |
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},
|
| 455 |
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"coffee_machine_main_group": {
|
| 456 |
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"cls": "CoffeeMachine"
|
| 457 |
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},
|
| 458 |
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"paper_towel_main_group": {
|
| 459 |
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"cls": "Accessory"
|
| 460 |
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},
|
| 461 |
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"toaster_main_group": {
|
| 462 |
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"cls": "Toaster"
|
| 463 |
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},
|
| 464 |
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"toaster_oven_main_group": {
|
| 465 |
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"cls": "ToasterOven"
|
| 466 |
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},
|
| 467 |
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|
| 468 |
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"cls": "Accessory"
|
| 469 |
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},
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| 470 |
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|
| 471 |
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"cls": "Accessory"
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| 472 |
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},
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| 473 |
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|
| 474 |
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"cls": "Accessory"
|
| 475 |
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},
|
| 476 |
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"jar_main_group": {
|
| 477 |
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"cls": "Accessory"
|
| 478 |
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},
|
| 479 |
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|
| 480 |
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"cls": "Accessory"
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| 481 |
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},
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| 482 |
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|
| 483 |
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"cls": "Accessory"
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| 484 |
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},
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| 485 |
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|
| 486 |
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"cls": "Accessory"
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| 487 |
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},
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| 488 |
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"oil_bottle_main_group_auxiliary_main_group": {
|
| 489 |
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"cls": "Accessory"
|
| 490 |
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},
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| 491 |
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|
| 492 |
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"cls": "Accessory"
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| 493 |
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},
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| 494 |
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|
| 495 |
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"cls": "Counter"
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| 496 |
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},
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|
| 498 |
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"cls": "Counter"
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| 499 |
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},
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| 500 |
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|
| 501 |
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"cls": "Accessory"
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| 502 |
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},
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| 503 |
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| 504 |
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"cls": "Accessory"
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| 505 |
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},
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| 506 |
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| 507 |
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"cls": "Counter"
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| 508 |
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},
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| 509 |
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| 510 |
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"cls": "Sink"
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| 511 |
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},
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| 512 |
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|
| 513 |
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"cls": "Counter"
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| 514 |
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},
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| 515 |
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| 516 |
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"cls": "Counter"
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| 517 |
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},
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| 518 |
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| 519 |
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"cls": "Box"
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| 520 |
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},
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| 521 |
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|
| 522 |
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"cls": "HingeCabinet"
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| 523 |
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},
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| 524 |
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|
| 525 |
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"cls": "Drawer"
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| 526 |
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},
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| 527 |
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| 528 |
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"cls": "Drawer"
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| 529 |
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},
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| 531 |
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"cls": "Box"
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| 532 |
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},
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| 533 |
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"stack_2_left_group_1": {
|
| 534 |
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"cls": "HingeCabinet"
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| 535 |
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},
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| 536 |
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|
| 537 |
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"cls": "Dishwasher"
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| 538 |
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},
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| 539 |
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| 540 |
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"cls": "Box"
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| 541 |
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},
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| 542 |
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| 543 |
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"cls": "SingleCabinet"
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| 544 |
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},
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| 545 |
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| 546 |
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"cls": "HingeCabinet"
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| 547 |
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},
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| 548 |
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"cab_2_left_group": {
|
| 549 |
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"cls": "SingleCabinet"
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| 550 |
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},
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| 551 |
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"plant_left_group": {
|
| 552 |
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"cls": "Accessory"
|
| 553 |
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},
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| 554 |
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"soap_dispenser_left_group": {
|
| 555 |
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"cls": "Accessory"
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| 556 |
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},
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| 557 |
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|
| 558 |
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"cls": "Accessory"
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| 559 |
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},
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| 560 |
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| 561 |
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"cls": "Box"
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| 562 |
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},
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| 563 |
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| 564 |
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"cls": "SingleCabinet"
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| 565 |
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},
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| 566 |
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|
| 567 |
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"cls": "SingleCabinet"
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| 568 |
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},
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| 569 |
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|
| 570 |
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"cls": "FridgeSideBySide"
|
| 571 |
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},
|
| 572 |
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"fridge_housing_right_group": {
|
| 573 |
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"cls": "HousingCabinet"
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| 574 |
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},
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| 575 |
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"fridge_top_right_group": {
|
| 576 |
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"cls": "HingeCabinet"
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| 577 |
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},
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| 578 |
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"stack_right_right_group_base": {
|
| 579 |
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"cls": "Box"
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| 580 |
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},
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| 581 |
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"stack_right_right_group_1": {
|
| 582 |
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"cls": "SingleCabinet"
|
| 583 |
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},
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| 584 |
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"stack_right_right_group_2": {
|
| 585 |
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"cls": "SingleCabinet"
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| 586 |
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},
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| 587 |
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|
| 588 |
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"cls": "Box"
|
| 589 |
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},
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| 590 |
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"bottom_corner_right_group": {
|
| 591 |
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"cls": "Box"
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| 592 |
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},
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| 593 |
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"bottom_right_group_base": {
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| 594 |
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"cls": "Box"
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| 595 |
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},
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| 596 |
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"bottom_right_group_1": {
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| 597 |
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"cls": "Drawer"
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| 598 |
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},
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| 599 |
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"bottom_right_group_2": {
|
| 600 |
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"cls": "Drawer"
|
| 601 |
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},
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| 602 |
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"oven_right_group": {
|
| 603 |
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"cls": "Oven"
|
| 604 |
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},
|
| 605 |
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"oven_housing_right_group": {
|
| 606 |
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"cls": "HousingCabinet"
|
| 607 |
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},
|
| 608 |
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"microwave_right_group": {
|
| 609 |
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"cls": "Microwave"
|
| 610 |
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},
|
| 611 |
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"micro_housing_right_group": {
|
| 612 |
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"cls": "HousingCabinet"
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| 613 |
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},
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| 614 |
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"top_right_group": {
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| 615 |
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"cls": "HingeCabinet"
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| 616 |
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},
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| 618 |
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"cls": "Box"
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| 619 |
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},
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| 621 |
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"cls": "Drawer"
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| 622 |
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},
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| 623 |
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|
| 624 |
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"cls": "Drawer"
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| 625 |
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},
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| 626 |
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"side_bottom_right_group_3": {
|
| 627 |
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"cls": "HingeCabinet"
|
| 628 |
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}
|
| 629 |
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},
|
| 630 |
+
"gen_textures": {},
|
| 631 |
+
"lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.",
|
| 632 |
+
"fixture_refs": {
|
| 633 |
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"cab": "cab_main_main_group",
|
| 634 |
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"counter": "counter_main_main_group"
|
| 635 |
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},
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| 636 |
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"cam_configs": {
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| 637 |
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|
| 638 |
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"pos": [
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| 639 |
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|
| 640 |
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|
| 641 |
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"parent_body": "mobilebase0_support"
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| 670 |
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"parent_body": "mobilebase0_support"
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| 686 |
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| 700 |
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|
| 701 |
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|
| 703 |
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"pos": [
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| 704 |
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|
| 705 |
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|
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| 707 |
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],
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| 708 |
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| 709 |
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| 710 |
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|
| 711 |
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|
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| 713 |
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],
|
| 714 |
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"parent_body": "robot0_right_hand"
|
| 715 |
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}
|
| 716 |
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},
|
| 717 |
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"init_robot_base_pos": [
|
| 718 |
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|
| 719 |
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|
| 720 |
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|
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"init_robot_base_ori": [
|
| 723 |
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|
| 724 |
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|
| 725 |
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|
| 726 |
+
]
|
| 727 |
+
}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000207/ep_meta.json
ADDED
|
@@ -0,0 +1,645 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 4,
|
| 3 |
+
"style_id": 4,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cutting_board",
|
| 7 |
+
"obj_groups": "cutting_board",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "counter_main_main_group",
|
| 11 |
+
"sample_region_kwargs": {
|
| 12 |
+
"ref": "cab_main_main_group",
|
| 13 |
+
"min_size": [
|
| 14 |
+
0.2102443155000001,
|
| 15 |
+
0.3375000067500002,
|
| 16 |
+
0.025346209500000008
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"size": [
|
| 20 |
+
1.0,
|
| 21 |
+
0.6
|
| 22 |
+
],
|
| 23 |
+
"pos": [
|
| 24 |
+
0.0,
|
| 25 |
+
-1.0
|
| 26 |
+
],
|
| 27 |
+
"rotation": [
|
| 28 |
+
1.5707963267948966,
|
| 29 |
+
1.5707963267948966
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"type": "object",
|
| 33 |
+
"info": {
|
| 34 |
+
"groups_containing_sampled_obj": [
|
| 35 |
+
"all",
|
| 36 |
+
"cutting_board",
|
| 37 |
+
"receptacle"
|
| 38 |
+
],
|
| 39 |
+
"groups": [
|
| 40 |
+
"cutting_board"
|
| 41 |
+
],
|
| 42 |
+
"cat": "cutting_board",
|
| 43 |
+
"split": "test",
|
| 44 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_2/model.xml"
|
| 45 |
+
},
|
| 46 |
+
"reset_region": {
|
| 47 |
+
"size": [
|
| 48 |
+
1.0,
|
| 49 |
+
0.65
|
| 50 |
+
],
|
| 51 |
+
"offset": [
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.46
|
| 55 |
+
],
|
| 56 |
+
"name": "geom_0"
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"name": "distr_pastry_container",
|
| 61 |
+
"obj_groups": "plate",
|
| 62 |
+
"placement": {
|
| 63 |
+
"fixture": "counter_main_main_group",
|
| 64 |
+
"reuse_region_from": "cutting_board",
|
| 65 |
+
"size": [
|
| 66 |
+
1.0,
|
| 67 |
+
0.6
|
| 68 |
+
],
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
-1.0
|
| 72 |
+
],
|
| 73 |
+
"try_to_place_in": "plate"
|
| 74 |
+
},
|
| 75 |
+
"type": "object",
|
| 76 |
+
"info": {
|
| 77 |
+
"groups_containing_sampled_obj": [
|
| 78 |
+
"all",
|
| 79 |
+
"plate",
|
| 80 |
+
"receptacle",
|
| 81 |
+
"container",
|
| 82 |
+
"container_set2"
|
| 83 |
+
],
|
| 84 |
+
"groups": [
|
| 85 |
+
"plate"
|
| 86 |
+
],
|
| 87 |
+
"cat": "plate",
|
| 88 |
+
"split": "test",
|
| 89 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
|
| 90 |
+
},
|
| 91 |
+
"reset_region": {
|
| 92 |
+
"size": [
|
| 93 |
+
1.0,
|
| 94 |
+
0.65
|
| 95 |
+
],
|
| 96 |
+
"offset": [
|
| 97 |
+
0.0,
|
| 98 |
+
0.0,
|
| 99 |
+
0.46
|
| 100 |
+
],
|
| 101 |
+
"name": "geom_0"
|
| 102 |
+
}
|
| 103 |
+
},
|
| 104 |
+
{
|
| 105 |
+
"name": "distr_pastry",
|
| 106 |
+
"obj_groups": [
|
| 107 |
+
"baguette",
|
| 108 |
+
"cupcake"
|
| 109 |
+
],
|
| 110 |
+
"placement": {
|
| 111 |
+
"size": [
|
| 112 |
+
0.01,
|
| 113 |
+
0.01
|
| 114 |
+
],
|
| 115 |
+
"ensure_object_boundary_in_range": false,
|
| 116 |
+
"sample_args": {
|
| 117 |
+
"reference": "distr_pastry_container",
|
| 118 |
+
"on_top": true
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"type": "object",
|
| 122 |
+
"info": {
|
| 123 |
+
"groups_containing_sampled_obj": [
|
| 124 |
+
"all",
|
| 125 |
+
"cupcake",
|
| 126 |
+
"sweets",
|
| 127 |
+
"food",
|
| 128 |
+
"in_container"
|
| 129 |
+
],
|
| 130 |
+
"groups": [
|
| 131 |
+
"baguette",
|
| 132 |
+
"cupcake"
|
| 133 |
+
],
|
| 134 |
+
"cat": "cupcake",
|
| 135 |
+
"split": "test",
|
| 136 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_7/model.xml"
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"name": "croissant_container",
|
| 141 |
+
"obj_groups": "plate",
|
| 142 |
+
"placement": {
|
| 143 |
+
"fixture": "counter_main_main_group",
|
| 144 |
+
"reuse_region_from": "cutting_board",
|
| 145 |
+
"size": [
|
| 146 |
+
1.0,
|
| 147 |
+
0.6
|
| 148 |
+
],
|
| 149 |
+
"pos": [
|
| 150 |
+
0.0,
|
| 151 |
+
-1.0
|
| 152 |
+
],
|
| 153 |
+
"try_to_place_in": "plate"
|
| 154 |
+
},
|
| 155 |
+
"type": "object",
|
| 156 |
+
"info": {
|
| 157 |
+
"groups_containing_sampled_obj": [
|
| 158 |
+
"all",
|
| 159 |
+
"plate",
|
| 160 |
+
"receptacle",
|
| 161 |
+
"container",
|
| 162 |
+
"container_set2"
|
| 163 |
+
],
|
| 164 |
+
"groups": [
|
| 165 |
+
"plate"
|
| 166 |
+
],
|
| 167 |
+
"cat": "plate",
|
| 168 |
+
"split": "test",
|
| 169 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
|
| 170 |
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},
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| 600 |
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},
|
| 601 |
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"parent_body": "mobilebase0_support"
|
| 602 |
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},
|
| 603 |
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"robot0_frontview": {
|
| 604 |
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"pos": [
|
| 605 |
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|
| 606 |
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|
| 607 |
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| 608 |
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],
|
| 609 |
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"quat": [
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| 610 |
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|
| 611 |
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|
| 612 |
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| 613 |
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| 614 |
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| 615 |
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"camera_attribs": {
|
| 616 |
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"fovy": "60"
|
| 617 |
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},
|
| 618 |
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"parent_body": "mobilebase0_support"
|
| 619 |
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},
|
| 620 |
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"robot0_eye_in_hand": {
|
| 621 |
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"pos": [
|
| 622 |
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0.05,
|
| 623 |
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|
| 624 |
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| 625 |
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|
| 626 |
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"quat": [
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| 627 |
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|
| 628 |
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| 629 |
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|
| 630 |
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|
| 631 |
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],
|
| 632 |
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"parent_body": "robot0_right_hand"
|
| 633 |
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}
|
| 634 |
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},
|
| 635 |
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"init_robot_base_pos": [
|
| 636 |
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|
| 637 |
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|
| 638 |
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| 639 |
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| 640 |
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"init_robot_base_ori": [
|
| 641 |
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|
| 642 |
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|
| 643 |
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|
| 644 |
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|
| 645 |
+
}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000210/ep_meta.json
ADDED
|
@@ -0,0 +1,657 @@
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|
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|
