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Browse files- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000012/ep_meta.json +467 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000020/ep_meta.json +443 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000030/ep_meta.json +551 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000031/ep_meta.json +548 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000036/ep_meta.json +494 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000041/ep_meta.json +494 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000043/ep_meta.json +479 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000045/ep_meta.json +413 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000050/ep_meta.json +473 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000051/ep_meta.json +494 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000059/ep_meta.json +498 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000077/ep_meta.json +576 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000085/ep_meta.json +458 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000090/ep_meta.json +575 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000091/ep_meta.json +479 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000094/ep_meta.json +503 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000095/ep_meta.json +452 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000102/ep_meta.json +533 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000103/ep_meta.json +548 -0
- pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000105/ep_meta.json +467 -0
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000012/ep_meta.json
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 45,
|
| 3 |
+
"style_id": 42,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
+
"obj_groups": "tupperware",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group_1",
|
| 10 |
+
"size": [
|
| 11 |
+
0.5,
|
| 12 |
+
0.5
|
| 13 |
+
],
|
| 14 |
+
"pos": [
|
| 15 |
+
0,
|
| 16 |
+
-1.0
|
| 17 |
+
],
|
| 18 |
+
"try_to_place_in": "tupperware",
|
| 19 |
+
"try_to_place_in_kwargs": {
|
| 20 |
+
"object_scale": [
|
| 21 |
+
2.5,
|
| 22 |
+
2.5,
|
| 23 |
+
1.25
|
| 24 |
+
]
|
| 25 |
+
},
|
| 26 |
+
"rotation": 0
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"init_robot_here": true,
|
| 30 |
+
"object_scale": [
|
| 31 |
+
2.5,
|
| 32 |
+
2.5,
|
| 33 |
+
1.25
|
| 34 |
+
],
|
| 35 |
+
"info": {
|
| 36 |
+
"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
+
"tupperware",
|
| 39 |
+
"receptacle"
|
| 40 |
+
],
|
| 41 |
+
"groups": [
|
| 42 |
+
"tupperware"
|
| 43 |
+
],
|
| 44 |
+
"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml"
|
| 47 |
+
},
|
| 48 |
+
"reset_region": {
|
| 49 |
+
"size": [
|
| 50 |
+
2.05,
|
| 51 |
+
1.04
|
| 52 |
+
],
|
| 53 |
+
"offset": [
|
| 54 |
+
0.0,
|
| 55 |
+
0.0,
|
| 56 |
+
0.46
|
| 57 |
+
],
|
| 58 |
+
"name": "geom_0"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "cooked_food",
|
| 63 |
+
"obj_groups": "cooked_food",
|
| 64 |
+
"init_robot_here": false,
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
+
"size": [
|
| 68 |
+
0.01,
|
| 69 |
+
0.01
|
| 70 |
+
],
|
| 71 |
+
"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
+
"groups_containing_sampled_obj": [
|
| 80 |
+
"all",
|
| 81 |
+
"hot_dog",
|
| 82 |
+
"cooked_food",
|
| 83 |
+
"food",
|
| 84 |
+
"in_container"
|
| 85 |
+
],
|
| 86 |
+
"groups": [
|
| 87 |
+
"cooked_food"
|
| 88 |
+
],
|
| 89 |
+
"cat": "hot_dog",
|
| 90 |
+
"split": "train",
|
| 91 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "dessert",
|
| 96 |
+
"obj_groups": "sweets",
|
| 97 |
+
"exclude_obj_groups": "sugar_cube",
|
| 98 |
+
"graspable": true,
|
| 99 |
+
"placement": {
|
| 100 |
+
"fixture": "island_island_group_1",
|
| 101 |
+
"reuse_region_from": "cooked_food_container",
|
| 102 |
+
"size": [
|
| 103 |
+
0.5,
|
| 104 |
+
0.2
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
0,
|
| 108 |
+
-1.0
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"type": "object",
|
| 112 |
+
"info": {
|
| 113 |
+
"groups_containing_sampled_obj": [
|
| 114 |
+
"all",
|
| 115 |
+
"cupcake",
|
| 116 |
+
"sweets",
|
| 117 |
+
"food",
|
| 118 |
+
"in_container"
|
| 119 |
+
],
|
| 120 |
+
"groups": [
|
| 121 |
+
"sweets"
|
| 122 |
+
],
|
| 123 |
+
"cat": "cupcake",
|
| 124 |
+
"split": "train",
|
| 125 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_17/model.xml"
|
| 126 |
+
},
|
| 127 |
+
"reset_region": {
|
| 128 |
+
"size": [
|
| 129 |
+
2.05,
|
| 130 |
+
1.04
|
| 131 |
+
],
|
| 132 |
+
"offset": [
|
| 133 |
+
0.0,
|
| 134 |
+
0.0,
|
| 135 |
+
0.46
|
| 136 |
+
],
|
| 137 |
+
"name": "geom_0"
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
],
|
| 141 |
+
"fixtures": {
|
| 142 |
+
"wall_left_1_room": {
|
| 143 |
+
"cls": "Wall"
|
| 144 |
+
},
|
| 145 |
+
"wall_left_1_backing_room": {
|
| 146 |
+
"cls": "Wall"
|
| 147 |
+
},
|
| 148 |
+
"wall_main_1_room": {
|
| 149 |
+
"cls": "Wall"
|
| 150 |
+
},
|
| 151 |
+
"wall_main_1_backing_room": {
|
| 152 |
+
"cls": "Wall"
|
| 153 |
+
},
|
| 154 |
+
"wall_right_1_room": {
|
| 155 |
+
"cls": "Wall"
|
| 156 |
+
},
|
| 157 |
+
"wall_right_1_backing_room": {
|
| 158 |
+
"cls": "Wall"
|
| 159 |
+
},
|
| 160 |
+
"wall_main_2_room": {
|
| 161 |
+
"cls": "Wall"
|
| 162 |
+
},
|
| 163 |
+
"wall_main_2_backing_room": {
|
| 164 |
+
"cls": "Wall"
|
| 165 |
+
},
|
| 166 |
+
"floor_1_room": {
|
| 167 |
+
"cls": "Floor"
|
| 168 |
+
},
|
| 169 |
+
"floor_1_backing_room": {
|
| 170 |
+
"cls": "Floor"
|
| 171 |
+
},
|
| 172 |
+
"floor_2_room": {
|
| 173 |
+
"cls": "Floor"
|
| 174 |
+
},
|
| 175 |
+
"floor_2_backing_room": {
|
| 176 |
+
"cls": "Floor"
|
| 177 |
+
},
|
| 178 |
+
"wallaccessory_room": {
|
| 179 |
+
"cls": "WallAccessory"
|
| 180 |
+
},
|
| 181 |
+
"lightswitch_room": {
|
| 182 |
+
"cls": "WallAccessory"
|
| 183 |
+
},
|
| 184 |
+
"wallaccessory.003_room": {
|
| 185 |
+
"cls": "WallAccessory"
|
| 186 |
+
},
|
| 187 |
+
"wallaccessory.004_room": {
|
| 188 |
+
"cls": "WallAccessory"
|
| 189 |
+
},
|
| 190 |
+
"wallaccessory.002_room": {
|
| 191 |
+
"cls": "WallAccessory"
|
| 192 |
+
},
|
| 193 |
+
"window_group_1_room": {
|
| 194 |
+
"cls": "Window"
|
| 195 |
+
},
|
| 196 |
+
"window_group_2_room": {
|
| 197 |
+
"cls": "Window"
|
| 198 |
+
},
|
| 199 |
+
"stool_1_room": {
|
| 200 |
+
"cls": "Stool"
|
| 201 |
+
},
|
| 202 |
+
"stool_2_room": {
|
| 203 |
+
"cls": "Stool"
|
| 204 |
+
},
|
| 205 |
+
"stool_3_room": {
|
| 206 |
+
"cls": "Stool"
|
| 207 |
+
},
|
| 208 |
+
"counter_corner_1_main_group_1": {
|
| 209 |
+
"cls": "Counter"
|
| 210 |
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},
|
| 211 |
+
"sink_main_group_1": {
|
| 212 |
+
"cls": "Sink"
|
| 213 |
+
},
|
| 214 |
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"counter_1_main_group_1": {
|
| 215 |
+
"cls": "Counter"
|
| 216 |
+
},
|
| 217 |
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"stack_1_main_group_1_base": {
|
| 218 |
+
"cls": "Box"
|
| 219 |
+
},
|
| 220 |
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"stack_1_main_group_1_1": {
|
| 221 |
+
"cls": "HingeCabinet"
|
| 222 |
+
},
|
| 223 |
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"hingecabinet_1_main_group_1": {
|
| 224 |
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"cls": "HingeCabinet"
|
| 225 |
+
},
|
| 226 |
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"stack_3_main_group_1_base": {
|
| 227 |
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"cls": "Box"
|
| 228 |
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},
|
| 229 |
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"stack_3_main_group_1_1": {
|
| 230 |
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"cls": "SingleCabinet"
|
| 231 |
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},
|
| 232 |
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"stack_3_main_group_1_2": {
|
| 233 |
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"cls": "Drawer"
|
| 234 |
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},
|
| 235 |
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"stack_4_main_group_1_base": {
|
| 236 |
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"cls": "Box"
|
| 237 |
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},
|
| 238 |
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"stack_4_main_group_1_1": {
|
| 239 |
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"cls": "SingleCabinet"
|
| 240 |
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},
|
| 241 |
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"cube_1_main_group_1": {
|
| 242 |
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"cls": "Box"
|
| 243 |
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},
|
| 244 |
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"stack_2_main_group_1_base": {
|
| 245 |
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"cls": "Box"
|
| 246 |
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},
|
| 247 |
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"stack_2_main_group_1_1": {
|
| 248 |
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"cls": "HingeCabinet"
|
| 249 |
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},
|
| 250 |
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"dishwasher_1_main_group_1": {
|
| 251 |
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"cls": "Dishwasher"
|
| 252 |
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},
|
| 253 |
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"cube_2_main_group_1": {
|
| 254 |
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"cls": "Box"
|
| 255 |
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},
|
| 256 |
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"coffee_machine_main_group_1": {
|
| 257 |
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"cls": "CoffeeMachine"
|
| 258 |
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},
|
| 259 |
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"knife_block_main_group_1": {
|
| 260 |
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"cls": "Accessory"
|
| 261 |
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},
|
| 262 |
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"paper_towel_main_group_1": {
|
| 263 |
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"cls": "Accessory"
|
| 264 |
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},
|
| 265 |
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"counter_1_right_group_1": {
|
| 266 |
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"cls": "Counter"
|
| 267 |
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},
|
| 268 |
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"stove_right_group_1": {
|
| 269 |
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"cls": "Stove"
|
| 270 |
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},
|
| 271 |
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"microwave_right_group_1": {
|
| 272 |
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"cls": "Microwave"
|
| 273 |
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},
|
| 274 |
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"micro_cab_right_group_1": {
|
| 275 |
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"cls": "HingeCabinet"
|
| 276 |
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},
|
| 277 |
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"counter_2_right_group_1": {
|
| 278 |
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"cls": "Counter"
|
| 279 |
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},
|
| 280 |
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"fridgesidebyside_right_group_1": {
|
| 281 |
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"cls": "FridgeSideBySide"
|
| 282 |
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},
|
| 283 |
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"fridgesidebyside_housing_right_group_1": {
|
| 284 |
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"cls": "HousingCabinet"
|
| 285 |
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},
|
| 286 |
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"hingecabinet_5_right_group_1": {
|
| 287 |
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"cls": "HingeCabinet"
|
| 288 |
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},
|
| 289 |
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"hingecabinet_4_right_group_1": {
|
| 290 |
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"cls": "HingeCabinet"
|
| 291 |
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},
|
| 292 |
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"hingecabinet_1_right_group_1": {
|
| 293 |
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"cls": "HingeCabinet"
|
| 294 |
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},
|
| 295 |
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"hingecabinet_2_right_group_1": {
|
| 296 |
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"cls": "HingeCabinet"
|
| 297 |
+
},
|
| 298 |
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"toaster_right_group_1": {
|
| 299 |
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"cls": "Toaster"
|
| 300 |
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},
|
| 301 |
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"cube_1_right_group_1": {
|
| 302 |
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"cls": "Box"
|
| 303 |
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},
|
| 304 |
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"cube_2_right_group_1": {
|
| 305 |
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"cls": "Box"
|
| 306 |
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},
|
| 307 |
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"stack_2_right_group_1_base": {
|
| 308 |
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"cls": "Box"
|
| 309 |
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},
|
| 310 |
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"stack_2_right_group_1_1": {
|
| 311 |
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"cls": "HingeCabinet"
|
| 312 |
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},
|
| 313 |
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"stack_2_right_group_1_2": {
|
| 314 |
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"cls": "Drawer"
|
| 315 |
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},
|
| 316 |
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"stack_3_right_group_1_base": {
|
| 317 |
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"cls": "Box"
|
| 318 |
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},
|
| 319 |
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"stack_3_right_group_1_1": {
|
| 320 |
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"cls": "HingeCabinet"
|
| 321 |
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},
|
| 322 |
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"stack_3_right_group_1_2": {
|
| 323 |
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"cls": "Drawer"
|
| 324 |
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},
|
| 325 |
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"island_island_group_1": {
|
| 326 |
+
"cls": "Counter"
|
| 327 |
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},
|
| 328 |
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"cube_island_group_1": {
|
| 329 |
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"cls": "Box"
|
| 330 |
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},
|
| 331 |
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"stack_1_island_group_1_base": {
|
| 332 |
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"cls": "Box"
|
| 333 |
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},
|
| 334 |
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"stack_1_island_group_1_1": {
|
| 335 |
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"cls": "SingleCabinet"
|
| 336 |
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},
|
| 337 |
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"stack_1_island_group_1_2": {
|
| 338 |
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"cls": "Drawer"
|
| 339 |
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},
|
| 340 |
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"stack_2_island_group_1_base": {
|
| 341 |
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"cls": "Box"
|
| 342 |
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},
|
| 343 |
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"stack_2_island_group_1_1": {
|
| 344 |
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"cls": "HingeCabinet"
|
| 345 |
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},
|
| 346 |
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"stack_2_island_group_1_2": {
|
| 347 |
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"cls": "Drawer"
|
| 348 |
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},
|
| 349 |
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"stack_3_island_group_1_base": {
|
| 350 |
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"cls": "Box"
|
| 351 |
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},
|
| 352 |
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"stack_3_island_group_1_1": {
|
| 353 |
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"cls": "HingeCabinet"
|
| 354 |
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},
|
| 355 |
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"stack_3_island_group_1_2": {
|
| 356 |
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"cls": "Drawer"
|
| 357 |
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},
|
| 358 |
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"panelbox_2_island_group_1_base": {
|
| 359 |
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"cls": "Box"
|
| 360 |
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},
|
| 361 |
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"panelbox_2_island_group_1_1": {
|
| 362 |
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"cls": "PanelCabinet"
|
| 363 |
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},
|
| 364 |
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"panelbox_1_island_group_1_base": {
|
| 365 |
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"cls": "Box"
|
| 366 |
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},
|
| 367 |
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"panelbox_1_island_group_1_1": {
|
| 368 |
+
"cls": "PanelCabinet"
|
| 369 |
+
}
|
| 370 |
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},
|
| 371 |
+
"gen_textures": {},
|
| 372 |
+
"lang": "Add the cupcake to the tupperware that contains the hot dog.",
|
| 373 |
+
"fixture_refs": {
|
| 374 |
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"counter": "island_island_group_1"
|
| 375 |
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},
|
| 376 |
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"cam_configs": {
|
| 377 |
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"robot0_agentview_center": {
|
| 378 |
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"pos": [
|
| 379 |
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-0.6,
|
| 380 |
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0.0,
|
| 381 |
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|
| 382 |
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],
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| 383 |
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"quat": [
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| 384 |
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| 385 |
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|
| 386 |
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| 387 |
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],
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| 389 |
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"parent_body": "mobilebase0_support"
|
| 390 |
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| 391 |
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|
| 392 |
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"pos": [
|
| 393 |
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|
| 394 |
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|
| 395 |
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|
| 396 |
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| 397 |
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| 398 |
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| 399 |
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|
| 400 |
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|
| 401 |
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|
| 402 |
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| 403 |
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| 404 |
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| 405 |
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| 406 |
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"parent_body": "mobilebase0_support"
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| 407 |
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| 408 |
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"robot0_agentview_right": {
|
| 409 |
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"pos": [
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| 410 |
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| 411 |
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| 412 |
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|
| 413 |
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| 414 |
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| 418 |
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| 421 |
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| 422 |
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},
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| 423 |
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"parent_body": "mobilebase0_support"
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| 424 |
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| 425 |
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"robot0_frontview": {
|
| 426 |
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"pos": [
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| 427 |
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| 428 |
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| 429 |
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],
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| 431 |
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| 438 |
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| 439 |
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| 440 |
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"parent_body": "mobilebase0_support"
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| 441 |
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| 442 |
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|
| 443 |
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"pos": [
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| 444 |
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| 445 |
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|
| 446 |
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| 447 |
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],
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| 448 |
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| 449 |
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| 450 |
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|
| 451 |
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|
| 452 |
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|
| 453 |
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],
|
| 454 |
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"parent_body": "robot0_right_hand"
|
| 455 |
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}
|
| 456 |
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},
|
| 457 |
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"init_robot_base_pos": [
|
| 458 |
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|
| 459 |
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|
| 460 |
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|
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"init_robot_base_ori": [
|
| 463 |
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|
| 464 |
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|
| 465 |
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|
| 466 |
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]
|
| 467 |
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}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000020/ep_meta.json
ADDED
|
@@ -0,0 +1,443 @@
|
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|
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 58,
|
| 3 |
+
"style_id": 51,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
+
"obj_groups": "tupperware",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_1_island_group_1",
|
| 10 |
+
"size": [
|
| 11 |
+
0.5,
|
| 12 |
+
0.5
|
| 13 |
+
],
|
| 14 |
+
"pos": [
|
| 15 |
+
0,
|
| 16 |
+
-1.0
|
| 17 |
+
],
|
| 18 |
+
"try_to_place_in": "tupperware",
|
| 19 |
+
"try_to_place_in_kwargs": {
|
| 20 |
+
"object_scale": [
|
| 21 |
+
2.5,
|
| 22 |
+
2.5,
|
| 23 |
+
1.25
|
| 24 |
+
]
|
| 25 |
+
},
|
| 26 |
+
"rotation": 0
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"init_robot_here": true,
|
| 30 |
+
"object_scale": [
|
| 31 |
+
2.5,
|
| 32 |
+
2.5,
|
| 33 |
+
1.25
|
| 34 |
+
],
|
| 35 |
+
"info": {
|
| 36 |
+
"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
+
"tupperware",
|
| 39 |
+
"receptacle"
|
| 40 |
+
],
|
| 41 |
+
"groups": [
|
| 42 |
+
"tupperware"
|
| 43 |
+
],
|
| 44 |
+
"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml"
|
| 47 |
+
},
|
| 48 |
+
"reset_region": {
|
| 49 |
+
"size": [
|
| 50 |
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0.911602,
|
| 51 |
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0.911783
|
| 52 |
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],
|
| 53 |
+
"offset": [
|
| 54 |
+
0.0,
|
| 55 |
+
0.0,
|
| 56 |
+
0.46
|
| 57 |
+
],
|
| 58 |
+
"name": "geom_0"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "cooked_food",
|
| 63 |
+
"obj_groups": "cooked_food",
|
| 64 |
+
"init_robot_here": false,
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
+
"size": [
|
| 68 |
+
0.01,
|
| 69 |
+
0.01
|
| 70 |
+
],
|
| 71 |
+
"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
+
"groups_containing_sampled_obj": [
|
| 80 |
+
"all",
|
| 81 |
+
"hot_dog",
|
| 82 |
+
"cooked_food",
|
| 83 |
+
"food",
|
| 84 |
+
"in_container"
|
| 85 |
+
],
|
| 86 |
+
"groups": [
|
| 87 |
+
"cooked_food"
|
| 88 |
+
],
|
| 89 |
+
"cat": "hot_dog",
|
| 90 |
+
"split": "train",
|
| 91 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "dessert",
|
| 96 |
+
"obj_groups": "sweets",
|
| 97 |
+
"exclude_obj_groups": "sugar_cube",
|
| 98 |
+
"graspable": true,
|
| 99 |
+
"placement": {
|
| 100 |
+
"fixture": "island_1_island_group_1",
|
| 101 |
+
"reuse_region_from": "cooked_food_container",
|
| 102 |
+
"size": [
|
| 103 |
+
0.5,
|
| 104 |
+
0.2
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
0,
|
| 108 |
+
-1.0
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"type": "object",
|
| 112 |
+
"info": {
|
| 113 |
+
"groups_containing_sampled_obj": [
|
| 114 |
+
"all",
|
| 115 |
+
"cookie_dough_ball",
|
| 116 |
+
"sweets",
|
| 117 |
+
"food",
|
| 118 |
+
"in_container"
|
| 119 |
+
],
|
| 120 |
+
"groups": [
|
| 121 |
+
"sweets"
|
| 122 |
+
],
|
| 123 |
+
"cat": "cookie_dough_ball",
|
| 124 |
+
"split": "train",
|
| 125 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall001/model.xml"
|
| 126 |
+
},
|
| 127 |
+
"reset_region": {
|
| 128 |
+
"size": [
|
| 129 |
+
0.911602,
|
| 130 |
+
0.911783
|
| 131 |
+
],
|
| 132 |
+
"offset": [
|
| 133 |
+
0.0,
|
| 134 |
+
0.0,
|
| 135 |
+
0.46
|
| 136 |
+
],
|
| 137 |
+
"name": "geom_0"
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
],
|
| 141 |
+
"fixtures": {
|
| 142 |
+
"wall_main_1_room": {
|
| 143 |
+
"cls": "Wall"
|
| 144 |
+
},
|
| 145 |
+
"wall_main_1_backing_room": {
|
| 146 |
+
"cls": "Wall"
|
| 147 |
+
},
|
| 148 |
+
"wall_left_1_room": {
|
| 149 |
+
"cls": "Wall"
|
| 150 |
+
},
|
| 151 |
+
"wall_left_1_backing_room": {
|
| 152 |
+
"cls": "Wall"
|
| 153 |
+
},
|
| 154 |
+
"floor_1_room": {
|
| 155 |
+
"cls": "Floor"
|
| 156 |
+
},
|
| 157 |
+
"floor_1_backing_room": {
|
| 158 |
+
"cls": "Floor"
|
| 159 |
+
},
|
| 160 |
+
"wallaccessory_1_room": {
|
| 161 |
+
"cls": "WallAccessory"
|
| 162 |
+
},
|
| 163 |
+
"wallaccessory_2_room": {
|
| 164 |
+
"cls": "WallAccessory"
|
| 165 |
+
},
|
| 166 |
+
"wallaccessory_7_room": {
|
| 167 |
+
"cls": "WallAccessory"
|
| 168 |
+
},
|
| 169 |
+
"lightswitch_03_room": {
|
| 170 |
+
"cls": "WallAccessory"
|
| 171 |
+
},
|
| 172 |
+
"wallaccessory_3_room": {
|
| 173 |
+
"cls": "WallAccessory"
|
| 174 |
+
},
|
| 175 |
+
"lightswitch_01_room": {
|
| 176 |
+
"cls": "WallAccessory"
|
| 177 |
+
},
|
| 178 |
+
"lightswitch_02_room": {
|
| 179 |
+
"cls": "WallAccessory"
|
| 180 |
+
},
|
| 181 |
+
"window_group_1_room": {
|
| 182 |
+
"cls": "Window"
|
| 183 |
+
},
|
| 184 |
+
"window_group_2_room": {
|
| 185 |
+
"cls": "Window"
|
| 186 |
+
},
