Add files using upload-large-folder tool
Browse files- target/composite/BreadSelection/20250815/lerobot/extras/episode_000031/ep_meta.json +803 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000213/ep_meta.json +659 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000257/ep_meta.json +659 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000286/ep_meta.json +615 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000297/ep_meta.json +614 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000387/ep_meta.json +805 -0
- target/composite/BreadSelection/20250815/lerobot/extras/episode_000415/ep_meta.json +729 -0
- target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000010.parquet +3 -0
- target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000153.parquet +3 -0
- target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000218.parquet +3 -0
- target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000222.parquet +3 -0
- target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000288.parquet +3 -0
- target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000325.parquet +3 -0
- target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000327.parquet +3 -0
- target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000375.parquet +3 -0
- target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000391.parquet +3 -0
- target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000402.parquet +3 -0
- target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000410.parquet +3 -0
- target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000415.parquet +3 -0
- target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000421.parquet +3 -0
target/composite/BreadSelection/20250815/lerobot/extras/episode_000031/ep_meta.json
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| 1 |
+
{
|
| 2 |
+
"layout_id": 7,
|
| 3 |
+
"style_id": 7,
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| 4 |
+
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"cls": "HingeCabinet"
|
| 446 |
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},
|
| 447 |
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"stack_5_main_group_base": {
|
| 448 |
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"cls": "Box"
|
| 449 |
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|
| 450 |
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|
| 451 |
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"cls": "HingeCabinet"
|
| 452 |
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},
|
| 453 |
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|
| 454 |
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"cls": "Drawer"
|
| 455 |
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},
|
| 456 |
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"stack_5_main_group_3": {
|
| 457 |
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"cls": "Drawer"
|
| 458 |
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},
|
| 459 |
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"stack_6_main_group_base": {
|
| 460 |
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"cls": "Box"
|
| 461 |
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},
|
| 462 |
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"stack_6_main_group_1": {
|
| 463 |
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"cls": "SingleCabinet"
|
| 464 |
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},
|
| 465 |
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|
| 466 |
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"cls": "Drawer"
|
| 467 |
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},
|
| 468 |
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"knife_block_main_group": {
|
| 469 |
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"cls": "Accessory"
|
| 470 |
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},
|
| 471 |
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"paper_towel_main_group": {
|
| 472 |
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"cls": "Accessory"
|
| 473 |
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},
|
| 474 |
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"utensil_set_main_group": {
|
| 475 |
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"cls": "Accessory"
|
| 476 |
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},
|
| 477 |
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|
| 478 |
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"cls": "Accessory"
|
| 479 |
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},
|
| 480 |
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"glass_cup_main_group": {
|
| 481 |
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"cls": "Accessory"
|
| 482 |
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},
|
| 483 |
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"glass_cup_2_main_group": {
|
| 484 |
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"cls": "Accessory"
|
| 485 |
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},
|
| 486 |
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"oil_bottle_main_group_auxiliary_main_group": {
|
| 487 |
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"cls": "Accessory"
|
| 488 |
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},
|
| 489 |
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"sink_island_group": {
|
| 490 |
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"cls": "Sink"
|
| 491 |
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},
|
| 492 |
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"island_island_group": {
|
| 493 |
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"cls": "Counter"
|
| 494 |
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|
| 495 |
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|
| 496 |
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"cls": "Box"
|
| 497 |
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|
| 498 |
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|
| 499 |
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"cls": "HingeCabinet"
|
| 500 |
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},
|
| 501 |
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"island_stack_1_island_group_2": {
|
| 502 |
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"cls": "PanelCabinet"
|
| 503 |
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},
|
| 504 |
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"dishwasher_island_group": {
|
| 505 |
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"cls": "Dishwasher"
|
| 506 |
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| 507 |
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|
| 508 |
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| 509 |
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|
| 511 |
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| 512 |
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|
| 514 |
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| 517 |
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| 518 |
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|
| 520 |
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"cls": "Drawer"
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| 521 |
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|
| 523 |
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"cls": "Drawer"
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| 524 |
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|
| 526 |
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"cls": "Drawer"
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| 528 |
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|
| 529 |
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"cls": "Box"
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| 530 |
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},
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| 531 |
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|
| 532 |
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"cls": "PanelCabinet"
|
| 533 |
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},
|
| 534 |
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"island_base_box_island_group": {
|
| 535 |
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"cls": "Box"
|
| 536 |
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},
|
| 537 |
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|
| 538 |
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"cls": "Accessory"
|
| 539 |
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},
|
| 540 |
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|
| 541 |
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"cls": "Accessory"
|
| 542 |
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},
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| 543 |
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|
| 544 |
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"cls": "Accessory"
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| 545 |
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},
|
| 546 |
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|
| 547 |
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"cls": "Accessory"
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| 548 |
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| 549 |
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|
| 550 |
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"cls": "Accessory"
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| 551 |
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},
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| 553 |
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| 554 |
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| 556 |
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| 557 |
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| 563 |
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| 565 |
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| 568 |
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| 569 |
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| 571 |
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"cls": "HousingCabinet"
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| 572 |
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},
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| 573 |
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| 574 |
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"cls": "Microwave"
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| 575 |
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},
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| 576 |
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| 577 |
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"cls": "HousingCabinet"
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| 578 |
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| 580 |
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"cls": "HingeCabinet"
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| 586 |
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"cls": "SingleCabinet"
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| 587 |
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"cls": "Drawer"
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| 592 |
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},
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| 595 |