|
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|
|
|
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|
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|
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 2,
|
| 3 |
+
"style_id": 2,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cutting_board",
|
| 7 |
+
"obj_groups": "cutting_board",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "counter_main_main_group",
|
| 11 |
+
"sample_region_kwargs": {
|
| 12 |
+
"ref": "cab_main_main_group",
|
| 13 |
+
"min_size": [
|
| 14 |
+
0.1973472579000001,
|
| 15 |
+
0.3510000000000001,
|
| 16 |
+
0.012317523660000006
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"size": [
|
| 20 |
+
1.0,
|
| 21 |
+
0.6
|
| 22 |
+
],
|
| 23 |
+
"pos": [
|
| 24 |
+
0.0,
|
| 25 |
+
-1.0
|
| 26 |
+
],
|
| 27 |
+
"rotation": [
|
| 28 |
+
1.5707963267948966,
|
| 29 |
+
1.5707963267948966
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"type": "object",
|
| 33 |
+
"info": {
|
| 34 |
+
"groups_containing_sampled_obj": [
|
| 35 |
+
"all",
|
| 36 |
+
"cutting_board",
|
| 37 |
+
"receptacle"
|
| 38 |
+
],
|
| 39 |
+
"groups": [
|
| 40 |
+
"cutting_board"
|
| 41 |
+
],
|
| 42 |
+
"cat": "cutting_board",
|
| 43 |
+
"split": "test",
|
| 44 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_5/model.xml"
|
| 45 |
+
},
|
| 46 |
+
"reset_region": {
|
| 47 |
+
"size": [
|
| 48 |
+
1.0,
|
| 49 |
+
0.65
|
| 50 |
+
],
|
| 51 |
+
"offset": [
|
| 52 |
+
-1.4,
|
| 53 |
+
-3.469446951953614e-17,
|
| 54 |
+
0.46
|
| 55 |
+
],
|
| 56 |
+
"name": "geom_0"
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"name": "distr_pastry_container",
|
| 61 |
+
"obj_groups": "plate",
|
| 62 |
+
"placement": {
|
| 63 |
+
"fixture": "counter_main_main_group",
|
| 64 |
+
"reuse_region_from": "cutting_board",
|
| 65 |
+
"size": [
|
| 66 |
+
1.0,
|
| 67 |
+
0.6
|
| 68 |
+
],
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
-1.0
|
| 72 |
+
],
|
| 73 |
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"island_stack_1_island_group_2": {
|
| 509 |
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"cls": "PanelCabinet"
|
| 510 |
+
},
|
| 511 |
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"dishwasher_island_group": {
|
| 512 |
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"cls": "Dishwasher"
|
| 513 |
+
},
|
| 514 |
+
"island_panel_cab_right_island_group_base": {
|
| 515 |
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"cls": "Box"
|
| 516 |
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},
|
| 517 |
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"island_panel_cab_right_island_group_1": {
|
| 518 |
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"cls": "PanelCabinet"
|
| 519 |
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},
|
| 520 |
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"island_cab_left_island_group_base": {
|
| 521 |
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"cls": "Box"
|
| 522 |
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},
|
| 523 |
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"island_cab_left_island_group_1": {
|
| 524 |
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"cls": "Drawer"
|
| 525 |
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},
|
| 526 |
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"island_cab_left_island_group_2": {
|
| 527 |
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"cls": "Drawer"
|
| 528 |
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},
|
| 529 |
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"island_cab_left_island_group_3": {
|
| 530 |
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"cls": "Drawer"
|
| 531 |
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},
|
| 532 |
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"island_cab_left_island_group_4": {
|
| 533 |
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"cls": "Drawer"
|
| 534 |
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},
|
| 535 |
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"island_panel_cab_left_island_group_base": {
|
| 536 |
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"cls": "Box"
|
| 537 |
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},
|
| 538 |
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"island_panel_cab_left_island_group_1": {
|
| 539 |
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"cls": "PanelCabinet"
|
| 540 |
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},
|
| 541 |
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"island_base_box_island_group": {
|
| 542 |
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"cls": "Box"
|
| 543 |
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},
|
| 544 |
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"plant_island_group": {
|
| 545 |
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"cls": "Accessory"
|
| 546 |
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},
|
| 547 |
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"soap_dispenser_island_group": {
|
| 548 |
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"cls": "Accessory"
|
| 549 |
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},
|
| 550 |
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"fruit_bowl_island_group": {
|
| 551 |
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"cls": "Accessory"
|
| 552 |
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},
|
| 553 |
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"salt_shaker_island_group": {
|
| 554 |
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"cls": "Accessory"
|
| 555 |
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},
|
| 556 |
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"salt_shaker_island_group_auxiliary_island_group": {
|
| 557 |
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"cls": "Accessory"
|
| 558 |
+
}
|
| 559 |
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},
|
| 560 |
+
"gen_textures": {},
|
| 561 |
+
"lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.",
|
| 562 |
+
"fixture_refs": {
|
| 563 |
+
"cab": "cab_main_main_group",
|
| 564 |
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"counter": "counter_main_main_group"
|
| 565 |
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},
|
| 566 |
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"cam_configs": {
|
| 567 |
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"robot0_agentview_center": {
|
| 568 |
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"pos": [
|
| 569 |
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|
| 570 |
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0.0,
|
| 571 |
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|
| 572 |
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],
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| 573 |
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"quat": [
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| 574 |
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| 575 |
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| 576 |
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| 577 |
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| 578 |
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],
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| 579 |
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|
| 580 |
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| 581 |
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|
| 582 |
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"pos": [
|
| 583 |
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|
| 584 |
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|
| 585 |
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| 586 |
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],
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| 587 |
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"quat": [
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| 588 |
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| 590 |
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| 591 |
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| 592 |
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],
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| 593 |
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"camera_attribs": {
|
| 594 |
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"fovy": "60"
|
| 595 |
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},
|
| 596 |
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"parent_body": "mobilebase0_support"
|
| 597 |
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},
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| 598 |
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"robot0_agentview_right": {
|
| 599 |
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"pos": [
|
| 600 |
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|
| 601 |
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|
| 602 |
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| 603 |
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],
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| 604 |
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"quat": [
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| 608 |
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| 609 |
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],
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| 610 |
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"camera_attribs": {
|
| 611 |
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"fovy": "60"
|
| 612 |
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},
|
| 613 |
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"parent_body": "mobilebase0_support"
|
| 614 |
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},
|
| 615 |
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"robot0_frontview": {
|
| 616 |
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"pos": [
|
| 617 |
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|
| 618 |
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0,
|
| 619 |
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|
| 620 |
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],
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| 621 |
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"quat": [
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| 622 |
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|
| 624 |
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|
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| 626 |
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| 627 |
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"camera_attribs": {
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| 628 |
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"fovy": "60"
|
| 629 |
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},
|
| 630 |
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"parent_body": "mobilebase0_support"
|
| 631 |
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},
|
| 632 |
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"robot0_eye_in_hand": {
|
| 633 |
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"pos": [
|
| 634 |
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0.05,
|
| 635 |
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0,
|
| 636 |
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0
|
| 637 |
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],
|
| 638 |
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"quat": [
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| 639 |
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|
| 640 |
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|
| 641 |
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|
| 642 |
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|
| 643 |
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],
|
| 644 |
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"parent_body": "robot0_right_hand"
|
| 645 |
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}
|
| 646 |
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},
|
| 647 |
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"init_robot_base_pos": [
|
| 648 |
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|
| 649 |
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|
| 650 |
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|
| 651 |
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],
|
| 652 |
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"init_robot_base_ori": [
|
| 653 |
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|
| 654 |
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|
| 655 |
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|
| 656 |
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]
|
| 657 |
+
}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000279/ep_meta.json
ADDED
|
@@ -0,0 +1,728 @@
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 20 |
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| 21 |
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| 24 |
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| 25 |
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| 26 |
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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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| 43 |
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| 44 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 76 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 89 |
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| 90 |
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| 104 |
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| 105 |
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| 119 |
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| 124 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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| 130 |
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| 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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| 146 |
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| 147 |
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| 148 |
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| 151 |
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| 152 |
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| 155 |
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| 156 |
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| 157 |
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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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],
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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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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| 192 |
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| 197 |
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| 205 |
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| 212 |
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| 214 |
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| 215 |
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| 216 |
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| 217 |
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| 218 |
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| 219 |
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| 221 |
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| 233 |
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| 293 |
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|
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| 335 |
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| 341 |
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| 344 |
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| 346 |
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| 347 |
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| 349 |
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|
| 350 |
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|
| 353 |
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| 355 |
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|
| 356 |
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| 359 |
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| 365 |
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|
| 367 |
+
"cls": "Counter"
|
| 368 |
+
},
|
| 369 |
+
"stovetop_main_group": {
|
| 370 |
+
"cls": "Stovetop"
|
| 371 |
+
},
|
| 372 |
+
"counter_1_main_group": {
|
| 373 |
+
"cls": "Counter"
|
| 374 |
+
},
|
| 375 |
+
"counter_corner_2_main_group": {
|
| 376 |
+
"cls": "Counter"
|
| 377 |
+
},
|
| 378 |
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"cab_corner_main_group": {
|
| 379 |
+
"cls": "Box"
|
| 380 |
+
},
|
| 381 |
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"cab_corner_2_main_group": {
|
| 382 |
+
"cls": "Box"
|
| 383 |
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},
|
| 384 |
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"cab_1_main_group": {
|
| 385 |
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"cls": "HingeCabinet"
|
| 386 |
+
},
|
| 387 |
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"cab_main_main_group": {
|
| 388 |
+
"cls": "HingeCabinet"
|
| 389 |
+
},
|
| 390 |
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"cab_2_main_group": {
|
| 391 |
+
"cls": "SingleCabinet"
|
| 392 |
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},
|
| 393 |
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"shelves_1_main_group": {
|
| 394 |
+
"cls": "OpenCabinet"
|
| 395 |
+
},
|
| 396 |
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"hood_main_group": {
|
| 397 |
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"cls": "Hood"
|
| 398 |
+
},
|
| 399 |
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"shelves_2_main_group": {
|
| 400 |
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"cls": "OpenCabinet"
|
| 401 |
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},
|
| 402 |
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"stack_1_main_group_base": {
|
| 403 |
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"cls": "Box"
|
| 404 |
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},
|
| 405 |
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"stack_1_main_group_1": {
|
| 406 |
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"cls": "Drawer"
|
| 407 |
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},
|
| 408 |
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"stack_1_main_group_2": {
|
| 409 |
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"cls": "Drawer"
|
| 410 |
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},
|
| 411 |
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"stack_1_main_group_3": {
|
| 412 |
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"cls": "Drawer"
|
| 413 |
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},
|
| 414 |
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"stack_1_main_group_4": {
|
| 415 |
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"cls": "Drawer"
|
| 416 |
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},
|
| 417 |
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"stack_2_main_group_base": {
|
| 418 |
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"cls": "Box"
|
| 419 |
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|
| 420 |
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|
| 421 |
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"cls": "HingeCabinet"
|
| 422 |
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|
| 423 |
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|
| 424 |
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"cls": "Drawer"
|
| 425 |
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| 426 |
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|
| 427 |
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|
| 428 |
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|
| 429 |
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|
| 430 |
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"cls": "Box"
|
| 431 |
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| 432 |
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|
| 433 |
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"cls": "HingeCabinet"
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| 434 |
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| 435 |
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|
| 436 |
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"cls": "Drawer"
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| 437 |
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| 438 |
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|
| 439 |
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"cls": "Drawer"
|
| 440 |
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| 441 |
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"stack_4_main_group_base": {
|
| 442 |
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"cls": "Box"
|
| 443 |
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},
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| 444 |
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"stack_4_main_group_1": {
|
| 445 |
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"cls": "HingeCabinet"
|
| 446 |
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| 447 |
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|
| 448 |
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"cls": "Box"
|
| 449 |
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| 450 |
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|
| 451 |
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"cls": "SingleCabinet"
|
| 452 |
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},
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| 453 |
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"stack_5_main_group_2": {
|
| 454 |
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"cls": "Drawer"
|
| 455 |
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},
|
| 456 |
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"coffee_machine_main_group": {
|
| 457 |
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"cls": "CoffeeMachine"
|
| 458 |
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},
|
| 459 |
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"paper_towel_main_group": {
|
| 460 |
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"cls": "Accessory"
|
| 461 |
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},
|
| 462 |
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"toaster_main_group": {
|
| 463 |
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"cls": "Toaster"
|
| 464 |
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},
|
| 465 |
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|
| 466 |
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"cls": "ToasterOven"
|
| 467 |
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|
| 468 |
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|
| 469 |
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"cls": "Accessory"
|
| 470 |
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},
|
| 471 |
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|
| 472 |
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"cls": "Accessory"
|
| 473 |
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},
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| 474 |
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|
| 475 |
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"cls": "Accessory"
|
| 476 |
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},
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| 477 |
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"jar_main_group": {
|
| 478 |
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"cls": "Accessory"
|
| 479 |
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},
|
| 480 |
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"cinnamon_main_group": {
|
| 481 |
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"cls": "Accessory"
|
| 482 |
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},
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| 483 |
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|
| 484 |
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"cls": "Accessory"
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| 485 |
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},
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| 486 |
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|
| 487 |
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"cls": "Accessory"
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| 488 |
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},
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|
| 490 |
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"cls": "Accessory"
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| 491 |
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},
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| 492 |
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|
| 493 |
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"cls": "Accessory"
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| 494 |
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},
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| 495 |
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| 496 |
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"cls": "Counter"
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| 497 |
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},
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|
| 499 |
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"cls": "Counter"
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| 500 |
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},
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| 501 |
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| 502 |
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"cls": "Accessory"
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| 503 |
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},
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| 505 |
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"cls": "Accessory"
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},
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| 508 |
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"cls": "Counter"
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},
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| 511 |
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"cls": "Sink"
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| 512 |
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| 514 |
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| 515 |
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| 517 |
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| 518 |
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| 520 |
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| 521 |
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},
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| 523 |
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| 524 |
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},
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| 525 |
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|
| 526 |
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"cls": "Drawer"
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| 527 |
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},