|
| 187 |
+
"window_group_3_room": {
|
| 188 |
+
"cls": "Window"
|
| 189 |
+
},
|
| 190 |
+
"stool_3_room": {
|
| 191 |
+
"cls": "Stool"
|
| 192 |
+
},
|
| 193 |
+
"stool_2_room": {
|
| 194 |
+
"cls": "Stool"
|
| 195 |
+
},
|
| 196 |
+
"stool_1_room": {
|
| 197 |
+
"cls": "Stool"
|
| 198 |
+
},
|
| 199 |
+
"sink_main_group_1": {
|
| 200 |
+
"cls": "Sink"
|
| 201 |
+
},
|
| 202 |
+
"counter_1_main_group_1": {
|
| 203 |
+
"cls": "Counter"
|
| 204 |
+
},
|
| 205 |
+
"hingecabinet_1_main_group_1": {
|
| 206 |
+
"cls": "HingeCabinet"
|
| 207 |
+
},
|
| 208 |
+
"singlecabinet_1_main_group_1": {
|
| 209 |
+
"cls": "SingleCabinet"
|
| 210 |
+
},
|
| 211 |
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"singlecabinet_2_main_group_1": {
|
| 212 |
+
"cls": "SingleCabinet"
|
| 213 |
+
},
|
| 214 |
+
"hingecabinet_2_main_group_1": {
|
| 215 |
+
"cls": "HingeCabinet"
|
| 216 |
+
},
|
| 217 |
+
"cube_14_main_group_1": {
|
| 218 |
+
"cls": "Box"
|
| 219 |
+
},
|
| 220 |
+
"stack_04_main_group_1_base": {
|
| 221 |
+
"cls": "Box"
|
| 222 |
+
},
|
| 223 |
+
"stack_04_main_group_1_1": {
|
| 224 |
+
"cls": "HingeCabinet"
|
| 225 |
+
},
|
| 226 |
+
"stack_04_main_group_1_2": {
|
| 227 |
+
"cls": "Drawer"
|
| 228 |
+
},
|
| 229 |
+
"stack_03_main_group_1_base": {
|
| 230 |
+
"cls": "Box"
|
| 231 |
+
},
|
| 232 |
+
"stack_03_main_group_1_1": {
|
| 233 |
+
"cls": "SingleCabinet"
|
| 234 |
+
},
|
| 235 |
+
"stack_03_main_group_1_2": {
|
| 236 |
+
"cls": "Drawer"
|
| 237 |
+
},
|
| 238 |
+
"stack_02_main_group_1_base": {
|
| 239 |
+
"cls": "Box"
|
| 240 |
+
},
|
| 241 |
+
"stack_02_main_group_1_1": {
|
| 242 |
+
"cls": "HingeCabinet"
|
| 243 |
+
},
|
| 244 |
+
"stack_02_main_group_1_2": {
|
| 245 |
+
"cls": "PanelCabinet"
|
| 246 |
+
},
|
| 247 |
+
"dishwasher_1_main_group_1": {
|
| 248 |
+
"cls": "Dishwasher"
|
| 249 |
+
},
|
| 250 |
+
"stack_01_main_group_1_base": {
|
| 251 |
+
"cls": "Box"
|
| 252 |
+
},
|
| 253 |
+
"stack_01_main_group_1_1": {
|
| 254 |
+
"cls": "HingeCabinet"
|
| 255 |
+
},
|
| 256 |
+
"cube_15_main_group_1": {
|
| 257 |
+
"cls": "Box"
|
| 258 |
+
},
|
| 259 |
+
"coffee_machine_main_group_1": {
|
| 260 |
+
"cls": "CoffeeMachine"
|
| 261 |
+
},
|
| 262 |
+
"paper_towel_main_group_1": {
|
| 263 |
+
"cls": "Accessory"
|
| 264 |
+
},
|
| 265 |
+
"toaster_main_group_1": {
|
| 266 |
+
"cls": "Toaster"
|
| 267 |
+
},
|
| 268 |
+
"bottom_left_group_1_base": {
|
| 269 |
+
"cls": "Box"
|
| 270 |
+
},
|
| 271 |
+
"bottom_left_group_1_1": {
|
| 272 |
+
"cls": "Drawer"
|
| 273 |
+
},
|
| 274 |
+
"microwave_left_group_1": {
|
| 275 |
+
"cls": "Microwave"
|
| 276 |
+
},
|
| 277 |
+
"fridgefrenchdoor_left_group_1": {
|
| 278 |
+
"cls": "FridgeFrenchDoor"
|
| 279 |
+
},
|
| 280 |
+
"fridgefrenchdoor_housing_left_group_1": {
|
| 281 |
+
"cls": "HousingCabinet"
|
| 282 |
+
},
|
| 283 |
+
"oven_cabinet_left_group_1": {
|
| 284 |
+
"cls": "HingeCabinet"
|
| 285 |
+
},
|
| 286 |
+
"hingecabinet_3_left_group_1": {
|
| 287 |
+
"cls": "HingeCabinet"
|
| 288 |
+
},
|
| 289 |
+
"microwave_housing_left_group_1": {
|
| 290 |
+
"cls": "HousingCabinet"
|
| 291 |
+
},
|
| 292 |
+
"top_left_group_1": {
|
| 293 |
+
"cls": "HingeCabinet"
|
| 294 |
+
},
|
| 295 |
+
"island_1_island_group_1": {
|
| 296 |
+
"cls": "Counter"
|
| 297 |
+
},
|
| 298 |
+
"island_2_island_group_1": {
|
| 299 |
+
"cls": "Counter"
|
| 300 |
+
},
|
| 301 |
+
"island_3_island_group_1": {
|
| 302 |
+
"cls": "Counter"
|
| 303 |
+
},
|
| 304 |
+
"stove_island_group_1": {
|
| 305 |
+
"cls": "Stove"
|
| 306 |
+
},
|
| 307 |
+
"stove_hood_island_group_1": {
|
| 308 |
+
"cls": "Hood"
|
| 309 |
+
},
|
| 310 |
+
"stack_06_island_group_1_base": {
|
| 311 |
+
"cls": "Box"
|
| 312 |
+
},
|
| 313 |
+
"stack_06_island_group_1_1": {
|
| 314 |
+
"cls": "HingeCabinet"
|
| 315 |
+
},
|
| 316 |
+
"stack_06_island_group_1_2": {
|
| 317 |
+
"cls": "Drawer"
|
| 318 |
+
},
|
| 319 |
+
"stack_07_island_group_1_base": {
|
| 320 |
+
"cls": "Box"
|
| 321 |
+
},
|
| 322 |
+
"stack_07_island_group_1_1": {
|
| 323 |
+
"cls": "Drawer"
|
| 324 |
+
},
|
| 325 |
+
"stack_07_island_group_1_2": {
|
| 326 |
+
"cls": "Drawer"
|
| 327 |
+
},
|
| 328 |
+
"stack_07_island_group_1_3": {
|
| 329 |
+
"cls": "Drawer"
|
| 330 |
+
},
|
| 331 |
+
"cube_1_island_group_1": {
|
| 332 |
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"cls": "Box"
|
| 333 |
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},
|
| 334 |
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"cube_2_island_group_1": {
|
| 335 |
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"cls": "Box"
|
| 336 |
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},
|
| 337 |
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"stack_08_island_group_1_base": {
|
| 338 |
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"cls": "Box"
|
| 339 |
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},
|
| 340 |
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"stack_08_island_group_1_1": {
|
| 341 |
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"cls": "SingleCabinet"
|
| 342 |
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},
|
| 343 |
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"cube_16_island_group_1": {
|
| 344 |
+
"cls": "Box"
|
| 345 |
+
}
|
| 346 |
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},
|
| 347 |
+
"gen_textures": {},
|
| 348 |
+
"lang": "Add the cookie dough ball to the tupperware that contains the hot dog.",
|
| 349 |
+
"fixture_refs": {
|
| 350 |
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"counter": "island_1_island_group_1"
|
| 351 |
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|
| 352 |
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|
| 353 |
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| 354 |
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| 366 |
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| 367 |
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| 368 |
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| 381 |
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| 382 |
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|
| 383 |
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| 384 |
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| 385 |
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| 386 |
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| 387 |
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| 396 |
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| 397 |
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| 398 |
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},
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| 399 |
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"parent_body": "mobilebase0_support"
|
| 400 |
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| 401 |
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|
| 402 |
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| 403 |
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| 404 |
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| 405 |
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| 415 |
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| 416 |
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"parent_body": "mobilebase0_support"
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| 417 |
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| 418 |
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|
| 419 |
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| 420 |
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|
| 421 |
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| 422 |
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| 423 |
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| 424 |
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| 432 |
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|
| 442 |
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|
| 443 |
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}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000030/ep_meta.json
ADDED
|
@@ -0,0 +1,551 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 17,
|
| 3 |
+
"style_id": 58,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
+
"obj_groups": "tupperware",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group_1",
|
| 10 |
+
"size": [
|
| 11 |
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0.5,
|
| 12 |
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0.5
|
| 13 |
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],
|
| 14 |
+
"pos": [
|
| 15 |
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0,
|
| 16 |
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-1.0
|
| 17 |
+
],
|
| 18 |
+
"try_to_place_in": "tupperware",
|
| 19 |
+
"try_to_place_in_kwargs": {
|
| 20 |
+
"object_scale": [
|
| 21 |
+
2.5,
|
| 22 |
+
2.5,
|
| 23 |
+
1.25
|
| 24 |
+
]
|
| 25 |
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},
|
| 26 |
+
"rotation": 0
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"init_robot_here": true,
|
| 30 |
+
"object_scale": [
|
| 31 |
+
2.5,
|
| 32 |
+
2.5,
|
| 33 |
+
1.25
|
| 34 |
+
],
|
| 35 |
+
"info": {
|
| 36 |
+
"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
+
"tupperware",
|
| 39 |
+
"receptacle"
|
| 40 |
+
],
|
| 41 |
+
"groups": [
|
| 42 |
+
"tupperware"
|
| 43 |
+
],
|
| 44 |
+
"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml"
|
| 47 |
+
},
|
| 48 |
+
"reset_region": {
|
| 49 |
+
"size": [
|
| 50 |
+
1.833,
|
| 51 |
+
1.167
|
| 52 |
+
],
|
| 53 |
+
"offset": [
|
| 54 |
+
0.0,
|
| 55 |
+
0.0,
|
| 56 |
+
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| 57 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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{
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| 62 |
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|
| 63 |
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| 64 |
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| 65 |
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| 72 |
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| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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|
| 89 |
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"cat": "kebab_skewer",
|
| 90 |
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|
| 91 |
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|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 114 |
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| 116 |
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|
| 117 |
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| 119 |
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|
| 122 |
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],
|
| 123 |
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|
| 124 |
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|
| 125 |
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|
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|
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|
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|
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|
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|
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}
|
| 454 |
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},
|
| 455 |
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|
| 456 |
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"lang": "Add the cookie dough ball to the tupperware that contains the kebab skewer.",
|
| 457 |
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|
| 458 |
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|
| 459 |
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|
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|
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|
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|
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0.636945903301239,
|
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0.3325185477733612,
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|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000031/ep_meta.json
ADDED
|
@@ -0,0 +1,548 @@
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|
| 1 |
+
{
|
| 2 |
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"layout_id": 15,
|
| 3 |
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"style_id": 43,
|
| 4 |
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"object_cfgs": [
|
| 5 |
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{
|
| 6 |
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"name": "cooked_food_container",
|
| 7 |
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"obj_groups": "tupperware",
|
| 8 |
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|
| 9 |
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|
| 10 |
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| 11 |
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|
| 12 |
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|
| 14 |
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| 15 |
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|
| 16 |
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|
| 17 |
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],
|
| 18 |
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"try_to_place_in": "tupperware",
|
| 19 |
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"try_to_place_in_kwargs": {
|
| 20 |
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"object_scale": [
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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]
|
| 25 |
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|
| 26 |
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"rotation": 0
|
| 27 |
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},
|
| 28 |
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"type": "object",
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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],
|
| 35 |
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"info": {
|
| 36 |
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"groups_containing_sampled_obj": [
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
+
"groups": [
|
| 42 |
+
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|
| 43 |
+
],
|
| 44 |
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"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml"
|
| 47 |
+
},
|
| 48 |
+
"reset_region": {
|
| 49 |
+
"size": [
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| 50 |
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| 51 |
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| 52 |
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],
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| 53 |
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"offset": [
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| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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],
|
| 58 |
+
"name": "geom_1"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "cooked_food",
|
| 63 |
+
"obj_groups": "cooked_food",
|
| 64 |
+
"init_robot_here": false,
|
| 65 |
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"graspable": true,
|
| 66 |
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"placement": {
|
| 67 |
+
"size": [
|
| 68 |
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0.01,
|
| 69 |
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0.01
|
| 70 |
+
],
|
| 71 |
+
"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
+
"groups_containing_sampled_obj": [
|
| 80 |
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"all",
|
| 81 |
+
"kebab_skewer",
|
| 82 |
+
"cooked_food",
|
| 83 |
+
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|
| 84 |
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"in_container"
|
| 85 |
+
],
|
| 86 |
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"groups": [
|
| 87 |
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"cooked_food"
|
| 88 |
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],
|
| 89 |
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"cat": "kebab_skewer",
|
| 90 |
+
"split": "train",
|
| 91 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer001/model.xml"
|
| 92 |
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| 93 |
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},
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| 94 |
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{
|
| 95 |
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| 96 |
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| 98 |
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| 99 |
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|
| 100 |
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| 101 |
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| 102 |
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| 103 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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| 118 |
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|
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| 120 |
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|
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|
| 122 |
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],
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|
| 124 |
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"split": "train",
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| 125 |
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| 126 |
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| 506 |
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| 507 |
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| 508 |
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| 509 |
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| 510 |
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| 511 |
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| 512 |
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| 513 |
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| 520 |
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| 521 |
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| 522 |
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| 524 |
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| 527 |
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| 528 |
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| 533 |
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| 534 |
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"parent_body": "robot0_right_hand"
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| 536 |
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| 539 |
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| 548 |
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}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000036/ep_meta.json
ADDED
|
@@ -0,0 +1,494 @@
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|
|
|
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|
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|
|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 26,
|
| 3 |
+
"style_id": 21,
|
| 4 |
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"object_cfgs": [
|
| 5 |
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{
|
| 6 |
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"name": "cooked_food_container",
|
| 7 |
+
"obj_groups": "tupperware",
|
| 8 |
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"placement": {
|
| 9 |
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"fixture": "counter_2_main_group",
|
| 10 |
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"size": [
|
| 11 |
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0.5,
|
| 12 |
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|
| 13 |
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],
|
| 14 |
+
"pos": [
|
| 15 |
+
0,
|
| 16 |
+
-1.0
|
| 17 |
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],
|
| 18 |
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"try_to_place_in": "tupperware",
|
| 19 |
+
"try_to_place_in_kwargs": {
|
| 20 |
+
"object_scale": [
|
| 21 |
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2.5,
|
| 22 |
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2.5,
|
| 23 |
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|
| 24 |
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]
|
| 25 |
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},
|
| 26 |
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"rotation": 0
|
| 27 |
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},
|
| 28 |
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"type": "object",
|
| 29 |
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"init_robot_here": true,
|
| 30 |
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"object_scale": [
|
| 31 |
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2.5,
|
| 32 |
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2.5,
|
| 33 |
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|
| 34 |
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],
|
| 35 |
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"info": {
|
| 36 |
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"groups_containing_sampled_obj": [
|
| 37 |
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"all",
|
| 38 |
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"tupperware",
|
| 39 |
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"receptacle"
|
| 40 |
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],
|
| 41 |
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"groups": [
|
| 42 |
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"tupperware"
|
| 43 |
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],
|
| 44 |
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"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml"
|
| 47 |
+
},
|
| 48 |
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"reset_region": {
|
| 49 |
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"size": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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],
|
| 58 |
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"name": "geom_0"
|
| 59 |
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}
|
| 60 |
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},
|
| 61 |
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{
|
| 62 |
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"name": "cooked_food",
|
| 63 |
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"obj_groups": "cooked_food",
|
| 64 |
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"init_robot_here": false,
|
| 65 |
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"graspable": true,
|
| 66 |
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"placement": {
|
| 67 |
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"size": [
|
| 68 |
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|
| 69 |
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0.01
|
| 70 |
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],
|
| 71 |
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"ensure_object_boundary_in_range": false,
|
| 72 |
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"sample_args": {
|
| 73 |
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"reference": "cooked_food_container",
|
| 74 |
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"on_top": true
|
| 75 |
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}
|
| 76 |
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},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
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"groups_containing_sampled_obj": [
|
| 80 |
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"all",
|
| 81 |
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"hot_dog",
|
| 82 |
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"cooked_food",
|
| 83 |
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"food",
|
| 84 |
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"in_container"
|
| 85 |
+
],
|
| 86 |
+
"groups": [
|
| 87 |
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"cooked_food"
|
| 88 |
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],
|
| 89 |
+
"cat": "hot_dog",
|
| 90 |
+
"split": "train",
|
| 91 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "dessert",
|
| 96 |
+
"obj_groups": "sweets",
|
| 97 |
+
"exclude_obj_groups": "sugar_cube",
|
| 98 |
+
"graspable": true,
|
| 99 |
+
"placement": {
|
| 100 |
+
"fixture": "counter_2_main_group",
|
| 101 |
+
"reuse_region_from": "cooked_food_container",
|
| 102 |
+
"size": [
|
| 103 |
+
0.5,
|
| 104 |
+
0.2
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
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0,
|
| 108 |
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-1.0
|
| 109 |
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]
|
| 110 |
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},
|
| 111 |
+
"type": "object",
|
| 112 |
+
"info": {
|
| 113 |
+
"groups_containing_sampled_obj": [
|
| 114 |
+
"all",
|
| 115 |
+
"cake",
|
| 116 |
+
"sweets",
|
| 117 |
+
"food",
|
| 118 |
+
"in_container"
|
| 119 |
+
],
|
| 120 |
+
"groups": [
|
| 121 |
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"sweets"
|
| 122 |
+
],
|
| 123 |
+
"cat": "cake",
|
| 124 |
+
"split": "train",
|
| 125 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_4/model.xml"
|
| 126 |
+
},
|
| 127 |
+
"reset_region": {
|
| 128 |
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"size": [
|
| 129 |
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1.78,
|
| 130 |
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0.65
|
| 131 |
+
],
|
| 132 |
+
"offset": [
|
| 133 |
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0.0,
|
| 134 |
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0.0,
|
| 135 |
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0.46
|
| 136 |
+
],
|
| 137 |
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"name": "geom_0"
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
],
|
| 141 |
+
"fixtures": {
|
| 142 |
+
"wall_left_1_room": {
|
| 143 |
+
"cls": "Wall"
|
| 144 |
+
},
|
| 145 |
+
"wall_left_1_backing_room": {
|
| 146 |
+
"cls": "Wall"
|
| 147 |
+
},
|
| 148 |
+
"wall_main_room": {
|
| 149 |
+
"cls": "Wall"
|
| 150 |
+
},
|
| 151 |
+
"wall_main_backing_room": {
|
| 152 |
+
"cls": "Wall"
|
| 153 |
+
},
|
| 154 |
+
"wall_right_1_room": {
|
| 155 |
+
"cls": "Wall"
|
| 156 |
+
},
|
| 157 |
+
"wall_right_1_backing_room": {
|
| 158 |
+
"cls": "Wall"
|
| 159 |
+
},
|
| 160 |
+
"wall_right_3_room": {
|
| 161 |
+
"cls": "Wall"
|
| 162 |
+
},
|
| 163 |
+
"wall_right_3_backing_room": {
|
| 164 |
+
"cls": "Wall"
|
| 165 |
+
},
|
| 166 |
+
"wall_right_2_room": {
|
| 167 |
+
"cls": "Wall"
|
| 168 |
+
},
|
| 169 |
+
"wall_right_2_backing_room": {
|
| 170 |
+
"cls": "Wall"
|
| 171 |
+
},
|
| 172 |
+
"wall_front_1_room": {
|
| 173 |
+
"cls": "Wall"
|
| 174 |
+
},
|
| 175 |
+
"wall_front_1_backing_room": {
|
| 176 |
+
"cls": "Wall"
|
| 177 |
+
},
|
| 178 |
+
"floor_1_room": {
|
| 179 |
+
"cls": "Floor"
|
| 180 |
+
},
|
| 181 |
+
"floor_1_backing_room": {
|
| 182 |
+
"cls": "Floor"
|
| 183 |
+
},
|
| 184 |
+
"wall_accessory_1_room": {
|
| 185 |
+
"cls": "WallAccessory"
|
| 186 |
+
},
|
| 187 |
+
"light_switch_1_room": {
|
| 188 |
+
"cls": "WallAccessory"
|
| 189 |
+
},
|
| 190 |
+
"wall_accessory_2_room": {
|
| 191 |
+
"cls": "WallAccessory"
|
| 192 |
+
},
|
| 193 |
+
"light_switch_2_room": {
|
| 194 |
+
"cls": "WallAccessory"
|
| 195 |
+
},
|
| 196 |
+
"wall_accessory_3_room": {
|
| 197 |
+
"cls": "WallAccessory"
|
| 198 |
+
},
|
| 199 |
+
"light_switch_3_room": {
|
| 200 |
+
"cls": "WallAccessory"
|
| 201 |
+
},
|
| 202 |
+
"light_switch_4_room": {
|
| 203 |
+
"cls": "WallAccessory"
|
| 204 |
+
},
|
| 205 |
+
"window_group_1_room": {
|
| 206 |
+
"cls": "Window"
|
| 207 |
+
},
|
| 208 |
+
"window_group_2_room": {
|
| 209 |
+
"cls": "Window"
|
| 210 |
+
},
|
| 211 |
+
"stool_1_room": {
|
| 212 |
+
"cls": "Stool"
|
| 213 |
+
},
|
| 214 |
+
"stool_2_room": {
|
| 215 |
+
"cls": "Stool"
|
| 216 |
+
},
|
| 217 |
+
"stool_3_room": {
|
| 218 |
+
"cls": "Stool"
|
| 219 |
+
},
|
| 220 |
+
"counter_1_main_group": {
|
| 221 |
+
"cls": "Counter"
|
| 222 |
+
},
|
| 223 |
+
"stove_main_group": {
|
| 224 |
+
"cls": "Stove"
|
| 225 |
+
},
|
| 226 |
+
"counter_2_main_group": {
|
| 227 |
+
"cls": "Counter"
|
| 228 |
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},
|
| 229 |
+
"stack_1_main_group_base": {
|
| 230 |
+
"cls": "Box"
|
| 231 |
+
},
|
| 232 |
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"stack_1_main_group_1": {
|
| 233 |
+
"cls": "HingeCabinet"
|
| 234 |
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},
|
| 235 |
+
"stack_2_main_group_base": {
|
| 236 |
+
"cls": "Box"
|
| 237 |
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},
|
| 238 |
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"stack_2_main_group_1": {
|
| 239 |
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"cls": "Drawer"
|
| 240 |
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},
|
| 241 |
+
"stack_2_main_group_2": {
|
| 242 |
+
"cls": "Drawer"
|
| 243 |
+
},
|
| 244 |