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"cls": "HingeCabinet"
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| 596 |
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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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| 600 |
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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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| 604 |
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"cls": "Box"
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| 605 |
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| 607 |
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"cls": "Drawer"
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| 608 |
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},
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| 613 |
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"cls": "Drawer"
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| 614 |
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},
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| 615 |
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| 616 |
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"cls": "Drawer"
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| 617 |
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},
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| 618 |
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|
| 619 |
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"cls": "OpenCabinet"
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| 620 |
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},
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| 621 |
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|
| 622 |
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"cls": "SingleCabinet"
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| 623 |
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},
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| 624 |
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| 625 |
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"cls": "ToasterOven"
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| 626 |
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| 628 |
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"cls": "Accessory"
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| 629 |
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| 631 |
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"cls": "Accessory"
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| 632 |
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},
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| 633 |
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| 634 |
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"cls": "Accessory"
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| 635 |
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},
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| 637 |
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"cls": "Accessory"
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| 638 |
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},
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| 640 |
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| 641 |
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},
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| 642 |
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| 643 |
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"cls": "Counter"
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| 644 |
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},
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| 646 |
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"cls": "Counter"
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| 647 |
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},
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| 649 |
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"cls": "FridgeSideBySide"
|
| 650 |
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},
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| 651 |
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| 652 |
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"cls": "HousingCabinet"
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| 653 |
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},
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| 654 |
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| 655 |
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"cls": "Box"
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| 656 |
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},
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| 658 |
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"cls": "HingeCabinet"
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| 659 |
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},
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| 660 |
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|
| 661 |
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"cls": "Drawer"
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| 662 |
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},
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| 664 |
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"cls": "Drawer"
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| 665 |
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},
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| 666 |
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| 667 |
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"cls": "Box"
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| 668 |
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},
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| 669 |
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| 670 |
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"cls": "SingleCabinet"
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| 671 |
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},
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| 673 |
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"cls": "Drawer"
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| 674 |
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},
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| 675 |
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| 676 |
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"cls": "Box"
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| 677 |
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},
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| 679 |
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"cls": "Drawer"
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| 680 |
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| 682 |
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| 685 |
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"cls": "Drawer"
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"cls": "Drawer"
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},
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| 691 |
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"cls": "HingeCabinet"
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| 694 |
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"cls": "HingeCabinet"
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"cls": "HingeCabinet"
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| 699 |
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"coffee_machine_right_group": {
|
| 700 |
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"cls": "CoffeeMachine"
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| 701 |
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},
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|
| 703 |
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"cls": "Toaster"
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| 704 |
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}
|
| 705 |
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},
|
| 706 |
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"gen_textures": {},
|
| 707 |
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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.",
|
| 708 |
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"fixture_refs": {
|
| 709 |
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"cab": "cab_2_right_group",
|
| 710 |
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"counter": "counter_1_right_group"
|
| 711 |
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},
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| 712 |
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"cam_configs": {
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| 713 |
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| 714 |
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"pos": [
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| 715 |
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| 777 |
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"parent_body": "robot0_right_hand"
|
| 791 |
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}
|
| 792 |
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},
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"init_robot_base_pos": [
|
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|
| 795 |
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|
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"init_robot_base_ori": [
|
| 799 |
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|
| 800 |
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|
| 801 |
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|
| 802 |
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]
|
| 803 |
+
}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000213/ep_meta.json
ADDED
|
@@ -0,0 +1,659 @@
|
|
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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_2_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 |
+
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_8/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 |
+
"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_5/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 |
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}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000257/ep_meta.json
ADDED
|
@@ -0,0 +1,659 @@
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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 |
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"cls": "Accessory"
|
| 488 |
+
},
|
| 489 |
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"turmeric_main_group": {
|
| 490 |
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"cls": "Accessory"
|
| 491 |
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},
|
| 492 |
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"oil_bottle_main_group_auxiliary_main_group": {
|
| 493 |
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"cls": "Accessory"
|
| 494 |
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},
|
| 495 |
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"jar_main_group_auxiliary_main_group": {
|
| 496 |
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"cls": "Accessory"