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| 529 |
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"cls": "Drawer"
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},
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| 532 |
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| 533 |
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},
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"stack_2_left_group_1": {
|
| 535 |
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"cls": "HingeCabinet"
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| 536 |
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},
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| 537 |
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|
| 538 |
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"cls": "Dishwasher"
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| 539 |
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},
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| 540 |
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| 541 |
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"cls": "Box"
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| 542 |
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},
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| 544 |
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"cls": "SingleCabinet"
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| 545 |
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},
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| 547 |
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"cls": "HingeCabinet"
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| 548 |
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},
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"cab_2_left_group": {
|
| 550 |
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"cls": "SingleCabinet"
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| 551 |
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},
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| 552 |
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"plant_left_group": {
|
| 553 |
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"cls": "Accessory"
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| 554 |
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},
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| 555 |
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"soap_dispenser_left_group": {
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| 556 |
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"cls": "Accessory"
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| 557 |
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},
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| 558 |
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| 559 |
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"cls": "Accessory"
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| 560 |
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},
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| 562 |
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"cls": "Box"
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| 563 |
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},
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| 565 |
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"cls": "SingleCabinet"
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| 566 |
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},
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| 568 |
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"cls": "SingleCabinet"
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| 569 |
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},
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| 570 |
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| 571 |
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"cls": "FridgeSideBySide"
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| 572 |
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},
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| 573 |
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|
| 574 |
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"cls": "HousingCabinet"
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| 575 |
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},
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| 576 |
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| 577 |
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"cls": "HingeCabinet"
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| 578 |
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},
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| 579 |
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|
| 580 |
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"cls": "Box"
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| 581 |
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},
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| 582 |
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"stack_right_right_group_1": {
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| 583 |
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"cls": "SingleCabinet"
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| 584 |
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},
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| 585 |
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"stack_right_right_group_2": {
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| 586 |
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"cls": "SingleCabinet"
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| 587 |
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},
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| 588 |
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| 589 |
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"cls": "Box"
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| 590 |
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},
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| 591 |
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"bottom_corner_right_group": {
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| 592 |
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"cls": "Box"
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| 593 |
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},
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| 594 |
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"bottom_right_group_base": {
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| 595 |
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"cls": "Box"
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| 596 |
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},
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| 597 |
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"bottom_right_group_1": {
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| 598 |
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"cls": "Drawer"
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| 599 |
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},
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| 600 |
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"bottom_right_group_2": {
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| 601 |
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"cls": "Drawer"
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| 602 |
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},
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| 603 |
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"oven_right_group": {
|
| 604 |
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"cls": "Oven"
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| 605 |
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},
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| 606 |
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"oven_housing_right_group": {
|
| 607 |
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"cls": "HousingCabinet"
|
| 608 |
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},
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| 609 |
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"microwave_right_group": {
|
| 610 |
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"cls": "Microwave"
|
| 611 |
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},
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| 612 |
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"micro_housing_right_group": {
|
| 613 |
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"cls": "HousingCabinet"
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| 614 |
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},
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| 615 |
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"top_right_group": {
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| 616 |
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"cls": "HingeCabinet"
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| 617 |
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},
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| 619 |
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"cls": "Box"
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},
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| 622 |
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"cls": "Drawer"
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| 623 |
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},
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| 624 |
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| 625 |
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"cls": "Drawer"
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| 626 |
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},
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| 627 |
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"side_bottom_right_group_3": {
|
| 628 |
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"cls": "HingeCabinet"
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| 629 |
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}
|
| 630 |
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},
|
| 631 |
+
"gen_textures": {},
|
| 632 |
+
"lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.",
|
| 633 |
+
"fixture_refs": {
|
| 634 |
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"cab": "cab_1_main_group",
|
| 635 |
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"counter": "counter_main_main_group"
|
| 636 |
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},
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| 637 |
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"cam_configs": {
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| 638 |
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"robot0_agentview_center": {
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| 639 |
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"pos": [
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| 640 |
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| 641 |
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"pos": [
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"parent_body": "mobilebase0_support"
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| 702 |
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| 704 |
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"pos": [
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| 705 |
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| 708 |
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],
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| 711 |
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|
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| 714 |
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],
|
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"parent_body": "robot0_right_hand"
|
| 716 |
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}
|
| 717 |
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},
|
| 718 |
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"init_robot_base_pos": [
|
| 719 |
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|
| 720 |
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|
| 721 |
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"init_robot_base_ori": [
|
| 724 |
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|
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|
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|
| 727 |
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]
|
| 728 |
+
}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000307/ep_meta.json
ADDED
|
@@ -0,0 +1,655 @@
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 2,
|
| 3 |
+
"style_id": 2,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cutting_board",
|
| 7 |
+
"obj_groups": "cutting_board",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "counter_main_main_group",
|
| 11 |
+
"sample_region_kwargs": {
|
| 12 |
+
"ref": "cab_main_main_group",
|
| 13 |
+
"min_size": [
|
| 14 |
+
0.21596736834000008,
|
| 15 |
+
0.3105000062100002,
|
| 16 |
+
0.013541203080000005
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"size": [
|
| 20 |
+
1.0,
|
| 21 |
+
0.6
|
| 22 |
+
],
|
| 23 |
+
"pos": [
|
| 24 |
+
0.0,
|
| 25 |
+
-1.0
|
| 26 |
+
],
|
| 27 |
+
"rotation": [
|
| 28 |
+
1.5707963267948966,
|
| 29 |
+
1.5707963267948966
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"type": "object",
|
| 33 |
+
"info": {
|
| 34 |
+
"groups_containing_sampled_obj": [
|
| 35 |
+
"all",
|
| 36 |
+
"cutting_board",
|
| 37 |
+
"receptacle"
|
| 38 |
+
],
|
| 39 |
+
"groups": [
|
| 40 |
+
"cutting_board"
|
| 41 |
+
],
|
| 42 |
+
"cat": "cutting_board",
|
| 43 |
+
"split": "test",
|
| 44 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_9/model.xml"
|
| 45 |
+
},
|
| 46 |
+
"reset_region": {
|
| 47 |
+
"size": [
|
| 48 |
+
1.0,
|
| 49 |
+
0.65
|
| 50 |
+
],
|
| 51 |
+
"offset": [
|
| 52 |
+
-1.4,
|
| 53 |
+
-3.469446951953614e-17,
|
| 54 |
+
0.46
|
| 55 |
+
],
|
| 56 |
+
"name": "geom_0"
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"name": "distr_pastry_container",
|
| 61 |
+
"obj_groups": "plate",
|
| 62 |
+
"placement": {
|
| 63 |
+
"fixture": "counter_main_main_group",
|
| 64 |
+
"reuse_region_from": "cutting_board",
|
| 65 |
+
"size": [
|
| 66 |
+
1.0,
|
| 67 |
+
0.6
|
| 68 |
+
],
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
-1.0
|
| 72 |
+
],
|
| 73 |
+
"try_to_place_in": "plate"
|
| 74 |
+
},
|
| 75 |
+
"type": "object",
|
| 76 |
+
"info": {
|
| 77 |
+
"groups_containing_sampled_obj": [
|
| 78 |
+
"all",
|
| 79 |
+
"plate",
|
| 80 |
+
"receptacle",
|
| 81 |
+
"container",
|
| 82 |
+
"container_set2"
|
| 83 |
+
],
|
| 84 |
+
"groups": [
|
| 85 |
+
"plate"
|
| 86 |
+
],
|
| 87 |
+
"cat": "plate",
|
| 88 |
+
"split": "test",
|
| 89 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
|
| 90 |
+
},
|
| 91 |
+
"reset_region": {
|
| 92 |
+
"size": [
|
| 93 |
+
1.0,
|
| 94 |
+
0.65
|
| 95 |
+
],
|
| 96 |
+
"offset": [
|
| 97 |
+
-1.4,
|
| 98 |
+
-3.469446951953614e-17,
|
| 99 |
+
0.46
|
| 100 |
+
],
|
| 101 |
+
"name": "geom_0"
|
| 102 |
+
}
|
| 103 |
+
},
|
| 104 |
+
{
|
| 105 |
+
"name": "distr_pastry",
|
| 106 |
+
"obj_groups": [
|
| 107 |
+
"baguette",
|
| 108 |
+
"cupcake"
|
| 109 |
+
],
|
| 110 |
+
"placement": {
|
| 111 |
+
"size": [
|
| 112 |
+
0.01,
|
| 113 |
+
0.01
|
| 114 |
+
],
|
| 115 |
+
"ensure_object_boundary_in_range": false,
|
| 116 |
+
"sample_args": {
|
| 117 |
+
"reference": "distr_pastry_container",
|
| 118 |
+
"on_top": true
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"type": "object",
|
| 122 |
+
"info": {
|
| 123 |
+
"groups_containing_sampled_obj": [
|
| 124 |
+
"all",
|
| 125 |
+
"cupcake",
|
| 126 |
+
"sweets",
|
| 127 |
+
"food",
|
| 128 |
+
"in_container"
|
| 129 |
+
],
|
| 130 |
+
"groups": [
|
| 131 |
+
"baguette",
|
| 132 |
+
"cupcake"
|
| 133 |
+
],
|
| 134 |
+
"cat": "cupcake",
|
| 135 |
+
"split": "test",
|
| 136 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_7/model.xml"
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"name": "croissant_container",
|
| 141 |
+
"obj_groups": "plate",
|
| 142 |
+
"placement": {
|
| 143 |
+
"fixture": "counter_main_main_group",
|
| 144 |
+
"reuse_region_from": "cutting_board",
|
| 145 |
+
"size": [
|
| 146 |
+
1.0,
|
| 147 |
+
0.6
|
| 148 |
+
],
|
| 149 |
+
"pos": [
|
| 150 |
+
0.0,
|
| 151 |
+
-1.0
|
| 152 |
+
],
|
| 153 |
+
"try_to_place_in": "plate"
|
| 154 |
+
},
|
| 155 |
+
"type": "object",
|
| 156 |
+
"info": {
|
| 157 |
+
"groups_containing_sampled_obj": [
|
| 158 |
+
"all",
|
| 159 |
+
"plate",
|
| 160 |
+
"receptacle",
|
| 161 |
+
"container",
|
| 162 |
+
"container_set2"
|
| 163 |
+
],
|
| 164 |
+
"groups": [
|
| 165 |
+
"plate"
|
| 166 |
+
],
|
| 167 |
+
"cat": "plate",
|
| 168 |
+
"split": "test",
|
| 169 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
|
| 170 |
+
},
|
| 171 |
+
"reset_region": {
|
| 172 |
+
"size": [
|
| 173 |
+
1.0,
|
| 174 |
+
0.65
|
| 175 |
+
],
|
| 176 |
+
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| 600 |
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| 612 |
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| 615 |
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| 627 |
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| 628 |
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| 629 |
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| 631 |
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| 632 |
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|
| 643 |
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| 644 |
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|
| 645 |
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| 646 |
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|
| 647 |
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|
| 655 |
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}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000313/ep_meta.json
ADDED
|
@@ -0,0 +1,729 @@
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 9,
|
| 3 |
+
"style_id": 9,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cutting_board",
|
| 7 |
+
"obj_groups": "cutting_board",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "counter_main_main_group",
|
| 11 |
+
"sample_region_kwargs": {
|
| 12 |
+
"ref": "cab_main_main_group",
|
| 13 |
+
"min_size": [
|
| 14 |
+
0.21596736834000008,
|
| 15 |
+
0.3105000062100002,
|
| 16 |
+
0.013541203080000005
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"size": [
|
| 20 |
+
1.0,
|
| 21 |
+
0.6
|
| 22 |
+
],
|
| 23 |
+
"pos": [
|
| 24 |
+
0.0,
|
| 25 |
+
-1.0
|
| 26 |
+
],
|
| 27 |
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| 466 |
+
"toaster_oven_main_group": {
|
| 467 |
+
"cls": "ToasterOven"
|
| 468 |
+
},
|
| 469 |
+
"utensil_set_main_group": {
|
| 470 |
+
"cls": "Accessory"
|
| 471 |
+
},
|
| 472 |
+
"oil_bottle_main_group": {
|
| 473 |
+
"cls": "Accessory"
|
| 474 |
+
},
|
| 475 |
+
"knife_block_main_group": {
|
| 476 |
+
"cls": "Accessory"
|
| 477 |
+
},
|
| 478 |
+
"jar_main_group": {
|
| 479 |
+
"cls": "Accessory"
|
| 480 |
+
},
|
| 481 |
+
"cinnamon_main_group": {
|
| 482 |
+
"cls": "Accessory"
|
| 483 |
+
},
|
| 484 |
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"turmeric_main_group": {
|
| 485 |
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"cls": "Accessory"
|
| 486 |
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},
|
| 487 |
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"paprika_main_group": {
|
| 488 |
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"cls": "Accessory"
|
| 489 |
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},
|
| 490 |
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"oil_bottle_main_group_auxiliary_main_group": {
|
| 491 |
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"cls": "Accessory"
|
| 492 |
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},
|
| 493 |
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"jar_main_group_auxiliary_main_group": {
|
| 494 |
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"cls": "Accessory"
|
| 495 |
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},
|
| 496 |
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"counter_1_front_group": {
|
| 497 |
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"cls": "Counter"
|
| 498 |
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},
|
| 499 |
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"counter_corner_front_group": {
|
| 500 |
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"cls": "Counter"
|
| 501 |
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},
|
| 502 |
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"salt_shaker_front_group": {
|
| 503 |
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"cls": "Accessory"
|
| 504 |
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},
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| 505 |
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"salt_shaker_front_group_auxiliary_front_group": {
|
| 506 |
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"cls": "Accessory"
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| 507 |
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},
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| 508 |
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"counter_corner_left_group": {
|
| 509 |
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"cls": "Counter"
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| 510 |
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},
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| 511 |
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"sink_left_group": {
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| 512 |
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"cls": "Sink"
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| 513 |
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},
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| 514 |
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"counter_1_left_group": {
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| 515 |
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"cls": "Counter"
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| 516 |
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},
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| 517 |
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"counter_corner_right_left_group": {
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| 518 |
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"cls": "Counter"
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| 519 |
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},
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| 520 |
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"stack_1_left_group_base": {
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| 521 |
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"cls": "Box"
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| 522 |
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},
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| 523 |
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"stack_1_left_group_1": {
|
| 524 |
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"cls": "HingeCabinet"
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| 525 |
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},
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| 526 |
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"stack_1_left_group_2": {
|
| 527 |
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"cls": "Drawer"
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| 528 |
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},
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| 529 |
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"stack_1_left_group_3": {
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| 530 |
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"cls": "Drawer"
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| 531 |
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},
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| 532 |
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"stack_2_left_group_base": {
|
| 533 |
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"cls": "Box"
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| 534 |
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},
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| 535 |
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"stack_2_left_group_1": {
|
| 536 |
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"cls": "HingeCabinet"
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| 537 |
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},
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| 538 |
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"dishwasher_left_group": {
|
| 539 |
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"cls": "Dishwasher"
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| 540 |
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},
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| 541 |
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"stack_3_left_group_base": {
|
| 542 |
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"cls": "Box"
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| 543 |
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},
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| 544 |
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"stack_3_left_group_1": {
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| 545 |
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"cls": "SingleCabinet"
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| 546 |
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},
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| 547 |
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"cab_1_left_group": {
|
| 548 |
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"cls": "HingeCabinet"
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| 549 |
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},
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| 550 |
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"cab_2_left_group": {
|
| 551 |
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"cls": "SingleCabinet"
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| 552 |
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},
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| 553 |
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"plant_left_group": {
|
| 554 |
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"cls": "Accessory"
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| 555 |
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},
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| 556 |
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"soap_dispenser_left_group": {
|
| 557 |
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"cls": "Accessory"
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| 558 |
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},
|
| 559 |
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"fruit_bowl_left_group": {
|
| 560 |
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"cls": "Accessory"
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| 561 |
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},
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| 562 |
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"stack_left_right_group_base": {