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"stack_2_main_group_3": {
|
| 245 |
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"cls": "Drawer"
|
| 246 |
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},
|
| 247 |
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"stack_3_main_group_base": {
|
| 248 |
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"cls": "Box"
|
| 249 |
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},
|
| 250 |
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"stack_3_main_group_1": {
|
| 251 |
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"cls": "HingeCabinet"
|
| 252 |
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},
|
| 253 |
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"stack_3_main_group_2": {
|
| 254 |
+
"cls": "Drawer"
|
| 255 |
+
},
|
| 256 |
+
"fridge_main_group": {
|
| 257 |
+
"cls": "FridgeFrenchDoor"
|
| 258 |
+
},
|
| 259 |
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"fridge_housing_main_group": {
|
| 260 |
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"cls": "HousingCabinet"
|
| 261 |
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},
|
| 262 |
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"stack_4_main_group_base": {
|
| 263 |
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"cls": "Box"
|
| 264 |
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},
|
| 265 |
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"stack_4_main_group_1": {
|
| 266 |
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"cls": "Drawer"
|
| 267 |
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},
|
| 268 |
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"stack_4_main_group_2": {
|
| 269 |
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"cls": "Drawer"
|
| 270 |
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},
|
| 271 |
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"stack_4_main_group_3": {
|
| 272 |
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"cls": "HingeCabinet"
|
| 273 |
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},
|
| 274 |
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"stack_4_main_group_4": {
|
| 275 |
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"cls": "HingeCabinet"
|
| 276 |
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},
|
| 277 |
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"cab_1_main_group": {
|
| 278 |
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"cls": "HingeCabinet"
|
| 279 |
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},
|
| 280 |
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"microwave_main_group": {
|
| 281 |
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"cls": "Microwave"
|
| 282 |
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},
|
| 283 |
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"cab_2_main_group": {
|
| 284 |
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"cls": "HingeCabinet"
|
| 285 |
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},
|
| 286 |
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"cab_3_main_group": {
|
| 287 |
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"cls": "OpenCabinet"
|
| 288 |
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},
|
| 289 |
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"toaster_oven_main_group": {
|
| 290 |
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"cls": "ToasterOven"
|
| 291 |
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},
|
| 292 |
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"sink_1_front_group": {
|
| 293 |
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"cls": "Sink"
|
| 294 |
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},
|
| 295 |
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"counter_1_front_group": {
|
| 296 |
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"cls": "Counter"
|
| 297 |
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},
|
| 298 |
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"box_front_group": {
|
| 299 |
+
"cls": "Box"
|
| 300 |
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},
|
| 301 |
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"stack_1_front_group_base": {
|
| 302 |
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"cls": "Box"
|
| 303 |
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},
|
| 304 |
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"stack_1_front_group_1": {
|
| 305 |
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"cls": "HingeCabinet"
|
| 306 |
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},
|
| 307 |
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"dishwasher_front_group": {
|
| 308 |
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"cls": "Dishwasher"
|
| 309 |
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},
|
| 310 |
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"stack_2_front_group_base": {
|
| 311 |
+
"cls": "Box"
|
| 312 |
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},
|
| 313 |
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"stack_2_front_group_1": {
|
| 314 |
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"cls": "SingleCabinet"
|
| 315 |
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},
|
| 316 |
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"stack_2_front_group_2": {
|
| 317 |
+
"cls": "Drawer"
|
| 318 |
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},
|
| 319 |
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"cab_1_front_group": {
|
| 320 |
+
"cls": "HingeCabinet"
|
| 321 |
+
},
|
| 322 |
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"counter_corner_right_group": {
|
| 323 |
+
"cls": "Counter"
|
| 324 |
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},
|
| 325 |
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"counter_1_right_group": {
|
| 326 |
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"cls": "Counter"
|
| 327 |
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},
|
| 328 |
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"box_right_group": {
|
| 329 |
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"cls": "Box"
|
| 330 |
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},
|
| 331 |
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"stack_1_right_group_base": {
|
| 332 |
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"cls": "Box"
|
| 333 |
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},
|
| 334 |
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"stack_1_right_group_1": {
|
| 335 |
+
"cls": "SingleCabinet"
|
| 336 |
+
},
|
| 337 |
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"stack_1_right_group_2": {
|
| 338 |
+
"cls": "Drawer"
|
| 339 |
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},
|
| 340 |
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"stack_2_right_group_base": {
|
| 341 |
+
"cls": "Box"
|
| 342 |
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},
|
| 343 |
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"stack_2_right_group_1": {
|
| 344 |
+
"cls": "SingleCabinet"
|
| 345 |
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},
|
| 346 |
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"stack_2_right_group_2": {
|
| 347 |
+
"cls": "Drawer"
|
| 348 |
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},
|
| 349 |
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"stack_3_right_group_base": {
|
| 350 |
+
"cls": "Box"
|
| 351 |
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},
|
| 352 |
+
"stack_3_right_group_1": {
|
| 353 |
+
"cls": "Drawer"
|
| 354 |
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},
|
| 355 |
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"stack_3_right_group_2": {
|
| 356 |
+
"cls": "Drawer"
|
| 357 |
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},
|
| 358 |
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"stack_3_right_group_3": {
|
| 359 |
+
"cls": "Drawer"
|
| 360 |
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},
|
| 361 |
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"cab_1_right_group": {
|
| 362 |
+
"cls": "HingeCabinet"
|
| 363 |
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},
|
| 364 |
+
"cab_2_right_group": {
|
| 365 |
+
"cls": "HingeCabinet"
|
| 366 |
+
},
|
| 367 |
+
"coffee_machine_right_group": {
|
| 368 |
+
"cls": "CoffeeMachine"
|
| 369 |
+
},
|
| 370 |
+
"toaster_right_group": {
|
| 371 |
+
"cls": "Toaster"
|
| 372 |
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},
|
| 373 |
+
"paper_towel_right_group": {
|
| 374 |
+
"cls": "Accessory"
|
| 375 |
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},
|
| 376 |
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"island_island_group": {
|
| 377 |
+
"cls": "Counter"
|
| 378 |
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},
|
| 379 |
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"stack_1_island_group_base": {
|
| 380 |
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"cls": "Box"
|
| 381 |
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},
|
| 382 |
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"stack_1_island_group_1": {
|
| 383 |
+
"cls": "SingleCabinet"
|
| 384 |
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},
|
| 385 |
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"stack_2_island_group_base": {
|
| 386 |
+
"cls": "Box"
|
| 387 |
+
},
|
| 388 |
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"stack_2_island_group_1": {
|
| 389 |
+
"cls": "HingeCabinet"
|
| 390 |
+
},
|
| 391 |
+
"box_1_island_group": {
|
| 392 |
+
"cls": "Box"
|
| 393 |
+
},
|
| 394 |
+
"box_2_island_group": {
|
| 395 |
+
"cls": "Box"
|
| 396 |
+
}
|
| 397 |
+
},
|
| 398 |
+
"gen_textures": {},
|
| 399 |
+
"lang": "Add the cake to the tupperware that contains the hot dog.",
|
| 400 |
+
"fixture_refs": {
|
| 401 |
+
"counter": "counter_2_main_group"
|
| 402 |
+
},
|
| 403 |
+
"cam_configs": {
|
| 404 |
+
"robot0_agentview_center": {
|
| 405 |
+
"pos": [
|
| 406 |
+
-0.6,
|
| 407 |
+
0.0,
|
| 408 |
+
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|
| 409 |
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],
|
| 410 |
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"quat": [
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| 411 |
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| 412 |
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| 413 |
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|
| 414 |
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],
|
| 416 |
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"parent_body": "mobilebase0_support"
|
| 417 |
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},
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| 418 |
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"robot0_agentview_left": {
|
| 419 |
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"pos": [
|
| 420 |
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-0.5,
|
| 421 |
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|
| 422 |
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|
| 423 |
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],
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| 424 |
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| 425 |
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|
| 426 |
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|
| 427 |
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|
| 428 |
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|
| 429 |
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],
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| 430 |
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"camera_attribs": {
|
| 431 |
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|
| 432 |
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},
|
| 433 |
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"parent_body": "mobilebase0_support"
|
| 434 |
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},
|
| 435 |
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"robot0_agentview_right": {
|
| 436 |
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"pos": [
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| 437 |
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-0.5,
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| 438 |
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-0.35,
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| 439 |
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|
| 440 |
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],
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| 441 |
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|
| 444 |
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|
| 445 |
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| 446 |
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],
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| 447 |
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|
| 448 |
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"fovy": "60"
|
| 449 |
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},
|
| 450 |
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"parent_body": "mobilebase0_support"
|
| 451 |
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},
|
| 452 |
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"robot0_frontview": {
|
| 453 |
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"pos": [
|
| 454 |
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-0.5,
|
| 455 |
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|
| 456 |
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|
| 457 |
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],
|
| 458 |
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| 459 |
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|
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|
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|
| 463 |
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| 464 |
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|
| 465 |
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"fovy": "60"
|
| 466 |
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},
|
| 467 |
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"parent_body": "mobilebase0_support"
|
| 468 |
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},
|
| 469 |
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"robot0_eye_in_hand": {
|
| 470 |
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"pos": [
|
| 471 |
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0.05,
|
| 472 |
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|
| 473 |
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|
| 474 |
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],
|
| 475 |
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"quat": [
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| 476 |
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|
| 477 |
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|
| 478 |
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0.707107,
|
| 479 |
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|
| 480 |
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],
|
| 481 |
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"parent_body": "robot0_right_hand"
|
| 482 |
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}
|
| 483 |
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},
|
| 484 |
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"init_robot_base_pos": [
|
| 485 |
+
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|
| 486 |
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|
| 487 |
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|
| 488 |
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],
|
| 489 |
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"init_robot_base_ori": [
|
| 490 |
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|
| 491 |
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|
| 492 |
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|
| 493 |
+
]
|
| 494 |
+
}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000041/ep_meta.json
ADDED
|
@@ -0,0 +1,494 @@
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
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|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 26,
|
| 3 |
+
"style_id": 50,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
+
"obj_groups": "tupperware",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group",
|
| 10 |
+
"size": [
|
| 11 |
+
0.5,
|
| 12 |
+
0.5
|
| 13 |
+
],
|
| 14 |
+
"pos": [
|
| 15 |
+
0,
|
| 16 |
+
-1.0
|
| 17 |
+
],
|
| 18 |
+
"try_to_place_in": "tupperware",
|
| 19 |
+
"try_to_place_in_kwargs": {
|
| 20 |
+
"object_scale": [
|
| 21 |
+
2.5,
|
| 22 |
+
2.5,
|
| 23 |
+
1.25
|
| 24 |
+
]
|
| 25 |
+
},
|
| 26 |
+
"rotation": 0
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"init_robot_here": true,
|
| 30 |
+
"object_scale": [
|
| 31 |
+
2.5,
|
| 32 |
+
2.5,
|
| 33 |
+
1.25
|
| 34 |
+
],
|
| 35 |
+
"info": {
|
| 36 |
+
"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
+
"tupperware",
|
| 39 |
+
"receptacle"
|
| 40 |
+
],
|
| 41 |
+
"groups": [
|
| 42 |
+
"tupperware"
|
| 43 |
+
],
|
| 44 |
+
"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml"
|
| 47 |
+
},
|
| 48 |
+
"reset_region": {
|
| 49 |
+
"size": [
|
| 50 |
+
1.988,
|
| 51 |
+
0.6
|
| 52 |
+
],
|
| 53 |
+
"offset": [
|
| 54 |
+
0.0,
|
| 55 |
+
0.0,
|
| 56 |
+
0.46
|
| 57 |
+
],
|
| 58 |
+
"name": "geom_0"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "cooked_food",
|
| 63 |
+
"obj_groups": "cooked_food",
|
| 64 |
+
"init_robot_here": false,
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
+
"size": [
|
| 68 |
+
0.01,
|
| 69 |
+
0.01
|
| 70 |
+
],
|
| 71 |
+
"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
+
"groups_containing_sampled_obj": [
|
| 80 |
+
"all",
|
| 81 |
+
"hot_dog",
|
| 82 |
+
"cooked_food",
|
| 83 |
+
"food",
|
| 84 |
+
"in_container"
|
| 85 |
+
],
|
| 86 |
+
"groups": [
|
| 87 |
+
"cooked_food"
|
| 88 |
+
],
|
| 89 |
+
"cat": "hot_dog",
|
| 90 |
+
"split": "train",
|
| 91 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "dessert",
|
| 96 |
+
"obj_groups": "sweets",
|
| 97 |
+
"exclude_obj_groups": "sugar_cube",
|
| 98 |
+
"graspable": true,
|
| 99 |
+
"placement": {
|
| 100 |
+
"fixture": "island_island_group",
|
| 101 |
+
"reuse_region_from": "cooked_food_container",
|
| 102 |
+
"size": [
|
| 103 |
+
0.5,
|
| 104 |
+
0.2
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
0,
|
| 108 |
+
-1.0
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"type": "object",
|
| 112 |
+
"info": {
|
| 113 |
+
"groups_containing_sampled_obj": [
|
| 114 |
+
"all",
|
| 115 |
+
"cookie_dough_ball",
|
| 116 |
+
"sweets",
|
| 117 |
+
"food",
|
| 118 |
+
"in_container"
|
| 119 |
+
],
|
| 120 |
+
"groups": [
|
| 121 |
+
"sweets"
|
| 122 |
+
],
|
| 123 |
+
"cat": "cookie_dough_ball",
|
| 124 |
+
"split": "train",
|
| 125 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall002/model.xml"
|
| 126 |
+
},
|
| 127 |
+
"reset_region": {
|
| 128 |
+
"size": [
|
| 129 |
+
1.988,
|
| 130 |
+
0.6
|
| 131 |
+
],
|
| 132 |
+
"offset": [
|
| 133 |
+
0.0,
|
| 134 |
+
0.0,
|
| 135 |
+
0.46
|
| 136 |
+
],
|
| 137 |
+
"name": "geom_0"
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
],
|
| 141 |
+
"fixtures": {
|
| 142 |
+
"wall_left_1_room": {
|
| 143 |
+
"cls": "Wall"
|
| 144 |
+
},
|
| 145 |
+
"wall_left_1_backing_room": {
|
| 146 |
+
"cls": "Wall"
|
| 147 |
+
},
|
| 148 |
+
"wall_main_room": {
|
| 149 |
+
"cls": "Wall"
|
| 150 |
+
},
|
| 151 |
+
"wall_main_backing_room": {
|
| 152 |
+
"cls": "Wall"
|
| 153 |
+
},
|
| 154 |
+
"wall_right_1_room": {
|
| 155 |
+
"cls": "Wall"
|
| 156 |
+
},
|
| 157 |
+
"wall_right_1_backing_room": {
|
| 158 |
+
"cls": "Wall"
|
| 159 |
+
},
|
| 160 |
+
"wall_right_3_room": {
|
| 161 |
+
"cls": "Wall"
|
| 162 |
+
},
|
| 163 |
+
"wall_right_3_backing_room": {
|
| 164 |
+
"cls": "Wall"
|
| 165 |
+
},
|
| 166 |
+
"wall_right_2_room": {
|
| 167 |
+
"cls": "Wall"
|
| 168 |
+
},
|
| 169 |
+
"wall_right_2_backing_room": {
|
| 170 |
+
"cls": "Wall"
|
| 171 |
+
},
|
| 172 |
+
"wall_front_1_room": {
|
| 173 |
+
"cls": "Wall"
|
| 174 |
+
},
|
| 175 |
+
"wall_front_1_backing_room": {
|
| 176 |
+
"cls": "Wall"
|
| 177 |
+
},
|
| 178 |
+
"floor_1_room": {
|
| 179 |
+
"cls": "Floor"
|
| 180 |
+
},
|
| 181 |
+
"floor_1_backing_room": {
|
| 182 |
+
"cls": "Floor"
|
| 183 |
+
},
|
| 184 |
+
"wall_accessory_1_room": {
|
| 185 |
+
"cls": "WallAccessory"
|
| 186 |
+
},
|
| 187 |
+
"light_switch_1_room": {
|
| 188 |
+
"cls": "WallAccessory"
|
| 189 |
+
},
|
| 190 |
+
"wall_accessory_2_room": {
|
| 191 |
+
"cls": "WallAccessory"
|
| 192 |
+
},
|
| 193 |
+
"light_switch_2_room": {
|
| 194 |
+
"cls": "WallAccessory"
|
| 195 |
+
},
|
| 196 |
+
"wall_accessory_3_room": {
|
| 197 |
+
"cls": "WallAccessory"
|
| 198 |
+
},
|
| 199 |
+
"light_switch_3_room": {
|
| 200 |
+
"cls": "WallAccessory"
|
| 201 |
+
},
|
| 202 |
+
"light_switch_4_room": {
|
| 203 |
+
"cls": "WallAccessory"
|
| 204 |
+
},
|
| 205 |
+
"window_group_1_room": {
|
| 206 |
+
"cls": "Window"
|
| 207 |
+
},
|
| 208 |
+
"window_group_2_room": {
|
| 209 |
+
"cls": "Window"
|
| 210 |
+
},
|
| 211 |
+
"stool_1_room": {
|
| 212 |
+
"cls": "Stool"
|
| 213 |
+
},
|
| 214 |
+
"stool_2_room": {
|
| 215 |
+
"cls": "Stool"
|
| 216 |
+
},
|
| 217 |
+
"stool_3_room": {
|
| 218 |
+
"cls": "Stool"
|
| 219 |
+
},
|
| 220 |
+
"counter_1_main_group": {
|
| 221 |
+
"cls": "Counter"
|
| 222 |
+
},
|
| 223 |
+
"stove_main_group": {
|
| 224 |
+
"cls": "Stove"
|
| 225 |
+
},
|
| 226 |
+
"counter_2_main_group": {
|
| 227 |
+
"cls": "Counter"
|
| 228 |
+
},
|
| 229 |
+
"stack_1_main_group_base": {
|
| 230 |
+
"cls": "Box"
|
| 231 |
+
},
|
| 232 |
+
"stack_1_main_group_1": {
|
| 233 |
+
"cls": "HingeCabinet"
|
| 234 |
+
},
|
| 235 |
+
"stack_2_main_group_base": {
|
| 236 |
+
"cls": "Box"
|
| 237 |
+
},
|
| 238 |
+
"stack_2_main_group_1": {
|
| 239 |
+
"cls": "Drawer"
|
| 240 |
+
},
|
| 241 |
+
"stack_2_main_group_2": {
|
| 242 |
+
"cls": "Drawer"
|
| 243 |
+
},
|
| 244 |
+
"stack_2_main_group_3": {
|
| 245 |
+
"cls": "Drawer"
|
| 246 |
+
},
|
| 247 |
+
"stack_3_main_group_base": {
|
| 248 |
+
"cls": "Box"
|
| 249 |
+
},
|
| 250 |
+
"stack_3_main_group_1": {
|
| 251 |
+
"cls": "HingeCabinet"
|
| 252 |
+
},
|
| 253 |
+
"stack_3_main_group_2": {
|
| 254 |
+
"cls": "Drawer"
|
| 255 |
+
},
|
| 256 |
+
"fridge_main_group": {
|
| 257 |
+
"cls": "FridgeFrenchDoor"
|
| 258 |
+
},
|
| 259 |
+
"fridge_housing_main_group": {
|
| 260 |
+
"cls": "HousingCabinet"
|
| 261 |
+
},
|
| 262 |
+
"stack_4_main_group_base": {
|
| 263 |
+
"cls": "Box"
|
| 264 |
+
},
|
| 265 |
+
"stack_4_main_group_1": {
|
| 266 |
+
"cls": "Drawer"
|
| 267 |
+
},
|
| 268 |
+
"stack_4_main_group_2": {
|
| 269 |
+
"cls": "Drawer"
|
| 270 |
+
},
|
| 271 |
+
"stack_4_main_group_3": {
|
| 272 |
+
"cls": "HingeCabinet"
|
| 273 |
+
},
|
| 274 |
+
"stack_4_main_group_4": {
|
| 275 |
+
"cls": "HingeCabinet"
|
| 276 |
+
},
|
| 277 |
+
"cab_1_main_group": {
|
| 278 |
+
"cls": "HingeCabinet"
|
| 279 |
+
},
|
| 280 |
+
"microwave_main_group": {
|
| 281 |
+
"cls": "Microwave"
|
| 282 |
+
},
|
| 283 |
+
"cab_2_main_group": {
|
| 284 |
+
"cls": "HingeCabinet"
|
| 285 |
+
},
|
| 286 |
+
"cab_3_main_group": {
|
| 287 |
+
"cls": "OpenCabinet"
|
| 288 |
+
},
|
| 289 |
+
"toaster_oven_main_group": {
|
| 290 |
+
"cls": "ToasterOven"
|
| 291 |
+
},
|
| 292 |
+
"sink_1_front_group": {
|
| 293 |
+
"cls": "Sink"
|
| 294 |
+
},
|
| 295 |
+
"counter_1_front_group": {
|
| 296 |
+
"cls": "Counter"
|
| 297 |
+
},
|
| 298 |
+
"box_front_group": {
|
| 299 |
+
"cls": "Box"
|
| 300 |
+
},
|
| 301 |
+
"stack_1_front_group_base": {
|
| 302 |
+
"cls": "Box"
|
| 303 |
+
},
|
| 304 |
+
"stack_1_front_group_1": {
|
| 305 |
+
"cls": "HingeCabinet"
|
| 306 |
+
},
|
| 307 |
+
"dishwasher_front_group": {
|
| 308 |
+
"cls": "Dishwasher"
|
| 309 |
+
},
|
| 310 |
+
"stack_2_front_group_base": {
|
| 311 |
+
"cls": "Box"
|
| 312 |
+
},
|
| 313 |
+
"stack_2_front_group_1": {
|
| 314 |
+
"cls": "SingleCabinet"
|
| 315 |
+
},
|
| 316 |
+
"stack_2_front_group_2": {
|
| 317 |
+
"cls": "Drawer"
|
| 318 |
+
},
|
| 319 |
+
"cab_1_front_group": {
|
| 320 |
+
"cls": "HingeCabinet"
|
| 321 |
+
},
|
| 322 |
+
"counter_corner_right_group": {
|
| 323 |
+
"cls": "Counter"
|
| 324 |
+
},
|
| 325 |
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"counter_1_right_group": {
|
| 326 |
+
"cls": "Counter"
|
| 327 |
+
},
|
| 328 |
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"box_right_group": {
|
| 329 |
+
"cls": "Box"
|
| 330 |
+
},
|
| 331 |
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"stack_1_right_group_base": {
|
| 332 |
+
"cls": "Box"
|
| 333 |
+
},
|
| 334 |
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"stack_1_right_group_1": {
|
| 335 |
+
"cls": "SingleCabinet"
|
| 336 |
+
},
|
| 337 |
+
"stack_1_right_group_2": {
|
| 338 |
+
"cls": "Drawer"
|
| 339 |
+
},
|
| 340 |
+
"stack_2_right_group_base": {
|
| 341 |
+
"cls": "Box"
|
| 342 |
+
},
|
| 343 |
+
"stack_2_right_group_1": {
|
| 344 |
+
"cls": "SingleCabinet"
|
| 345 |
+
},
|
| 346 |
+
"stack_2_right_group_2": {
|
| 347 |
+
"cls": "Drawer"
|
| 348 |
+
},
|
| 349 |
+
"stack_3_right_group_base": {
|
| 350 |
+
"cls": "Box"
|
| 351 |
+
},
|
| 352 |
+
"stack_3_right_group_1": {
|
| 353 |
+
"cls": "Drawer"
|
| 354 |
+
},
|
| 355 |
+
"stack_3_right_group_2": {
|
| 356 |
+
"cls": "Drawer"
|
| 357 |
+
},
|
| 358 |
+
"stack_3_right_group_3": {
|
| 359 |
+
"cls": "Drawer"
|
| 360 |
+
},
|
| 361 |
+
"cab_1_right_group": {
|
| 362 |
+
"cls": "HingeCabinet"
|
| 363 |
+
},
|
| 364 |
+
"cab_2_right_group": {
|
| 365 |
+
"cls": "HingeCabinet"
|
| 366 |
+
},
|
| 367 |
+
"coffee_machine_right_group": {
|
| 368 |
+
"cls": "CoffeeMachine"
|
| 369 |
+
},
|
| 370 |
+
"toaster_right_group": {
|
| 371 |
+
"cls": "Toaster"
|
| 372 |
+
},
|
| 373 |
+
"paper_towel_right_group": {
|
| 374 |
+
"cls": "Accessory"
|
| 375 |
+
},
|
| 376 |
+
"island_island_group": {
|
| 377 |
+
"cls": "Counter"
|
| 378 |
+
},
|
| 379 |
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"stack_1_island_group_base": {
|
| 380 |
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"cls": "Box"
|
| 381 |
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},
|
| 382 |
+
"stack_1_island_group_1": {
|
| 383 |
+
"cls": "SingleCabinet"
|
| 384 |
+
},
|
| 385 |
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"stack_2_island_group_base": {
|
| 386 |
+
"cls": "Box"
|
| 387 |
+
},
|
| 388 |
+
"stack_2_island_group_1": {
|
| 389 |
+
"cls": "HingeCabinet"
|
| 390 |
+
},
|
| 391 |
+
"box_1_island_group": {
|
| 392 |
+
"cls": "Box"
|
| 393 |
+
},
|
| 394 |
+
"box_2_island_group": {
|
| 395 |
+
"cls": "Box"
|
| 396 |
+
}
|
| 397 |
+
},
|
| 398 |
+
"gen_textures": {},
|
| 399 |
+
"lang": "Add the cookie dough ball to the tupperware that contains the hot dog.",
|
| 400 |
+
"fixture_refs": {
|
| 401 |
+
"counter": "island_island_group"
|
| 402 |
+
},
|
| 403 |
+
"cam_configs": {
|
| 404 |
+
"robot0_agentview_center": {
|
| 405 |
+
"pos": [
|
| 406 |
+
-0.6,
|
| 407 |
+
0.0,
|
| 408 |
+
1.15
|
| 409 |
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],
|
| 410 |
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"quat": [
|
| 411 |
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|
| 412 |
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|
| 413 |
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|
| 414 |
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|
| 415 |
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],
|
| 416 |
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"parent_body": "mobilebase0_support"
|
| 417 |
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},
|
| 418 |
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"robot0_agentview_left": {
|
| 419 |
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"pos": [
|
| 420 |
+
-0.5,
|
| 421 |
+
0.35,
|
| 422 |
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1.05
|
| 423 |
+
],
|
| 424 |
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"quat": [
|
| 425 |
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|
| 426 |
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|
| 427 |
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|
| 428 |
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-0.6775092
|
| 429 |
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],
|
| 430 |
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"camera_attribs": {
|
| 431 |
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"fovy": "60"
|
| 432 |
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},
|
| 433 |
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"parent_body": "mobilebase0_support"
|
| 434 |
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},
|
| 435 |
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"robot0_agentview_right": {
|
| 436 |
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"pos": [
|
| 437 |
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-0.5,
|
| 438 |
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-0.35,
|
| 439 |
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1.05
|
| 440 |
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],
|
| 441 |
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"quat": [
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| 442 |
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|