|
| 497 |
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},
|
| 498 |
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"sink_island_group": {
|
| 499 |
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"cls": "Sink"
|
| 500 |
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},
|
| 501 |
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"island_island_group": {
|
| 502 |
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"cls": "Counter"
|
| 503 |
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},
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| 504 |
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"island_stack_1_island_group_base": {
|
| 505 |
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"cls": "Box"
|
| 506 |
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},
|
| 507 |
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"island_stack_1_island_group_1": {
|
| 508 |
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"cls": "HingeCabinet"
|
| 509 |
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},
|
| 510 |
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"island_stack_1_island_group_2": {
|
| 511 |
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"cls": "PanelCabinet"
|
| 512 |
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},
|
| 513 |
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"dishwasher_island_group": {
|
| 514 |
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"cls": "Dishwasher"
|
| 515 |
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},
|
| 516 |
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"island_panel_cab_right_island_group_base": {
|
| 517 |
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"cls": "Box"
|
| 518 |
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},
|
| 519 |
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"island_panel_cab_right_island_group_1": {
|
| 520 |
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"cls": "PanelCabinet"
|
| 521 |
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},
|
| 522 |
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"island_cab_left_island_group_base": {
|
| 523 |
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"cls": "Box"
|
| 524 |
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},
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| 525 |
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"island_cab_left_island_group_1": {
|
| 526 |
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"cls": "Drawer"
|
| 527 |
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},
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| 528 |
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"island_cab_left_island_group_2": {
|
| 529 |
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"cls": "Drawer"
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| 530 |
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},
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| 531 |
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"island_cab_left_island_group_3": {
|
| 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_cab_left_island_group_4": {
|
| 535 |
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"cls": "Drawer"
|
| 536 |
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},
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| 537 |
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"island_panel_cab_left_island_group_base": {
|
| 538 |
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"cls": "Box"
|
| 539 |
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},
|
| 540 |
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"island_panel_cab_left_island_group_1": {
|
| 541 |
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"cls": "PanelCabinet"
|
| 542 |
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},
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| 543 |
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"island_base_box_island_group": {
|
| 544 |
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"cls": "Box"
|
| 545 |
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},
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| 546 |
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"plant_island_group": {
|
| 547 |
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"cls": "Accessory"
|
| 548 |
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},
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| 549 |
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"soap_dispenser_island_group": {
|
| 550 |
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"cls": "Accessory"
|
| 551 |
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},
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| 552 |
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"fruit_bowl_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": {
|
| 556 |
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"cls": "Accessory"
|
| 557 |
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},
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| 558 |
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"salt_shaker_island_group_auxiliary_island_group": {
|
| 559 |
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"cls": "Accessory"
|
| 560 |
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}
|
| 561 |
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},
|
| 562 |
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"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 |
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"cab": "cab_main_main_group",
|
| 566 |
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"counter": "counter_main_main_group"
|
| 567 |
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},
|
| 568 |
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"cam_configs": {
|
| 569 |
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"robot0_agentview_center": {
|
| 570 |
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"pos": [
|
| 571 |
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|
| 572 |
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|
| 573 |
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| 574 |
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| 581 |
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| 582 |
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|
| 584 |
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"pos": [
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| 585 |
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| 595 |
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|
| 596 |
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| 597 |
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},
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| 598 |
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"parent_body": "mobilebase0_support"
|
| 599 |
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| 600 |
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"robot0_agentview_right": {
|
| 601 |
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"pos": [
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| 602 |
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|
| 603 |
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| 604 |
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| 605 |
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],
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"quat": [
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| 613 |
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| 614 |
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},
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| 615 |
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"parent_body": "mobilebase0_support"
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| 616 |
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},
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| 617 |
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"robot0_frontview": {
|
| 618 |
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"pos": [
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| 619 |
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|
| 620 |
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|
| 621 |
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],
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| 629 |
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| 630 |
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|
| 631 |
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},
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| 632 |
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"parent_body": "mobilebase0_support"
|
| 633 |
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},
|
| 634 |
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"robot0_eye_in_hand": {
|
| 635 |
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"pos": [
|
| 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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| 641 |
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| 642 |
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| 643 |
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|
| 644 |
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| 645 |
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],
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| 646 |
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"parent_body": "robot0_right_hand"
|
| 647 |
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}
|
| 648 |
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},
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| 649 |
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"init_robot_base_pos": [
|
| 650 |
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|
| 651 |
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|
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"init_robot_base_ori": [
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| 655 |
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| 656 |
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| 657 |
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|
| 658 |
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]
|
| 659 |
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}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000286/ep_meta.json
ADDED
|
@@ -0,0 +1,615 @@
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},
|
| 394 |
+
"stack_3_main_group_1": {
|
| 395 |
+
"cls": "SingleCabinet"
|
| 396 |
+
},
|
| 397 |
+
"toaster_oven_main_group": {
|
| 398 |
+
"cls": "ToasterOven"
|
| 399 |
+
},
|
| 400 |
+
"plant_main_group": {
|
| 401 |
+
"cls": "Accessory"
|
| 402 |
+
},
|
| 403 |
+
"knife_block_main_group": {
|
| 404 |
+
"cls": "Accessory"
|
| 405 |
+
},
|
| 406 |
+
"paper_towel_main_group": {
|
| 407 |
+
"cls": "Accessory"
|
| 408 |
+
},
|
| 409 |
+
"soap_dispenser_main_group": {
|
| 410 |
+
"cls": "Accessory"
|
| 411 |
+
},
|
| 412 |
+
"counter_1_right_group": {
|
| 413 |
+
"cls": "Counter"
|
| 414 |
+
},
|
| 415 |
+
"counter_corner_left_right_group": {
|
| 416 |
+
"cls": "Counter"
|
| 417 |
+
},
|
| 418 |
+
"stove_right_group": {
|
| 419 |
+
"cls": "Stove"
|
| 420 |
+
},
|
| 421 |
+
"counter_2_right_group": {
|
| 422 |
+
"cls": "Counter"
|
| 423 |
+
},
|
| 424 |
+
"fridge_right_group": {
|
| 425 |
+
"cls": "FridgeBottomFreezer"
|
| 426 |
+
},
|
| 427 |