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| 563 |
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"cls": "Box"
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| 564 |
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},
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| 565 |
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"stack_left_right_group_1": {
|
| 566 |
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"cls": "SingleCabinet"
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| 567 |
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},
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| 568 |
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"stack_left_right_group_2": {
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| 569 |
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"cls": "SingleCabinet"
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| 570 |
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},
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| 571 |
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"fridge_right_group": {
|
| 572 |
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"cls": "FridgeSideBySide"
|
| 573 |
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},
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| 574 |
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"fridge_housing_right_group": {
|
| 575 |
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"cls": "HousingCabinet"
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| 576 |
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},
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| 577 |
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"fridge_top_right_group": {
|
| 578 |
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"cls": "HingeCabinet"
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| 579 |
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},
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| 580 |
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"stack_right_right_group_base": {
|
| 581 |
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"cls": "Box"
|
| 582 |
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},
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| 583 |
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"stack_right_right_group_1": {
|
| 584 |
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"cls": "SingleCabinet"
|
| 585 |
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},
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| 586 |
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"stack_right_right_group_2": {
|
| 587 |
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"cls": "SingleCabinet"
|
| 588 |
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},
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| 589 |
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"cab_top_corner_right_group": {
|
| 590 |
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"cls": "Box"
|
| 591 |
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},
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| 592 |
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"bottom_corner_right_group": {
|
| 593 |
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"cls": "Box"
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| 594 |
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},
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| 595 |
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"bottom_right_group_base": {
|
| 596 |
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"cls": "Box"
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| 597 |
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},
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| 598 |
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"bottom_right_group_1": {
|
| 599 |
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"cls": "Drawer"
|
| 600 |
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},
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| 601 |
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"bottom_right_group_2": {
|
| 602 |
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"cls": "Drawer"
|
| 603 |
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},
|
| 604 |
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"oven_right_group": {
|
| 605 |
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"cls": "Oven"
|
| 606 |
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},
|
| 607 |
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"oven_housing_right_group": {
|
| 608 |
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"cls": "HousingCabinet"
|
| 609 |
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},
|
| 610 |
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"microwave_right_group": {
|
| 611 |
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"cls": "Microwave"
|
| 612 |
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},
|
| 613 |
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"micro_housing_right_group": {
|
| 614 |
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"cls": "HousingCabinet"
|
| 615 |
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},
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| 616 |
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"top_right_group": {
|
| 617 |
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"cls": "HingeCabinet"
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| 618 |
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},
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| 619 |
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"side_bottom_right_group_base": {
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| 620 |
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"cls": "Box"
|
| 621 |
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},
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| 622 |
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"side_bottom_right_group_1": {
|
| 623 |
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"cls": "Drawer"
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| 624 |
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},
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| 625 |
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"side_bottom_right_group_2": {
|
| 626 |
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"cls": "Drawer"
|
| 627 |
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},
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| 628 |
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"side_bottom_right_group_3": {
|
| 629 |
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"cls": "HingeCabinet"
|
| 630 |
+
}
|
| 631 |
+
},
|
| 632 |
+
"gen_textures": {},
|
| 633 |
+
"lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.",
|
| 634 |
+
"fixture_refs": {
|
| 635 |
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"cab": "cab_main_main_group",
|
| 636 |
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"counter": "counter_main_main_group"
|
| 637 |
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},
|
| 638 |
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"cam_configs": {
|
| 639 |
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"robot0_agentview_center": {
|
| 640 |
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"pos": [
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| 641 |
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|
| 642 |
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|
| 643 |
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"pos": [
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| 655 |
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},
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"parent_body": "mobilebase0_support"
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},
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"pos": [
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],
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},
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"parent_body": "mobilebase0_support"
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| 703 |
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},
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| 705 |
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"pos": [
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],
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| 711 |
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],
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"parent_body": "robot0_right_hand"
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| 717 |
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}
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| 718 |
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},
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"init_robot_base_pos": [
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| 720 |
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|
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],
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"init_robot_base_ori": [
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| 725 |
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|
| 728 |
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]
|
| 729 |
+
}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000328/ep_meta.json
ADDED
|
@@ -0,0 +1,656 @@
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| 1 |
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{
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| 2 |
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|
| 3 |
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| 4 |
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| 5 |
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{
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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|
| 14 |
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| 15 |
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| 16 |
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| 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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| 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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],
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 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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| 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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| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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],
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 93 |
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| 94 |
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| 95 |
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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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| 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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| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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|
| 130 |
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],
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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],
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| 135 |
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"cat": "baguette",
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| 136 |
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| 137 |
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| 138 |
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}
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| 139 |
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},
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| 140 |
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{
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| 141 |
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"name": "croissant_container",
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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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1.0,
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| 148 |
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| 149 |
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],
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| 150 |
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| 151 |
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0.0,
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| 152 |
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| 153 |
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],
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| 154 |
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| 155 |
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| 156 |
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"type": "object",
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| 157 |
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| 158 |
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| 159 |
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"all",
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| 160 |
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"plate",
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| 161 |
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"receptacle",
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| 162 |
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"container",
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| 163 |
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"container_set2"
|
| 164 |
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],
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| 165 |
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| 166 |
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"plate"
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| 167 |
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],
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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},
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| 172 |
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| 173 |
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| 174 |
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1.0,
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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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}
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| 184 |
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},
|
| 185 |
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{
|
| 186 |
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"name": "croissant",
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| 187 |
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|
| 188 |
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| 189 |
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| 190 |
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0.01,
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| 191 |
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0.01
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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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"reference": "croissant_container",
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| 196 |
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"on_top": true
|
| 197 |
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}
|
| 198 |
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},
|
| 199 |
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"type": "object",
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| 200 |
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| 201 |
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| 202 |
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"all",
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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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],
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| 208 |
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| 209 |
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| 210 |
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],
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| 211 |
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| 212 |
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| 213 |
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| 214 |
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}
|
| 215 |
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},
|
| 216 |
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{
|
| 217 |
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|
| 218 |
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| 219 |
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| 220 |
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| 221 |
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| 222 |
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1.0,
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| 223 |
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0.2
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| 224 |
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| 225 |
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| 226 |
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0,
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| 227 |
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| 228 |
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| 229 |
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| 230 |
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"type": "object",
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| 231 |
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| 232 |
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| 233 |
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| 234 |
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| 235 |
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| 236 |
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],
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| 237 |
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| 238 |
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| 239 |
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],
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| 240 |
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| 243 |
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},
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| 246 |
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| 252 |
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| 253 |
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],
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| 254 |
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| 255 |
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|
| 256 |
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}
|
| 257 |
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},
|
| 258 |
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{
|
| 259 |
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"name": "distr_counter",
|
| 260 |
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|
| 261 |
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| 262 |
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|
| 263 |
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| 264 |
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| 276 |
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0,
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| 279 |
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| 280 |
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| 281 |
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"info": {
|
| 282 |
+
"groups_containing_sampled_obj": [
|
| 283 |
+
"all",
|
| 284 |
+
"bagged_food",
|
| 285 |
+
"packaged_food"
|
| 286 |
+
],
|
| 287 |
+
"groups": [
|
| 288 |
+
"all"
|
| 289 |
+
],
|
| 290 |
+
"cat": "bagged_food",
|
| 291 |
+
"split": "test",
|
| 292 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagged_food/bagged_food_5/model.xml"
|
| 293 |
+
},
|
| 294 |
+
"reset_region": {
|
| 295 |
+
"size": [
|
| 296 |
+
1.0,
|
| 297 |
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0.65
|
| 298 |
+
],
|
| 299 |
+
"offset": [
|
| 300 |
+
1.4,
|
| 301 |
+
-3.469446951953614e-17,
|
| 302 |
+
0.46
|
| 303 |
+
],
|
| 304 |
+
"name": "geom_0"
|
| 305 |
+
}
|
| 306 |
+
}
|
| 307 |
+
],
|
| 308 |
+
"fixtures": {
|
| 309 |
+
"wall_room": {
|
| 310 |
+
"cls": "Wall"
|
| 311 |
+
},
|
| 312 |
+
"wall_backing_room": {
|
| 313 |
+
"cls": "Wall"
|
| 314 |
+
},
|
| 315 |
+
"wall_left_room": {
|
| 316 |
+
"cls": "Wall"
|
| 317 |
+
},
|
| 318 |
+
"wall_left_backing_room": {
|
| 319 |
+
"cls": "Wall"
|
| 320 |
+
},
|
| 321 |
+
"wall_right_room": {
|
| 322 |
+
"cls": "Wall"
|
| 323 |
+
},
|
| 324 |
+
"wall_right_backing_room": {
|
| 325 |
+
"cls": "Wall"
|
| 326 |
+
},
|
| 327 |
+
"floor_room": {
|
| 328 |
+
"cls": "Floor"
|
| 329 |
+
},
|
| 330 |
+
"floor_backing_room": {
|
| 331 |
+
"cls": "Floor"
|
| 332 |
+
},
|
| 333 |
+
"outlet_room": {
|
| 334 |
+
"cls": "WallAccessory"
|
| 335 |
+
},
|
| 336 |
+
"outlet_2_room": {
|
| 337 |
+
"cls": "WallAccessory"
|
| 338 |
+
},
|
| 339 |
+
"light_switch_room": {
|
| 340 |
+
"cls": "WallAccessory"
|
| 341 |
+
},
|
| 342 |
+
"light_switch_2_room": {
|
| 343 |
+
"cls": "WallAccessory"
|
| 344 |
+
},
|
| 345 |
+
"utensil_rack_room": {
|
| 346 |
+
"cls": "WallAccessory"
|
| 347 |
+
},
|
| 348 |
+
"stool_1_room": {
|
| 349 |
+
"cls": "Stool"
|
| 350 |
+
},
|
| 351 |
+
"stool_2_room": {
|
| 352 |
+
"cls": "Stool"
|
| 353 |
+
},
|
| 354 |
+
"stool_3_room": {
|
| 355 |
+
"cls": "Stool"
|
| 356 |
+
},
|
| 357 |
+
"stovetop_main_group": {
|
| 358 |
+
"cls": "Stovetop"
|
| 359 |
+
},
|
| 360 |
+
"counter_main_main_group": {
|
| 361 |
+
"cls": "Counter"
|
| 362 |
+
},
|
| 363 |
+
"bottom_main_group_base": {
|
| 364 |
+
"cls": "Box"
|
| 365 |
+
},
|
| 366 |
+
"bottom_main_group_1": {
|
| 367 |
+
"cls": "Drawer"
|
| 368 |
+
},
|
| 369 |
+
"bottom_main_group_2": {
|
| 370 |
+
"cls": "Drawer"
|
| 371 |
+
},
|
| 372 |
+
"oven_main_group": {
|
| 373 |
+
"cls": "Oven"
|
| 374 |
+
},
|
| 375 |
+
"oven_housing_main_group": {
|
| 376 |
+
"cls": "HousingCabinet"
|
| 377 |
+
},
|
| 378 |
+
"microwave_main_group": {
|
| 379 |
+
"cls": "Microwave"
|
| 380 |
+
},
|
| 381 |
+
"micro_housing_main_group": {
|
| 382 |
+
"cls": "HousingCabinet"
|
| 383 |
+
},
|
| 384 |
+
"top_main_group": {
|
| 385 |
+
"cls": "HingeCabinet"
|
| 386 |
+
},
|
| 387 |
+
"fridge_main_group": {
|
| 388 |
+
"cls": "FridgeSideBySide"
|
| 389 |
+
},
|
| 390 |
+
"fridge_housing_main_group": {
|
| 391 |
+
"cls": "HousingCabinet"
|
| 392 |
+
},
|
| 393 |
+
"fridge_top_main_group": {
|
| 394 |
+
"cls": "HingeCabinet"
|
| 395 |
+
},
|
| 396 |
+
"cab_main_main_group": {
|
| 397 |
+
"cls": "HingeCabinet"
|
| 398 |
+
},
|
| 399 |
+
"hood_main_group": {
|
| 400 |
+
"cls": "Hood"
|
| 401 |
+
},
|
| 402 |
+
"shelves_main_group": {
|
| 403 |
+
"cls": "OpenCabinet"
|
| 404 |
+
},
|
| 405 |
+
"cab_2_main_group": {
|
| 406 |
+
"cls": "HingeCabinet"
|
| 407 |
+
},
|
| 408 |
+
"stack_3_main_group_base": {
|
| 409 |
+
"cls": "Box"
|
| 410 |
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},
|
| 411 |
+
"stack_3_main_group_1": {
|
| 412 |
+
"cls": "HingeCabinet"
|
| 413 |
+
},
|
| 414 |
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"stack_3_main_group_2": {
|
| 415 |
+
"cls": "Drawer"
|
| 416 |
+
},
|
| 417 |
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"stack_3_main_group_3": {
|
| 418 |
+
"cls": "Drawer"
|
| 419 |
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},
|
| 420 |
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"stack_4_main_group_base": {
|
| 421 |
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"cls": "Box"
|
| 422 |
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},
|
| 423 |
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"stack_4_main_group_1": {
|
| 424 |
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"cls": "HingeCabinet"
|
| 425 |
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},
|
| 426 |
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"stack_4_main_group_2": {
|
| 427 |
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"cls": "Drawer"
|
| 428 |
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},
|
| 429 |
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"stack_4_main_group_3": {
|
| 430 |
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"cls": "Drawer"
|
| 431 |
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},
|
| 432 |
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"stack_5_main_group_base": {
|
| 433 |
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"cls": "Box"
|
| 434 |
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},
|
| 435 |
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"stack_5_main_group_1": {
|
| 436 |
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"cls": "HingeCabinet"
|
| 437 |
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},
|
| 438 |
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"stack_5_main_group_2": {
|
| 439 |
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"cls": "Drawer"
|
| 440 |
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},
|
| 441 |
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"stack_5_main_group_3": {
|
| 442 |
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"cls": "Drawer"
|
| 443 |
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},
|
| 444 |
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"stack_6_main_group_base": {
|
| 445 |
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"cls": "Box"
|
| 446 |
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},
|
| 447 |
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"stack_6_main_group_1": {
|
| 448 |
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"cls": "Drawer"
|
| 449 |
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},
|
| 450 |
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"stack_6_main_group_2": {
|
| 451 |
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"cls": "Drawer"
|
| 452 |
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},
|
| 453 |
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"stack_6_main_group_3": {
|
| 454 |
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"cls": "Drawer"
|
| 455 |
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},
|
| 456 |
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"stack_6_main_group_4": {
|
| 457 |
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"cls": "Drawer"
|
| 458 |
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},
|
| 459 |
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"toaster_main_group": {
|
| 460 |
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"cls": "Toaster"
|
| 461 |
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},
|
| 462 |
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"knife_block_main_group": {
|
| 463 |
+
"cls": "Accessory"
|
| 464 |
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},
|
| 465 |
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"paper_towel_main_group": {
|
| 466 |
+
"cls": "Accessory"
|
| 467 |
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},
|
| 468 |
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"coffee_machine_main_group": {
|
| 469 |
+
"cls": "CoffeeMachine"
|
| 470 |