| 443 |
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|
| 444 |
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|
| 445 |
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|
| 446 |
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],
|
| 447 |
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"camera_attribs": {
|
| 448 |
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"fovy": "60"
|
| 449 |
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},
|
| 450 |
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"parent_body": "mobilebase0_support"
|
| 451 |
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},
|
| 452 |
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"robot0_frontview": {
|
| 453 |
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"pos": [
|
| 454 |
+
-0.5,
|
| 455 |
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0,
|
| 456 |
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|
| 457 |
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],
|
| 458 |
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"quat": [
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| 459 |
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|
| 460 |
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|
| 461 |
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|
| 462 |
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|
| 463 |
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],
|
| 464 |
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|
| 465 |
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"fovy": "60"
|
| 466 |
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},
|
| 467 |
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"parent_body": "mobilebase0_support"
|
| 468 |
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},
|
| 469 |
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"robot0_eye_in_hand": {
|
| 470 |
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"pos": [
|
| 471 |
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0.05,
|
| 472 |
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0,
|
| 473 |
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0
|
| 474 |
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],
|
| 475 |
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"quat": [
|
| 476 |
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|
| 477 |
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|
| 478 |
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0.707107,
|
| 479 |
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|
| 480 |
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],
|
| 481 |
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"parent_body": "robot0_right_hand"
|
| 482 |
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}
|
| 483 |
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},
|
| 484 |
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"init_robot_base_pos": [
|
| 485 |
+
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|
| 486 |
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|
| 487 |
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|
| 488 |
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],
|
| 489 |
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"init_robot_base_ori": [
|
| 490 |
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|
| 491 |
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0.0,
|
| 492 |
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|
| 493 |
+
]
|
| 494 |
+
}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000043/ep_meta.json
ADDED
|
@@ -0,0 +1,479 @@
|
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| 1 |
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{
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| 2 |
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| 3 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 19 |
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| 20 |
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| 21 |
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| 27 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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|
| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 86 |
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|
| 88 |
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| 90 |
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| 95 |
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| 96 |
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| 168 |
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| 174 |
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| 248 |
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|
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|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000045/ep_meta.json
ADDED
|
@@ -0,0 +1,413 @@
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|
| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 19 |
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| 20 |
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| 21 |
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| 41 |
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| 46 |
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| 64 |
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| 140 |
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],
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| 141 |
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| 143 |
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| 144 |
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| 145 |
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| 149 |
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| 150 |
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| 153 |
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| 154 |
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| 158 |
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| 159 |
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"wall_main_3_room": {
|
| 161 |
+
"cls": "Wall"
|
| 162 |
+
},
|
| 163 |
+
"wall_main_3_backing_room": {
|
| 164 |
+
"cls": "Wall"
|
| 165 |
+
},
|
| 166 |
+
"floor_1_room": {
|
| 167 |
+
"cls": "Floor"
|
| 168 |
+
},
|
| 169 |
+
"floor_1_backing_room": {
|
| 170 |
+
"cls": "Floor"
|
| 171 |
+
},
|
| 172 |
+
"wallaccessory_1_room": {
|
| 173 |
+
"cls": "WallAccessory"
|
| 174 |
+
},
|
| 175 |
+
"wallaccessory_2_room": {
|
| 176 |
+
"cls": "WallAccessory"
|
| 177 |
+
},
|
| 178 |
+
"stool_1_room": {
|
| 179 |
+
"cls": "Stool"
|
| 180 |
+
},
|
| 181 |
+
"stool_2_room": {
|
| 182 |
+
"cls": "Stool"
|
| 183 |
+
},
|
| 184 |
+
"stool_3_room": {
|
| 185 |
+
"cls": "Stool"
|
| 186 |
+
},
|
| 187 |
+
"stovetop_left_group_1": {
|
| 188 |
+
"cls": "Stovetop"
|
| 189 |
+
},
|
| 190 |
+
"counter_1_left_group_1": {
|
| 191 |
+
"cls": "Counter"
|
| 192 |
+
},
|
| 193 |
+
"hingecabinet_2_left_group_1": {
|
| 194 |
+
"cls": "HingeCabinet"
|
| 195 |
+
},
|
| 196 |
+
"hingecabinet_1_left_group_1": {
|
| 197 |
+
"cls": "HingeCabinet"
|
| 198 |
+
},
|
| 199 |
+
"microwave_left_group_1": {
|
| 200 |
+
"cls": "Microwave"
|
| 201 |
+
},
|
| 202 |
+
"cab_micro_left_group_1": {
|
| 203 |
+
"cls": "HingeCabinet"
|
| 204 |
+
},
|
| 205 |
+
"cube_1_left_group_1": {
|
| 206 |
+
"cls": "Box"
|
| 207 |
+
},
|
| 208 |
+
"fridgefrenchdoor_left_group_1": {
|
| 209 |
+
"cls": "FridgeFrenchDoor"
|
| 210 |
+
},
|
| 211 |
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"fridgefrenchdoor_housing_left_group_1": {
|
| 212 |
+
"cls": "HousingCabinet"
|
| 213 |
+
},
|
| 214 |
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"bottom_left_group_1_base": {
|
| 215 |
+
"cls": "Box"
|
| 216 |
+
},
|
| 217 |
+
"bottom_left_group_1_1": {
|
| 218 |
+
"cls": "Drawer"
|
| 219 |
+
},
|
| 220 |
+
"oven_left_group_1": {
|
| 221 |
+
"cls": "Oven"
|
| 222 |
+
},
|
| 223 |
+
"oven_housing_left_group_1": {
|
| 224 |
+
"cls": "HousingCabinet"
|
| 225 |
+
},
|
| 226 |
+
"hingecabinet_3_left_group_1": {
|
| 227 |
+
"cls": "HingeCabinet"
|
| 228 |
+
},
|
| 229 |
+
"microwave_cabinet_left_group_1": {
|
| 230 |
+
"cls": "HingeCabinet"
|
| 231 |
+
},
|
| 232 |
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"top_left_group_1": {
|
| 233 |
+
"cls": "HingeCabinet"
|
| 234 |
+
},
|
| 235 |
+
"stack_1_left_group_1_base": {
|
| 236 |
+
"cls": "Box"
|
| 237 |
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},
|
| 238 |
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"stack_1_left_group_1_1": {
|
| 239 |
+
"cls": "HingeCabinet"
|
| 240 |
+
},
|
| 241 |
+
"stack_1_left_group_1_2": {
|
| 242 |
+
"cls": "Drawer"
|
| 243 |
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},
|
| 244 |
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"stack_2_left_group_1_base": {
|
| 245 |
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"cls": "Box"
|
| 246 |
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},
|
| 247 |
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"stack_2_left_group_1_1": {
|
| 248 |
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"cls": "Drawer"
|
| 249 |
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},
|
| 250 |
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"stack_2_left_group_1_2": {
|
| 251 |
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"cls": "Drawer"
|
| 252 |
+
},
|
| 253 |
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"stack_2_left_group_1_3": {
|
| 254 |
+
"cls": "PanelCabinet"
|
| 255 |
+
},
|
| 256 |
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"stack_3_left_group_1_base": {
|
| 257 |
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"cls": "Box"
|
| 258 |
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},
|
| 259 |
+
"stack_3_left_group_1_1": {
|
| 260 |
+
"cls": "HingeCabinet"
|
| 261 |
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},
|
| 262 |
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"stack_3_left_group_1_2": {
|
| 263 |
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"cls": "Drawer"
|
| 264 |
+
},
|
| 265 |
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"papertowel_left_group_1": {
|
| 266 |
+
"cls": "Accessory"
|
| 267 |
+
},
|
| 268 |
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"coffee_machine_left_group_1": {
|
| 269 |
+
"cls": "CoffeeMachine"
|
| 270 |
+
},
|
| 271 |
+
"toaster_left_group_1": {
|
| 272 |
+
"cls": "Toaster"
|
| 273 |
+
},
|
| 274 |
+
"sink_island_group_1": {
|
| 275 |
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"cls": "Sink"
|
| 276 |
+
},
|
| 277 |
+
"island_island_group_1": {
|
| 278 |
+
"cls": "Counter"
|
| 279 |
+
},
|
| 280 |
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"cube_5_island_group_1": {
|
| 281 |
+
"cls": "Box"
|
| 282 |
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},
|
| 283 |
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"cube_1_island_group_1": {
|
| 284 |
+
"cls": "Box"
|
| 285 |
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},
|
| 286 |
+
"cube_2_island_group_1": {
|
| 287 |
+
"cls": "Box"
|
| 288 |
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},
|
| 289 |
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"cube_3_island_group_1": {
|
| 290 |
+
"cls": "Box"
|
| 291 |
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},
|
| 292 |
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"cube_4_island_group_1": {
|
| 293 |
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"cls": "Box"
|
| 294 |
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},
|
| 295 |
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"stack_2_island_group_1_base": {
|
| 296 |
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"cls": "Box"
|
| 297 |
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},
|
| 298 |
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"stack_2_island_group_1_1": {
|
| 299 |
+
"cls": "SingleCabinet"
|
| 300 |
+
},
|
| 301 |
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"stack_2_island_group_1_2": {
|
| 302 |
+
"cls": "Drawer"
|
| 303 |
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},
|
| 304 |
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"stack_1_island_group_1_base": {
|
| 305 |
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"cls": "Box"
|
| 306 |
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},
|
| 307 |
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"stack_1_island_group_1_1": {
|
| 308 |
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"cls": "HingeCabinet"
|
| 309 |
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},
|
| 310 |
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"stack_1_island_group_1_2": {
|
| 311 |
+
"cls": "PanelCabinet"
|
| 312 |
+
},
|
| 313 |
+
"dishwasher_1_island_group_1": {
|
| 314 |
+
"cls": "Dishwasher"
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
"gen_textures": {},
|
| 318 |
+
"lang": "Add the cookie dough ball to the tupperware that contains the kebab skewer.",
|
| 319 |
+
"fixture_refs": {
|
| 320 |
+
"counter": "counter_1_left_group_1"
|
| 321 |
+
},
|
| 322 |
+
"cam_configs": {
|
| 323 |
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"robot0_agentview_center": {
|
| 324 |
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"pos": [
|
| 325 |
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-0.6,
|
| 326 |
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0.0,
|
| 327 |
+
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|
| 328 |
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],
|
| 329 |
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"quat": [
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| 330 |
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|
| 331 |
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|
| 332 |
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|
| 333 |
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|
| 334 |
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],
|
| 335 |
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"parent_body": "mobilebase0_support"
|
| 336 |
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| 337 |
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|
| 338 |
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"pos": [
|
| 339 |
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|
| 340 |
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|
| 341 |
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|
| 342 |
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| 343 |
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| 344 |
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|
| 345 |
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|
| 346 |
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|
| 347 |
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|
| 348 |
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| 349 |
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|
| 350 |
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| 351 |
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|
| 352 |
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"parent_body": "mobilebase0_support"
|
| 353 |
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|
| 354 |
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"robot0_agentview_right": {
|
| 355 |
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"pos": [
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| 356 |
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|
| 357 |
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| 358 |
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|
| 359 |
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],
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| 360 |
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| 361 |
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|
| 363 |
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| 364 |
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| 366 |
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|
| 367 |
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|
| 368 |
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},
|
| 369 |
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"parent_body": "mobilebase0_support"
|
| 370 |
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},
|
| 371 |
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"robot0_frontview": {
|
| 372 |
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"pos": [
|
| 373 |
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|
| 374 |
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|
| 375 |
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| 376 |
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],
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|
| 384 |
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|
| 385 |
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},
|
| 386 |
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"parent_body": "mobilebase0_support"
|
| 387 |
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},
|
| 388 |
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"robot0_eye_in_hand": {
|
| 389 |
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"pos": [
|
| 390 |
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|
| 391 |
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|
| 392 |
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|
| 393 |
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],
|
| 394 |
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| 395 |
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|
| 396 |
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|
| 397 |
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|
| 398 |
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|
| 399 |
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],
|
| 400 |
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"parent_body": "robot0_right_hand"
|
| 401 |
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}
|
| 402 |
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},
|
| 403 |
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"init_robot_base_pos": [
|
| 404 |
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|
| 405 |
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|
| 406 |
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|
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"init_robot_base_ori": [
|
| 409 |
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| 410 |
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|
| 411 |
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|
| 412 |
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]
|
| 413 |
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}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000050/ep_meta.json
ADDED
|
@@ -0,0 +1,473 @@
|
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 30,
|
| 3 |
+
"style_id": 23,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
+
"obj_groups": "tupperware",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "counter_1_left_group",
|
| 10 |
+
"size": [
|
| 11 |
+
0.5,
|
| 12 |
+
0.5
|
| 13 |
+
],
|
| 14 |
+
"pos": [
|
| 15 |
+
0,
|
| 16 |
+
-1.0
|
| 17 |
+
],
|
| 18 |
+
"try_to_place_in": "tupperware",
|
| 19 |
+
"try_to_place_in_kwargs": {
|
| 20 |
+
"object_scale": [
|
| 21 |
+
2.5,
|
| 22 |
+
2.5,
|
| 23 |
+
1.25
|
| 24 |
+
]
|
| 25 |
+
},
|
| 26 |
+
"rotation": 0
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"init_robot_here": true,
|
| 30 |
+
"object_scale": [
|
| 31 |
+
2.5,
|
| 32 |
+
2.5,
|
| 33 |
+
1.25
|
| 34 |
+
],
|
| 35 |
+
"info": {
|
| 36 |
+
"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
+
"tupperware",
|
| 39 |
+
"receptacle"
|
| 40 |
+
],
|
| 41 |
+
"groups": [
|
| 42 |
+
"tupperware"
|
| 43 |
+
],
|
| 44 |
+
"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml"
|
| 47 |
+
},
|
| 48 |
+
"reset_region": {
|
| 49 |
+
"size": [
|
| 50 |
+
0.8,
|
| 51 |
+
0.65
|
| 52 |
+
],
|
| 53 |
+
"offset": [
|
| 54 |
+
0.0,
|
| 55 |
+
0.0,
|
| 56 |
+
0.46
|
| 57 |
+
],
|
| 58 |
+
"name": "geom_0"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "cooked_food",
|
| 63 |
+
"obj_groups": "cooked_food",
|
| 64 |
+
"init_robot_here": false,
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
+
"size": [
|
| 68 |
+
0.01,
|
| 69 |
+
0.01
|
| 70 |
+
],
|
| 71 |
+
"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
+
"groups_containing_sampled_obj": [
|
| 80 |
+
"all",
|
| 81 |
+
"hot_dog",
|
| 82 |
+
"cooked_food",
|
| 83 |
+
"food",
|
| 84 |
+
"in_container"
|
| 85 |
+
],
|
| 86 |
+
"groups": [
|
| 87 |
+
"cooked_food"
|
| 88 |
+
],
|
| 89 |
+
"cat": "hot_dog",
|
| 90 |
+
"split": "train",
|
| 91 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "dessert",
|
| 96 |
+
"obj_groups": "sweets",
|
| 97 |
+
"exclude_obj_groups": "sugar_cube",
|
| 98 |
+
"graspable": true,
|
| 99 |
+
"placement": {
|
| 100 |
+
"fixture": "counter_1_left_group",
|
| 101 |
+
"reuse_region_from": "cooked_food_container",
|
| 102 |
+
"size": [
|
| 103 |
+
0.5,
|
| 104 |
+
0.2
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
0,
|
| 108 |
+
-1.0
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"type": "object",
|
| 112 |
+
"info": {
|
| 113 |
+
"groups_containing_sampled_obj": [
|
| 114 |
+
"all",
|
| 115 |
+
"marshmallow",
|
| 116 |
+
"sweets",
|
| 117 |
+
"food",
|
| 118 |
+
"in_container"
|
| 119 |
+
],
|
| 120 |
+
"groups": [
|
| 121 |
+
"sweets"
|
| 122 |
+
],
|
| 123 |
+
"cat": "marshmallow",
|
| 124 |
+
"split": "train",
|
| 125 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml"
|
| 126 |
+
},
|
| 127 |
+
"reset_region": {
|
| 128 |
+
"size": [
|
| 129 |
+
0.8,
|
| 130 |
+
0.65
|
| 131 |
+
],
|
| 132 |
+
"offset": [
|
| 133 |
+
0.0,
|
| 134 |
+
0.0,
|
| 135 |
+
0.46
|
| 136 |
+
],
|
| 137 |
+
"name": "geom_0"
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
],
|
| 141 |
+
"fixtures": {
|
| 142 |
+
"wall_main_1_room": {
|
| 143 |
+
"cls": "Wall"
|
| 144 |
+
},
|
| 145 |
+
"wall_main_1_backing_room": {
|
| 146 |
+
"cls": "Wall"
|
| 147 |
+
},
|
| 148 |
+
"wall_left_1_room": {
|
| 149 |
+
"cls": "Wall"
|
| 150 |
+
},
|
| 151 |
+
"wall_left_1_backing_room": {
|
| 152 |
+
"cls": "Wall"
|
| 153 |
+
},
|
| 154 |
+
"wall_right_1_room": {
|
| 155 |
+
"cls": "Wall"
|
| 156 |
+
},
|
| 157 |
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"wall_right_1_backing_room": {
|
| 158 |
+
"cls": "Wall"
|
| 159 |
+
},
|
| 160 |
+
"floor_1_room": {
|
| 161 |
+
"cls": "Floor"
|
| 162 |
+
},
|
| 163 |
+
"floor_1_backing_room": {
|
| 164 |
+
"cls": "Floor"
|
| 165 |
+
},
|
| 166 |
+
"wall_accessory_1_room": {
|
| 167 |
+
"cls": "WallAccessory"
|
| 168 |
+
},
|
| 169 |
+
"wall_accessory_2_room": {
|
| 170 |
+
"cls": "WallAccessory"
|
| 171 |
+
},
|
| 172 |
+
"light_switch_1_room": {
|
| 173 |
+
"cls": "WallAccessory"
|
| 174 |
+
},
|
| 175 |
+
"ligh_switch_2_room": {
|
| 176 |
+
"cls": "WallAccessory"
|
| 177 |
+
},
|
| 178 |
+
"light_switch_3_room": {
|
| 179 |
+
"cls": "WallAccessory"
|
| 180 |
+
},
|
| 181 |
+
"light_switch_4_room": {
|
| 182 |
+
"cls": "WallAccessory"
|
| 183 |
+
},
|
| 184 |
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"wall_accessory_3_room": {
|
| 185 |
+
"cls": "WallAccessory"
|
| 186 |
+
},
|
| 187 |
+
"wall_accessory_4_room": {
|
| 188 |
+
"cls": "WallAccessory"
|
| 189 |
+
},
|
| 190 |
+
"wall_accessory_5_room": {
|
| 191 |
+
"cls": "WallAccessory"
|
| 192 |
+
},
|
| 193 |
+
"window_group_1_room": {
|
| 194 |
+
"cls": "Window"
|
| 195 |
+
},
|
| 196 |
+
"window_group_2_room": {
|
| 197 |
+
"cls": "Window"
|
| 198 |
+
},
|
| 199 |
+
"window_group_3_room": {
|
| 200 |
+
"cls": "Window"
|
| 201 |
+
},
|
| 202 |
+
"stool_1_room": {
|
| 203 |
+
"cls": "Stool"
|
| 204 |
+
},
|
| 205 |
+
"stool_2_room": {
|
| 206 |
+
"cls": "Stool"
|
| 207 |
+
},
|
| 208 |
+
"counter_1_left_group": {
|
| 209 |
+
"cls": "Counter"
|
| 210 |
+
},
|
| 211 |
+
"stove_left_group": {
|
| 212 |
+
"cls": "Stove"
|
| 213 |
+
},
|
| 214 |
+
"counter_2_left_group": {
|
| 215 |
+
"cls": "Counter"
|
| 216 |
+
},
|
| 217 |
+
"stack_1_left_group_base": {
|
| 218 |
+
"cls": "Box"
|
| 219 |
+
},
|
| 220 |
+
"stack_1_left_group_1": {
|
| 221 |
+
"cls": "Drawer"
|
| 222 |
+
},
|
| 223 |
+
"stack_1_left_group_2": {
|
| 224 |
+
"cls": "Drawer"
|
| 225 |
+
},
|
| 226 |
+
"stack_1_left_group_3": {
|
| 227 |
+
"cls": "Drawer"
|
| 228 |
+
},
|
| 229 |
+
"stack_2_left_group_base": {
|
| 230 |
+
"cls": "Box"
|
| 231 |
+
},
|
| 232 |
+
"stack_2_left_group_1": {
|
| 233 |
+
"cls": "Drawer"
|
| 234 |
+
},
|
| 235 |
+
"stack_2_left_group_2": {
|
| 236 |
+
"cls": "Drawer"
|
| 237 |
+
},
|
| 238 |
+
"stack_2_left_group_3": {
|
| 239 |
+
"cls": "Drawer"
|
| 240 |
+
},
|
| 241 |
+
"stack_3_left_group_base": {
|
| 242 |
+
"cls": "Box"
|
| 243 |
+
},
|
| 244 |
+
"stack_3_left_group_1": {
|
| 245 |
+
"cls": "Drawer"
|
| 246 |
+
},
|
| 247 |
+
"stack_3_left_group_2": {
|
| 248 |
+
"cls": "Drawer"
|
| 249 |
+
},
|
| 250 |
+
"stack_3_left_group_3": {
|
| 251 |
+
"cls": "Drawer"
|
| 252 |
+
},
|
| 253 |
+
"stack_4_left_group_base": {
|
| 254 |
+
"cls": "Box"
|
| 255 |
+
},
|
| 256 |
+
"stack_4_left_group_1": {
|
| 257 |
+
"cls": "Drawer"
|
| 258 |
+
},
|
| 259 |
+
"stack_4_left_group_2": {
|
| 260 |
+
"cls": "Drawer"
|
| 261 |
+
},
|
| 262 |
+
"stack_4_left_group_3": {
|
| 263 |
+
"cls": "Drawer"
|
| 264 |
+
},
|
| 265 |
+
"fridge_left_group": {
|
| 266 |
+
"cls": "FridgeFrenchDoor"
|
| 267 |
+
},
|
| 268 |
+
"fridge_housing_left_group": {
|
| 269 |
+
"cls": "HousingCabinet"
|
| 270 |
+
},
|
| 271 |
+
"cab_1_left_group": {
|
| 272 |
+
"cls": "HingeCabinet"
|
| 273 |
+
},
|
| 274 |
+
"cab_2_left_group": {
|
| 275 |
+
"cls": "HingeCabinet"
|
| 276 |
+
},
|
| 277 |
+
"microwave_left_group": {
|
| 278 |
+
"cls": "Microwave"
|
| 279 |
+
},
|
| 280 |
+
"cab_3_left_group": {
|
| 281 |
+
"cls": "HingeCabinet"
|
| 282 |
+
},
|
| 283 |
+
"cab_4_left_group": {
|
| 284 |
+
"cls": "HingeCabinet"
|
| 285 |
+
},
|
| 286 |
+
"cab_5_left_group": {
|
| 287 |
+
"cls": "HingeCabinet"
|
| 288 |
+
},
|
| 289 |
+
"cab_6_left_group": {
|
| 290 |
+
"cls": "HingeCabinet"
|
| 291 |
+
},
|
| 292 |
+
"toaster_oven_left_group": {
|
| 293 |
+
"cls": "ToasterOven"
|
| 294 |
+
},
|
| 295 |
+
"coffee_machine_left_group": {
|
| 296 |
+
"cls": "CoffeeMachine"
|
| 297 |
+
},
|
| 298 |
+
"paper_towel_left_group": {
|
| 299 |
+
"cls": "Accessory"
|
| 300 |
+
},
|
| 301 |
+
"sink_right_group": {
|
| 302 |
+
"cls": "Sink"
|
| 303 |
+
},
|
| 304 |
+
"counter_1_right_group": {
|
| 305 |
+
"cls": "Counter"
|
| 306 |
+
},
|
| 307 |
+
"stack_1_right_group_base": {
|
| 308 |
+
"cls": "Box"
|
| 309 |
+
},
|
| 310 |
+
"stack_1_right_group_1": {
|
| 311 |
+
"cls": "SingleCabinet"
|
| 312 |
+
},
|
| 313 |
+
"dishwasher_right_group": {
|
| 314 |
+
"cls": "Dishwasher"
|
| 315 |
+
},
|
| 316 |
+
"stack_2_right_group_base": {
|
| 317 |
+
"cls": "Box"
|
| 318 |
+
},
|
| 319 |
+
"stack_2_right_group_1": {
|
| 320 |
+
"cls": "HingeCabinet"
|
| 321 |
+
},
|
| 322 |
+
"stack_3_right_group_base": {
|
| 323 |
+
"cls": "Box"
|
| 324 |
+
},
|
| 325 |
+
"stack_3_right_group_1": {
|
| 326 |
+
"cls": "Drawer"
|
| 327 |
+
},
|
| 328 |
+
"stack_3_right_group_2": {
|
| 329 |
+
"cls": "Drawer"
|
| 330 |
+
},
|
| 331 |
+
"stack_4_right_group_base": {
|
| 332 |
+
"cls": "Box"
|
| 333 |
+
},
|
| 334 |
+
"stack_4_right_group_1": {
|
| 335 |
+
"cls": "SingleCabinet"
|
| 336 |
+
},
|
| 337 |
+
"box_right_group": {
|
| 338 |
+
"cls": "Box"
|
| 339 |
+
},
|
| 340 |
+
"cab_1_right_group": {
|
| 341 |
+
"cls": "OpenCabinet"
|
| 342 |
+
},
|
| 343 |
+
"cab_2_right_group": {
|
| 344 |
+
"cls": "OpenCabinet"
|
| 345 |
+
},
|
| 346 |
+
"toaster_right_group": {
|
| 347 |
+
"cls": "Toaster"
|
| 348 |
+
},
|
| 349 |
+
"dining_front_group": {
|
| 350 |
+
"cls": "Counter"
|
| 351 |
+
},
|
| 352 |
+
"box_front_group": {
|
| 353 |
+
"cls": "Box"
|
| 354 |
+
},
|
| 355 |
+
"stack_1_front_group_base": {
|
| 356 |
+
"cls": "Box"
|
| 357 |
+
},
|
| 358 |
+
"stack_1_front_group_1": {
|
| 359 |
+
"cls": "SingleCabinet"
|
| 360 |
+
},
|
| 361 |
+
"stack_2_front_group_base": {
|
| 362 |
+
"cls": "Box"
|
| 363 |
+
},
|
| 364 |
+
"stack_2_front_group_1": {
|
| 365 |
+
"cls": "Drawer"
|
| 366 |
+
},
|
| 367 |
+
"stack_2_front_group_2": {
|
| 368 |
+
"cls": "Drawer"
|
| 369 |
+
},
|
| 370 |
+
"stack_2_front_group_3": {
|
| 371 |
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| 372 |
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| 373 |
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| 374 |
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| 375 |
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| 376 |
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| 377 |
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| 378 |
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| 379 |
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| 380 |
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| 381 |
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|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000051/ep_meta.json
ADDED
|
@@ -0,0 +1,494 @@
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 26,
|
| 3 |
+
"style_id": 19,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
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{
|
| 6 |
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"name": "cooked_food_container",
|
| 7 |
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"obj_groups": "tupperware",