+
"fridge_housing_right_group": {
|
| 428 |
+
"cls": "HousingCabinet"
|
| 429 |
+
},
|
| 430 |
+
"stack_1_right_group_base": {
|
| 431 |
+
"cls": "Box"
|
| 432 |
+
},
|
| 433 |
+
"stack_1_right_group_1": {
|
| 434 |
+
"cls": "SingleCabinet"
|
| 435 |
+
},
|
| 436 |
+
"stack_1_right_group_2": {
|
| 437 |
+
"cls": "Drawer"
|
| 438 |
+
},
|
| 439 |
+
"stack_2_right_group_base": {
|
| 440 |
+
"cls": "Box"
|
| 441 |
+
},
|
| 442 |
+
"stack_2_right_group_1": {
|
| 443 |
+
"cls": "HingeCabinet"
|
| 444 |
+
},
|
| 445 |
+
"stack_2_right_group_2": {
|
| 446 |
+
"cls": "Drawer"
|
| 447 |
+
},
|
| 448 |
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"stack_2_right_group_3": {
|
| 449 |
+
"cls": "Drawer"
|
| 450 |
+
},
|
| 451 |
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"stack_3_right_group_base": {
|
| 452 |
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"cls": "Box"
|
| 453 |
+
},
|
| 454 |
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"stack_3_right_group_1": {
|
| 455 |
+
"cls": "Drawer"
|
| 456 |
+
},
|
| 457 |
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"stack_3_right_group_2": {
|
| 458 |
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"cls": "Drawer"
|
| 459 |
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},
|
| 460 |
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"stack_3_right_group_3": {
|
| 461 |
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"cls": "Drawer"
|
| 462 |
+
},
|
| 463 |
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"stack_3_right_group_4": {
|
| 464 |
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"cls": "Drawer"
|
| 465 |
+
},
|
| 466 |
+
"cab_1_right_group": {
|
| 467 |
+
"cls": "SingleCabinet"
|
| 468 |
+
},
|
| 469 |
+
"microwave_right_group": {
|
| 470 |
+
"cls": "Microwave"
|
| 471 |
+
},
|
| 472 |
+
"cab_micro_right_group": {
|
| 473 |
+
"cls": "HingeCabinet"
|
| 474 |
+
},
|
| 475 |
+
"cab_2_right_group": {
|
| 476 |
+
"cls": "SingleCabinet"
|
| 477 |
+
},
|
| 478 |
+
"shelves_right_group": {
|
| 479 |
+
"cls": "OpenCabinet"
|
| 480 |
+
},
|
| 481 |
+
"cab_3_right_group": {
|
| 482 |
+
"cls": "HingeCabinet"
|
| 483 |
+
},
|
| 484 |
+
"toaster_right_group": {
|
| 485 |
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"cls": "Toaster"
|
| 486 |
+
},
|
| 487 |
+
"coffee_machine_right_group": {
|
| 488 |
+
"cls": "CoffeeMachine"
|
| 489 |
+
},
|
| 490 |
+
"oil_bottle_right_group": {
|
| 491 |
+
"cls": "Accessory"
|
| 492 |
+
},
|
| 493 |
+
"tiered_basket_right_group": {
|
| 494 |
+
"cls": "Accessory"
|
| 495 |
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},
|
| 496 |
+
"jar_right_group": {
|
| 497 |
+
"cls": "Accessory"
|
| 498 |
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},
|
| 499 |
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"salt_shaker_right_group": {
|
| 500 |
+
"cls": "Accessory"
|
| 501 |
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},
|
| 502 |
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"paprika_right_group": {
|
| 503 |
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"cls": "Accessory"
|
| 504 |
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},
|
| 505 |
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"turmeric_right_group": {
|
| 506 |
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"cls": "Accessory"
|
| 507 |
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},
|
| 508 |
+
"oil_bottle_right_group_auxiliary_right_group": {
|
| 509 |
+
"cls": "Accessory"
|
| 510 |
+
},
|
| 511 |
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"jar_right_group_auxiliary_right_group": {
|
| 512 |
+
"cls": "Accessory"
|
| 513 |
+
},
|
| 514 |
+
"salt_shaker_right_group_auxiliary_right_group": {
|
| 515 |
+
"cls": "Accessory"
|
| 516 |
+
}
|
| 517 |
+
},
|
| 518 |
+
"gen_textures": {},
|
| 519 |
+
"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.",
|
| 520 |
+
"fixture_refs": {
|
| 521 |
+
"cab": "cab_main_main_group",
|
| 522 |
+
"counter": "counter_main_main_group"
|
| 523 |
+
},
|
| 524 |
+
"cam_configs": {
|
| 525 |
+
"robot0_agentview_center": {
|
| 526 |
+
"pos": [
|
| 527 |
+
-0.6,
|
| 528 |
+
0.0,
|
| 529 |
+
1.15
|
| 530 |
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],
|
| 531 |
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"quat": [
|
| 532 |
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|
| 533 |
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|
| 534 |
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|
| 535 |
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|
| 536 |
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],
|
| 537 |
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"parent_body": "mobilebase0_support"
|
| 538 |
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},
|
| 539 |
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"robot0_agentview_left": {
|
| 540 |
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"pos": [
|
| 541 |
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-0.5,
|
| 542 |
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0.35,
|
| 543 |
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1.05
|
| 544 |
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],
|
| 545 |
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"quat": [
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| 546 |
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|
| 547 |
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|
| 548 |
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|
| 549 |
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-0.6775092
|
| 550 |
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],
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| 551 |
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"camera_attribs": {
|
| 552 |
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"fovy": "60"
|
| 553 |
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},
|
| 554 |
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"parent_body": "mobilebase0_support"
|
| 555 |
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},
|
| 556 |
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"robot0_agentview_right": {
|
| 557 |
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"pos": [
|
| 558 |
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-0.5,
|
| 559 |
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-0.35,
|
| 560 |
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1.05
|
| 561 |
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],
|
| 562 |
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"quat": [
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| 563 |
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|
| 564 |
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|
| 565 |
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|
| 566 |
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|
| 567 |
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],
|
| 568 |
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"camera_attribs": {
|
| 569 |
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"fovy": "60"
|
| 570 |
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},
|
| 571 |
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"parent_body": "mobilebase0_support"
|
| 572 |
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},
|
| 573 |
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"robot0_frontview": {
|
| 574 |
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"pos": [
|
| 575 |
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-0.5,
|
| 576 |
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0,
|
| 577 |
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|
| 578 |
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],
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| 579 |
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"quat": [
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| 580 |
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| 584 |
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],
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| 585 |
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|
| 586 |
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"fovy": "60"
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| 587 |
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},
|
| 588 |
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"parent_body": "mobilebase0_support"
|
| 589 |
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},
|
| 590 |
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"robot0_eye_in_hand": {
|
| 591 |
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"pos": [
|
| 592 |
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0.05,
|
| 593 |
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0,
|
| 594 |
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0
|
| 595 |
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],
|
| 596 |
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"quat": [
|
| 597 |
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0,
|
| 598 |
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|
| 599 |
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0.707107,
|
| 600 |
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0
|
| 601 |
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],
|
| 602 |
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"parent_body": "robot0_right_hand"
|
| 603 |
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}
|
| 604 |
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},
|
| 605 |
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"init_robot_base_pos": [
|
| 606 |
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|
| 607 |
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|
| 608 |
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|
| 609 |
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],
|
| 610 |
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"init_robot_base_ori": [
|
| 611 |
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0.0,
|
| 612 |
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0.0,
|
| 613 |
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|
| 614 |
+
]
|
| 615 |
+
}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000297/ep_meta.json
ADDED
|
@@ -0,0 +1,614 @@
|
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| 1 |
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| 11 |
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| 33 |
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| 35 |
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| 141 |
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| 159 |
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| 164 |
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| 166 |
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| 349 |
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"cls": "HingeCabinet"
|
| 350 |
+
},
|
| 351 |
+
"cab_corner_main_group": {
|
| 352 |
+
"cls": "Box"
|
| 353 |
+
},
|
| 354 |
+
"cab_corner_2_main_group": {
|
| 355 |
+
"cls": "Box"
|
| 356 |
+
},
|
| 357 |
+
"sink_main_group": {
|
| 358 |
+
"cls": "Sink"
|
| 359 |
+
},
|
| 360 |
+
"counter_main_main_group": {
|
| 361 |
+
"cls": "Counter"
|
| 362 |
+
},
|
| 363 |
+
"counter_corner_main_main_group": {
|
| 364 |
+
"cls": "Counter"
|
| 365 |
+
},
|
| 366 |
+
"stack_1_main_group_base": {
|
| 367 |
+
"cls": "Box"
|
| 368 |
+
},
|
| 369 |
+
"stack_1_main_group_1": {
|
| 370 |
+
"cls": "Drawer"
|
| 371 |
+
},
|
| 372 |