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},
|
| 471 |
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"digital_scale_main_group": {
|
| 472 |
+
"cls": "Accessory"
|
| 473 |
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},
|
| 474 |
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"oil_bottle_main_group": {
|
| 475 |
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"cls": "Accessory"
|
| 476 |
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},
|
| 477 |
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"jar_main_group": {
|
| 478 |
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"cls": "Accessory"
|
| 479 |
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},
|
| 480 |
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"paprika_main_group": {
|
| 481 |
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"cls": "Accessory"
|
| 482 |
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},
|
| 483 |
+
"cinnamon_main_group": {
|
| 484 |
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"cls": "Accessory"
|
| 485 |
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},
|
| 486 |
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"turmeric_main_group": {
|
| 487 |
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"cls": "Accessory"
|
| 488 |
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},
|
| 489 |
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"oil_bottle_main_group_auxiliary_main_group": {
|
| 490 |
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"cls": "Accessory"
|
| 491 |
+
},
|
| 492 |
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"jar_main_group_auxiliary_main_group": {
|
| 493 |
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"cls": "Accessory"
|
| 494 |
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},
|
| 495 |
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"sink_island_group": {
|
| 496 |
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"cls": "Sink"
|
| 497 |
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},
|
| 498 |
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"island_island_group": {
|
| 499 |
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"cls": "Counter"
|
| 500 |
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},
|
| 501 |
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"island_stack_1_island_group_base": {
|
| 502 |
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"cls": "Box"
|
| 503 |
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},
|
| 504 |
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"island_stack_1_island_group_1": {
|
| 505 |
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"cls": "HingeCabinet"
|
| 506 |
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},
|
| 507 |
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"island_stack_1_island_group_2": {
|
| 508 |
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"cls": "PanelCabinet"
|
| 509 |
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},
|
| 510 |
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"dishwasher_island_group": {
|
| 511 |
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"cls": "Dishwasher"
|
| 512 |
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},
|
| 513 |
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"island_panel_cab_right_island_group_base": {
|
| 514 |
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"cls": "Box"
|
| 515 |
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},
|
| 516 |
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"island_panel_cab_right_island_group_1": {
|
| 517 |
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"cls": "PanelCabinet"
|
| 518 |
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},
|
| 519 |
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"island_cab_left_island_group_base": {
|
| 520 |
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"cls": "Box"
|
| 521 |
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},
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| 522 |
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"island_cab_left_island_group_1": {
|
| 523 |
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"cls": "Drawer"
|
| 524 |
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},
|
| 525 |
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"island_cab_left_island_group_2": {
|
| 526 |
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"cls": "Drawer"
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| 527 |
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},
|
| 528 |
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"island_cab_left_island_group_3": {
|
| 529 |
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"cls": "Drawer"
|
| 530 |
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},
|
| 531 |
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"island_cab_left_island_group_4": {
|
| 532 |
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"cls": "Drawer"
|
| 533 |
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},
|
| 534 |
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"island_panel_cab_left_island_group_base": {
|
| 535 |
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"cls": "Box"
|
| 536 |
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},
|
| 537 |
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"island_panel_cab_left_island_group_1": {
|
| 538 |
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"cls": "PanelCabinet"
|
| 539 |
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},
|
| 540 |
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"island_base_box_island_group": {
|
| 541 |
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"cls": "Box"
|
| 542 |
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},
|
| 543 |
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"plant_island_group": {
|
| 544 |
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"cls": "Accessory"
|
| 545 |
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},
|
| 546 |
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"soap_dispenser_island_group": {
|
| 547 |
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"cls": "Accessory"
|
| 548 |
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},
|
| 549 |
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"fruit_bowl_island_group": {
|
| 550 |
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"cls": "Accessory"
|
| 551 |
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},
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| 552 |
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"salt_shaker_island_group": {
|
| 553 |
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"cls": "Accessory"
|
| 554 |
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},
|
| 555 |
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"salt_shaker_island_group_auxiliary_island_group": {
|
| 556 |
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"cls": "Accessory"
|
| 557 |
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}
|
| 558 |
+
},
|
| 559 |
+
"gen_textures": {},
|
| 560 |
+
"lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.",
|
| 561 |
+
"fixture_refs": {
|
| 562 |
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"cab": "cab_2_main_group",
|
| 563 |
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"counter": "counter_main_main_group"
|
| 564 |
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},
|
| 565 |
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"cam_configs": {
|
| 566 |
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"robot0_agentview_center": {
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| 567 |
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"pos": [
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| 568 |
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|
| 569 |
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0.0,
|
| 570 |
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| 571 |
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"parent_body": "mobilebase0_support"
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| 579 |
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"robot0_agentview_left": {
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| 581 |
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"pos": [
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| 598 |
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},
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"parent_body": "mobilebase0_support"
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| 613 |
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"robot0_frontview": {
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| 615 |
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| 616 |
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| 628 |
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| 629 |
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"parent_body": "mobilebase0_support"
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| 630 |
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|
| 632 |
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],
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"quat": [
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|
| 640 |
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|
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],
|
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"parent_body": "robot0_right_hand"
|
| 644 |
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}
|
| 645 |
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},
|
| 646 |
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"init_robot_base_pos": [
|
| 647 |
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|
| 648 |
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|
| 649 |
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|
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"init_robot_base_ori": [
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| 652 |
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|
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|
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|
| 655 |
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]
|
| 656 |
+
}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000354/ep_meta.json
ADDED
|
@@ -0,0 +1,637 @@
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 5,
|
| 3 |
+
"style_id": 5,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cutting_board",
|
| 7 |
+
"obj_groups": "cutting_board",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "counter_main_main_group",
|
| 11 |
+
"sample_region_kwargs": {
|
| 12 |
+
"ref": "cab_main_main_group",
|
| 13 |
+
"min_size": [
|
| 14 |
+
0.21596736834000008,
|
| 15 |
+
0.3105000062100002,
|
| 16 |
+
0.013541203080000005
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"size": [
|
| 20 |
+
1.0,
|
| 21 |
+
0.6
|
| 22 |
+
],
|
| 23 |
+
"pos": [
|
| 24 |
+
0.0,
|
| 25 |
+
-1.0
|
| 26 |
+
],
|
| 27 |
+
"rotation": [
|
| 28 |
+
1.5707963267948966,
|
| 29 |
+
1.5707963267948966
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"type": "object",
|
| 33 |
+
"info": {
|
| 34 |
+
"groups_containing_sampled_obj": [
|
| 35 |
+
"all",
|
| 36 |
+
"cutting_board",
|
| 37 |
+
"receptacle"
|
| 38 |
+
],
|
| 39 |
+
"groups": [
|
| 40 |
+
"cutting_board"
|
| 41 |
+
],
|
| 42 |
+
"cat": "cutting_board",
|
| 43 |
+
"split": "test",
|
| 44 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_9/model.xml"
|
| 45 |
+
},
|
| 46 |
+
"reset_region": {
|
| 47 |
+
"size": [
|
| 48 |
+
1.0,
|
| 49 |
+
0.65
|
| 50 |
+
],
|
| 51 |
+
"offset": [
|
| 52 |
+
-0.49999999999999994,
|
| 53 |
+
0.0,
|
| 54 |
+
0.46
|
| 55 |
+
],
|
| 56 |
+
"name": "geom_0"
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"name": "distr_pastry_container",
|
| 61 |
+
"obj_groups": "plate",
|
| 62 |
+
"placement": {
|
| 63 |
+
"fixture": "counter_main_main_group",
|
| 64 |
+
"reuse_region_from": "cutting_board",
|
| 65 |
+
"size": [
|
| 66 |
+
1.0,
|
| 67 |
+
0.6
|
| 68 |
+
],
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
-1.0
|
| 72 |
+
],
|
| 73 |
+
"try_to_place_in": "plate"
|
| 74 |
+
},
|
| 75 |
+
"type": "object",
|
| 76 |
+
"info": {
|
| 77 |
+
"groups_containing_sampled_obj": [
|
| 78 |
+
"all",
|
| 79 |
+
"plate",
|
| 80 |
+
"receptacle",
|
| 81 |
+
"container",
|
| 82 |
+
"container_set2"
|
| 83 |
+
],
|
| 84 |
+
"groups": [
|
| 85 |
+
"plate"
|
| 86 |
+
],
|
| 87 |
+
"cat": "plate",
|
| 88 |
+
"split": "test",
|
| 89 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
|
| 90 |
+
},
|
| 91 |
+
"reset_region": {
|
| 92 |
+
"size": [
|
| 93 |
+
1.0,
|
| 94 |
+
0.65
|
| 95 |
+
],
|
| 96 |
+
"offset": [
|
| 97 |
+
-0.49999999999999994,
|
| 98 |
+
0.0,
|
| 99 |
+
0.46
|
| 100 |
+
],
|
| 101 |
+
"name": "geom_0"
|
| 102 |
+
}
|
| 103 |
+
},
|
| 104 |
+
{
|
| 105 |
+
"name": "distr_pastry",
|
| 106 |
+
"obj_groups": [
|
| 107 |
+
"baguette",
|
| 108 |
+
"cupcake"
|
| 109 |
+
],
|
| 110 |
+
"placement": {
|
| 111 |
+
"size": [
|
| 112 |
+
0.01,
|
| 113 |
+
0.01
|
| 114 |
+
],
|
| 115 |
+
"ensure_object_boundary_in_range": false,
|
| 116 |
+
"sample_args": {
|
| 117 |
+
"reference": "distr_pastry_container",
|
| 118 |
+
"on_top": true
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"type": "object",
|
| 122 |
+
"info": {
|
| 123 |
+
"groups_containing_sampled_obj": [
|
| 124 |
+
"all",
|
| 125 |
+
"baguette",
|
| 126 |
+
"bread_food",
|
| 127 |
+
"food",
|
| 128 |
+
"in_container",
|
| 129 |
+
"food_set1"
|
| 130 |
+
],
|
| 131 |
+
"groups": [
|
| 132 |
+
"baguette",
|
| 133 |
+
"cupcake"
|
| 134 |
+
],
|
| 135 |
+
"cat": "baguette",
|
| 136 |
+
"split": "test",
|
| 137 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_4/model.xml"
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
{
|
| 141 |
+
"name": "croissant_container",
|
| 142 |
+
"obj_groups": "plate",
|
| 143 |
+
"placement": {
|
| 144 |
+
"fixture": "counter_main_main_group",
|
| 145 |
+
"reuse_region_from": "cutting_board",
|
| 146 |
+
"size": [
|
| 147 |
+
1.0,
|
| 148 |
+
0.6
|
| 149 |
+
],
|
| 150 |
+
"pos": [
|
| 151 |
+
0.0,
|
| 152 |
+
-1.0
|
| 153 |
+
],
|
| 154 |
+
"try_to_place_in": "plate"
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"plate",
|
| 161 |
+
"receptacle",
|
| 162 |
+
"container",
|
| 163 |
+
"container_set2"
|
| 164 |
+
],
|
| 165 |
+
"groups": [
|
| 166 |
+
"plate"
|
| 167 |
+
],
|
| 168 |
+
"cat": "plate",
|
| 169 |
+
"split": "test",
|
| 170 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
|
| 171 |
+
},
|
| 172 |
+
"reset_region": {
|
| 173 |
+
"size": [
|
| 174 |
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| 604 |
+
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|
| 605 |
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-0.5905545353889465
|
| 606 |
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],
|
| 607 |
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"camera_attribs": {
|
| 608 |
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"fovy": "60"
|
| 609 |
+
},
|
| 610 |
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"parent_body": "mobilebase0_support"
|
| 611 |
+
},
|
| 612 |
+
"robot0_eye_in_hand": {
|
| 613 |
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"pos": [
|
| 614 |
+
0.05,
|
| 615 |
+
0,
|
| 616 |
+
0
|
| 617 |
+
],
|
| 618 |
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"quat": [
|
| 619 |
+
0,
|
| 620 |
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0.707107,
|
| 621 |
+
0.707107,
|
| 622 |
+
0
|
| 623 |
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],
|
| 624 |
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"parent_body": "robot0_right_hand"
|
| 625 |
+
}
|
| 626 |
+
},
|
| 627 |
+
"init_robot_base_pos": [
|
| 628 |
+
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|
| 629 |
+
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|
| 630 |
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0.0
|
| 631 |
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],
|
| 632 |
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"init_robot_base_ori": [
|
| 633 |
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0.0,
|
| 634 |
+
0.0,
|
| 635 |
+
-3.673205103416066e-06
|
| 636 |
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]
|
| 637 |
+
}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000374/ep_meta.json
ADDED
|
@@ -0,0 +1,805 @@
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 7,
|
| 3 |
+
"style_id": 7,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cutting_board",
|
| 7 |
+
"obj_groups": "cutting_board",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "counter_1_right_group",
|
| 11 |
+
"sample_region_kwargs": {
|
| 12 |
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"cls": "HingeCabinet"
|
| 454 |
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|
| 455 |
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"stack_5_main_group_2": {
|
| 456 |
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"cls": "Drawer"
|
| 457 |
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},
|
| 458 |
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"stack_5_main_group_3": {
|
| 459 |
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"cls": "Drawer"
|
| 460 |
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|
| 461 |
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|
| 462 |
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"cls": "Box"
|
| 463 |
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|
| 464 |
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"stack_6_main_group_1": {
|
| 465 |
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"cls": "SingleCabinet"
|
| 466 |
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|
| 467 |
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|
| 468 |
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"cls": "Drawer"
|
| 469 |
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|
| 470 |
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"knife_block_main_group": {
|
| 471 |
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"cls": "Accessory"
|
| 472 |
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|
| 473 |
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"paper_towel_main_group": {
|
| 474 |
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"cls": "Accessory"
|
| 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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"oil_bottle_main_group": {
|
| 480 |
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"cls": "Accessory"
|
| 481 |
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},
|
| 482 |
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"glass_cup_main_group": {
|
| 483 |
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"cls": "Accessory"
|
| 484 |
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},
|
| 485 |
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"glass_cup_2_main_group": {
|
| 486 |
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"cls": "Accessory"
|
| 487 |
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|
| 488 |
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|
| 489 |
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"cls": "Accessory"
|
| 490 |
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},
|
| 491 |
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"sink_island_group": {
|
| 492 |
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"cls": "Sink"
|
| 493 |
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|
| 494 |
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|
| 495 |
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"cls": "Counter"
|
| 496 |
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|
| 497 |
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|
| 498 |
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"cls": "Box"
|
| 499 |
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|
| 500 |
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|
| 501 |
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"cls": "HingeCabinet"
|
| 502 |
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|
| 503 |
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|
| 504 |
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"cls": "PanelCabinet"
|
| 505 |
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|
| 506 |
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"dishwasher_island_group": {
|
| 507 |
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"cls": "Dishwasher"
|
| 508 |
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|
| 510 |
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| 513 |
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| 516 |
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|
| 525 |
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| 526 |
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| 528 |
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| 532 |
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|
| 534 |
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"cls": "PanelCabinet"
|
| 535 |
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| 536 |
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|
| 537 |
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"cls": "Box"
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| 538 |
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},
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| 539 |
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|
| 540 |
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| 541 |
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| 542 |
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|
| 543 |
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| 544 |
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| 545 |
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|
| 546 |
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| 547 |
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| 548 |
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|
| 549 |
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| 550 |
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| 552 |
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| 571 |
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"cls": "Microwave"
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| 579 |
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"cls": "HousingCabinet"
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| 600 |
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| 603 |
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| 618 |
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| 619 |
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},
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| 621 |
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| 622 |
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| 623 |
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| 624 |
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| 626 |
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| 627 |
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| 628 |
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| 630 |
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| 631 |
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| 633 |
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"cls": "Accessory"
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| 634 |
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| 636 |
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| 637 |
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| 639 |
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"cls": "Accessory"
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| 642 |
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| 645 |
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| 646 |
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},
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| 649 |
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| 651 |
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"cls": "FridgeSideBySide"
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| 652 |
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},
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| 654 |
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"cls": "HousingCabinet"
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| 655 |
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| 657 |
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"cls": "Box"
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| 660 |
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"cls": "HingeCabinet"
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| 663 |
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| 666 |
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| 669 |
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"cls": "Box"
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| 670 |
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},
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"cls": "SingleCabinet"
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| 675 |
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| 678 |
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| 681 |
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"cls": "HingeCabinet"
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| 705 |
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"cls": "Toaster"
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| 706 |
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}
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| 707 |
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},
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| 708 |
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"gen_textures": {},
|
| 709 |
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"lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.",
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| 710 |
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"fixture_refs": {
|
| 711 |
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"cab": "cab_2_right_group",
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| 712 |
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"counter": "counter_1_right_group"
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| 713 |
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| 714 |
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"cam_configs": {
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|
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| 801 |
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|
| 803 |
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|
| 804 |
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]
|
| 805 |
+
}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000397/ep_meta.json
ADDED
|
@@ -0,0 +1,556 @@
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 1,
|
| 3 |
+
"style_id": 1,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cutting_board",
|
| 7 |
+
"obj_groups": "cutting_board",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "counter_main_main_group",
|
| 11 |
+
"sample_region_kwargs": {
|
| 12 |
+
"ref": "cab_main_main_group",
|
| 13 |
+
"min_size": [
|
| 14 |
+
0.2102443155000001,
|
| 15 |
+
0.3375000067500002,
|
| 16 |
+
0.025346209500000008
|
| 17 |
+
]
|
| 18 |
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},
|
| 19 |
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"size": [
|
| 20 |
+
1.0,
|
| 21 |
+
0.6
|
| 22 |
+
],
|
| 23 |
+
"pos": [
|
| 24 |
+
0.0,
|
| 25 |
+
-1.0
|
| 26 |
+
],
|
| 27 |
+
"rotation": [
|
| 28 |
+
1.5707963267948966,
|
| 29 |
+
1.5707963267948966
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"type": "object",
|
| 33 |
+
"info": {
|
| 34 |
+