|
| 8 |
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"placement": {
|
| 9 |
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"fixture": "island_island_group",
|
| 10 |
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"size": [
|
| 11 |
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|
| 12 |
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|
| 13 |
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],
|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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],
|
| 18 |
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"try_to_place_in": "tupperware",
|
| 19 |
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"try_to_place_in_kwargs": {
|
| 20 |
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"object_scale": [
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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]
|
| 25 |
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},
|
| 26 |
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"rotation": 0
|
| 27 |
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},
|
| 28 |
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"type": "object",
|
| 29 |
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"init_robot_here": true,
|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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],
|
| 35 |
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"info": {
|
| 36 |
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"groups_containing_sampled_obj": [
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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"groups": [
|
| 42 |
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|
| 43 |
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],
|
| 44 |
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"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml"
|
| 47 |
+
},
|
| 48 |
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"reset_region": {
|
| 49 |
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"size": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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],
|
| 58 |
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"name": "geom_0"
|
| 59 |
+
}
|
| 60 |
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},
|
| 61 |
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{
|
| 62 |
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"name": "cooked_food",
|
| 63 |
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"obj_groups": "cooked_food",
|
| 64 |
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"init_robot_here": false,
|
| 65 |
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"graspable": true,
|
| 66 |
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|
| 67 |
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"size": [
|
| 68 |
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|
| 69 |
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0.01
|
| 70 |
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],
|
| 71 |
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"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
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}
|
| 76 |
+
},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
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"groups_containing_sampled_obj": [
|
| 80 |
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"all",
|
| 81 |
+
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|
| 82 |
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"cooked_food",
|
| 83 |
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"food",
|
| 84 |
+
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|
| 85 |
+
],
|
| 86 |
+
"groups": [
|
| 87 |
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"cooked_food"
|
| 88 |
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],
|
| 89 |
+
"cat": "kebab_skewer",
|
| 90 |
+
"split": "train",
|
| 91 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer001/model.xml"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "dessert",
|
| 96 |
+
"obj_groups": "sweets",
|
| 97 |
+
"exclude_obj_groups": "sugar_cube",
|
| 98 |
+
"graspable": true,
|
| 99 |
+
"placement": {
|
| 100 |
+
"fixture": "island_island_group",
|
| 101 |
+
"reuse_region_from": "cooked_food_container",
|
| 102 |
+
"size": [
|
| 103 |
+
0.5,
|
| 104 |
+
0.2
|
| 105 |
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],
|
| 106 |
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"pos": [
|
| 107 |
+
0,
|
| 108 |
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-1.0
|
| 109 |
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]
|
| 110 |
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},
|
| 111 |
+
"type": "object",
|
| 112 |
+
"info": {
|
| 113 |
+
"groups_containing_sampled_obj": [
|
| 114 |
+
"all",
|
| 115 |
+
"cupcake",
|
| 116 |
+
"sweets",
|
| 117 |
+
"food",
|
| 118 |
+
"in_container"
|
| 119 |
+
],
|
| 120 |
+
"groups": [
|
| 121 |
+
"sweets"
|
| 122 |
+
],
|
| 123 |
+
"cat": "cupcake",
|
| 124 |
+
"split": "train",
|
| 125 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_16/model.xml"
|
| 126 |
+
},
|
| 127 |
+
"reset_region": {
|
| 128 |
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"size": [
|
| 129 |
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1.988,
|
| 130 |
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0.6
|
| 131 |
+
],
|
| 132 |
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"offset": [
|
| 133 |
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0.0,
|
| 134 |
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0.0,
|
| 135 |
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0.46
|
| 136 |
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],
|
| 137 |
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"name": "geom_0"
|
| 138 |
+
}
|
| 139 |
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}
|
| 140 |
+
],
|
| 141 |
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"fixtures": {
|
| 142 |
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"wall_left_1_room": {
|
| 143 |
+
"cls": "Wall"
|
| 144 |
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},
|
| 145 |
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"wall_left_1_backing_room": {
|
| 146 |
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"cls": "Wall"
|
| 147 |
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},
|
| 148 |
+
"wall_main_room": {
|
| 149 |
+
"cls": "Wall"
|
| 150 |
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},
|
| 151 |
+
"wall_main_backing_room": {
|
| 152 |
+
"cls": "Wall"
|
| 153 |
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},
|
| 154 |
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"wall_right_1_room": {
|
| 155 |
+
"cls": "Wall"
|
| 156 |
+
},
|
| 157 |
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"wall_right_1_backing_room": {
|
| 158 |
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"cls": "Wall"
|
| 159 |
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},
|
| 160 |
+
"wall_right_3_room": {
|
| 161 |
+
"cls": "Wall"
|
| 162 |
+
},
|
| 163 |
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"wall_right_3_backing_room": {
|
| 164 |
+
"cls": "Wall"
|
| 165 |
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},
|
| 166 |
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"wall_right_2_room": {
|
| 167 |
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"cls": "Wall"
|
| 168 |
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},
|
| 169 |
+
"wall_right_2_backing_room": {
|
| 170 |
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"cls": "Wall"
|
| 171 |
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},
|
| 172 |
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"wall_front_1_room": {
|
| 173 |
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"cls": "Wall"
|
| 174 |
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},
|
| 175 |
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"wall_front_1_backing_room": {
|
| 176 |
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"cls": "Wall"
|
| 177 |
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},
|
| 178 |
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"floor_1_room": {
|
| 179 |
+
"cls": "Floor"
|
| 180 |
+
},
|
| 181 |
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"floor_1_backing_room": {
|
| 182 |
+
"cls": "Floor"
|
| 183 |
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},
|
| 184 |
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"wall_accessory_1_room": {
|
| 185 |
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"cls": "WallAccessory"
|
| 186 |
+
},
|
| 187 |
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"light_switch_1_room": {
|
| 188 |
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"cls": "WallAccessory"
|
| 189 |
+
},
|
| 190 |
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"wall_accessory_2_room": {
|
| 191 |
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"cls": "WallAccessory"
|
| 192 |
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},
|
| 193 |
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"light_switch_2_room": {
|
| 194 |
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"cls": "WallAccessory"
|
| 195 |
+
},
|
| 196 |
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"wall_accessory_3_room": {
|
| 197 |
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"cls": "WallAccessory"
|
| 198 |
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},
|
| 199 |
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"light_switch_3_room": {
|
| 200 |
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"cls": "WallAccessory"
|
| 201 |
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},
|
| 202 |
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"light_switch_4_room": {
|
| 203 |
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"cls": "WallAccessory"
|
| 204 |
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},
|
| 205 |
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"window_group_1_room": {
|
| 206 |
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"cls": "Window"
|
| 207 |
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},
|
| 208 |
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"window_group_2_room": {
|
| 209 |
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"cls": "Window"
|
| 210 |
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},
|
| 211 |
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"stool_1_room": {
|
| 212 |
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"cls": "Stool"
|
| 213 |
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},
|
| 214 |
+
"stool_2_room": {
|
| 215 |
+
"cls": "Stool"
|
| 216 |
+
},
|
| 217 |
+
"stool_3_room": {
|
| 218 |
+
"cls": "Stool"
|
| 219 |
+
},
|
| 220 |
+
"counter_1_main_group": {
|
| 221 |
+
"cls": "Counter"
|
| 222 |
+
},
|
| 223 |
+
"stove_main_group": {
|
| 224 |
+
"cls": "Stove"
|
| 225 |
+
},
|
| 226 |
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"counter_2_main_group": {
|
| 227 |
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"cls": "Counter"
|
| 228 |
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},
|
| 229 |
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"stack_1_main_group_base": {
|
| 230 |
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"cls": "Box"
|
| 231 |
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},
|
| 232 |
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"stack_1_main_group_1": {
|
| 233 |
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"cls": "HingeCabinet"
|
| 234 |
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},
|
| 235 |
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"stack_2_main_group_base": {
|
| 236 |
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"cls": "Box"
|
| 237 |
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},
|
| 238 |
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"stack_2_main_group_1": {
|
| 239 |
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"cls": "Drawer"
|
| 240 |
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},
|
| 241 |
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"stack_2_main_group_2": {
|
| 242 |
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"cls": "Drawer"
|
| 243 |
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},
|
| 244 |
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"stack_2_main_group_3": {
|
| 245 |
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"cls": "Drawer"
|
| 246 |
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},
|
| 247 |
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"stack_3_main_group_base": {
|
| 248 |
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"cls": "Box"
|
| 249 |
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},
|
| 250 |
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"stack_3_main_group_1": {
|
| 251 |
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"cls": "HingeCabinet"
|
| 252 |
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},
|
| 253 |
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"stack_3_main_group_2": {
|
| 254 |
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"cls": "Drawer"
|
| 255 |
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},
|
| 256 |
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"fridge_main_group": {
|
| 257 |
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"cls": "FridgeFrenchDoor"
|
| 258 |
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},
|
| 259 |
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"fridge_housing_main_group": {
|
| 260 |
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"cls": "HousingCabinet"
|
| 261 |
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},
|
| 262 |
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"stack_4_main_group_base": {
|
| 263 |
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"cls": "Box"
|
| 264 |
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},
|
| 265 |
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"stack_4_main_group_1": {
|
| 266 |
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"cls": "Drawer"
|
| 267 |
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},
|
| 268 |
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"stack_4_main_group_2": {
|
| 269 |
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"cls": "Drawer"
|
| 270 |
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},
|
| 271 |
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"stack_4_main_group_3": {
|
| 272 |
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"cls": "HingeCabinet"
|
| 273 |
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},
|
| 274 |
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"stack_4_main_group_4": {
|
| 275 |
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"cls": "HingeCabinet"
|
| 276 |
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},
|
| 277 |
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"cab_1_main_group": {
|
| 278 |
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"cls": "HingeCabinet"
|
| 279 |
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},
|
| 280 |
+
"microwave_main_group": {
|
| 281 |
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"cls": "Microwave"
|
| 282 |
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},
|
| 283 |
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"cab_2_main_group": {
|
| 284 |
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"cls": "HingeCabinet"
|
| 285 |
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},
|
| 286 |
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"cab_3_main_group": {
|
| 287 |
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"cls": "OpenCabinet"
|
| 288 |
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},
|
| 289 |
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"toaster_oven_main_group": {
|
| 290 |
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"cls": "ToasterOven"
|
| 291 |
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},
|
| 292 |
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"sink_1_front_group": {
|
| 293 |
+
"cls": "Sink"
|
| 294 |
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},
|
| 295 |
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"counter_1_front_group": {
|
| 296 |
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"cls": "Counter"
|
| 297 |
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},
|
| 298 |
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"box_front_group": {
|
| 299 |
+
"cls": "Box"
|
| 300 |
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},
|
| 301 |
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"stack_1_front_group_base": {
|
| 302 |
+
"cls": "Box"
|
| 303 |
+
},
|
| 304 |
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"stack_1_front_group_1": {
|
| 305 |
+
"cls": "HingeCabinet"
|
| 306 |
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},
|
| 307 |
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"dishwasher_front_group": {
|
| 308 |
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"cls": "Dishwasher"
|
| 309 |
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},
|
| 310 |
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"stack_2_front_group_base": {
|
| 311 |
+
"cls": "Box"
|
| 312 |
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},
|
| 313 |
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"stack_2_front_group_1": {
|
| 314 |
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"cls": "SingleCabinet"
|
| 315 |
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},
|
| 316 |
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"stack_2_front_group_2": {
|
| 317 |
+
"cls": "Drawer"
|
| 318 |
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},
|
| 319 |
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"cab_1_front_group": {
|
| 320 |
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"cls": "HingeCabinet"
|
| 321 |
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},
|
| 322 |
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"counter_corner_right_group": {
|
| 323 |
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"cls": "Counter"
|
| 324 |
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},
|
| 325 |
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"counter_1_right_group": {
|
| 326 |
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"cls": "Counter"
|
| 327 |
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},
|
| 328 |
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"box_right_group": {
|
| 329 |
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"cls": "Box"
|
| 330 |
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},
|
| 331 |
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"stack_1_right_group_base": {
|
| 332 |
+
"cls": "Box"
|
| 333 |
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},
|
| 334 |
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"stack_1_right_group_1": {
|
| 335 |
+
"cls": "SingleCabinet"
|
| 336 |
+
},
|
| 337 |
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"stack_1_right_group_2": {
|
| 338 |
+
"cls": "Drawer"
|
| 339 |
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},
|
| 340 |
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"stack_2_right_group_base": {
|
| 341 |
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"cls": "Box"
|
| 342 |
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},
|
| 343 |
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"stack_2_right_group_1": {
|
| 344 |
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"cls": "SingleCabinet"
|
| 345 |
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},
|
| 346 |
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"stack_2_right_group_2": {
|
| 347 |
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"cls": "Drawer"
|
| 348 |
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},
|
| 349 |
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"stack_3_right_group_base": {
|
| 350 |
+
"cls": "Box"
|
| 351 |
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},
|
| 352 |
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"stack_3_right_group_1": {
|
| 353 |
+
"cls": "Drawer"
|
| 354 |
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},
|
| 355 |
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"stack_3_right_group_2": {
|
| 356 |
+
"cls": "Drawer"
|
| 357 |
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},
|
| 358 |
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"stack_3_right_group_3": {
|
| 359 |
+
"cls": "Drawer"
|
| 360 |
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},
|
| 361 |
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"cab_1_right_group": {
|
| 362 |
+
"cls": "HingeCabinet"
|
| 363 |
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},
|
| 364 |
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"cab_2_right_group": {
|
| 365 |
+
"cls": "HingeCabinet"
|
| 366 |
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},
|
| 367 |
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"coffee_machine_right_group": {
|
| 368 |
+
"cls": "CoffeeMachine"
|
| 369 |
+
},
|
| 370 |
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"toaster_right_group": {
|
| 371 |
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"cls": "Toaster"
|
| 372 |
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},
|
| 373 |
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"paper_towel_right_group": {
|
| 374 |
+
"cls": "Accessory"
|
| 375 |
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},
|
| 376 |
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"island_island_group": {
|
| 377 |
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"cls": "Counter"
|
| 378 |
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},
|
| 379 |
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"stack_1_island_group_base": {
|
| 380 |
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"cls": "Box"
|
| 381 |
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},
|
| 382 |
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"stack_1_island_group_1": {
|
| 383 |
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"cls": "SingleCabinet"
|
| 384 |
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},
|
| 385 |
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"stack_2_island_group_base": {
|
| 386 |
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"cls": "Box"
|
| 387 |
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},
|
| 388 |
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"stack_2_island_group_1": {
|
| 389 |
+
"cls": "HingeCabinet"
|
| 390 |
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},
|
| 391 |
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"box_1_island_group": {
|
| 392 |
+
"cls": "Box"
|
| 393 |
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},
|
| 394 |
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"box_2_island_group": {
|
| 395 |
+
"cls": "Box"
|
| 396 |
+
}
|
| 397 |
+
},
|
| 398 |
+
"gen_textures": {},
|
| 399 |
+
"lang": "Add the cupcake to the tupperware that contains the kebab skewer.",
|
| 400 |
+
"fixture_refs": {
|
| 401 |
+
"counter": "island_island_group"
|
| 402 |
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},
|
| 403 |
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"cam_configs": {
|
| 404 |
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"robot0_agentview_center": {
|
| 405 |
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"pos": [
|
| 406 |
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|
| 407 |
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|
| 408 |
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| 409 |
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],
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| 416 |
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"parent_body": "mobilebase0_support"
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| 417 |
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"robot0_agentview_left": {
|
| 419 |
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"pos": [
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| 420 |
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|
| 421 |
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|
| 422 |
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|
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| 424 |
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|
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|
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| 432 |
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| 433 |
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| 434 |
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| 436 |
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| 448 |
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| 449 |
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},
|
| 450 |
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|
| 451 |
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|
| 452 |
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"robot0_frontview": {
|
| 453 |
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"pos": [
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| 454 |
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|
| 455 |
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|
| 456 |
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|
| 457 |
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],
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|
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| 465 |
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| 466 |
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},
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| 467 |
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"parent_body": "mobilebase0_support"
|
| 468 |
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|
| 469 |
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|
| 470 |
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"pos": [
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| 471 |
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|
| 472 |
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|
| 473 |
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|
| 474 |
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],
|
| 475 |
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"quat": [
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| 476 |
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|
| 477 |
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|
| 478 |
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|
| 479 |
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|
| 480 |
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],
|
| 481 |
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"parent_body": "robot0_right_hand"
|
| 482 |
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}
|
| 483 |
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},
|
| 484 |
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"init_robot_base_pos": [
|
| 485 |
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|
| 486 |
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|
| 487 |
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|
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|
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"init_robot_base_ori": [
|
| 490 |
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|
| 491 |
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|
| 492 |
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|
| 493 |
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]
|
| 494 |
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}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000059/ep_meta.json
ADDED
|
@@ -0,0 +1,498 @@
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 46,
|
| 3 |
+
"style_id": 13,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
+
"obj_groups": "tupperware",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "dining_dining_area_group",
|
| 10 |
+
"size": [
|
| 11 |
+
0.5,
|
| 12 |
+
0.5
|
| 13 |
+
],
|
| 14 |
+
"pos": [
|
| 15 |
+
0,
|
| 16 |
+
-1.0
|
| 17 |
+
],
|
| 18 |
+
"try_to_place_in": "tupperware",
|
| 19 |
+
"try_to_place_in_kwargs": {
|
| 20 |
+
"object_scale": [
|
| 21 |
+
2.5,
|
| 22 |
+
2.5,
|
| 23 |
+
1.25
|
| 24 |
+
]
|
| 25 |
+
},
|
| 26 |
+
"rotation": 0
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"init_robot_here": true,
|
| 30 |
+
"object_scale": [
|
| 31 |
+
2.5,
|
| 32 |
+
2.5,
|
| 33 |
+
1.25
|
| 34 |
+
],
|
| 35 |
+
"info": {
|
| 36 |
+
"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
+
"tupperware",
|
| 39 |
+
"receptacle"
|
| 40 |
+
],
|
| 41 |
+
"groups": [
|
| 42 |
+
"tupperware"
|
| 43 |
+
],
|
| 44 |
+
"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml"
|
| 47 |
+
},
|
| 48 |
+
"reset_region": {
|
| 49 |
+
"size": [
|
| 50 |
+
2.750006,
|
| 51 |
+
1.039938
|
| 52 |
+
],
|
| 53 |
+
"offset": [
|
| 54 |
+
0.0,
|
| 55 |
+
0.0,
|
| 56 |
+
0.46
|
| 57 |
+
],
|
| 58 |
+
"name": "geom_0"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "cooked_food",
|