+
"stack_1_main_group_2": {
|
| 373 |
+
"cls": "Drawer"
|
| 374 |
+
},
|
| 375 |
+
"stack_1_main_group_3": {
|
| 376 |
+
"cls": "Drawer"
|
| 377 |
+
},
|
| 378 |
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"stack_1_main_group_4": {
|
| 379 |
+
"cls": "Drawer"
|
| 380 |
+
},
|
| 381 |
+
"stack_2_main_group_base": {
|
| 382 |
+
"cls": "Box"
|
| 383 |
+
},
|
| 384 |
+
"stack_2_main_group_1": {
|
| 385 |
+
"cls": "HingeCabinet"
|
| 386 |
+
},
|
| 387 |
+
"dishwasher_main_group": {
|
| 388 |
+
"cls": "Dishwasher"
|
| 389 |
+
},
|
| 390 |
+
"stack_3_main_group_base": {
|
| 391 |
+
"cls": "Box"
|
| 392 |
+
},
|
| 393 |
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"stack_3_main_group_1": {
|
| 394 |
+
"cls": "SingleCabinet"
|
| 395 |
+
},
|
| 396 |
+
"toaster_oven_main_group": {
|
| 397 |
+
"cls": "ToasterOven"
|
| 398 |
+
},
|
| 399 |
+
"plant_main_group": {
|
| 400 |
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"cls": "Accessory"
|
| 401 |
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},
|
| 402 |
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"knife_block_main_group": {
|
| 403 |
+
"cls": "Accessory"
|
| 404 |
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},
|
| 405 |
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"paper_towel_main_group": {
|
| 406 |
+
"cls": "Accessory"
|
| 407 |
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},
|
| 408 |
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"soap_dispenser_main_group": {
|
| 409 |
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"cls": "Accessory"
|
| 410 |
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},
|
| 411 |
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"counter_1_right_group": {
|
| 412 |
+
"cls": "Counter"
|
| 413 |
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},
|
| 414 |
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"counter_corner_left_right_group": {
|
| 415 |
+
"cls": "Counter"
|
| 416 |
+
},
|
| 417 |
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"stove_right_group": {
|
| 418 |
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"cls": "Stove"
|
| 419 |
+
},
|
| 420 |
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"counter_2_right_group": {
|
| 421 |
+
"cls": "Counter"
|
| 422 |
+
},
|
| 423 |
+
"fridge_right_group": {
|
| 424 |
+
"cls": "FridgeBottomFreezer"
|
| 425 |
+
},
|
| 426 |
+
"fridge_housing_right_group": {
|
| 427 |
+
"cls": "HousingCabinet"
|
| 428 |
+
},
|
| 429 |
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"stack_1_right_group_base": {
|
| 430 |
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"cls": "Box"
|
| 431 |
+
},
|
| 432 |
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"stack_1_right_group_1": {
|
| 433 |
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"cls": "SingleCabinet"
|
| 434 |
+
},
|
| 435 |
+
"stack_1_right_group_2": {
|
| 436 |
+
"cls": "Drawer"
|
| 437 |
+
},
|
| 438 |
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"stack_2_right_group_base": {
|
| 439 |
+
"cls": "Box"
|
| 440 |
+
},
|
| 441 |
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"stack_2_right_group_1": {
|
| 442 |
+
"cls": "HingeCabinet"
|
| 443 |
+
},
|
| 444 |
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"stack_2_right_group_2": {
|
| 445 |
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"cls": "Drawer"
|
| 446 |
+
},
|
| 447 |
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"stack_2_right_group_3": {
|
| 448 |
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"cls": "Drawer"
|
| 449 |
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},
|
| 450 |
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"stack_3_right_group_base": {
|
| 451 |
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"cls": "Box"
|
| 452 |
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},
|
| 453 |
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"stack_3_right_group_1": {
|
| 454 |
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"cls": "Drawer"
|
| 455 |
+
},
|
| 456 |
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"stack_3_right_group_2": {
|
| 457 |
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"cls": "Drawer"
|
| 458 |
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},
|
| 459 |
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"stack_3_right_group_3": {
|
| 460 |
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"cls": "Drawer"
|
| 461 |
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},
|
| 462 |
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"stack_3_right_group_4": {
|
| 463 |
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"cls": "Drawer"
|
| 464 |
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},
|
| 465 |
+
"cab_1_right_group": {
|
| 466 |
+
"cls": "SingleCabinet"
|
| 467 |
+
},
|
| 468 |
+
"microwave_right_group": {
|
| 469 |
+
"cls": "Microwave"
|
| 470 |
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},
|
| 471 |
+
"cab_micro_right_group": {
|
| 472 |
+
"cls": "HingeCabinet"
|
| 473 |
+
},
|
| 474 |
+
"cab_2_right_group": {
|
| 475 |
+
"cls": "SingleCabinet"
|
| 476 |
+
},
|
| 477 |
+
"shelves_right_group": {
|
| 478 |
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"cls": "OpenCabinet"
|
| 479 |
+
},
|
| 480 |
+
"cab_3_right_group": {
|
| 481 |
+
"cls": "HingeCabinet"
|
| 482 |
+
},
|
| 483 |
+
"toaster_right_group": {
|
| 484 |
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"cls": "Toaster"
|
| 485 |
+
},
|
| 486 |
+
"coffee_machine_right_group": {
|
| 487 |
+
"cls": "CoffeeMachine"
|
| 488 |
+
},
|
| 489 |
+
"oil_bottle_right_group": {
|
| 490 |
+
"cls": "Accessory"
|
| 491 |
+
},
|
| 492 |
+
"tiered_basket_right_group": {
|
| 493 |
+
"cls": "Accessory"
|
| 494 |
+
},
|
| 495 |
+
"jar_right_group": {
|
| 496 |
+
"cls": "Accessory"
|
| 497 |
+
},
|
| 498 |
+
"salt_shaker_right_group": {
|
| 499 |
+
"cls": "Accessory"
|
| 500 |
+
},
|
| 501 |
+
"paprika_right_group": {
|
| 502 |
+
"cls": "Accessory"
|
| 503 |
+
},
|
| 504 |
+
"turmeric_right_group": {
|
| 505 |
+
"cls": "Accessory"
|
| 506 |
+
},
|
| 507 |
+
"oil_bottle_right_group_auxiliary_right_group": {
|
| 508 |
+
"cls": "Accessory"
|
| 509 |
+
},
|
| 510 |
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"jar_right_group_auxiliary_right_group": {
|
| 511 |
+
"cls": "Accessory"
|
| 512 |
+
},
|
| 513 |
+
"salt_shaker_right_group_auxiliary_right_group": {
|
| 514 |
+
"cls": "Accessory"
|
| 515 |
+
}
|
| 516 |
+
},
|
| 517 |
+
"gen_textures": {},
|
| 518 |
+
"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.",
|
| 519 |
+
"fixture_refs": {
|
| 520 |
+
"cab": "cab_main_main_group",
|
| 521 |
+
"counter": "counter_main_main_group"
|
| 522 |
+
},
|
| 523 |
+
"cam_configs": {
|
| 524 |
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"robot0_agentview_center": {
|
| 525 |
+
"pos": [
|
| 526 |
+
-0.6,
|
| 527 |
+
0.0,
|
| 528 |
+
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|
| 529 |
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],
|
| 530 |
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"quat": [
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| 531 |
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|
| 532 |
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|
| 533 |
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|
| 534 |
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],
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| 536 |
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"parent_body": "mobilebase0_support"
|
| 537 |
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},
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| 538 |
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"robot0_agentview_left": {
|
| 539 |
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"pos": [
|
| 540 |
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|
| 541 |
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|
| 542 |
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|
| 543 |
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],
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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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|
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],
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| 550 |
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| 551 |
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"fovy": "60"
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| 552 |
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},
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| 553 |
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"parent_body": "mobilebase0_support"
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| 554 |
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},
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| 555 |
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"robot0_agentview_right": {
|
| 556 |
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"pos": [
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| 557 |
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-0.5,
|
| 558 |
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| 559 |
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|
| 560 |
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],
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| 561 |
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| 566 |
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],
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"camera_attribs": {
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| 568 |
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"fovy": "60"
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| 569 |
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},
|
| 570 |
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"parent_body": "mobilebase0_support"
|
| 571 |
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},
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| 572 |
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"robot0_frontview": {
|
| 573 |
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"pos": [
|
| 574 |
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-0.5,
|
| 575 |
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0,
|
| 576 |
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|
| 577 |
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],
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"quat": [
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| 579 |
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],
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| 584 |
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| 585 |
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"fovy": "60"
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| 586 |
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},
|
| 587 |
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"parent_body": "mobilebase0_support"
|
| 588 |
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},
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| 589 |
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"robot0_eye_in_hand": {
|
| 590 |
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"pos": [
|
| 591 |
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0.05,
|
| 592 |
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|
| 593 |
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0
|
| 594 |