"groups_containing_sampled_obj": [
|
| 35 |
+
"all",
|
| 36 |
+
"cutting_board",
|
| 37 |
+
"receptacle"
|
| 38 |
+
],
|
| 39 |
+
"groups": [
|
| 40 |
+
"cutting_board"
|
| 41 |
+
],
|
| 42 |
+
"cat": "cutting_board",
|
| 43 |
+
"split": "test",
|
| 44 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_2/model.xml"
|
| 45 |
+
},
|
| 46 |
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"reset_region": {
|
| 47 |
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"size": [
|
| 48 |
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1.0,
|
| 49 |
+
0.65
|
| 50 |
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],
|
| 51 |
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"offset": [
|
| 52 |
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0.75,
|
| 53 |
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-3.469446951953614e-17,
|
| 54 |
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0.46
|
| 55 |
+
],
|
| 56 |
+
"name": "geom_0"
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"name": "distr_pastry_container",
|
| 61 |
+
"obj_groups": "plate",
|
| 62 |
+
"placement": {
|
| 63 |
+
"fixture": "counter_main_main_group",
|
| 64 |
+
"reuse_region_from": "cutting_board",
|
| 65 |
+
"size": [
|
| 66 |
+
1.0,
|
| 67 |
+
0.6
|
| 68 |
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],
|
| 69 |
+
"pos": [
|
| 70 |
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0.0,
|
| 71 |
+
-1.0
|
| 72 |
+
],
|
| 73 |
+
"try_to_place_in": "plate"
|
| 74 |
+
},
|
| 75 |
+
"type": "object",
|
| 76 |
+
"info": {
|
| 77 |
+
"groups_containing_sampled_obj": [
|
| 78 |
+
"all",
|
| 79 |
+
"plate",
|
| 80 |
+
"receptacle",
|
| 81 |
+
"container",
|
| 82 |
+
"container_set2"
|
| 83 |
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],
|
| 84 |
+
"groups": [
|
| 85 |
+
"plate"
|
| 86 |
+
],
|
| 87 |
+
"cat": "plate",
|
| 88 |
+
"split": "test",
|
| 89 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
|
| 90 |
+
},
|
| 91 |
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"reset_region": {
|
| 92 |
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"size": [
|
| 93 |
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1.0,
|
| 94 |
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0.65
|
| 95 |
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],
|
| 96 |
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"offset": [
|
| 97 |
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0.75,
|
| 98 |
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-3.469446951953614e-17,
|
| 99 |
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0.46
|
| 100 |
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],
|
| 101 |
+
"name": "geom_0"
|
| 102 |
+
}
|
| 103 |
+
},
|
| 104 |
+
{
|
| 105 |
+
"name": "distr_pastry",
|
| 106 |
+
"obj_groups": [
|
| 107 |
+
"baguette",
|
| 108 |
+
"cupcake"
|
| 109 |
+
],
|
| 110 |
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"placement": {
|
| 111 |
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"size": [
|
| 112 |
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0.01,
|
| 113 |
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0.01
|
| 114 |
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],
|
| 115 |
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"ensure_object_boundary_in_range": false,
|
| 116 |
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"sample_args": {
|
| 117 |
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"reference": "distr_pastry_container",
|
| 118 |
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"on_top": true
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"type": "object",
|
| 122 |
+
"info": {
|
| 123 |
+
"groups_containing_sampled_obj": [
|
| 124 |
+
"all",
|
| 125 |
+
"cupcake",
|
| 126 |
+
"sweets",
|
| 127 |
+
"food",
|
| 128 |
+
"in_container"
|
| 129 |
+
],
|
| 130 |
+
"groups": [
|
| 131 |
+
"baguette",
|
| 132 |
+
"cupcake"
|
| 133 |
+
],
|
| 134 |
+
"cat": "cupcake",
|
| 135 |
+
"split": "test",
|
| 136 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_9/model.xml"
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"name": "croissant_container",
|
| 141 |
+
"obj_groups": "plate",
|
| 142 |
+
"placement": {
|
| 143 |
+
"fixture": "counter_main_main_group",
|
| 144 |
+
"reuse_region_from": "cutting_board",
|
| 145 |
+
"size": [
|
| 146 |
+
1.0,
|
| 147 |
+
0.6
|
| 148 |
+
],
|
| 149 |
+
"pos": [
|
| 150 |
+
0.0,
|
| 151 |
+
-1.0
|
| 152 |
+
],
|
| 153 |
+
"try_to_place_in": "plate"
|
| 154 |
+
},
|
| 155 |
+
"type": "object",
|
| 156 |
+
"info": {
|
| 157 |
+
"groups_containing_sampled_obj": [
|
| 158 |
+
"all",
|
| 159 |
+
"plate",
|
| 160 |
+
"receptacle",
|
| 161 |
+
"container",
|
| 162 |
+
"container_set2"
|
| 163 |
+
],
|
| 164 |
+
"groups": [
|
| 165 |
+
"plate"
|
| 166 |
+
],
|
| 167 |
+
"cat": "plate",
|
| 168 |
+
"split": "test",
|
| 169 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
|
| 170 |
+
},
|
| 171 |
+
"reset_region": {
|
| 172 |
+
"size": [
|
| 173 |
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1.0,
|
| 174 |
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0.65
|
| 175 |
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],
|
| 176 |
+
"offset": [
|
| 177 |
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0.75,
|
| 178 |
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-3.469446951953614e-17,
|
| 179 |
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0.46
|
| 180 |
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],
|
| 181 |
+
"name": "geom_0"
|
| 182 |
+
}
|
| 183 |
+
},
|
| 184 |
+
{
|
| 185 |
+
"name": "croissant",
|
| 186 |
+
"obj_groups": "croissant",
|
| 187 |
+
"placement": {
|
| 188 |
+
"size": [
|
| 189 |
+
0.01,
|
| 190 |
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0.01
|
| 191 |
+
],
|
| 192 |
+
"ensure_object_boundary_in_range": false,
|
| 193 |
+
"sample_args": {
|
| 194 |
+
"reference": "croissant_container",
|
| 195 |
+
"on_top": true
|
| 196 |
+
}
|
| 197 |
+
},
|
| 198 |
+
"type": "object",
|
| 199 |
+
"info": {
|
| 200 |
+
"groups_containing_sampled_obj": [
|
| 201 |
+
"all",
|
| 202 |
+
"croissant",
|
| 203 |
+
"pastry",
|
| 204 |
+
"food",
|
| 205 |
+
"in_container"
|
| 206 |
+
],
|
| 207 |
+
"groups": [
|
| 208 |
+
"croissant"
|
| 209 |
+
],
|
| 210 |
+
"cat": "croissant",
|
| 211 |
+
"split": "test",
|
| 212 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_9/model.xml"
|
| 213 |
+
}
|
| 214 |
+
},
|
| 215 |
+
{
|
| 216 |
+
"name": "jam",
|
| 217 |
+
"obj_groups": "jam",
|
| 218 |
+
"placement": {
|
| 219 |
+
"fixture": "cab_main_main_group",
|
| 220 |
+
"size": [
|
| 221 |
+
1.0,
|
| 222 |
+
0.2
|
| 223 |
+
],
|
| 224 |
+
"pos": [
|
| 225 |
+
0,
|
| 226 |
+
-1.0
|
| 227 |
+
]
|
| 228 |
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|
| 229 |
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| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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],
|
| 239 |
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"cat": "jam",
|
| 240 |
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"split": "test",
|
| 241 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_6/model.xml"
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| 242 |
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| 243 |
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|
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|
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|
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|
| 261 |
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|
| 262 |
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|
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| 285 |
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|
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"cls": "Drawer"
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| 403 |
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"cls": "Box"
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"cls": "SingleCabinet"
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"cls": "Box"
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"cls": "SingleCabinet"
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"cls": "Drawer"
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| 427 |
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"cls": "Accessory"
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"cls": "Toaster"
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"cls": "Accessory"
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"cls": "CoffeeMachine"
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"cls": "Accessory"
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"cls": "Accessory"
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| 456 |
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"cls": "Accessory"
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| 457 |
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}
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| 458 |
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},
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| 459 |
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"gen_textures": {},
|
| 460 |
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"lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.",
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| 461 |
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"fixture_refs": {
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"cab": "cab_main_main_group",
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}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000414/ep_meta.json
ADDED
|
@@ -0,0 +1,659 @@
|
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|
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|
|
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|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 6,
|
| 3 |
+
"style_id": 6,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cutting_board",
|
| 7 |
+
"obj_groups": "cutting_board",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "counter_1_left_group",
|
| 11 |
+
"sample_region_kwargs": {
|
| 12 |
+
"ref": "cab_1_left_group",
|
| 13 |
+
"min_size": [
|
| 14 |
+
0.21596736834000008,
|
| 15 |
+
0.3105000062100002,
|
| 16 |
+
0.013541203080000005
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"size": [
|
| 20 |
+
1.0,
|
| 21 |
+
0.6
|
| 22 |
+
],
|
| 23 |
+
"pos": [
|
| 24 |
+
0.0,
|
| 25 |
+
-1.0
|
| 26 |
+
],
|
| 27 |
+
"rotation": [
|
| 28 |
+
1.5707963267948966,
|
| 29 |
+
1.5707963267948966
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"type": "object",
|
| 33 |
+
"info": {
|
| 34 |
+
"groups_containing_sampled_obj": [
|
| 35 |
+
"all",
|
| 36 |
+
"cutting_board",
|
| 37 |
+
"receptacle"
|
| 38 |
+
],
|
| 39 |
+
"groups": [
|
| 40 |
+
"cutting_board"
|
| 41 |
+
],
|
| 42 |
+
"cat": "cutting_board",
|
| 43 |
+
"split": "test",
|
| 44 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_9/model.xml"
|
| 45 |
+
},
|
| 46 |
+
"reset_region": {
|
| 47 |
+
"size": [
|
| 48 |
+
0.9999999999999991,
|
| 49 |
+
0.65
|
| 50 |
+
],
|
| 51 |
+
"offset": [
|
| 52 |
+
-0.9000000000000004,
|
| 53 |
+
0.0,
|
| 54 |
+
0.46
|
| 55 |
+
],
|
| 56 |
+
"name": "geom_0"
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"name": "distr_pastry_container",
|
| 61 |
+
"obj_groups": "plate",
|
| 62 |
+
"placement": {
|
| 63 |
+
"fixture": "counter_1_left_group",
|
| 64 |
+
"reuse_region_from": "cutting_board",
|
| 65 |
+
"size": [
|
| 66 |
+
1.0,
|
| 67 |
+
0.6
|
| 68 |
+
],
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
-1.0
|
| 72 |
+
],
|
| 73 |
+
"try_to_place_in": "plate"
|
| 74 |
+
},
|
| 75 |
+
"type": "object",
|
| 76 |
+
"info": {
|
| 77 |
+
"groups_containing_sampled_obj": [
|
| 78 |
+
"all",
|
| 79 |
+
"plate",
|
| 80 |
+
"receptacle",
|
| 81 |
+
"container",
|
| 82 |
+
"container_set2"
|
| 83 |
+
],
|
| 84 |
+
"groups": [
|
| 85 |
+
"plate"
|
| 86 |
+
],
|
| 87 |
+
"cat": "plate",
|
| 88 |
+
"split": "test",
|
| 89 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
|
| 90 |
+
},
|
| 91 |
+
"reset_region": {
|
| 92 |
+
"size": [
|
| 93 |
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0.9999999999999991,
|
| 94 |
+
0.65
|
| 95 |
+
],
|
| 96 |
+
"offset": [
|
| 97 |
+
-0.9000000000000004,
|
| 98 |
+
0.0,
|
| 99 |
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0.46
|
| 100 |
+
],
|
| 101 |
+
"name": "geom_0"
|
| 102 |
+
}
|
| 103 |
+
},
|
| 104 |
+
{
|
| 105 |
+
"name": "distr_pastry",
|
| 106 |
+
"obj_groups": [
|
| 107 |
+
"baguette",
|
| 108 |
+
"cupcake"
|
| 109 |
+
],
|
| 110 |
+
"placement": {
|
| 111 |
+
"size": [
|
| 112 |
+
0.01,
|
| 113 |
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0.01
|
| 114 |
+
],
|
| 115 |
+
"ensure_object_boundary_in_range": false,
|
| 116 |
+
"sample_args": {
|
| 117 |
+
"reference": "distr_pastry_container",
|
| 118 |
+
"on_top": true
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"type": "object",
|
| 122 |
+
"info": {
|
| 123 |
+
"groups_containing_sampled_obj": [
|
| 124 |
+
"all",
|
| 125 |
+
"baguette",
|
| 126 |
+
"bread_food",
|
| 127 |
+
"food",
|
| 128 |
+
"in_container",
|
| 129 |
+
"food_set1"
|
| 130 |
+
],
|
| 131 |
+
"groups": [
|
| 132 |
+
"baguette",
|
| 133 |
+
"cupcake"
|
| 134 |
+
],
|
| 135 |
+
"cat": "baguette",
|
| 136 |
+
"split": "test",
|
| 137 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_4/model.xml"
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
{
|
| 141 |
+
"name": "croissant_container",
|
| 142 |
+
"obj_groups": "plate",
|
| 143 |
+
"placement": {
|
| 144 |
+
"fixture": "counter_1_left_group",
|
| 145 |
+
"reuse_region_from": "cutting_board",
|
| 146 |
+
"size": [
|
| 147 |
+
1.0,
|
| 148 |
+
0.6
|
| 149 |
+
],
|
| 150 |
+
"pos": [
|
| 151 |
+
0.0,
|
| 152 |
+
-1.0
|
| 153 |
+
],
|
| 154 |
+
"try_to_place_in": "plate"
|
| 155 |
+
},
|
| 156 |
+
"type": "object",
|
| 157 |
+
"info": {
|
| 158 |
+
"groups_containing_sampled_obj": [
|
| 159 |
+
"all",
|
| 160 |
+
"plate",
|
| 161 |
+
"receptacle",
|
| 162 |
+
"container",
|
| 163 |
+
"container_set2"
|
| 164 |
+
],
|
| 165 |
+
"groups": [
|
| 166 |
+
"plate"
|
| 167 |
+
],
|
| 168 |
+
"cat": "plate",
|
| 169 |
+
"split": "test",
|
| 170 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
|
| 171 |
+
},
|
| 172 |
+
"reset_region": {
|
| 173 |
+
"size": [
|
| 174 |
+
0.9999999999999991,
|
| 175 |
+
0.65
|
| 176 |
+
],
|
| 177 |
+
"offset": [
|
| 178 |
+
-0.9000000000000004,
|
| 179 |
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0.0,
|
| 180 |
+
0.46
|
| 181 |
+
],
|
| 182 |
+
"name": "geom_0"
|
| 183 |
+
}
|
| 184 |
+
},
|
| 185 |
+
{
|
| 186 |
+
"name": "croissant",
|
| 187 |
+
"obj_groups": "croissant",
|
| 188 |
+
"placement": {
|
| 189 |
+
"size": [
|
| 190 |
+
0.01,
|
| 191 |
+
0.01
|
| 192 |
+
],
|
| 193 |
+
"ensure_object_boundary_in_range": false,
|
| 194 |
+
"sample_args": {
|
| 195 |
+
"reference": "croissant_container",
|
| 196 |
+
"on_top": true
|
| 197 |
+
}
|
| 198 |
+
},
|
| 199 |
+
"type": "object",
|
| 200 |
+
"info": {
|
| 201 |
+
"groups_containing_sampled_obj": [
|
| 202 |
+
"all",
|
| 203 |
+
"croissant",
|
| 204 |
+
"pastry",
|
| 205 |
+
"food",
|
| 206 |
+
"in_container"
|
| 207 |
+
],
|
| 208 |
+
"groups": [
|
| 209 |
+
"croissant"
|
| 210 |
+
],
|
| 211 |
+
"cat": "croissant",
|
| 212 |
+
"split": "test",
|
| 213 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_9/model.xml"
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
{
|
| 217 |
+
"name": "jam",
|
| 218 |
+
"obj_groups": "jam",
|
| 219 |
+
"placement": {
|
| 220 |
+
"fixture": "cab_1_left_group",
|
| 221 |
+
"size": [
|
| 222 |
+
1.0,
|
| 223 |
+
0.2
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0.80762467892412,
|
| 651 |
+
-2.9155820406383213,
|
| 652 |
+
0.0
|
| 653 |
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],
|
| 654 |
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"init_robot_base_ori": [
|
| 655 |
+
0.0,
|
| 656 |
+
0.0,
|
| 657 |
+
3.1415963267948968
|
| 658 |
+
]
|
| 659 |
+
}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000453/ep_meta.json
ADDED
|
@@ -0,0 +1,805 @@
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 7,
|
| 3 |
+
"style_id": 7,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cutting_board",
|
| 7 |
+
"obj_groups": "cutting_board",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "counter_1_right_group",
|
| 11 |
+
"sample_region_kwargs": {
|
| 12 |
+
"ref": "cab_2_right_group",
|
| 13 |
+
"min_size": [
|
| 14 |
+
0.22229021025000018,
|
| 15 |
+
0.3374063910000002,
|
| 16 |
+
0.007644037500000005
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"size": [
|
| 20 |
+
1.0,
|
| 21 |
+
0.6
|
| 22 |
+
],
|
| 23 |
+
"pos": [
|
| 24 |
+
0.0,
|
| 25 |
+
-1.0
|
| 26 |
+
],
|
| 27 |
+
"rotation": [
|
| 28 |
+
1.5707963267948966,
|
| 29 |
+
1.5707963267948966
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"type": "object",
|
| 33 |
+
"info": {
|
| 34 |
+
"groups_containing_sampled_obj": [
|
| 35 |
+
"all",
|
| 36 |
+
"cutting_board",
|
| 37 |
+
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|
| 477 |
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"cls": "Accessory"
|
| 478 |
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},
|
| 479 |
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"oil_bottle_main_group": {
|
| 480 |
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"cls": "Accessory"
|
| 481 |
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},
|
| 482 |
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"glass_cup_main_group": {
|
| 483 |
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"cls": "Accessory"
|
| 484 |
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},
|
| 485 |
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"glass_cup_2_main_group": {
|
| 486 |
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"cls": "Accessory"
|
| 487 |
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},
|
| 488 |
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"oil_bottle_main_group_auxiliary_main_group": {
|
| 489 |
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"cls": "Accessory"
|
| 490 |
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},
|
| 491 |
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"sink_island_group": {
|
| 492 |
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"cls": "Sink"
|
| 493 |
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},
|
| 494 |
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"island_island_group": {
|
| 495 |
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"cls": "Counter"
|
| 496 |
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},
|
| 497 |
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"island_stack_1_island_group_base": {
|
| 498 |
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"cls": "Box"
|
| 499 |
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},
|
| 500 |
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|
| 501 |
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"cls": "HingeCabinet"
|
| 502 |
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},
|
| 503 |
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"island_stack_1_island_group_2": {
|
| 504 |
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"cls": "PanelCabinet"
|
| 505 |
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},
|
| 506 |
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"dishwasher_island_group": {
|
| 507 |
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"cls": "Dishwasher"
|
| 508 |
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|
| 509 |
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|
| 510 |
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"cls": "Box"
|
| 511 |
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},
|
| 512 |
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|
| 513 |
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"cls": "PanelCabinet"
|
| 514 |
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| 515 |
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|
| 516 |
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|
| 517 |
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|
| 519 |
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|
| 520 |
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| 521 |
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|
| 522 |
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"cls": "Drawer"
|
| 523 |
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| 524 |
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|
| 525 |
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"cls": "Drawer"
|
| 526 |
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|
| 527 |
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|
| 528 |
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"cls": "Drawer"
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| 529 |
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|
| 530 |
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|
| 531 |
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"cls": "Box"
|
| 532 |
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},
|
| 533 |
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"island_panel_cab_left_island_group_1": {
|
| 534 |
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"cls": "PanelCabinet"
|
| 535 |
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},
|
| 536 |
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"island_base_box_island_group": {
|
| 537 |
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"cls": "Box"
|
| 538 |
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},
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| 539 |
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|
| 540 |
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"cls": "Accessory"
|
| 541 |
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},
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| 542 |
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|
| 543 |
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"cls": "Accessory"
|
| 544 |
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},
|
| 545 |
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|
| 546 |
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"cls": "Accessory"
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| 547 |
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},
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| 548 |
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|
| 549 |
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"cls": "Accessory"
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| 550 |
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| 551 |
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| 552 |
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| 553 |
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| 555 |
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| 558 |
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"cls": "Drawer"
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| 571 |
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| 573 |
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| 576 |
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"cls": "Microwave"
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| 577 |
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| 579 |
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"cls": "HousingCabinet"
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"cls": "HingeCabinet"
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| 588 |
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"cls": "SingleCabinet"
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"cls": "Drawer"
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| 594 |
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| 597 |
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| 598 |
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| 600 |
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| 601 |
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| 603 |
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| 604 |
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| 606 |
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| 615 |
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| 616 |
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| 618 |
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| 619 |
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},
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| 620 |
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|
| 621 |
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| 622 |
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},
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| 623 |
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| 624 |
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| 625 |
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| 626 |
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| 627 |
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"cls": "ToasterOven"
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| 628 |
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| 629 |
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| 630 |
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| 631 |
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| 632 |
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| 633 |
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"cls": "Accessory"
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| 634 |
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| 635 |
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| 636 |
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"cls": "Accessory"
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| 637 |
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},
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| 638 |
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| 639 |
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"cls": "Accessory"
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| 640 |
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},
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| 641 |
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| 642 |
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| 643 |
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},
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| 644 |
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| 645 |
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"cls": "Counter"
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| 646 |
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},
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| 647 |
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| 648 |
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| 649 |
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},
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| 650 |
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| 651 |
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"cls": "FridgeSideBySide"
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| 652 |
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},
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| 653 |
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"fridge_housing_right_group": {
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| 654 |
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"cls": "HousingCabinet"
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| 655 |
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},
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| 656 |
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| 657 |
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"cls": "Box"
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| 658 |