| 63 |
+
"obj_groups": "cooked_food",
|
| 64 |
+
"init_robot_here": false,
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
+
"size": [
|
| 68 |
+
0.01,
|
| 69 |
+
0.01
|
| 70 |
+
],
|
| 71 |
+
"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
+
"groups_containing_sampled_obj": [
|
| 80 |
+
"all",
|
| 81 |
+
"kebab_skewer",
|
| 82 |
+
"cooked_food",
|
| 83 |
+
"food",
|
| 84 |
+
"in_container"
|
| 85 |
+
],
|
| 86 |
+
"groups": [
|
| 87 |
+
"cooked_food"
|
| 88 |
+
],
|
| 89 |
+
"cat": "kebab_skewer",
|
| 90 |
+
"split": "train",
|
| 91 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer002/model.xml"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "dessert",
|
| 96 |
+
"obj_groups": "sweets",
|
| 97 |
+
"exclude_obj_groups": "sugar_cube",
|
| 98 |
+
"graspable": true,
|
| 99 |
+
"placement": {
|
| 100 |
+
"fixture": "dining_dining_area_group",
|
| 101 |
+
"reuse_region_from": "cooked_food_container",
|
| 102 |
+
"size": [
|
| 103 |
+
0.5,
|
| 104 |
+
0.2
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
0,
|
| 108 |
+
-1.0
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"type": "object",
|
| 112 |
+
"info": {
|
| 113 |
+
"groups_containing_sampled_obj": [
|
| 114 |
+
"all",
|
| 115 |
+
"donut",
|
| 116 |
+
"pastry",
|
| 117 |
+
"sweets",
|
| 118 |
+
"food",
|
| 119 |
+
"in_container"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"sweets"
|
| 123 |
+
],
|
| 124 |
+
"cat": "donut",
|
| 125 |
+
"split": "train",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_14/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
2.750006,
|
| 131 |
+
1.039938
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
0.0,
|
| 135 |
+
0.0,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"fixtures": {
|
| 143 |
+
"wall_right_1_room": {
|
| 144 |
+
"cls": "Wall"
|
| 145 |
+
},
|
| 146 |
+
"wall_right_1_backing_room": {
|
| 147 |
+
"cls": "Wall"
|
| 148 |
+
},
|
| 149 |
+
"wall_main_1_room": {
|
| 150 |
+
"cls": "Wall"
|
| 151 |
+
},
|
| 152 |
+
"wall_main_1_backing_room": {
|
| 153 |
+
"cls": "Wall"
|
| 154 |
+
},
|
| 155 |
+
"wall_right_3_room": {
|
| 156 |
+
"cls": "Wall"
|
| 157 |
+
},
|
| 158 |
+
"wall_right_3_backing_room": {
|
| 159 |
+
"cls": "Wall"
|
| 160 |
+
},
|
| 161 |
+
"wall_right_2_room": {
|
| 162 |
+
"cls": "Wall"
|
| 163 |
+
},
|
| 164 |
+
"wall_right_2_backing_room": {
|
| 165 |
+
"cls": "Wall"
|
| 166 |
+
},
|
| 167 |
+
"wall_main_2_room": {
|
| 168 |
+
"cls": "Wall"
|
| 169 |
+
},
|
| 170 |
+
"wall_main_2_backing_room": {
|
| 171 |
+
"cls": "Wall"
|
| 172 |
+
},
|
| 173 |
+
"floor_1_room": {
|
| 174 |
+
"cls": "Floor"
|
| 175 |
+
},
|
| 176 |
+
"floor_1_backing_room": {
|
| 177 |
+
"cls": "Floor"
|
| 178 |
+
},
|
| 179 |
+
"floor_2_room": {
|
| 180 |
+
"cls": "Floor"
|
| 181 |
+
},
|
| 182 |
+
"floor_2_backing_room": {
|
| 183 |
+
"cls": "Floor"
|
| 184 |
+
},
|
| 185 |
+
"wallaccessory_06_room": {
|
| 186 |
+
"cls": "WallAccessory"
|
| 187 |
+
},
|
| 188 |
+
"lightswitch_01_room": {
|
| 189 |
+
"cls": "WallAccessory"
|
| 190 |
+
},
|
| 191 |
+
"wallaccessory_03_room": {
|
| 192 |
+
"cls": "WallAccessory"
|
| 193 |
+
},
|
| 194 |
+
"wallaccessory_04_room": {
|
| 195 |
+
"cls": "WallAccessory"
|
| 196 |
+
},
|
| 197 |
+
"stool_1_room": {
|
| 198 |
+
"cls": "Stool"
|
| 199 |
+
},
|
| 200 |
+
"stool_2_room": {
|
| 201 |
+
"cls": "Stool"
|
| 202 |
+
},
|
| 203 |
+
"stool_3_room": {
|
| 204 |
+
"cls": "Stool"
|
| 205 |
+
},
|
| 206 |
+
"stool_4_room": {
|
| 207 |
+
"cls": "Stool"
|
| 208 |
+
},
|
| 209 |
+
"stool_5_room": {
|
| 210 |
+
"cls": "Stool"
|
| 211 |
+
},
|
| 212 |
+
"stool_6_room": {
|
| 213 |
+
"cls": "Stool"
|
| 214 |
+
},
|
| 215 |
+
"dining_dining_area_group": {
|
| 216 |
+
"cls": "Counter"
|
| 217 |
+
},
|
| 218 |
+
"cube_1_dining_area_group": {
|
| 219 |
+
"cls": "Box"
|
| 220 |
+
},
|
| 221 |
+
"cube_2_dining_area_group": {
|
| 222 |
+
"cls": "Box"
|
| 223 |
+
},
|
| 224 |
+
"fridgefrenchdoor_main_group_1": {
|
| 225 |
+
"cls": "FridgeFrenchDoor"
|
| 226 |
+
},
|
| 227 |
+
"fridgefrenchdoor_housing_main_group_1": {
|
| 228 |
+
"cls": "HousingCabinet"
|
| 229 |
+
},
|
| 230 |
+
"bottom_main_group_1_base": {
|
| 231 |
+
"cls": "Box"
|
| 232 |
+
},
|
| 233 |
+
"bottom_main_group_1_1": {
|
| 234 |
+
"cls": "Drawer"
|
| 235 |
+
},
|
| 236 |
+
"microwave_main_group_1": {
|
| 237 |
+
"cls": "Microwave"
|
| 238 |
+
},
|
| 239 |
+
"hingecabinet_02_main_group_1": {
|
| 240 |
+
"cls": "HingeCabinet"
|
| 241 |
+
},
|
| 242 |
+
"oven_cabinet_main_group_1": {
|
| 243 |
+
"cls": "HingeCabinet"
|
| 244 |
+
},
|
| 245 |
+
"microwave_housing_main_group_1": {
|
| 246 |
+
"cls": "HousingCabinet"
|
| 247 |
+
},
|
| 248 |
+
"top_main_group_1": {
|
| 249 |
+
"cls": "HingeCabinet"
|
| 250 |
+
},
|
| 251 |
+
"hingecabinet_01_main_group_1": {
|
| 252 |
+
"cls": "HingeCabinet"
|
| 253 |
+
},
|
| 254 |
+
"singlecabinet_1_main_group_1": {
|
| 255 |
+
"cls": "SingleCabinet"
|
| 256 |
+
},
|
| 257 |
+
"singlecabinet_2_main_group_1": {
|
| 258 |
+
"cls": "SingleCabinet"
|
| 259 |
+
},
|
| 260 |
+
"counter_2_main_group_1": {
|
| 261 |
+
"cls": "Counter"
|
| 262 |
+
},
|
| 263 |
+
"counter_1_main_group_1": {
|
| 264 |
+
"cls": "Counter"
|
| 265 |
+
},
|
| 266 |
+
"stove_main_group_1": {
|
| 267 |
+
"cls": "Stove"
|
| 268 |
+
},
|
| 269 |
+
"stove_hood_main_group_1": {
|
| 270 |
+
"cls": "Hood"
|
| 271 |
+
},
|
| 272 |
+
"stack_01_main_group_1_base": {
|
| 273 |
+
"cls": "Box"
|
| 274 |
+
},
|
| 275 |
+
"stack_01_main_group_1_1": {
|
| 276 |
+
"cls": "Drawer"
|
| 277 |
+
},
|
| 278 |
+
"stack_01_main_group_1_2": {
|
| 279 |
+
"cls": "Drawer"
|
| 280 |
+
},
|
| 281 |
+
"stack_01_main_group_1_3": {
|
| 282 |
+
"cls": "Drawer"
|
| 283 |
+
},
|
| 284 |
+
"stack_02_main_group_1_base": {
|
| 285 |
+
"cls": "Box"
|
| 286 |
+
},
|
| 287 |
+
"stack_02_main_group_1_1": {
|
| 288 |
+
"cls": "Drawer"
|
| 289 |
+
},
|
| 290 |
+
"stack_02_main_group_1_2": {
|
| 291 |
+
"cls": "Drawer"
|
| 292 |
+
},
|
| 293 |
+
"stack_02_main_group_1_3": {
|
| 294 |
+
"cls": "Drawer"
|
| 295 |
+
},
|
| 296 |
+
"stack_03_main_group_1_base": {
|
| 297 |
+
"cls": "Box"
|
| 298 |
+
},
|
| 299 |
+
"stack_03_main_group_1_1": {
|
| 300 |
+
"cls": "HingeCabinet"
|
| 301 |
+
},
|
| 302 |
+
"stack_03_main_group_1_2": {
|
| 303 |
+
"cls": "Drawer"
|
| 304 |
+
},
|
| 305 |
+
"coffee_machine_main_group_1": {
|
| 306 |
+
"cls": "CoffeeMachine"
|
| 307 |
+
},
|
| 308 |
+
"toaster_main_group_1": {
|
| 309 |
+
"cls": "Toaster"
|
| 310 |
+
},
|
| 311 |
+
"toaster_oven_main_group_1": {
|
| 312 |
+
"cls": "ToasterOven"
|
| 313 |
+
},
|
| 314 |
+
"sink_front_group_1": {
|
| 315 |
+
"cls": "Sink"
|
| 316 |
+
},
|
| 317 |
+
"counter_2_front_group_1": {
|
| 318 |
+
"cls": "Counter"
|
| 319 |
+
},
|
| 320 |
+
"stack_05_front_group_1_base": {
|
| 321 |
+
"cls": "Box"
|
| 322 |
+
},
|
| 323 |
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"stack_05_front_group_1_1": {
|
| 324 |
+
"cls": "HingeCabinet"
|
| 325 |
+
},
|
| 326 |
+
"stack_05_front_group_1_2": {
|
| 327 |
+
"cls": "PanelCabinet"
|
| 328 |
+
},
|
| 329 |
+
"stack_08_front_group_1_base": {
|
| 330 |
+
"cls": "Box"
|
| 331 |
+
},
|
| 332 |
+
"stack_08_front_group_1_1": {
|
| 333 |
+
"cls": "HingeCabinet"
|
| 334 |
+
},
|
| 335 |
+
"stack_08_front_group_1_2": {
|
| 336 |
+
"cls": "Drawer"
|
| 337 |
+
},
|
| 338 |
+
"stack_06_front_group_1_base": {
|
| 339 |
+
"cls": "Box"
|
| 340 |
+
},
|
| 341 |
+
"stack_06_front_group_1_1": {
|
| 342 |
+
"cls": "SingleCabinet"
|
| 343 |
+
},
|
| 344 |
+
"stack_04_front_group_1_base": {
|
| 345 |
+
"cls": "Box"
|
| 346 |
+
},
|
| 347 |
+
"stack_04_front_group_1_1": {
|
| 348 |
+
"cls": "HingeCabinet"
|
| 349 |
+
},
|
| 350 |
+
"stack_04_front_group_1_2": {
|
| 351 |
+
"cls": "Drawer"
|
| 352 |
+
},
|
| 353 |
+
"dishwasher_1_front_group_1": {
|
| 354 |
+
"cls": "Dishwasher"
|
| 355 |
+
},
|
| 356 |
+
"stack_12_front_group_1_base": {
|
| 357 |
+
"cls": "Box"
|
| 358 |
+
},
|
| 359 |
+
"stack_12_front_group_1_1": {
|
| 360 |
+
"cls": "HingeCabinet"
|
| 361 |
+
},
|
| 362 |
+
"stack_12_front_group_1_2": {
|
| 363 |
+
"cls": "Drawer"
|
| 364 |
+
},
|
| 365 |
+
"plant_front_group_1": {
|
| 366 |
+
"cls": "Accessory"
|
| 367 |
+
},
|
| 368 |
+
"paper_towel_front_group_1": {
|
| 369 |
+
"cls": "Accessory"
|
| 370 |
+
},
|
| 371 |
+
"cube_1_front_group_2": {
|
| 372 |
+
"cls": "Box"
|
| 373 |
+
},
|
| 374 |
+
"stack_11_front_group_2_base": {
|
| 375 |
+
"cls": "Box"
|
| 376 |
+
},
|
| 377 |
+
"stack_11_front_group_2_1": {
|
| 378 |
+
"cls": "HingeCabinet"
|
| 379 |
+
},
|
| 380 |
+
"stack_10_front_group_2_base": {
|
| 381 |
+
"cls": "Box"
|
| 382 |
+
},
|
| 383 |
+
"stack_10_front_group_2_1": {
|
| 384 |
+
"cls": "HingeCabinet"
|
| 385 |
+
},
|
| 386 |
+
"stack_09_front_group_2_base": {
|
| 387 |
+
"cls": "Box"
|
| 388 |
+
},
|
| 389 |
+
"stack_09_front_group_2_1": {
|
| 390 |
+
"cls": "HingeCabinet"
|
| 391 |
+
},
|
| 392 |
+
"cube_2_front_group_2": {
|
| 393 |
+
"cls": "Box"
|
| 394 |
+
},
|
| 395 |
+
"stack_13_front_group_2_base": {
|
| 396 |
+
"cls": "Box"
|
| 397 |
+
},
|
| 398 |
+
"stack_13_front_group_2_1": {
|
| 399 |
+
"cls": "SingleCabinet"
|
| 400 |
+
}
|
| 401 |
+
},
|
| 402 |
+
"gen_textures": {},
|
| 403 |
+
"lang": "Add the donut to the tupperware that contains the kebab skewer.",
|
| 404 |
+
"fixture_refs": {
|
| 405 |
+
"counter": "dining_dining_area_group"
|
| 406 |
+
},
|
| 407 |
+
"cam_configs": {
|
| 408 |
+
"robot0_agentview_center": {
|
| 409 |
+
"pos": [
|
| 410 |
+
-0.6,
|
| 411 |
+
0.0,
|
| 412 |
+
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|
| 413 |
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],
|
| 414 |
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"quat": [
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| 415 |
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|
| 416 |
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|
| 417 |
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|
| 418 |
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|
| 419 |
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],
|
| 420 |
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"parent_body": "mobilebase0_support"
|
| 421 |
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},
|
| 422 |
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"robot0_agentview_left": {
|
| 423 |
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"pos": [
|
| 424 |
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-0.5,
|
| 425 |
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0.35,
|
| 426 |
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|
| 427 |
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],
|
| 428 |
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| 429 |
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|
| 430 |
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|
| 431 |
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|
| 432 |
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|
| 433 |
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],
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| 434 |
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"camera_attribs": {
|
| 435 |
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"fovy": "60"
|
| 436 |
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},
|
| 437 |
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"parent_body": "mobilebase0_support"
|
| 438 |
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},
|
| 439 |
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"robot0_agentview_right": {
|
| 440 |
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"pos": [
|
| 441 |
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-0.5,
|
| 442 |
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-0.35,
|
| 443 |
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|
| 444 |
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],
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| 445 |
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"quat": [
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| 446 |
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| 447 |
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|
| 448 |
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|
| 449 |
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|
| 450 |
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],
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| 451 |
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|
| 452 |
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"fovy": "60"
|
| 453 |
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},
|
| 454 |
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"parent_body": "mobilebase0_support"
|
| 455 |
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},
|
| 456 |
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"robot0_frontview": {
|
| 457 |
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"pos": [
|
| 458 |
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-0.5,
|
| 459 |
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0,
|
| 460 |
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|
| 461 |
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],
|
| 462 |
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| 463 |
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|
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|
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|
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| 468 |
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|
| 469 |
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|
| 470 |
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},
|
| 471 |
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"parent_body": "mobilebase0_support"
|
| 472 |
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},
|
| 473 |
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"robot0_eye_in_hand": {
|
| 474 |
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"pos": [
|
| 475 |
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0.05,
|
| 476 |
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|
| 477 |
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|
| 478 |
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],
|
| 479 |
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"quat": [
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| 480 |
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|
| 481 |
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|
| 482 |
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|
| 483 |
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|
| 484 |
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],
|
| 485 |
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"parent_body": "robot0_right_hand"
|
| 486 |
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}
|
| 487 |
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},
|
| 488 |
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"init_robot_base_pos": [
|
| 489 |
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|
| 490 |
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|
| 491 |
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|
| 492 |
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],
|
| 493 |
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"init_robot_base_ori": [
|
| 494 |
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|
| 495 |
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0.0,
|
| 496 |
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|
| 497 |
+
]
|
| 498 |
+
}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000077/ep_meta.json
ADDED
|
@@ -0,0 +1,576 @@
|
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|
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|
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|
|
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|
|
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|
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|
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|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 12,
|
| 3 |
+
"style_id": 49,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
+
"obj_groups": "tupperware",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "island_island_group",
|
| 10 |
+
"size": [
|
| 11 |
+
0.5,
|
| 12 |
+
0.5
|
| 13 |
+
],
|
| 14 |
+
"pos": [
|
| 15 |
+
0,
|
| 16 |
+
-1.0
|
| 17 |
+
],
|
| 18 |
+
"try_to_place_in": "tupperware",
|
| 19 |
+
"try_to_place_in_kwargs": {
|
| 20 |
+
"object_scale": [
|
| 21 |
+
2.5,
|
| 22 |
+
2.5,
|
| 23 |
+
1.25
|
| 24 |
+
]
|
| 25 |
+
},
|
| 26 |
+
"rotation": 0
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"init_robot_here": true,
|
| 30 |
+
"object_scale": [
|
| 31 |
+
2.5,
|
| 32 |
+
2.5,
|
| 33 |
+
1.25
|
| 34 |
+
],
|
| 35 |
+
"info": {
|
| 36 |
+
"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
+
"tupperware",
|
| 39 |
+
"receptacle"
|
| 40 |
+
],
|
| 41 |
+
"groups": [
|
| 42 |
+
"tupperware"
|
| 43 |
+
],
|
| 44 |
+
"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml"
|
| 47 |
+
},
|
| 48 |
+
"reset_region": {
|
| 49 |
+
"size": [
|
| 50 |
+
3.747,
|
| 51 |
+
1.475
|
| 52 |
+
],
|
| 53 |
+
"offset": [
|
| 54 |
+
0.0,
|
| 55 |
+
0.0,
|
| 56 |
+
0.46
|
| 57 |
+
],
|
| 58 |
+
"name": "geom_0"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "cooked_food",
|
| 63 |
+
"obj_groups": "cooked_food",
|
| 64 |
+
"init_robot_here": false,
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
+
"size": [
|
| 68 |
+
0.01,
|
| 69 |
+
0.01
|
| 70 |
+
],
|
| 71 |
+
"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
+
"groups_containing_sampled_obj": [
|
| 80 |
+
"all",
|
| 81 |
+
"hot_dog",
|
| 82 |
+
"cooked_food",
|
| 83 |
+
"food",
|
| 84 |
+
"in_container"
|
| 85 |
+
],
|
| 86 |
+
"groups": [
|
| 87 |
+
"cooked_food"
|
| 88 |
+
],
|
| 89 |
+
"cat": "hot_dog",
|
| 90 |
+
"split": "train",
|
| 91 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "dessert",
|
| 96 |
+
"obj_groups": "sweets",
|
| 97 |
+
"exclude_obj_groups": "sugar_cube",
|
| 98 |
+
"graspable": true,
|
| 99 |
+
"placement": {
|
| 100 |
+
"fixture": "island_island_group",
|
| 101 |
+
"reuse_region_from": "cooked_food_container",
|
| 102 |
+
"size": [
|
| 103 |
+
0.5,
|
| 104 |
+
0.2
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
0,
|
| 108 |
+
-1.0
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"type": "object",
|
| 112 |
+
"info": {
|
| 113 |
+
"groups_containing_sampled_obj": [
|
| 114 |
+
"all",
|
| 115 |
+
"donut",
|
| 116 |
+
"sweets",
|
| 117 |
+
"pastry",
|
| 118 |
+
"food",
|
| 119 |
+
"in_container"
|
| 120 |
+
],
|
| 121 |
+
"groups": [
|
| 122 |
+
"sweets"
|
| 123 |
+
],
|
| 124 |
+
"cat": "donut",
|
| 125 |
+
"split": "train",
|
| 126 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_12/model.xml"
|
| 127 |
+
},
|
| 128 |
+
"reset_region": {
|
| 129 |
+
"size": [
|
| 130 |
+
3.747,
|
| 131 |
+
1.475
|
| 132 |
+
],
|
| 133 |
+
"offset": [
|
| 134 |
+
0.0,
|
| 135 |
+
0.0,
|
| 136 |
+
0.46
|
| 137 |
+
],
|
| 138 |
+
"name": "geom_0"
|
| 139 |
+
}
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"fixtures": {
|
| 143 |
+
"wall_left_1_room": {
|
| 144 |
+
"cls": "Wall"
|
| 145 |
+
},
|
| 146 |
+
"wall_left_1_backing_room": {
|
| 147 |
+
"cls": "Wall"
|
| 148 |
+
},
|
| 149 |
+
"wall_main_1_room": {
|
| 150 |
+
"cls": "Wall"
|
| 151 |
+
},
|
| 152 |
+
"wall_main_1_backing_room": {
|
| 153 |
+
"cls": "Wall"
|
| 154 |
+
},
|
| 155 |
+
"wall_right_1_room": {
|
| 156 |
+
"cls": "Wall"
|
| 157 |
+
},
|
| 158 |
+
"wall_right_1_backing_room": {
|
| 159 |
+
"cls": "Wall"
|
| 160 |
+
},
|
| 161 |
+
"wall_right_2_room": {
|
| 162 |
+
"cls": "Wall"
|
| 163 |
+
},
|
| 164 |
+
"wall_right_2_backing_room": {
|
| 165 |
+
"cls": "Wall"
|
| 166 |
+
},
|
| 167 |
+
"wall_right_3_room": {
|
| 168 |
+
"cls": "Wall"
|
| 169 |
+
},
|
| 170 |
+
"wall_right_3_backing_room": {
|
| 171 |
+
"cls": "Wall"
|
| 172 |
+
},
|
| 173 |
+
"floor_1_room": {
|
| 174 |
+
"cls": "Floor"
|
| 175 |
+
},
|
| 176 |
+
"floor_1_backing_room": {
|
| 177 |
+
"cls": "Floor"
|
| 178 |
+
},
|
| 179 |
+
"wall_accessory_1_room": {
|
| 180 |
+
"cls": "WallAccessory"
|
| 181 |
+
},
|
| 182 |
+
"wall_accessory_2_room": {
|
| 183 |
+
"cls": "WallAccessory"
|
| 184 |
+
},
|
| 185 |
+
"wall_accessory_3_room": {
|
| 186 |
+
"cls": "WallAccessory"
|
| 187 |
+
},
|
| 188 |
+
"light_switch_1_room": {
|
| 189 |
+
"cls": "WallAccessory"
|
| 190 |
+
},
|
| 191 |
+
"wall_accessory_4_room": {
|
| 192 |
+
"cls": "WallAccessory"
|
| 193 |
+
},
|
| 194 |
+
"wall_accessory_5_room": {
|
| 195 |
+
"cls": "WallAccessory"
|
| 196 |
+
},
|
| 197 |
+
"window_group_room": {
|
| 198 |
+
"cls": "Window"
|
| 199 |
+
},
|
| 200 |
+
"stool_1_room": {
|
| 201 |
+
"cls": "Stool"
|
| 202 |
+
},
|
| 203 |
+
"stool_2_room": {
|
| 204 |
+
"cls": "Stool"
|
| 205 |
+
},
|
| 206 |
+
"stool_3_room": {
|
| 207 |
+
"cls": "Stool"
|
| 208 |
+
},
|
| 209 |
+
"stool_4_room": {
|
| 210 |
+
"cls": "Stool"
|
| 211 |
+
},
|
| 212 |
+
"stool_5_room": {
|
| 213 |
+
"cls": "Stool"
|
| 214 |
+
},
|
| 215 |
+
"stool_6_room": {
|
| 216 |
+
"cls": "Stool"
|
| 217 |
+
},
|
| 218 |
+
"counter_corner_1_main_group": {
|
| 219 |
+
"cls": "Counter"
|
| 220 |
+
},
|
| 221 |
+
"sink_1_main_group": {
|
| 222 |
+
"cls": "Sink"
|
| 223 |
+
},
|
| 224 |
+
"counter_1_main_group": {
|
| 225 |
+
"cls": "Counter"
|
| 226 |
+
},
|
| 227 |
+
"counter_corner_2_main_group": {
|
| 228 |
+
"cls": "Counter"
|
| 229 |
+
},
|
| 230 |
+
"box_1_main_group": {
|
| 231 |
+
"cls": "Box"
|
| 232 |
+
},
|
| 233 |
+
"stack_1_main_group_base": {
|
| 234 |
+
"cls": "Box"
|
| 235 |
+
},
|
| 236 |
+
"stack_1_main_group_1": {
|
| 237 |
+
"cls": "Drawer"
|
| 238 |
+
},
|
| 239 |
+
"stack_1_main_group_2": {
|
| 240 |
+
"cls": "Drawer"
|
| 241 |
+
},
|
| 242 |
+
"stack_1_main_group_3": {
|
| 243 |
+
"cls": "Drawer"
|
| 244 |
+
},
|
| 245 |
+
"stack_2_main_group_base": {
|
| 246 |
+
"cls": "Box"
|
| 247 |
+
},
|
| 248 |
+
"stack_2_main_group_1": {
|
| 249 |
+
"cls": "SingleCabinet"
|
| 250 |
+
},
|
| 251 |
+
"stack_2_main_group_2": {
|
| 252 |
+
"cls": "Drawer"
|
| 253 |
+
},
|
| 254 |
+
"stack_3_main_group_base": {
|
| 255 |
+
"cls": "Box"
|
| 256 |
+
},
|
| 257 |
+
"stack_3_main_group_1": {
|
| 258 |
+
"cls": "HingeCabinet"
|
| 259 |
+
},
|
| 260 |
+
"dishwasher_1_main_group": {
|
| 261 |
+
"cls": "Dishwasher"
|
| 262 |
+
},
|
| 263 |
+
"stack_4_main_group_base": {
|
| 264 |
+
"cls": "Box"
|
| 265 |
+
},
|
| 266 |
+
"stack_4_main_group_1": {
|
| 267 |
+
"cls": "SingleCabinet"
|
| 268 |
+
},
|
| 269 |
+
"stack_4_main_group_2": {
|
| 270 |
+
"cls": "Drawer"
|
| 271 |
+
},
|
| 272 |
+
"stack_5_main_group_base": {
|
| 273 |
+
"cls": "Box"
|
| 274 |
+
},
|
| 275 |
+
"stack_5_main_group_1": {
|
| 276 |
+
"cls": "SingleCabinet"
|
| 277 |
+
},
|
| 278 |
+
"box_2_main_group": {
|
| 279 |
+
"cls": "Box"
|
| 280 |
+
},
|
| 281 |
+
"top_corner_1_main_group": {
|
| 282 |
+
"cls": "Box"
|
| 283 |
+
},
|
| 284 |
+
"cab_1_main_group": {
|
| 285 |
+
"cls": "HingeCabinet"
|
| 286 |
+
},
|
| 287 |
+
"cab_2_main_group": {
|
| 288 |
+
"cls": "HingeCabinet"
|
| 289 |
+
},
|
| 290 |
+
"top_corner_2_main_group": {
|
| 291 |
+
"cls": "Box"
|
| 292 |
+
},
|
| 293 |
+
"paper_towel_main_group": {
|
| 294 |
+
"cls": "Accessory"
|
| 295 |
+
},
|
| 296 |
+
"coffee_machine_main_group": {
|
| 297 |
+
"cls": "CoffeeMachine"
|
| 298 |
+
},
|
| 299 |
+
"toaster_main_group": {
|
| 300 |
+
"cls": "Toaster"
|
| 301 |
+
},
|
| 302 |
+
"knife_block_main_group": {
|
| 303 |
+
"cls": "Accessory"
|
| 304 |
+
},
|
| 305 |
+
"stovetop_left_group": {
|
| 306 |
+
"cls": "Stovetop"
|
| 307 |
+
},
|
| 308 |
+
"counter_1_left_group": {
|
| 309 |
+
"cls": "Counter"
|
| 310 |
+
},
|
| 311 |
+
"box_1_left_group": {
|
| 312 |
+
"cls": "Box"
|
| 313 |
+
},
|
| 314 |
+
"stack_1_left_group_base": {
|
| 315 |
+
"cls": "Box"
|
| 316 |
+
},
|
| 317 |
+
"stack_1_left_group_1": {
|
| 318 |
+
"cls": "SingleCabinet"
|
| 319 |
+
},
|
| 320 |
+
"stack_2_left_group_base": {
|
| 321 |
+
"cls": "Box"
|
| 322 |
+
},
|
| 323 |
+
"stack_2_left_group_1": {
|
| 324 |
+
"cls": "Drawer"
|
| 325 |
+
},
|
| 326 |
+
"stack_2_left_group_2": {
|
| 327 |
+
"cls": "Drawer"
|
| 328 |
+
},
|
| 329 |
+
"stack_2_left_group_3": {
|
| 330 |
+
"cls": "PanelCabinet"
|
| 331 |
+
},
|
| 332 |
+
"box_3_left_group": {
|
| 333 |
+
"cls": "Box"
|
| 334 |
+
},
|
| 335 |
+
"stack_3_left_group_base": {
|
| 336 |
+
"cls": "Box"
|
| 337 |
+
},
|
| 338 |
+
"stack_3_left_group_1": {
|
| 339 |
+
"cls": "Drawer"
|
| 340 |
+
},
|
| 341 |
+
"stack_3_left_group_2": {
|
| 342 |
+
"cls": "Drawer"
|
| 343 |
+
},
|
| 344 |
+
"stack_3_left_group_3": {
|
| 345 |
+
"cls": "Drawer"
|
| 346 |
+
},
|
| 347 |
+
"box_2_left_group": {
|
| 348 |
+
"cls": "Box"
|
| 349 |
+
},
|
| 350 |
+
"fridge_1_left_group": {
|
| 351 |
+
"cls": "FridgeFrenchDoor"
|
| 352 |
+
},
|
| 353 |
+
"fridge_1_housing_left_group": {
|
| 354 |
+
"cls": "HousingCabinet"
|
| 355 |
+
},
|
| 356 |
+
"hood_left_group": {
|
| 357 |
+
"cls": "Hood"
|
| 358 |
+
},
|
| 359 |
+
"cab_1_left_group": {
|
| 360 |
+
"cls": "HingeCabinet"
|
| 361 |
+
},
|
| 362 |
+
"cab_2_left_group": {
|
| 363 |
+
"cls": "SingleCabinet"
|
| 364 |
+
},
|
| 365 |
+
"cab_3_left_group": {
|
| 366 |
+
"cls": "HingeCabinet"
|
| 367 |
+
},
|
| 368 |
+
"toaster_oven_left_group": {
|
| 369 |
+
"cls": "ToasterOven"
|
| 370 |
+
},
|
| 371 |
+
"bottom_right_group_1_base": {
|
| 372 |
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"cls": "Box"
|
| 373 |
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},
|
| 374 |
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"bottom_right_group_1_1": {
|
| 375 |
+
"cls": "Drawer"
|
| 376 |
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},
|
| 377 |
+
"oven_right_group_1": {
|
| 378 |
+
"cls": "Oven"
|
| 379 |
+
},
|
| 380 |
+
"oven_housing_right_group_1": {
|
| 381 |
+
"cls": "HousingCabinet"
|
| 382 |
+
},
|
| 383 |
+
"microwave_right_group_1": {
|
| 384 |
+
"cls": "Microwave"
|
| 385 |
+
},
|
| 386 |
+
"microwave_housing_right_group_1": {
|
| 387 |
+
"cls": "HousingCabinet"
|
| 388 |
+
},
|
| 389 |
+
"top_right_group_1": {
|
| 390 |
+
"cls": "HingeCabinet"
|
| 391 |
+
},
|
| 392 |
+
"stack_1_right_group_1_base": {
|
| 393 |
+
"cls": "Box"
|
| 394 |
+
},
|
| 395 |
+
"stack_1_right_group_1_1": {
|
| 396 |
+
"cls": "HingeCabinet"
|
| 397 |
+
},
|
| 398 |
+
"stack_2_right_group_1_base": {
|
| 399 |
+
"cls": "Box"
|
| 400 |
+
},
|
| 401 |
+
"stack_2_right_group_1_1": {
|
| 402 |
+
"cls": "PanelCabinet"
|
| 403 |
+
},
|
| 404 |
+
"box_right_group_1": {
|
| 405 |
+
"cls": "Box"
|
| 406 |
+
},
|
| 407 |
+
"stack_3_right_group_1_base": {
|
| 408 |
+
"cls": "Box"
|
| 409 |
+
},
|
| 410 |
+
"stack_3_right_group_1_1": {
|
| 411 |
+
"cls": "HingeCabinet"
|
| 412 |
+
},
|
| 413 |
+
"counter_1_right_group_1": {
|
| 414 |
+
"cls": "Counter"
|
| 415 |
+
},
|
| 416 |
+
"cab_1_right_group_1": {
|
| 417 |
+
"cls": "HingeCabinet"
|
| 418 |
+
},
|
| 419 |
+
"cab_2_right_group_1": {
|
| 420 |
+
"cls": "SingleCabinet"
|
| 421 |
+
},
|
| 422 |
+
"cab_3_right_group_1": {
|
| 423 |
+
"cls": "HingeCabinet"
|
| 424 |
+
},
|
| 425 |
+
"island_island_group": {
|
| 426 |
+
"cls": "Counter"
|
| 427 |
+
},
|
| 428 |
+
"panel_stack_1_island_group_base": {
|
| 429 |
+
"cls": "Box"
|
| 430 |
+
},
|
| 431 |
+
"panel_stack_1_island_group_1": {
|
| 432 |
+
"cls": "PanelCabinet"
|
| 433 |
+
},
|
| 434 |
+
"stack_1_island_group_base": {
|
| 435 |
+
"cls": "Box"
|
| 436 |
+
},
|
| 437 |
+
"stack_1_island_group_1": {
|
| 438 |
+
"cls": "HingeCabinet"
|
| 439 |
+
},
|
| 440 |
+
"stack_1_island_group_2": {
|
| 441 |
+
"cls": "Drawer"
|
| 442 |
+
},
|
| 443 |
+
"stack_2_island_group_base": {
|
| 444 |
+
"cls": "Box"
|
| 445 |
+
},
|
| 446 |
+
"stack_2_island_group_1": {
|
| 447 |
+
"cls": "HingeCabinet"
|
| 448 |
+
},
|
| 449 |
+
"stack_2_island_group_2": {
|
| 450 |
+
"cls": "Drawer"
|
| 451 |
+
},
|
| 452 |
+
"stack_3_island_group_base": {
|
| 453 |
+
"cls": "Box"
|
| 454 |
+
},
|
| 455 |
+
"stack_3_island_group_1": {
|
| 456 |
+
"cls": "HingeCabinet"
|
| 457 |
+
},
|
| 458 |
+
"stack_3_island_group_2": {
|
| 459 |
+
"cls": "Drawer"
|
| 460 |
+
},
|
| 461 |
+
"stack_4_island_group_base": {
|
| 462 |
+
"cls": "Box"
|
| 463 |
+
},
|
| 464 |
+
"stack_4_island_group_1": {
|
| 465 |
+
"cls": "HingeCabinet"
|
| 466 |
+
},
|
| 467 |
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"stack_4_island_group_2": {
|
| 468 |
+
"cls": "Drawer"
|
| 469 |
+
},
|
| 470 |
+
"panel_stack_2_island_group_base": {
|
| 471 |
+
"cls": "Box"
|
| 472 |
+
},
|
| 473 |
+
"panel_stack_2_island_group_1": {
|
| 474 |
+
"cls": "PanelCabinet"
|
| 475 |
+
},
|
| 476 |
+
"box_1_island_group": {
|
| 477 |
+
"cls": "Box"
|
| 478 |
+
}
|
| 479 |
+
},
|
| 480 |
+
"gen_textures": {},
|
| 481 |
+
"lang": "Add the donut to the tupperware that contains the hot dog.",
|
| 482 |
+
"fixture_refs": {
|
| 483 |
+
"counter": "island_island_group"
|
| 484 |
+
},
|
| 485 |
+
"cam_configs": {
|
| 486 |
+
"robot0_agentview_center": {
|
| 487 |
+
"pos": [
|
| 488 |
+
-0.6,
|
| 489 |
+
0.0,
|
| 490 |
+
1.15
|
| 491 |
+
],
|
| 492 |
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"quat": [
|
| 493 |
+
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|
| 494 |
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|
| 495 |
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|
| 496 |
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|
| 497 |
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],
|
| 498 |
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"parent_body": "mobilebase0_support"
|
| 499 |