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],
|
| 595 |
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"quat": [
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| 596 |
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|
| 597 |
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|
| 598 |
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0.707107,
|
| 599 |
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|
| 600 |
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],
|
| 601 |
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"parent_body": "robot0_right_hand"
|
| 602 |
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}
|
| 603 |
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},
|
| 604 |
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"init_robot_base_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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"init_robot_base_ori": [
|
| 610 |
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|
| 611 |
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|
| 612 |
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|
| 613 |
+
]
|
| 614 |
+
}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000387/ep_meta.json
ADDED
|
@@ -0,0 +1,805 @@
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
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|
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|
|
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|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
|
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|
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|
|
|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 7,
|
| 3 |
+
"style_id": 7,
|
| 4 |
+
"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 |
+
0.22229021025000018,
|
| 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 |
+
"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_4/model.xml"
|
| 45 |
+
},
|
| 46 |
+
"reset_region": {
|
| 47 |
+
"size": [
|
| 48 |
+
1.0,
|
| 49 |
+
0.65
|
| 50 |
+
],
|
| 51 |
+
"offset": [
|
| 52 |
+
-0.5,
|
| 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_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 |
+
"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_8/model.xml"
|
| 90 |
+
},
|
| 91 |
+
"reset_region": {
|
| 92 |
+
"size": [
|
| 93 |
+
1.0,
|
| 94 |
+
0.65
|
| 95 |
+
],
|
| 96 |
+
"offset": [
|
| 97 |
+
-0.5,
|
| 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_6/model.xml"
|
| 138 |
+
}
|
| 139 |
+
},
|
| 140 |
+
{
|
| 141 |
+
"name": "croissant_container",
|
| 142 |
+
"obj_groups": "plate",
|
| 143 |
+
"placement": {
|
| 144 |
+
"fixture": "counter_1_right_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 |
+
1.0,
|
| 175 |
+
0.65
|
| 176 |
+
],
|
| 177 |
+
"offset": [
|
| 178 |
+
-0.5,
|
| 179 |
+
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 |
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| 214 |
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| 216 |
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| 285 |
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| 286 |
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| 600 |
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| 603 |
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| 612 |
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| 619 |
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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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|
| 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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|
| 633 |
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"cls": "Accessory"
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| 634 |
+
},
|
| 635 |
+
"turmeric_left_group": {
|
| 636 |
+
"cls": "Accessory"
|
| 637 |
+
},
|
| 638 |
+
"jar_left_group": {
|
| 639 |
+
"cls": "Accessory"
|
| 640 |
+
},
|
| 641 |
+
"jar_left_group_auxiliary_left_group": {
|
| 642 |
+
"cls": "Accessory"
|
| 643 |
+
},
|
| 644 |
+
"counter_1_right_group": {
|
| 645 |
+
"cls": "Counter"
|
| 646 |
+
},
|
| 647 |
+
"counter_corner_right_group": {
|
| 648 |
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"cls": "Counter"
|
| 649 |
+
},
|
| 650 |
+
"fridge_right_group": {
|
| 651 |
+
"cls": "FridgeSideBySide"
|
| 652 |
+
},
|
| 653 |
+
"fridge_housing_right_group": {
|
| 654 |
+
"cls": "HousingCabinet"
|
| 655 |
+
},
|
| 656 |
+
"stack_1_right_group_base": {
|
| 657 |
+
"cls": "Box"
|
| 658 |
+
},
|
| 659 |
+
"stack_1_right_group_1": {
|
| 660 |
+
"cls": "HingeCabinet"
|
| 661 |
+
},
|
| 662 |
+
"stack_1_right_group_2": {
|
| 663 |
+
"cls": "Drawer"
|
| 664 |
+
},
|
| 665 |
+
"stack_1_right_group_3": {
|
| 666 |
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"cls": "Drawer"
|
| 667 |
+
},
|
| 668 |
+
"stack_2_right_group_base": {
|
| 669 |
+
"cls": "Box"
|
| 670 |
+
},
|
| 671 |
+
"stack_2_right_group_1": {
|
| 672 |
+
"cls": "SingleCabinet"
|
| 673 |
+
},
|
| 674 |
+
"stack_2_right_group_2": {
|
| 675 |
+
"cls": "Drawer"
|
| 676 |
+
},
|
| 677 |
+
"stack_3_right_group_base": {
|
| 678 |
+
"cls": "Box"
|
| 679 |
+
},
|
| 680 |
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"stack_3_right_group_1": {
|
| 681 |
+
"cls": "Drawer"
|
| 682 |
+
},
|
| 683 |
+
"stack_3_right_group_2": {
|
| 684 |
+
"cls": "Drawer"
|
| 685 |
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},
|
| 686 |
+
"stack_3_right_group_3": {
|
| 687 |
+
"cls": "Drawer"
|
| 688 |
+
},
|
| 689 |
+
"stack_3_right_group_4": {
|
| 690 |
+
"cls": "Drawer"
|
| 691 |
+
},
|
| 692 |
+
"cab_1_right_group": {
|
| 693 |
+
"cls": "HingeCabinet"
|
| 694 |
+
},
|
| 695 |
+
"cab_2_right_group": {
|
| 696 |
+
"cls": "HingeCabinet"
|
| 697 |
+
},
|
| 698 |
+
"fridge_cab_right_group": {
|
| 699 |
+
"cls": "HingeCabinet"
|
| 700 |
+
},
|
| 701 |
+
"coffee_machine_right_group": {
|
| 702 |
+
"cls": "CoffeeMachine"
|
| 703 |
+
},
|
| 704 |
+
"toaster_right_group": {
|
| 705 |
+
"cls": "Toaster"
|
| 706 |
+
}
|
| 707 |
+
},
|
| 708 |
+
"gen_textures": {},
|
| 709 |
+
"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 |
+
"fixture_refs": {
|
| 711 |
+
"cab": "cab_1_right_group",
|
| 712 |
+
"counter": "counter_1_right_group"
|
| 713 |
+
},
|
| 714 |
+
"cam_configs": {
|
| 715 |
+
"robot0_agentview_center": {
|
| 716 |
+
"pos": [
|
| 717 |
+
-0.6,
|
| 718 |
+
0.0,
|
| 719 |
+
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|
| 720 |
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],
|
| 721 |
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"quat": [
|
| 722 |
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|
| 723 |
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|
| 724 |
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|
| 725 |
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|
| 726 |
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],
|
| 727 |
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"parent_body": "mobilebase0_support"
|
| 728 |
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},
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| 729 |
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"robot0_agentview_left": {
|
| 730 |
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"pos": [
|
| 731 |
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-0.5,
|
| 732 |
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|
| 733 |
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|
| 734 |
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],
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| 735 |
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"quat": [
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| 736 |
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|
| 737 |
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|
| 738 |
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|
| 739 |
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|
| 740 |
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],
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| 741 |
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"camera_attribs": {
|
| 742 |
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"fovy": "60"
|
| 743 |
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},
|
| 744 |
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"parent_body": "mobilebase0_support"
|
| 745 |
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},
|
| 746 |
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"robot0_agentview_right": {
|
| 747 |
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"pos": [
|
| 748 |
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-0.5,
|
| 749 |
+
-0.35,
|
| 750 |
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1.05
|
| 751 |
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],
|
| 752 |
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"quat": [
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| 753 |
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|
| 754 |
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|
| 755 |
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|
| 756 |
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|
| 757 |
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],
|
| 758 |
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"camera_attribs": {
|
| 759 |
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"fovy": "60"
|
| 760 |
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},
|
| 761 |
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"parent_body": "mobilebase0_support"
|
| 762 |
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},
|
| 763 |
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"robot0_frontview": {
|
| 764 |
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"pos": [
|
| 765 |
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-0.5,
|
| 766 |
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0,
|
| 767 |
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0.95
|
| 768 |
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],
|
| 769 |
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"quat": [
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| 770 |
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|
| 771 |
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|
| 772 |
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|
| 773 |
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|
| 774 |
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],
|
| 775 |
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"camera_attribs": {
|
| 776 |
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"fovy": "60"
|
| 777 |
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},
|
| 778 |
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"parent_body": "mobilebase0_support"
|
| 779 |
+
},
|
| 780 |
+
"robot0_eye_in_hand": {
|
| 781 |
+
"pos": [
|
| 782 |
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0.05,
|
| 783 |
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0,
|
| 784 |
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0
|
| 785 |
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],
|
| 786 |
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"quat": [
|
| 787 |
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0,
|
| 788 |
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|
| 789 |
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0.707107,
|
| 790 |
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0
|
| 791 |