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},
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| 659 |
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| 660 |
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"cls": "HingeCabinet"
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| 661 |
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| 662 |
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| 663 |
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| 664 |
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| 666 |
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| 667 |
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| 669 |
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"cls": "Box"
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| 670 |
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},
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| 672 |
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"cls": "SingleCabinet"
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| 673 |
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| 674 |
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| 675 |
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| 676 |
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| 678 |
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| 679 |
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| 680 |
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| 681 |
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| 682 |
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| 684 |
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| 685 |
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| 687 |
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| 690 |
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| 693 |
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| 696 |
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| 699 |
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"cls": "HingeCabinet"
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| 700 |
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| 701 |
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| 703 |
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| 705 |
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"cls": "Toaster"
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| 706 |
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}
|
| 707 |
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},
|
| 708 |
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"gen_textures": {},
|
| 709 |
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"lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.",
|
| 710 |
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"fixture_refs": {
|
| 711 |
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"cab": "cab_2_right_group",
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| 712 |
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"counter": "counter_1_right_group"
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| 713 |
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| 714 |
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|
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|
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|
| 804 |
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]
|
| 805 |
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}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000463/ep_meta.json
ADDED
|
@@ -0,0 +1,658 @@
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 6,
|
| 3 |
+
"style_id": 6,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cutting_board",
|
| 7 |
+
"obj_groups": "cutting_board",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "counter_1_left_group",
|
| 11 |
+
"sample_region_kwargs": {
|
| 12 |
+
"ref": "cab_1_left_group",
|
| 13 |
+
"min_size": [
|
| 14 |
+
0.1973472579000001,
|
| 15 |
+
0.3510000000000001,
|
| 16 |
+
0.012317523660000006
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"size": [
|
| 20 |
+
1.0,
|
| 21 |
+
0.6
|
| 22 |
+
],
|
| 23 |
+
"pos": [
|
| 24 |
+
0.0,
|
| 25 |
+
-1.0
|
| 26 |
+
],
|
| 27 |
+
"rotation": [
|
| 28 |
+
1.5707963267948966,
|
| 29 |
+
1.5707963267948966
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"type": "object",
|
| 33 |
+
"info": {
|
| 34 |
+
"groups_containing_sampled_obj": [
|
| 35 |
+
"all",
|
| 36 |
+
"cutting_board",
|
| 37 |
+
"receptacle"
|
| 38 |
+
],
|
| 39 |
+
"groups": [
|
| 40 |
+
"cutting_board"
|
| 41 |
+
],
|
| 42 |
+
"cat": "cutting_board",
|
| 43 |
+
"split": "test",
|
| 44 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_5/model.xml"
|
| 45 |
+
},
|
| 46 |
+
"reset_region": {
|
| 47 |
+
"size": [
|
| 48 |
+
0.9999999999999991,
|
| 49 |
+
0.65
|
| 50 |
+
],
|
| 51 |
+
"offset": [
|
| 52 |
+
-0.9000000000000004,
|
| 53 |
+
0.0,
|
| 54 |
+
0.46
|
| 55 |
+
],
|
| 56 |
+
"name": "geom_0"
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"name": "distr_pastry_container",
|
| 61 |
+
"obj_groups": "plate",
|
| 62 |
+
"placement": {
|
| 63 |
+
"fixture": "counter_1_left_group",
|
| 64 |
+
"reuse_region_from": "cutting_board",
|
| 65 |
+
"size": [
|
| 66 |
+
1.0,
|
| 67 |
+
0.6
|
| 68 |
+
],
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
-1.0
|
| 72 |
+
],
|
| 73 |
+
"try_to_place_in": "plate"
|
| 74 |
+
},
|
| 75 |
+
"type": "object",
|
| 76 |
+
"info": {
|
| 77 |
+
"groups_containing_sampled_obj": [
|
| 78 |
+
"all",
|
| 79 |
+
"plate",
|
| 80 |
+
"receptacle",
|
| 81 |
+
"container",
|
| 82 |
+
"container_set2"
|
| 83 |
+
],
|
| 84 |
+
"groups": [
|
| 85 |
+
"plate"
|
| 86 |
+
],
|
| 87 |
+
"cat": "plate",
|
| 88 |
+
"split": "test",
|
| 89 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
|
| 90 |
+
},
|
| 91 |
+
"reset_region": {
|
| 92 |
+
"size": [
|
| 93 |
+
0.9999999999999991,
|
| 94 |
+
0.65
|
| 95 |
+
],
|
| 96 |
+
"offset": [
|
| 97 |
+
-0.9000000000000004,
|
| 98 |
+
0.0,
|
| 99 |
+
0.46
|
| 100 |
+
],
|
| 101 |
+
"name": "geom_0"
|
| 102 |
+
}
|
| 103 |
+
},
|
| 104 |
+
{
|
| 105 |
+
"name": "distr_pastry",
|
| 106 |
+
"obj_groups": [
|
| 107 |
+
"baguette",
|
| 108 |
+
"cupcake"
|
| 109 |
+
],
|
| 110 |
+
"placement": {
|
| 111 |
+
"size": [
|
| 112 |
+
0.01,
|
| 113 |
+
0.01
|
| 114 |
+
],
|
| 115 |
+
"ensure_object_boundary_in_range": false,
|
| 116 |
+
"sample_args": {
|
| 117 |
+
"reference": "distr_pastry_container",
|
| 118 |
+
"on_top": true
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"type": "object",
|
| 122 |
+
"info": {
|
| 123 |
+
"groups_containing_sampled_obj": [
|
| 124 |
+
"all",
|
| 125 |
+
"cupcake",
|
| 126 |
+
"sweets",
|
| 127 |
+
"food",
|
| 128 |
+
"in_container"
|
| 129 |
+
],
|
| 130 |
+
"groups": [
|
| 131 |
+
"baguette",
|
| 132 |
+
"cupcake"
|
| 133 |
+
],
|
| 134 |
+
"cat": "cupcake",
|
| 135 |
+
"split": "test",
|
| 136 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_6/model.xml"
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"name": "croissant_container",
|
| 141 |
+
"obj_groups": "plate",
|
| 142 |
+
"placement": {
|
| 143 |
+
"fixture": "counter_1_left_group",
|
| 144 |
+
"reuse_region_from": "cutting_board",
|
| 145 |
+
"size": [
|
| 146 |
+
1.0,
|
| 147 |
+
0.6
|
| 148 |
+
],
|
| 149 |
+
"pos": [
|
| 150 |
+
0.0,
|
| 151 |
+
-1.0
|
| 152 |
+
],
|
| 153 |
+
"try_to_place_in": "plate"
|
| 154 |
+
},
|
| 155 |
+
"type": "object",
|
| 156 |
+
"info": {
|
| 157 |
+
"groups_containing_sampled_obj": [
|
| 158 |
+
"all",
|
| 159 |
+
"plate",
|
| 160 |
+
"receptacle",
|
| 161 |
+
"container",
|
| 162 |
+
"container_set2"
|
| 163 |
+
],
|
| 164 |
+
"groups": [
|
| 165 |
+
"plate"
|
| 166 |
+
],
|
| 167 |
+
"cat": "plate",
|
| 168 |
+
"split": "test",
|
| 169 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
|
| 170 |
+
},
|
| 171 |
+
"reset_region": {
|
| 172 |
+
"size": [
|
| 173 |
+
0.9999999999999991,
|
| 174 |
+
0.65
|
| 175 |
+
],
|
| 176 |
+
"offset": [
|
| 177 |
+
-0.9000000000000004,
|
| 178 |
+
0.0,
|
| 179 |
+
0.46
|
| 180 |
+
],
|
| 181 |
+
"name": "geom_0"
|
| 182 |
+
}
|
| 183 |
+
},
|
| 184 |
+
{
|
| 185 |
+
"name": "croissant",
|
| 186 |
+
"obj_groups": "croissant",
|
| 187 |
+
"placement": {
|
| 188 |
+
"size": [
|
| 189 |
+
0.01,
|
| 190 |
+
0.01
|
| 191 |
+
],
|
| 192 |
+
"ensure_object_boundary_in_range": false,
|
| 193 |
+
"sample_args": {
|
| 194 |
+
"reference": "croissant_container",
|
| 195 |
+
"on_top": true
|
| 196 |
+
}
|
| 197 |
+
},
|
| 198 |
+
"type": "object",
|
| 199 |
+
"info": {
|
| 200 |
+
"groups_containing_sampled_obj": [
|
| 201 |
+
"all",
|
| 202 |
+
"croissant",
|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
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|
| 213 |
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|
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|
| 215 |
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{
|
| 216 |
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|
| 217 |
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|
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|
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|
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"camera_attribs": {
|
| 629 |
+
"fovy": "60"
|
| 630 |
+
},
|
| 631 |
+
"parent_body": "mobilebase0_support"
|
| 632 |
+
},
|
| 633 |
+
"robot0_eye_in_hand": {
|
| 634 |
+
"pos": [
|
| 635 |
+
0.05,
|
| 636 |
+
0,
|
| 637 |
+
0
|
| 638 |
+
],
|
| 639 |
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"quat": [
|
| 640 |
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|
| 641 |
+
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|
| 642 |
+
0.707107,
|
| 643 |
+
0
|
| 644 |
+
],
|
| 645 |
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"parent_body": "robot0_right_hand"
|
| 646 |
+
}
|
| 647 |
+
},
|
| 648 |
+
"init_robot_base_pos": [
|
| 649 |
+
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|
| 650 |
+
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|
| 651 |
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|
| 652 |
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],
|
| 653 |
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"init_robot_base_ori": [
|
| 654 |
+
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|
| 655 |
+
0.0,
|
| 656 |
+
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|
| 657 |
+
]
|
| 658 |
+
}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000472/ep_meta.json
ADDED
|
@@ -0,0 +1,673 @@
|
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|
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|
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|
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|
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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": 8,
|
| 3 |
+
"style_id": 8,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cutting_board",
|
| 7 |
+
"obj_groups": "cutting_board",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "counter_1_right_group",
|
| 11 |
+
"sample_region_kwargs": {
|
| 12 |
+
"ref": "cab_1_right_group",
|
| 13 |
+
"min_size": [
|
| 14 |
+
0.21596736834000008,
|
| 15 |
+
0.3105000062100002,
|
| 16 |
+
0.013541203080000005
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"size": [
|
| 20 |
+
1.0,
|
| 21 |
+
0.6
|
| 22 |
+
],
|
| 23 |
+
"pos": [
|
| 24 |
+
0.0,
|
| 25 |
+
-1.0
|
| 26 |
+
],
|
| 27 |
+
"rotation": [
|
| 28 |
+
1.5707963267948966,
|
| 29 |
+
1.5707963267948966
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"type": "object",
|
| 33 |
+
"info": {
|
| 34 |
+
"groups_containing_sampled_obj": [
|
| 35 |
+
"all",
|
| 36 |
+
"cutting_board",
|
| 37 |
+
"receptacle"
|
| 38 |
+
],
|
| 39 |
+
"groups": [
|
| 40 |
+
"cutting_board"
|
| 41 |
+
],
|
| 42 |
+
"cat": "cutting_board",
|
| 43 |
+
"split": "test",
|
| 44 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_9/model.xml"
|
| 45 |
+
},
|
| 46 |
+
"reset_region": {
|
| 47 |
+
"size": [
|
| 48 |
+
1.1100000000000003,
|
| 49 |
+
0.65
|
| 50 |
+
],
|
| 51 |
+
"offset": [
|
| 52 |
+
0.4949999999999999,
|
| 53 |
+
-3.469446951953614e-17,
|
| 54 |
+
0.46
|
| 55 |
+
],
|
| 56 |
+
"name": "geom_0"
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"name": "distr_pastry_container",
|
| 61 |
+
"obj_groups": "plate",
|
| 62 |
+
"placement": {
|
| 63 |
+
"fixture": "counter_1_right_group",
|
| 64 |
+
"reuse_region_from": "cutting_board",
|
| 65 |
+
"size": [
|
| 66 |
+
1.0,
|
| 67 |
+
0.6
|
| 68 |
+
],
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
-1.0
|
| 72 |
+
],
|
| 73 |
+
"try_to_place_in": "plate"
|
| 74 |
+
},
|
| 75 |
+
"type": "object",
|
| 76 |
+
"info": {
|
| 77 |
+
"groups_containing_sampled_obj": [
|
| 78 |
+
"all",
|
| 79 |
+
"plate",
|
| 80 |
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| 514 |
+
},
|
| 515 |
+
"counter_1_right_group": {
|
| 516 |
+
"cls": "Counter"
|
| 517 |
+
},
|
| 518 |
+
"counter_corner_right_group": {
|
| 519 |
+
"cls": "Counter"
|
| 520 |
+
},
|
| 521 |
+
"counter_corner_2_right_group": {
|
| 522 |
+
"cls": "Counter"
|
| 523 |
+
},
|
| 524 |
+
"stack_1_right_group_base": {
|
| 525 |
+
"cls": "Box"
|
| 526 |
+
},
|
| 527 |
+
"stack_1_right_group_1": {
|
| 528 |
+
"cls": "HingeCabinet"
|
| 529 |
+
},
|
| 530 |
+
"stack_1_right_group_2": {
|
| 531 |
+
"cls": "PanelCabinet"
|
| 532 |
+
},
|
| 533 |
+
"dishwasher_right_group": {
|
| 534 |
+
"cls": "Dishwasher"
|
| 535 |
+
},
|
| 536 |
+
"stack_2_right_group_base": {
|
| 537 |
+
"cls": "Box"
|
| 538 |
+
},
|
| 539 |
+
"stack_2_right_group_1": {
|
| 540 |
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"cls": "Drawer"
|
| 541 |
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},
|
| 542 |
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"stack_2_right_group_2": {
|
| 543 |
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"cls": "Drawer"
|
| 544 |
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},
|
| 545 |
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"stack_2_right_group_3": {
|
| 546 |
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"cls": "Drawer"
|
| 547 |
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},
|
| 548 |
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"stack_2_right_group_4": {
|
| 549 |
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"cls": "Drawer"
|
| 550 |
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},
|
| 551 |
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"cab_1_right_group": {
|
| 552 |
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"cls": "HingeCabinet"
|
| 553 |
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},
|
| 554 |
+
"shelves_right_group": {
|
| 555 |
+
"cls": "OpenCabinet"
|
| 556 |
+
},
|
| 557 |
+
"flower_vase_right_group": {
|
| 558 |
+
"cls": "Accessory"
|
| 559 |
+
},
|
| 560 |
+
"soap_dispenser_right_group": {
|
| 561 |
+
"cls": "Accessory"
|
| 562 |
+
},
|
| 563 |
+
"glass_cup_right_group": {
|
| 564 |
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"cls": "Accessory"
|
| 565 |
+
},
|
| 566 |
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"glass_cup_2_right_group": {
|
| 567 |
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"cls": "Accessory"
|
| 568 |
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},
|
| 569 |
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"paprika_right_group": {
|
| 570 |
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"cls": "Accessory"
|
| 571 |
+
},
|
| 572 |
+
"cinnamon_right_group": {
|
| 573 |
+
"cls": "Accessory"
|
| 574 |
+
}
|
| 575 |
+
},
|
| 576 |
+
"gen_textures": {},
|
| 577 |
+
"lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.",
|
| 578 |
+
"fixture_refs": {
|
| 579 |
+
"cab": "cab_1_right_group",
|
| 580 |
+
"counter": "counter_1_right_group"
|
| 581 |
+
},
|
| 582 |
+
"cam_configs": {
|
| 583 |
+
"robot0_agentview_center": {
|
| 584 |
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"pos": [
|
| 585 |
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-0.6,
|
| 586 |
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0.0,
|
| 587 |
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1.15
|
| 588 |
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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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],
|
| 595 |
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"parent_body": "mobilebase0_support"
|
| 596 |
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},
|
| 597 |
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"robot0_agentview_left": {
|
| 598 |
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"pos": [
|
| 599 |
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-0.5,
|
| 600 |
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|
| 601 |
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|
| 602 |
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],
|
| 603 |
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"quat": [
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| 604 |
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|
| 605 |
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|
| 606 |
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|
| 607 |
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|
| 608 |
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],
|
| 609 |
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"camera_attribs": {
|
| 610 |
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"fovy": "60"
|
| 611 |
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},
|
| 612 |
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"parent_body": "mobilebase0_support"
|
| 613 |
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},
|
| 614 |
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"robot0_agentview_right": {
|
| 615 |
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"pos": [
|
| 616 |
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-0.5,
|
| 617 |
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-0.35,
|
| 618 |
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1.05
|
| 619 |
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],
|
| 620 |
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"quat": [
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| 621 |
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| 622 |
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|
| 623 |
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|
| 624 |
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|
| 625 |
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],
|
| 626 |
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"camera_attribs": {
|
| 627 |
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"fovy": "60"
|
| 628 |
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},
|
| 629 |
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"parent_body": "mobilebase0_support"
|
| 630 |
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},
|
| 631 |
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"robot0_frontview": {
|
| 632 |
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"pos": [
|
| 633 |
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-0.5,
|
| 634 |
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0,
|
| 635 |
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|
| 636 |
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],
|
| 637 |
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"quat": [
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| 638 |
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|
| 639 |
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|
| 640 |
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|
| 641 |
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|
| 642 |
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],
|
| 643 |
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"camera_attribs": {
|
| 644 |
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"fovy": "60"
|
| 645 |
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},
|
| 646 |
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"parent_body": "mobilebase0_support"
|
| 647 |
+
},
|
| 648 |
+
"robot0_eye_in_hand": {
|
| 649 |
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"pos": [
|
| 650 |
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0.05,
|
| 651 |
+
0,
|
| 652 |
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0
|
| 653 |
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],
|
| 654 |
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"quat": [
|
| 655 |
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0,
|
| 656 |
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0.707107,
|
| 657 |
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0.707107,
|
| 658 |
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0
|
| 659 |
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],
|
| 660 |
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"parent_body": "robot0_right_hand"
|
| 661 |
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}
|
| 662 |
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},
|
| 663 |
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"init_robot_base_pos": [
|
| 664 |
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|
| 665 |
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|
| 666 |
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0.0
|
| 667 |
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],
|
| 668 |
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"init_robot_base_ori": [
|
| 669 |
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|
| 670 |
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0.0,
|
| 671 |
+
-3.673205103416066e-06
|
| 672 |
+
]
|
| 673 |
+
}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000478/ep_meta.json
ADDED
|
@@ -0,0 +1,728 @@
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| 1 |
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| 2 |
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| 3 |
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| 11 |
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| 35 |
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| 36 |
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| 37 |
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| 105 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 154 |
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| 160 |
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| 162 |
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| 163 |
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| 164 |
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| 166 |
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],
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| 167 |
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| 213 |
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| 360 |
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"stool_3_room": {
|
| 361 |
+
"cls": "Stool"
|
| 362 |
+
},
|
| 363 |
+
"counter_corner_main_group": {
|
| 364 |
+
"cls": "Counter"
|
| 365 |
+
},
|
| 366 |
+
"counter_main_main_group": {
|
| 367 |
+
"cls": "Counter"
|
| 368 |
+
},
|
| 369 |
+
"stovetop_main_group": {
|
| 370 |
+
"cls": "Stovetop"
|
| 371 |
+
},
|
| 372 |
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"counter_1_main_group": {
|
| 373 |
+
"cls": "Counter"
|
| 374 |
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},
|
| 375 |
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"counter_corner_2_main_group": {
|
| 376 |
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"cls": "Counter"
|
| 377 |
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},
|
| 378 |
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"cab_corner_main_group": {
|
| 379 |
+
"cls": "Box"
|
| 380 |
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},
|
| 381 |
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"cab_corner_2_main_group": {
|
| 382 |
+
"cls": "Box"
|
| 383 |
+
},
|
| 384 |
+
"cab_1_main_group": {
|
| 385 |
+
"cls": "HingeCabinet"
|
| 386 |
+
},
|
| 387 |
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"cab_main_main_group": {
|
| 388 |
+
"cls": "HingeCabinet"
|
| 389 |
+
},
|
| 390 |
+
"cab_2_main_group": {
|
| 391 |
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"cls": "SingleCabinet"
|
| 392 |
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},
|
| 393 |
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"shelves_1_main_group": {
|
| 394 |
+
"cls": "OpenCabinet"
|
| 395 |
+
},
|
| 396 |
+
"hood_main_group": {
|
| 397 |
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"cls": "Hood"
|
| 398 |
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},
|
| 399 |
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"shelves_2_main_group": {
|
| 400 |
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"cls": "OpenCabinet"
|
| 401 |
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},
|
| 402 |
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"stack_1_main_group_base": {
|
| 403 |
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"cls": "Box"
|
| 404 |
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},
|
| 405 |
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"stack_1_main_group_1": {
|
| 406 |
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"cls": "Drawer"
|
| 407 |
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},
|
| 408 |
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"stack_1_main_group_2": {
|
| 409 |
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"cls": "Drawer"
|
| 410 |
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},
|
| 411 |
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"stack_1_main_group_3": {
|
| 412 |
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"cls": "Drawer"
|
| 413 |
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},
|
| 414 |
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"stack_1_main_group_4": {
|
| 415 |
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"cls": "Drawer"
|
| 416 |
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},
|
| 417 |
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"stack_2_main_group_base": {
|
| 418 |
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"cls": "Box"
|
| 419 |
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|
| 420 |
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|
| 421 |
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"cls": "HingeCabinet"
|
| 422 |
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},
|
| 423 |
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|
| 424 |
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"cls": "Drawer"
|
| 425 |
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| 426 |
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|
| 427 |
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"cls": "Drawer"
|
| 428 |
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|
| 429 |
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|
| 430 |
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"cls": "Box"
|
| 431 |
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| 432 |
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|
| 433 |
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"cls": "HingeCabinet"
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| 434 |
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| 435 |
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|
| 436 |
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"cls": "Drawer"
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| 437 |
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| 438 |
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|
| 439 |
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"cls": "Drawer"
|
| 440 |
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},
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| 441 |
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"stack_4_main_group_base": {
|
| 442 |
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"cls": "Box"
|
| 443 |