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},
|
| 500 |
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"robot0_agentview_left": {
|
| 501 |
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"pos": [
|
| 502 |
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-0.5,
|
| 503 |
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0.35,
|
| 504 |
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1.05
|
| 505 |
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],
|
| 506 |
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"quat": [
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| 507 |
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|
| 508 |
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|
| 509 |
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|
| 510 |
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-0.6775092
|
| 511 |
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],
|
| 512 |
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"camera_attribs": {
|
| 513 |
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"fovy": "60"
|
| 514 |
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},
|
| 515 |
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"parent_body": "mobilebase0_support"
|
| 516 |
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},
|
| 517 |
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"robot0_agentview_right": {
|
| 518 |
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"pos": [
|
| 519 |
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-0.5,
|
| 520 |
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-0.35,
|
| 521 |
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1.05
|
| 522 |
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],
|
| 523 |
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"quat": [
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| 524 |
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|
| 525 |
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|
| 526 |
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|
| 527 |
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|
| 528 |
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],
|
| 529 |
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"camera_attribs": {
|
| 530 |
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"fovy": "60"
|
| 531 |
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},
|
| 532 |
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"parent_body": "mobilebase0_support"
|
| 533 |
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},
|
| 534 |
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"robot0_frontview": {
|
| 535 |
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"pos": [
|
| 536 |
+
-0.5,
|
| 537 |
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0,
|
| 538 |
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|
| 539 |
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],
|
| 540 |
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"quat": [
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| 541 |
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|
| 542 |
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|
| 543 |
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|
| 544 |
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|
| 545 |
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],
|
| 546 |
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"camera_attribs": {
|
| 547 |
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"fovy": "60"
|
| 548 |
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},
|
| 549 |
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"parent_body": "mobilebase0_support"
|
| 550 |
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},
|
| 551 |
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"robot0_eye_in_hand": {
|
| 552 |
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"pos": [
|
| 553 |
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0.05,
|
| 554 |
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0,
|
| 555 |
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0
|
| 556 |
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],
|
| 557 |
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"quat": [
|
| 558 |
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0,
|
| 559 |
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0.707107,
|
| 560 |
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0.707107,
|
| 561 |
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|
| 562 |
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],
|
| 563 |
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"parent_body": "robot0_right_hand"
|
| 564 |
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}
|
| 565 |
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},
|
| 566 |
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"init_robot_base_pos": [
|
| 567 |
+
1.729171188738976,
|
| 568 |
+
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|
| 569 |
+
0.0
|
| 570 |
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],
|
| 571 |
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"init_robot_base_ori": [
|
| 572 |
+
0.0,
|
| 573 |
+
0.0,
|
| 574 |
+
3.422854288892552e-08
|
| 575 |
+
]
|
| 576 |
+
}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000085/ep_meta.json
ADDED
|
@@ -0,0 +1,458 @@
|
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|
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|
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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": 11,
|
| 3 |
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|
| 4 |
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|
| 5 |
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{
|
| 6 |
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"name": "cooked_food_container",
|
| 7 |
+
"obj_groups": "tupperware",
|
| 8 |
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"placement": {
|
| 9 |
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"fixture": "counter_1_left_group",
|
| 10 |
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"size": [
|
| 11 |
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0.5,
|
| 12 |
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0.5
|
| 13 |
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],
|
| 14 |
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"pos": [
|
| 15 |
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0,
|
| 16 |
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-1.0
|
| 17 |
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],
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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2.5,
|
| 22 |
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2.5,
|
| 23 |
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1.25
|
| 24 |
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]
|
| 25 |
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|
| 26 |
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"rotation": 0
|
| 27 |
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},
|
| 28 |
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"type": "object",
|
| 29 |
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"init_robot_here": true,
|
| 30 |
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|
| 31 |
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2.5,
|
| 32 |
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2.5,
|
| 33 |
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1.25
|
| 34 |
+
],
|
| 35 |
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"info": {
|
| 36 |
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"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
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"tupperware",
|
| 39 |
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"receptacle"
|
| 40 |
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],
|
| 41 |
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"groups": [
|
| 42 |
+
"tupperware"
|
| 43 |
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],
|
| 44 |
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"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml"
|
| 47 |
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},
|
| 48 |
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"reset_region": {
|
| 49 |
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|
| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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"name": "geom_1"
|
| 59 |
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}
|
| 60 |
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},
|
| 61 |
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{
|
| 62 |
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"name": "cooked_food",
|
| 63 |
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"obj_groups": "cooked_food",
|
| 64 |
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|
| 65 |
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"graspable": true,
|
| 66 |
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|
| 67 |
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|
| 68 |
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0.01,
|
| 69 |
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0.01
|
| 70 |
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],
|
| 71 |
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|
| 72 |
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|
| 73 |
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"reference": "cooked_food_container",
|
| 74 |
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"on_top": true
|
| 75 |
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}
|
| 76 |
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},
|
| 77 |
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"type": "object",
|
| 78 |
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"info": {
|
| 79 |
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"groups_containing_sampled_obj": [
|
| 80 |
+
"all",
|
| 81 |
+
"hot_dog",
|
| 82 |
+
"cooked_food",
|
| 83 |
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"food",
|
| 84 |
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"in_container"
|
| 85 |
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],
|
| 86 |
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|
| 87 |
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"cooked_food"
|
| 88 |
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],
|
| 89 |
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"cat": "hot_dog",
|
| 90 |
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"split": "train",
|
| 91 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml"
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
+
{
|
| 95 |
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"name": "dessert",
|
| 96 |
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"obj_groups": "sweets",
|
| 97 |
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"exclude_obj_groups": "sugar_cube",
|
| 98 |
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"graspable": true,
|
| 99 |
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"placement": {
|
| 100 |
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"fixture": "counter_1_left_group",
|
| 101 |
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"reuse_region_from": "cooked_food_container",
|
| 102 |
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"size": [
|
| 103 |
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0.5,
|
| 104 |
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0.2
|
| 105 |
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],
|
| 106 |
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|
| 107 |
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0,
|
| 108 |
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-1.0
|
| 109 |
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]
|
| 110 |
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},
|
| 111 |
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"type": "object",
|
| 112 |
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"info": {
|
| 113 |
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"groups_containing_sampled_obj": [
|
| 114 |
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"all",
|
| 115 |
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"cookie_dough_ball",
|
| 116 |
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"sweets",
|
| 117 |
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"food",
|
| 118 |
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"in_container"
|
| 119 |
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],
|
| 120 |
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"groups": [
|
| 121 |
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|
| 122 |
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],
|
| 123 |
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"cat": "cookie_dough_ball",
|
| 124 |
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"split": "train",
|
| 125 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall006/model.xml"
|
| 126 |
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},
|
| 127 |
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| 128 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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|
| 134 |
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|
| 135 |
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| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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}
|
| 140 |
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],
|
| 141 |
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"fixtures": {
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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"cls": "Wall"
|
| 159 |
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|
| 160 |
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"wall_left_2_room": {
|
| 161 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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"cls": "Wall"
|
| 165 |
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},
|
| 166 |
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"wall_left_3_room": {
|
| 167 |
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"cls": "Wall"
|
| 168 |
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|
| 169 |
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|
| 170 |
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"cls": "Wall"
|
| 171 |
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|
| 172 |
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|
| 173 |
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"cls": "Floor"
|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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|
| 191 |
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|
| 192 |
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| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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},
|
| 214 |
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"counter_2_main_group": {
|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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"cls": "Box"
|
| 219 |
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},
|
| 220 |
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|
| 221 |
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"cls": "Drawer"
|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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},
|
| 226 |
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|
| 227 |
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"cls": "Drawer"
|
| 228 |
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|
| 229 |
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|
| 230 |
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"cls": "Drawer"
|
| 231 |
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},
|
| 232 |
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|
| 233 |
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"cls": "Box"
|
| 234 |
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},
|
| 235 |
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|
| 236 |
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"cls": "SingleCabinet"
|
| 237 |
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|
| 238 |
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|
| 239 |
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"cls": "Drawer"
|
| 240 |
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},
|
| 241 |
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|
| 242 |
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"cls": "Box"
|
| 243 |
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},
|
| 244 |
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"stack_3_main_group_1": {
|
| 245 |
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"cls": "SingleCabinet"
|
| 246 |
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},
|
| 247 |
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"stack_3_main_group_2": {
|
| 248 |
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"cls": "Drawer"
|
| 249 |
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},
|
| 250 |
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"stack_4_main_group_base": {
|
| 251 |
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"cls": "Box"
|
| 252 |
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},
|
| 253 |
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"stack_4_main_group_1": {
|
| 254 |
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"cls": "Drawer"
|
| 255 |
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},
|
| 256 |
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"stack_4_main_group_2": {
|
| 257 |
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"cls": "Drawer"
|
| 258 |
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},
|
| 259 |
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|
| 260 |
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"cls": "Drawer"
|
| 261 |
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},
|
| 262 |
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|
| 263 |
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"cls": "Drawer"
|
| 264 |
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},
|
| 265 |
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|
| 266 |
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"cls": "Box"
|
| 267 |
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},
|
| 268 |
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|
| 269 |
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"cls": "SingleCabinet"
|
| 270 |
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},
|
| 271 |
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"stack_5_main_group_2": {
|
| 272 |
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"cls": "SingleCabinet"
|
| 273 |
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},
|
| 274 |
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|
| 275 |
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"cls": "HingeCabinet"
|
| 276 |
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},
|
| 277 |
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"microwave_main_group": {
|
| 278 |
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"cls": "Microwave"
|
| 279 |
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},
|
| 280 |
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|
| 281 |
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"cls": "HingeCabinet"
|
| 282 |
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},
|
| 283 |
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"cab_3_main_group": {
|
| 284 |
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"cls": "HingeCabinet"
|
| 285 |
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},
|
| 286 |
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|
| 287 |
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"cls": "Box"
|
| 288 |
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},
|
| 289 |
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|
| 290 |
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"cls": "SingleCabinet"
|
| 291 |
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},
|
| 292 |
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|
| 293 |
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"cls": "SingleCabinet"
|
| 294 |
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},
|
| 295 |
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"counter_stack_main_group_3": {
|
| 296 |
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"cls": "HingeCabinet"
|
| 297 |
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},
|
| 298 |
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|
| 299 |
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"cls": "Toaster"
|
| 300 |
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},
|
| 301 |
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"sink_left_group": {
|
| 302 |
+
"cls": "Sink"
|
| 303 |
+
},
|
| 304 |
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"counter_1_left_group": {
|
| 305 |
+
"cls": "Counter"
|
| 306 |
+
},
|
| 307 |
+
"counter_left_group": {
|
| 308 |
+
"cls": "Counter"
|
| 309 |
+
},
|
| 310 |
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"panel_cab_left_group_base": {
|
| 311 |
+
"cls": "Box"
|
| 312 |
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},
|
| 313 |
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"panel_cab_left_group_1": {
|
| 314 |
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"cls": "PanelCabinet"
|
| 315 |
+
},
|
| 316 |
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|
| 317 |
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"cls": "Dishwasher"
|
| 318 |
+
},
|
| 319 |
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|
| 320 |
+
"cls": "Box"
|
| 321 |
+
},
|
| 322 |
+
"stack_1_left_group_1": {
|
| 323 |
+
"cls": "HingeCabinet"
|
| 324 |
+
},
|
| 325 |
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|
| 326 |
+
"cls": "PanelCabinet"
|
| 327 |
+
},
|
| 328 |
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"stack_2_left_group_base": {
|
| 329 |
+
"cls": "Box"
|
| 330 |
+
},
|
| 331 |
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"stack_2_left_group_1": {
|
| 332 |
+
"cls": "SingleCabinet"
|
| 333 |
+
},
|
| 334 |
+
"stack_2_left_group_2": {
|
| 335 |
+
"cls": "Drawer"
|
| 336 |
+
},
|
| 337 |
+
"box_left_group": {
|
| 338 |
+
"cls": "Box"
|
| 339 |
+
},
|
| 340 |
+
"coffee_machine_left_group": {
|
| 341 |
+
"cls": "CoffeeMachine"
|
| 342 |
+
},
|
| 343 |
+
"paper_towel_left_group": {
|
| 344 |
+
"cls": "Accessory"
|
| 345 |
+
},
|
| 346 |
+
"box_right_group": {
|
| 347 |
+
"cls": "Box"
|
| 348 |
+
},
|
| 349 |
+
"fridge_right_group": {
|
| 350 |
+
"cls": "FridgeBottomFreezer"
|
| 351 |
+
},
|
| 352 |
+
"fridge_housing_right_group": {
|
| 353 |
+
"cls": "HousingCabinet"
|
| 354 |
+
},
|
| 355 |
+
"cab_1_right_group": {
|
| 356 |
+
"cls": "HingeCabinet"
|
| 357 |
+
},
|
| 358 |
+
"dining_dining_group": {
|
| 359 |
+
"cls": "Counter"
|
| 360 |
+
}
|
| 361 |
+
},
|
| 362 |
+
"gen_textures": {},
|
| 363 |
+
"lang": "Add the cookie dough ball to the tupperware that contains the hot dog.",
|
| 364 |
+
"fixture_refs": {
|
| 365 |
+
"counter": "counter_1_left_group"
|
| 366 |
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},
|
| 367 |
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"cam_configs": {
|
| 368 |
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"robot0_agentview_center": {
|
| 369 |
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| 370 |
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| 371 |
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| 372 |
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| 373 |
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| 374 |
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| 375 |
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| 376 |
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| 377 |
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| 378 |
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| 379 |
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| 380 |
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| 381 |
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| 382 |
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|
| 383 |
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| 384 |
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| 385 |
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| 386 |
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|
| 387 |
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| 388 |
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| 389 |
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| 390 |
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| 391 |
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| 392 |
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| 393 |
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| 394 |
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| 395 |
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| 396 |
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|
| 397 |
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"parent_body": "mobilebase0_support"
|
| 398 |
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},
|
| 399 |
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"robot0_agentview_right": {
|
| 400 |
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| 401 |
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| 402 |
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| 403 |
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|
| 404 |
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],
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| 405 |
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"quat": [
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| 406 |
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| 407 |
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| 408 |
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| 409 |
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| 410 |
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| 411 |
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|
| 412 |
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|
| 413 |
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},
|
| 414 |
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"parent_body": "mobilebase0_support"
|
| 415 |
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},
|
| 416 |
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"robot0_frontview": {
|
| 417 |
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"pos": [
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| 418 |
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|
| 419 |
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|
| 420 |
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| 421 |
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],
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| 422 |
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"quat": [
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| 423 |
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| 424 |
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| 425 |
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| 426 |
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| 427 |
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| 428 |
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|
| 429 |
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|
| 430 |
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},
|
| 431 |
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"parent_body": "mobilebase0_support"
|
| 432 |
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},
|
| 433 |
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"robot0_eye_in_hand": {
|
| 434 |
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"pos": [
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| 435 |
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|
| 436 |
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|
| 437 |
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| 438 |
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],
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| 439 |
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"quat": [
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| 440 |
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| 441 |
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|
| 442 |
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|
| 443 |
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| 444 |
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],
|
| 445 |
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"parent_body": "robot0_right_hand"
|
| 446 |
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}
|
| 447 |
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},
|
| 448 |