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],
|
| 792 |
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"parent_body": "robot0_right_hand"
|
| 793 |
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}
|
| 794 |
+
},
|
| 795 |
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"init_robot_base_pos": [
|
| 796 |
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|
| 797 |
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|
| 798 |
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0.0
|
| 799 |
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],
|
| 800 |
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"init_robot_base_ori": [
|
| 801 |
+
0.0,
|
| 802 |
+
0.0,
|
| 803 |
+
-3.673205103416066e-06
|
| 804 |
+
]
|
| 805 |
+
}
|
target/composite/BreadSelection/20250815/lerobot/extras/episode_000415/ep_meta.json
ADDED
|
@@ -0,0 +1,729 @@
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| 1 |
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| 2 |
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| 3 |
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| 11 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 35 |
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| 37 |
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| 140 |
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| 163 |
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| 341 |
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"cls": "WallAccessory"
|
| 342 |
+
},
|
| 343 |
+
"outlet_3_room": {
|
| 344 |
+
"cls": "WallAccessory"
|
| 345 |
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},
|
| 346 |
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"window_group_room": {
|
| 347 |
+
"cls": "Window"
|
| 348 |
+
},
|
| 349 |
+
"floor_room": {
|
| 350 |
+
"cls": "Floor"
|
| 351 |
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},
|
| 352 |
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"floor_backing_room": {
|
| 353 |
+
"cls": "Floor"
|
| 354 |
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},
|
| 355 |
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"stool_1_room": {
|
| 356 |
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"cls": "Stool"
|
| 357 |
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},
|
| 358 |
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"stool_2_room": {
|
| 359 |
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"cls": "Stool"
|
| 360 |
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},
|
| 361 |
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"stool_3_room": {
|
| 362 |
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"cls": "Stool"
|
| 363 |
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},
|
| 364 |
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"counter_corner_main_group": {
|
| 365 |
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"cls": "Counter"
|
| 366 |
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},
|
| 367 |
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"counter_main_main_group": {
|
| 368 |
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"cls": "Counter"
|
| 369 |
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},
|
| 370 |
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"stovetop_main_group": {
|
| 371 |
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"cls": "Stovetop"
|
| 372 |
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},
|
| 373 |
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"counter_1_main_group": {
|
| 374 |
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"cls": "Counter"
|
| 375 |
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},
|
| 376 |
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"counter_corner_2_main_group": {
|
| 377 |
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"cls": "Counter"
|
| 378 |
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},
|
| 379 |
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"cab_corner_main_group": {
|
| 380 |
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"cls": "Box"
|
| 381 |
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},
|
| 382 |
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"cab_corner_2_main_group": {
|
| 383 |
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"cls": "Box"
|
| 384 |
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},
|
| 385 |
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"cab_1_main_group": {
|
| 386 |
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"cls": "HingeCabinet"
|
| 387 |
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},
|
| 388 |
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"cab_main_main_group": {
|
| 389 |
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"cls": "HingeCabinet"
|
| 390 |
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},
|
| 391 |
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"cab_2_main_group": {
|
| 392 |
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"cls": "SingleCabinet"
|
| 393 |
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},
|
| 394 |
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"shelves_1_main_group": {
|
| 395 |
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"cls": "OpenCabinet"
|
| 396 |
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},
|
| 397 |
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"hood_main_group": {
|
| 398 |
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"cls": "Hood"
|
| 399 |
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},
|
| 400 |
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"shelves_2_main_group": {
|
| 401 |
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"cls": "OpenCabinet"
|
| 402 |
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},
|
| 403 |
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"stack_1_main_group_base": {
|
| 404 |
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"cls": "Box"
|
| 405 |
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},
|
| 406 |
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"stack_1_main_group_1": {
|
| 407 |
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"cls": "Drawer"
|
| 408 |
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},
|
| 409 |
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"stack_1_main_group_2": {
|
| 410 |
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"cls": "Drawer"
|
| 411 |
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},
|
| 412 |
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|
| 413 |
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"cls": "Drawer"
|
| 414 |
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},
|
| 415 |
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"stack_1_main_group_4": {
|
| 416 |
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"cls": "Drawer"
|
| 417 |
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},
|
| 418 |
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"stack_2_main_group_base": {
|
| 419 |
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"cls": "Box"
|
| 420 |
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},
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| 421 |
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|
| 422 |
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"cls": "HingeCabinet"
|
| 423 |
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},
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| 424 |
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|
| 425 |
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"cls": "Drawer"
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| 426 |
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},
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| 427 |
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| 428 |
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"cls": "Drawer"
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| 429 |
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| 430 |
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|
| 431 |
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"cls": "Box"
|
| 432 |
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},
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| 433 |
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"stack_3_main_group_1": {
|
| 434 |
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"cls": "HingeCabinet"
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| 435 |
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},
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| 436 |
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|
| 437 |
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"cls": "Drawer"
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| 438 |
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},
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| 439 |
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"stack_3_main_group_3": {
|
| 440 |
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"cls": "Drawer"
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| 441 |
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},
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| 442 |
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"stack_4_main_group_base": {
|
| 443 |
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"cls": "Box"
|
| 444 |
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},
|
| 445 |
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"stack_4_main_group_1": {
|
| 446 |
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"cls": "HingeCabinet"
|
| 447 |
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},
|
| 448 |
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"stack_5_main_group_base": {
|
| 449 |
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"cls": "Box"
|
| 450 |
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},
|
| 451 |
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"stack_5_main_group_1": {
|
| 452 |
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"cls": "SingleCabinet"
|
| 453 |
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},
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| 454 |
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"stack_5_main_group_2": {
|
| 455 |
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"cls": "Drawer"
|
| 456 |
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},
|
| 457 |
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"coffee_machine_main_group": {
|
| 458 |
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"cls": "CoffeeMachine"
|
| 459 |
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},
|
| 460 |
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"paper_towel_main_group": {
|
| 461 |
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"cls": "Accessory"
|
| 462 |
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},
|
| 463 |
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"toaster_main_group": {
|
| 464 |
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"cls": "Toaster"
|
| 465 |
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},
|
| 466 |
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"toaster_oven_main_group": {
|
| 467 |
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"cls": "ToasterOven"
|
| 468 |
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},
|
| 469 |
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"utensil_set_main_group": {
|
| 470 |