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},
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| 444 |
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|
| 445 |
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"cls": "HingeCabinet"
|
| 446 |
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},
|
| 447 |
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|
| 448 |
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"cls": "Box"
|
| 449 |
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},
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| 450 |
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|
| 451 |
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"cls": "SingleCabinet"
|
| 452 |
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},
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| 453 |
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"stack_5_main_group_2": {
|
| 454 |
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"cls": "Drawer"
|
| 455 |
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},
|
| 456 |
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"coffee_machine_main_group": {
|
| 457 |
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"cls": "CoffeeMachine"
|
| 458 |
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},
|
| 459 |
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"paper_towel_main_group": {
|
| 460 |
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"cls": "Accessory"
|
| 461 |
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},
|
| 462 |
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"toaster_main_group": {
|
| 463 |
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"cls": "Toaster"
|
| 464 |
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},
|
| 465 |
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"toaster_oven_main_group": {
|
| 466 |
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"cls": "ToasterOven"
|
| 467 |
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},
|
| 468 |
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"utensil_set_main_group": {
|
| 469 |
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"cls": "Accessory"
|
| 470 |
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},
|
| 471 |
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"oil_bottle_main_group": {
|
| 472 |
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"cls": "Accessory"
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| 473 |
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},
|
| 474 |
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"knife_block_main_group": {
|
| 475 |
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"cls": "Accessory"
|
| 476 |
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},
|
| 477 |
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"jar_main_group": {
|
| 478 |
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"cls": "Accessory"
|
| 479 |
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},
|
| 480 |
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"cinnamon_main_group": {
|
| 481 |
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"cls": "Accessory"
|
| 482 |
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},
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| 483 |
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|
| 484 |
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"cls": "Accessory"
|
| 485 |
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},
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| 486 |
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|
| 487 |
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"cls": "Accessory"
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| 488 |
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},
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| 489 |
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|
| 490 |
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"cls": "Accessory"
|
| 491 |
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},
|
| 492 |
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|
| 493 |
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"cls": "Accessory"
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| 494 |
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},
|
| 495 |
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| 496 |
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"cls": "Counter"
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| 497 |
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},
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| 499 |
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"cls": "Counter"
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| 500 |
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},
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| 501 |
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|
| 502 |
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"cls": "Accessory"
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| 503 |
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},
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| 505 |
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"cls": "Accessory"
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| 506 |
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},
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| 507 |
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| 508 |
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"cls": "Counter"
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| 509 |
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},
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| 510 |
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| 511 |
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"cls": "Sink"
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| 512 |
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},
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| 513 |
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|
| 514 |
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| 515 |
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},
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| 516 |
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| 517 |
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| 518 |
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},
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|
| 520 |
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"cls": "Box"
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| 521 |
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},
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| 522 |
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|
| 523 |
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"cls": "HingeCabinet"
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| 524 |
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},
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| 525 |
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|
| 526 |
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"cls": "Drawer"
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| 527 |
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},
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| 529 |
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"cls": "Drawer"
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| 530 |
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},
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|
| 532 |
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"cls": "Box"
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| 533 |
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},
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| 534 |
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"stack_2_left_group_1": {
|
| 535 |
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"cls": "HingeCabinet"
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| 536 |
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},
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| 537 |
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|
| 538 |
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"cls": "Dishwasher"
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| 539 |
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},
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| 540 |
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| 541 |
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"cls": "Box"
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| 542 |
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},
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|
| 544 |
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"cls": "SingleCabinet"
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| 545 |
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},
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| 546 |
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| 547 |
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"cls": "HingeCabinet"
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| 548 |
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},
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| 549 |
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"cab_2_left_group": {
|
| 550 |
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"cls": "SingleCabinet"
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| 551 |
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},
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| 552 |
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"plant_left_group": {
|
| 553 |
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"cls": "Accessory"
|
| 554 |
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},
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| 555 |
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|
| 556 |
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"cls": "Accessory"
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| 557 |
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},
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| 558 |
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| 559 |
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"cls": "Accessory"
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| 560 |
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},
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| 561 |
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| 562 |
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"cls": "Box"
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| 563 |
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},
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| 565 |
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"cls": "SingleCabinet"
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| 566 |
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},
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| 567 |
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| 568 |
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"cls": "SingleCabinet"
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| 569 |
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},
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| 570 |
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|
| 571 |
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"cls": "FridgeSideBySide"
|
| 572 |
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},
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| 573 |
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"fridge_housing_right_group": {
|
| 574 |
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"cls": "HousingCabinet"
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| 575 |
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},
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| 576 |
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|
| 577 |
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"cls": "HingeCabinet"
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| 578 |
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},
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| 579 |
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"stack_right_right_group_base": {
|
| 580 |
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"cls": "Box"
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| 581 |
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},
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| 582 |
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"stack_right_right_group_1": {
|
| 583 |
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"cls": "SingleCabinet"
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| 584 |
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},
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| 585 |
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"stack_right_right_group_2": {
|
| 586 |
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"cls": "SingleCabinet"
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| 587 |
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},
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| 588 |
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| 589 |
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"cls": "Box"
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| 590 |
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},
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| 591 |
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"bottom_corner_right_group": {
|
| 592 |
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"cls": "Box"
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| 593 |
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},
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| 594 |
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"bottom_right_group_base": {
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| 595 |
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"cls": "Box"
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| 596 |
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},
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| 597 |
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"bottom_right_group_1": {
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| 598 |
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"cls": "Drawer"
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| 599 |
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},
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| 600 |
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"bottom_right_group_2": {
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| 601 |
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"cls": "Drawer"
|
| 602 |
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},
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| 603 |
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"oven_right_group": {
|
| 604 |
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"cls": "Oven"
|
| 605 |
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},
|
| 606 |
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"oven_housing_right_group": {
|
| 607 |
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"cls": "HousingCabinet"
|
| 608 |
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},
|
| 609 |
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|
| 610 |
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"cls": "Microwave"
|
| 611 |
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},
|
| 612 |
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"micro_housing_right_group": {
|
| 613 |
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"cls": "HousingCabinet"
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| 614 |
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},
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| 615 |
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"top_right_group": {
|
| 616 |
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"cls": "HingeCabinet"
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| 617 |
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},
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| 619 |
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"cls": "Box"
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},
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| 622 |
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"cls": "Drawer"
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| 623 |
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},
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| 624 |
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| 625 |
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"cls": "Drawer"
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| 626 |
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},
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| 627 |
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"side_bottom_right_group_3": {
|
| 628 |
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"cls": "HingeCabinet"
|
| 629 |
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}
|
| 630 |
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},
|
| 631 |
+
"gen_textures": {},
|
| 632 |
+
"lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.",
|
| 633 |
+
"fixture_refs": {
|
| 634 |
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"cab": "cab_1_main_group",
|
| 635 |
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"counter": "counter_main_main_group"
|
| 636 |
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},
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| 637 |
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"cam_configs": {
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| 638 |
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|
| 639 |
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"pos": [
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| 640 |
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| 641 |
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|
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},
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"parent_body": "mobilebase0_support"
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| 685 |
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| 687 |
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},
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"parent_body": "mobilebase0_support"
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| 702 |
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|
| 704 |
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"pos": [
|
| 705 |
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|
| 706 |
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|
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| 708 |
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],
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| 710 |
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|
| 711 |
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|
| 712 |
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|
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|
| 714 |
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],
|
| 715 |
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"parent_body": "robot0_right_hand"
|
| 716 |
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}
|
| 717 |
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},
|
| 718 |
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"init_robot_base_pos": [
|
| 719 |
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|
| 720 |
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|
| 721 |
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|
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],
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"init_robot_base_ori": [
|
| 724 |
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|
| 725 |
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|
| 726 |
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|
| 727 |
+
]
|
| 728 |
+
}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000480/ep_meta.json
ADDED
|
@@ -0,0 +1,734 @@
|
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 10,
|
| 3 |
+
"style_id": 10,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cutting_board",
|
| 7 |
+
"obj_groups": "cutting_board",
|
| 8 |
+
"init_robot_here": true,
|
| 9 |
+
"placement": {
|
| 10 |
+
"fixture": "counter_main_main_group",
|
| 11 |
+
"sample_region_kwargs": {
|
| 12 |
+
"ref": "cab_1_main_group",
|
| 13 |
+
"min_size": [
|
| 14 |
+
0.1973472579000001,
|
| 15 |
+
0.3510000000000001,
|
| 16 |
+
0.012317523660000006
|
| 17 |
+
]
|
| 18 |
+
},
|
| 19 |
+
"size": [
|
| 20 |
+
1.0,
|
| 21 |
+
0.6
|
| 22 |
+
],
|
| 23 |
+
"pos": [
|
| 24 |
+
0.0,
|
| 25 |
+
-1.0
|
| 26 |
+
],
|
| 27 |
+
"rotation": [
|
| 28 |
+
1.5707963267948966,
|
| 29 |
+
1.5707963267948966
|
| 30 |
+
]
|
| 31 |
+
},
|
| 32 |
+
"type": "object",
|
| 33 |
+
"info": {
|
| 34 |
+
"groups_containing_sampled_obj": [
|
| 35 |
+
"all",
|
| 36 |
+
"cutting_board",
|
| 37 |
+
"receptacle"
|
| 38 |
+
],
|
| 39 |
+
"groups": [
|
| 40 |
+
"cutting_board"
|
| 41 |
+
],
|
| 42 |
+
"cat": "cutting_board",
|
| 43 |
+
"split": "test",
|
| 44 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_5/model.xml"
|
| 45 |
+
},
|
| 46 |
+
"reset_region": {
|
| 47 |
+
"size": [
|
| 48 |
+
1.1,
|
| 49 |
+
0.65
|
| 50 |
+
],
|
| 51 |
+
"offset": [
|
| 52 |
+
0.575,
|
| 53 |
+
0.0,
|
| 54 |
+
0.46
|
| 55 |
+
],
|
| 56 |
+
"name": "geom_0"
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"name": "distr_pastry_container",
|
| 61 |
+
"obj_groups": "plate",
|
| 62 |
+
"placement": {
|
| 63 |
+
"fixture": "counter_main_main_group",
|
| 64 |
+
"reuse_region_from": "cutting_board",
|
| 65 |
+
"size": [
|
| 66 |
+
1.0,
|
| 67 |
+
0.6
|
| 68 |
+
],
|
| 69 |
+
"pos": [
|
| 70 |
+
0.0,
|
| 71 |
+
-1.0
|
| 72 |
+
],
|
| 73 |
+
"try_to_place_in": "plate"
|
| 74 |
+
},
|
| 75 |
+
"type": "object",
|
| 76 |
+
"info": {
|
| 77 |
+
"groups_containing_sampled_obj": [
|
| 78 |
+
"all",
|
| 79 |
+
"plate",
|
| 80 |
+
"receptacle",
|
| 81 |
+
"container",
|
| 82 |
+
"container_set2"
|
| 83 |
+
],
|
| 84 |
+
"groups": [
|
| 85 |
+
"plate"
|
| 86 |
+
],
|
| 87 |
+
"cat": "plate",
|
| 88 |
+
"split": "test",
|
| 89 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_7/model.xml"
|
| 90 |
+
},
|
| 91 |
+
"reset_region": {
|
| 92 |
+
"size": [
|
| 93 |
+
1.1,
|
| 94 |
+
0.65
|
| 95 |
+
],
|
| 96 |
+
"offset": [
|
| 97 |
+
0.575,
|
| 98 |
+
0.0,
|
| 99 |
+
0.46
|
| 100 |
+
],
|
| 101 |
+
"name": "geom_0"
|
| 102 |
+
}
|
| 103 |
+
},
|
| 104 |
+
{
|
| 105 |
+
"name": "distr_pastry",
|
| 106 |
+
"obj_groups": [
|
| 107 |
+
"baguette",
|
| 108 |
+
"cupcake"
|
| 109 |
+
],
|
| 110 |
+
"placement": {
|
| 111 |
+
"size": [
|
| 112 |
+
0.01,
|
| 113 |
+
0.01
|
| 114 |
+
],
|
| 115 |
+
"ensure_object_boundary_in_range": false,
|
| 116 |
+
"sample_args": {
|
| 117 |
+
"reference": "distr_pastry_container",
|
| 118 |
+
"on_top": true
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"type": "object",
|
| 122 |
+
"info": {
|
| 123 |
+
"groups_containing_sampled_obj": [
|
| 124 |
+
"all",
|
| 125 |
+
"baguette",
|
| 126 |
+
"bread_food",
|
| 127 |
+
"food",
|
| 128 |
+
"in_container",
|
| 129 |
+
"food_set1"
|
| 130 |
+
],
|
| 131 |
+
"groups": [
|
| 132 |
+
"baguette",
|
| 133 |
+
"cupcake"
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| 566 |
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},
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"cls": "Dishwasher"
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},
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| 572 |
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},
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},
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},
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},
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},
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},
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"cls": "Counter"
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},
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},
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},
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| 598 |
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"cls": "Drawer"
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| 599 |
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},
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| 601 |
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| 602 |
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},
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},
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},
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| 614 |
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},
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| 616 |
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"cls": "Microwave"
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| 617 |
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},
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| 619 |
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"cls": "HousingCabinet"
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| 620 |
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},
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| 622 |
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"cls": "HingeCabinet"
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},
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},
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"cls": "Counter"
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| 629 |
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},
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"cls": "Accessory"
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},
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| 634 |
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"cls": "Accessory"
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| 635 |
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}
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| 636 |
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},
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| 637 |
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"gen_textures": {},
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| 638 |
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"lang": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.",
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| 639 |
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"fixture_refs": {
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| 640 |
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"cab": "cab_1_main_group",
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| 641 |
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"counter": "counter_main_main_group"
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},
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},
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},
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"robot0_eye_in_hand": {
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"pos": [
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}
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},
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}
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