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"cls": "Accessory"
|
| 471 |
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},
|
| 472 |
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"oil_bottle_main_group": {
|
| 473 |
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"cls": "Accessory"
|
| 474 |
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},
|
| 475 |
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"knife_block_main_group": {
|
| 476 |
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"cls": "Accessory"
|
| 477 |
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},
|
| 478 |
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"jar_main_group": {
|
| 479 |
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"cls": "Accessory"
|
| 480 |
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},
|
| 481 |
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"cinnamon_main_group": {
|
| 482 |
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"cls": "Accessory"
|
| 483 |
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},
|
| 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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},
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| 502 |
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"salt_shaker_front_group": {
|
| 503 |
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"cls": "Accessory"
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| 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"
|
| 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"
|
| 510 |
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},
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| 511 |
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"sink_left_group": {
|
| 512 |
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"cls": "Sink"
|
| 513 |
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},
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| 514 |
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"counter_1_left_group": {
|
| 515 |
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"cls": "Counter"
|
| 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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| 521 |
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"cls": "Box"
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| 522 |
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},
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|
| 524 |
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"cls": "HingeCabinet"
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| 525 |
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|
| 527 |
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| 528 |
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},
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|
| 530 |
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"cls": "Drawer"
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| 531 |
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},
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| 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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|
| 539 |
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"cls": "Dishwasher"
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| 540 |
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},
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| 542 |
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"cls": "Box"
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| 543 |
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},
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| 545 |
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"cls": "SingleCabinet"
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| 546 |
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},
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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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"cab_2_left_group": {
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| 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"
|
| 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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},
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| 559 |
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"fruit_bowl_left_group": {
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| 560 |
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"cls": "Accessory"
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| 561 |
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| 563 |
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| 564 |
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| 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": {
|
| 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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| 581 |
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"cls": "Box"
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| 582 |
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},
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|
| 584 |
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"cls": "SingleCabinet"
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| 585 |
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},
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| 586 |
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|
| 587 |
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"cls": "SingleCabinet"
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| 588 |
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},
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| 589 |
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|
| 590 |
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"cls": "Box"
|
| 591 |
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| 592 |
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|
| 593 |
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"cls": "Box"
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| 594 |
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| 595 |
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| 596 |
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"cls": "Box"
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| 597 |
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| 598 |
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|
| 599 |
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| 600 |
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| 601 |
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| 602 |
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|
| 603 |
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| 604 |
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|
| 605 |
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"cls": "Oven"
|
| 606 |
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},
|
| 607 |
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|
| 608 |
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"cls": "HousingCabinet"
|
| 609 |
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},
|
| 610 |
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|
| 611 |
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"cls": "Microwave"
|
| 612 |
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},
|
| 613 |
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|
| 614 |
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"cls": "HousingCabinet"
|
| 615 |
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},
|
| 616 |
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|
| 617 |
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"cls": "HingeCabinet"
|
| 618 |
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| 619 |
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|
| 620 |
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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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"cls": "Drawer"
|
| 627 |
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| 628 |
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"side_bottom_right_group_3": {
|
| 629 |
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"cls": "HingeCabinet"
|
| 630 |
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}
|
| 631 |
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},
|
| 632 |
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"gen_textures": {},
|
| 633 |
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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.",
|
| 634 |
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"fixture_refs": {
|
| 635 |
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"cab": "cab_1_main_group",
|
| 636 |
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"counter": "counter_main_main_group"
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| 637 |
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| 684 |
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"parent_body": "mobilebase0_support"
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"robot0_frontview": {
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"pos": [
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| 700 |
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| 701 |
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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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"robot0_eye_in_hand": {
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| 705 |
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"pos": [
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| 706 |
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| 707 |
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|
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| 711 |
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| 712 |
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| 713 |
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|
| 714 |
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| 715 |
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],
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| 716 |
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"parent_body": "robot0_right_hand"
|
| 717 |
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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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|
| 721 |
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"init_robot_base_ori": [
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| 725 |
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| 726 |
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]
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| 729 |
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}
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ADDED
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version https://git-lfs.github.com/spec/v1
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version https://git-lfs.github.com/spec/v1
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target/composite/GetToastedBread/20250812/lerobot/data/chunk-000/episode_000218.parquet
ADDED
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version https://git-lfs.github.com/spec/v1
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