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"init_robot_base_pos": [
|
| 449 |
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|
| 450 |
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|
| 451 |
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| 452 |
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| 453 |
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"init_robot_base_ori": [
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| 454 |
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|
| 455 |
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|
| 456 |
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|
| 457 |
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]
|
| 458 |
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}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000090/ep_meta.json
ADDED
|
@@ -0,0 +1,575 @@
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 29,
|
| 3 |
+
"style_id": 27,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
+
"obj_groups": "tupperware",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "counter_1_main_group",
|
| 10 |
+
"size": [
|
| 11 |
+
0.5,
|
| 12 |
+
0.5
|
| 13 |
+
],
|
| 14 |
+
"pos": [
|
| 15 |
+
0,
|
| 16 |
+
-1.0
|
| 17 |
+
],
|
| 18 |
+
"try_to_place_in": "tupperware",
|
| 19 |
+
"try_to_place_in_kwargs": {
|
| 20 |
+
"object_scale": [
|
| 21 |
+
2.5,
|
| 22 |
+
2.5,
|
| 23 |
+
1.25
|
| 24 |
+
]
|
| 25 |
+
},
|
| 26 |
+
"rotation": 0
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"init_robot_here": true,
|
| 30 |
+
"object_scale": [
|
| 31 |
+
2.5,
|
| 32 |
+
2.5,
|
| 33 |
+
1.25
|
| 34 |
+
],
|
| 35 |
+
"info": {
|
| 36 |
+
"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
+
"tupperware",
|
| 39 |
+
"receptacle"
|
| 40 |
+
],
|
| 41 |
+
"groups": [
|
| 42 |
+
"tupperware"
|
| 43 |
+
],
|
| 44 |
+
"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml"
|
| 47 |
+
},
|
| 48 |
+
"reset_region": {
|
| 49 |
+
"size": [
|
| 50 |
+
2.8,
|
| 51 |
+
0.65
|
| 52 |
+
],
|
| 53 |
+
"offset": [
|
| 54 |
+
0.0,
|
| 55 |
+
0.0,
|
| 56 |
+
0.46
|
| 57 |
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],
|
| 58 |
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"name": "geom_0"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "cooked_food",
|
| 63 |
+
"obj_groups": "cooked_food",
|
| 64 |
+
"init_robot_here": false,
|
| 65 |
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"graspable": true,
|
| 66 |
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"placement": {
|
| 67 |
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|
| 68 |
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0.01,
|
| 69 |
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0.01
|
| 70 |
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],
|
| 71 |
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"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
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"groups_containing_sampled_obj": [
|
| 80 |
+
"all",
|
| 81 |
+
"hot_dog",
|
| 82 |
+
"cooked_food",
|
| 83 |
+
"food",
|
| 84 |
+
"in_container"
|
| 85 |
+
],
|
| 86 |
+
"groups": [
|
| 87 |
+
"cooked_food"
|
| 88 |
+
],
|
| 89 |
+
"cat": "hot_dog",
|
| 90 |
+
"split": "train",
|
| 91 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "dessert",
|
| 96 |
+
"obj_groups": "sweets",
|
| 97 |
+
"exclude_obj_groups": "sugar_cube",
|
| 98 |
+
"graspable": true,
|
| 99 |
+
"placement": {
|
| 100 |
+
"fixture": "counter_1_main_group",
|
| 101 |
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"reuse_region_from": "cooked_food_container",
|
| 102 |
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"size": [
|
| 103 |
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0.5,
|
| 104 |
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0.2
|
| 105 |
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],
|
| 106 |
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"pos": [
|
| 107 |
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0,
|
| 108 |
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-1.0
|
| 109 |
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]
|
| 110 |
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},
|
| 111 |
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"type": "object",
|
| 112 |
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"info": {
|
| 113 |
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"groups_containing_sampled_obj": [
|
| 114 |
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"all",
|
| 115 |
+
"cookie_dough_ball",
|
| 116 |
+
"sweets",
|
| 117 |
+
"food",
|
| 118 |
+
"in_container"
|
| 119 |
+
],
|
| 120 |
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"groups": [
|
| 121 |
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"sweets"
|
| 122 |
+
],
|
| 123 |
+
"cat": "cookie_dough_ball",
|
| 124 |
+
"split": "train",
|
| 125 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall005/model.xml"
|
| 126 |
+
},
|
| 127 |
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"reset_region": {
|
| 128 |
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"size": [
|
| 129 |
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2.8,
|
| 130 |
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0.65
|
| 131 |
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],
|
| 132 |
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|
| 133 |
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0.0,
|
| 134 |
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0.0,
|
| 135 |
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0.46
|
| 136 |
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],
|
| 137 |
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"name": "geom_0"
|
| 138 |
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}
|
| 139 |
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}
|
| 140 |
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],
|
| 141 |
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"fixtures": {
|
| 142 |
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|
| 143 |
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"cls": "Wall"
|
| 144 |
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},
|
| 145 |
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|
| 146 |
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"cls": "Wall"
|
| 147 |
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},
|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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"cls": "Wall"
|
| 153 |
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},
|
| 154 |
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"wall_right_1_room": {
|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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"cls": "Wall"
|
| 159 |
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},
|
| 160 |
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|
| 161 |
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"cls": "Wall"
|
| 162 |
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},
|
| 163 |
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|
| 164 |
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"cls": "Wall"
|
| 165 |
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},
|
| 166 |
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|
| 167 |
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"cls": "Wall"
|
| 168 |
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},
|
| 169 |
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|
| 170 |
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"cls": "Wall"
|
| 171 |
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},
|
| 172 |
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|
| 173 |
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"cls": "Wall"
|
| 174 |
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|
| 175 |
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|
| 176 |
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"cls": "Wall"
|
| 177 |
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},
|
| 178 |
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|
| 179 |
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"cls": "Wall"
|
| 180 |
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|
| 181 |
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|
| 182 |
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"cls": "Wall"
|
| 183 |
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},
|
| 184 |
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|
| 185 |
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"cls": "Wall"
|
| 186 |
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},
|
| 187 |
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|
| 188 |
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"cls": "Wall"
|
| 189 |
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},
|
| 190 |
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|
| 191 |
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"cls": "Floor"
|
| 192 |
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},
|
| 193 |
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"floor_1_backing_room": {
|
| 194 |
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"cls": "Floor"
|
| 195 |
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},
|
| 196 |
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"floor_2_room": {
|
| 197 |
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"cls": "Floor"
|
| 198 |
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},
|
| 199 |
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"floor_2_backing_room": {
|
| 200 |
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"cls": "Floor"
|
| 201 |
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},
|
| 202 |
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"light_switch_1_room": {
|
| 203 |
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"cls": "WallAccessory"
|
| 204 |
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},
|
| 205 |
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|
| 206 |
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"cls": "WallAccessory"
|
| 207 |
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},
|
| 208 |
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|
| 209 |
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"cls": "WallAccessory"
|
| 210 |
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},
|
| 211 |
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|
| 212 |
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"cls": "WallAccessory"
|
| 213 |
+
},
|
| 214 |
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"stool_1_room": {
|
| 215 |
+
"cls": "Stool"
|
| 216 |
+
},
|
| 217 |
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"stool_2_room": {
|
| 218 |
+
"cls": "Stool"
|
| 219 |
+
},
|
| 220 |
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"stool_3_room": {
|
| 221 |
+
"cls": "Stool"
|
| 222 |
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},
|
| 223 |
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"stool_4_room": {
|
| 224 |
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"cls": "Stool"
|
| 225 |
+
},
|
| 226 |
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"bottom_main_group_base": {
|
| 227 |
+
"cls": "Box"
|
| 228 |
+
},
|
| 229 |
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"bottom_main_group_1": {
|
| 230 |
+
"cls": "Drawer"
|
| 231 |
+
},
|
| 232 |
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"oven_main_group": {
|
| 233 |
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"cls": "Oven"
|
| 234 |
+
},
|
| 235 |
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"oven_housing_main_group": {
|
| 236 |
+
"cls": "HousingCabinet"
|
| 237 |
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},
|
| 238 |
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"microwave_main_group": {
|
| 239 |
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"cls": "Microwave"
|
| 240 |
+
},
|
| 241 |
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"microwave_housing_main_group": {
|
| 242 |
+
"cls": "HousingCabinet"
|
| 243 |
+
},
|
| 244 |
+
"middle_main_group": {
|
| 245 |
+
"cls": "HingeCabinet"
|
| 246 |
+
},
|
| 247 |
+
"top_main_group": {
|
| 248 |
+
"cls": "HingeCabinet"
|
| 249 |
+
},
|
| 250 |
+
"fridge_main_group": {
|
| 251 |
+
"cls": "FridgeSideBySide"
|
| 252 |
+
},
|
| 253 |
+
"fridge_housing_main_group": {
|
| 254 |
+
"cls": "HousingCabinet"
|
| 255 |
+
},
|
| 256 |
+
"counter_1_main_group": {
|
| 257 |
+
"cls": "Counter"
|
| 258 |
+
},
|
| 259 |
+
"stack_1_main_group_base": {
|
| 260 |
+
"cls": "Box"
|
| 261 |
+
},
|
| 262 |
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"stack_1_main_group_1": {
|
| 263 |
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"cls": "Drawer"
|
| 264 |
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},
|
| 265 |
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"stack_1_main_group_2": {
|
| 266 |
+
"cls": "Drawer"
|
| 267 |
+
},
|
| 268 |
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|
| 269 |
+
"cls": "Drawer"
|
| 270 |
+
},
|
| 271 |
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"stack_2_main_group_base": {
|
| 272 |
+
"cls": "Box"
|
| 273 |
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},
|
| 274 |
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"stack_2_main_group_1": {
|
| 275 |
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"cls": "Drawer"
|
| 276 |
+
},
|
| 277 |
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"stack_2_main_group_2": {
|
| 278 |
+
"cls": "Drawer"
|
| 279 |
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},
|
| 280 |
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|
| 281 |
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"cls": "Drawer"
|
| 282 |
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},
|
| 283 |
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|
| 284 |
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"cls": "Box"
|
| 285 |
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},
|
| 286 |
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|
| 287 |
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"cls": "Drawer"
|
| 288 |
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},
|
| 289 |
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|
| 290 |
+
"cls": "Drawer"
|
| 291 |
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},
|
| 292 |
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"stack_3_main_group_3": {
|
| 293 |
+
"cls": "Drawer"
|
| 294 |
+
},
|
| 295 |
+
"dishwasher_main_group": {
|
| 296 |
+
"cls": "Dishwasher"
|
| 297 |
+
},
|
| 298 |
+
"panel_stack_main_group_base": {
|
| 299 |
+
"cls": "Box"
|
| 300 |
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},
|
| 301 |
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"panel_stack_main_group_1": {
|
| 302 |
+
"cls": "PanelCabinet"
|
| 303 |
+
},
|
| 304 |
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"cab_1_main_group": {
|
| 305 |
+
"cls": "HingeCabinet"
|
| 306 |
+
},
|
| 307 |
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"cab_2_main_group": {
|
| 308 |
+
"cls": "HingeCabinet"
|
| 309 |
+
},
|
| 310 |
+
"cab_3_main_group": {
|
| 311 |
+
"cls": "HingeCabinet"
|
| 312 |
+
},
|
| 313 |
+
"cab_4_main_group": {
|
| 314 |
+
"cls": "HingeCabinet"
|
| 315 |
+
},
|
| 316 |
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"cab_5_main_group": {
|
| 317 |
+
"cls": "HingeCabinet"
|
| 318 |
+
},
|
| 319 |
+
"cab_6_main_group": {
|
| 320 |
+
"cls": "HingeCabinet"
|
| 321 |
+
},
|
| 322 |
+
"toaster_oven_main_group": {
|
| 323 |
+
"cls": "ToasterOven"
|
| 324 |
+
},
|
| 325 |
+
"paper_towel_main_group": {
|
| 326 |
+
"cls": "Accessory"
|
| 327 |
+
},
|
| 328 |
+
"stovetop_left_group": {
|
| 329 |
+
"cls": "Stovetop"
|
| 330 |
+
},
|
| 331 |
+
"counter_1_left_group": {
|
| 332 |
+
"cls": "Counter"
|
| 333 |
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},
|
| 334 |
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"stack_1_left_group_base": {
|
| 335 |
+
"cls": "Box"
|
| 336 |
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},
|
| 337 |
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"stack_1_left_group_1": {
|
| 338 |
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"cls": "Drawer"
|
| 339 |
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},
|
| 340 |
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|
| 341 |
+
"cls": "Drawer"
|
| 342 |
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},
|
| 343 |
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"stack_1_left_group_3": {
|
| 344 |
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"cls": "Drawer"
|
| 345 |
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},
|
| 346 |
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|
| 347 |
+
"cls": "Box"
|
| 348 |
+
},
|
| 349 |
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"stack_2_left_group_1": {
|
| 350 |
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"cls": "Drawer"
|
| 351 |
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},
|
| 352 |
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|
| 353 |
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"cls": "Drawer"
|
| 354 |
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},
|
| 355 |
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|
| 356 |
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"cls": "Drawer"
|
| 357 |
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},
|
| 358 |
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|
| 359 |
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"cls": "Box"
|
| 360 |
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},
|
| 361 |
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|
| 362 |
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"cls": "Drawer"
|
| 363 |
+
},
|
| 364 |
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"stack_3_left_group_2": {
|
| 365 |
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"cls": "Drawer"
|
| 366 |
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},
|
| 367 |
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"stack_3_left_group_3": {
|
| 368 |
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"cls": "PanelCabinet"
|
| 369 |
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},
|
| 370 |
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"stack_4_left_group_base": {
|
| 371 |
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"cls": "Box"
|
| 372 |
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},
|
| 373 |
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|
| 374 |
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"cls": "Drawer"
|
| 375 |
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},
|
| 376 |
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|
| 377 |
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"cls": "Drawer"
|
| 378 |
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},
|
| 379 |
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|
| 380 |
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"cls": "Drawer"
|
| 381 |
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},
|
| 382 |
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"stack_5_left_group_base": {
|
| 383 |
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"cls": "Box"
|
| 384 |
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},
|
| 385 |
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|
| 386 |
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"cls": "Drawer"
|
| 387 |
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},
|
| 388 |
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"stack_5_left_group_2": {
|
| 389 |
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"cls": "Drawer"
|
| 390 |
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},
|
| 391 |
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"stack_5_left_group_3": {
|
| 392 |
+
"cls": "Drawer"
|
| 393 |
+
},
|
| 394 |
+
"hood_left_group": {
|
| 395 |
+
"cls": "Hood"
|
| 396 |
+
},
|
| 397 |
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"cab_1_left_group": {
|
| 398 |
+
"cls": "HingeCabinet"
|
| 399 |
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},
|
| 400 |
+
"cab_2_left_group": {
|
| 401 |
+
"cls": "HingeCabinet"
|
| 402 |
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},
|
| 403 |
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"cab_3_left_group": {
|
| 404 |
+
"cls": "HingeCabinet"
|
| 405 |
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},
|
| 406 |
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"cab_4_left_group": {
|
| 407 |
+
"cls": "HingeCabinet"
|
| 408 |
+
},
|
| 409 |
+
"coffee_machine_left_group": {
|
| 410 |
+
"cls": "CoffeeMachine"
|
| 411 |
+
},
|
| 412 |
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"toaster_left_group": {
|
| 413 |
+
"cls": "Toaster"
|
| 414 |
+
},
|
| 415 |
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"sink_island_group": {
|
| 416 |
+
"cls": "Sink"
|
| 417 |
+
},
|
| 418 |
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"island_island_group": {
|
| 419 |
+
"cls": "Counter"
|
| 420 |
+
},
|
| 421 |
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"panel_box_1_island_group_base": {
|
| 422 |
+
"cls": "Box"
|
| 423 |
+
},
|
| 424 |
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|
| 425 |
+
"cls": "PanelCabinet"
|
| 426 |
+
},
|
| 427 |
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"stack_1_island_group_base": {
|
| 428 |
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"cls": "Box"
|
| 429 |
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},
|
| 430 |
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|
| 431 |
+
"cls": "Drawer"
|
| 432 |
+
},
|
| 433 |
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|
| 434 |
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"cls": "Drawer"
|
| 435 |
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},
|
| 436 |
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|
| 437 |
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"cls": "Drawer"
|
| 438 |
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},
|
| 439 |
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|
| 440 |
+
"cls": "Box"
|
| 441 |
+
},
|
| 442 |
+
"stack_2_island_group_1": {
|
| 443 |
+
"cls": "SingleCabinet"
|
| 444 |
+
},
|
| 445 |
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|
| 446 |
+
"cls": "Box"
|
| 447 |
+
},
|
| 448 |
+
"stack_3_island_group_1": {
|
| 449 |
+
"cls": "HingeCabinet"
|
| 450 |
+
},
|
| 451 |
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|
| 452 |
+
"cls": "Box"
|
| 453 |
+
},
|
| 454 |
+
"stack_4_island_group_1": {
|
| 455 |
+
"cls": "SingleCabinet"
|
| 456 |
+
},
|
| 457 |
+
"stack_5_island_group_base": {
|
| 458 |
+
"cls": "Box"
|
| 459 |
+
},
|
| 460 |
+
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|
| 461 |
+
"cls": "Drawer"
|
| 462 |
+
},
|
| 463 |
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"stack_5_island_group_2": {
|
| 464 |
+
"cls": "Drawer"
|
| 465 |
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},
|
| 466 |
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"stack_5_island_group_3": {
|
| 467 |
+
"cls": "Drawer"
|
| 468 |
+
},
|
| 469 |
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"panel_cab_2_island_group_base": {
|
| 470 |
+
"cls": "Box"
|
| 471 |
+
},
|
| 472 |
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"panel_cab_2_island_group_1": {
|
| 473 |
+
"cls": "PanelCabinet"
|
| 474 |
+
},
|
| 475 |
+
"box_island_group": {
|
| 476 |
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"cls": "Box"
|
| 477 |
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}
|
| 478 |
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},
|
| 479 |
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"gen_textures": {},
|
| 480 |
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"lang": "Add the cookie dough ball to the tupperware that contains the hot dog.",
|
| 481 |
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|
| 482 |
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|
| 483 |
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| 484 |
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| 485 |
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| 574 |
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| 575 |
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}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000091/ep_meta.json
ADDED
|
@@ -0,0 +1,479 @@
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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": 57,
|
| 3 |
+
"style_id": 37,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
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{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
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"obj_groups": "tupperware",
|
| 8 |
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"placement": {
|
| 9 |
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"fixture": "island_2_island_group_1",
|
| 10 |
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"size": [
|
| 11 |
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0.5,
|
| 12 |
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0.5
|
| 13 |
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],
|
| 14 |
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"pos": [
|
| 15 |
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|
| 16 |
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|
| 17 |
+
],
|
| 18 |
+
"try_to_place_in": "tupperware",
|
| 19 |
+
"try_to_place_in_kwargs": {
|
| 20 |
+
"object_scale": [
|
| 21 |
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2.5,
|
| 22 |
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2.5,
|
| 23 |
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|
| 24 |
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]
|
| 25 |
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},
|
| 26 |
+
"rotation": 0
|
| 27 |
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},
|
| 28 |
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"type": "object",
|
| 29 |
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"init_robot_here": true,
|
| 30 |
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"object_scale": [
|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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],
|
| 35 |
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"info": {
|
| 36 |
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"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
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"tupperware",
|
| 39 |
+
"receptacle"
|
| 40 |
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],
|
| 41 |
+
"groups": [
|
| 42 |
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"tupperware"
|
| 43 |
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],
|
| 44 |
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"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml"
|
| 47 |
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},
|
| 48 |
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"reset_region": {
|
| 49 |
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"size": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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],
|
| 58 |
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"name": "geom_0"
|
| 59 |
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}
|
| 60 |
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},
|
| 61 |
+
{
|
| 62 |
+
"name": "cooked_food",
|
| 63 |
+
"obj_groups": "cooked_food",
|
| 64 |
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"init_robot_here": false,
|
| 65 |
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"graspable": true,
|
| 66 |
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"placement": {
|
| 67 |
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"size": [
|
| 68 |
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|
| 69 |
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0.01
|
| 70 |
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],
|
| 71 |
+
"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
+
"groups_containing_sampled_obj": [
|
| 80 |
+
"all",
|
| 81 |
+
"hot_dog",
|
| 82 |
+
"cooked_food",
|
| 83 |
+
"food",
|
| 84 |
+
"in_container"
|
| 85 |
+
],
|
| 86 |
+
"groups": [
|
| 87 |
+
"cooked_food"
|
| 88 |
+
],
|
| 89 |
+
"cat": "hot_dog",
|
| 90 |
+
"split": "train",
|
| 91 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "dessert",
|
| 96 |
+
"obj_groups": "sweets",
|
| 97 |
+
"exclude_obj_groups": "sugar_cube",
|
| 98 |
+
"graspable": true,
|
| 99 |
+
"placement": {
|
| 100 |
+
"fixture": "island_2_island_group_1",
|
| 101 |
+
"reuse_region_from": "cooked_food_container",
|
| 102 |
+
"size": [
|
| 103 |
+
0.5,
|
| 104 |
+
0.2
|
| 105 |
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],
|
| 106 |
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"pos": [
|
| 107 |
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|
| 108 |
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|
| 109 |
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]
|
| 110 |
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},
|
| 111 |
+
"type": "object",
|
| 112 |
+
"info": {
|
| 113 |
+
"groups_containing_sampled_obj": [
|
| 114 |
+
"all",
|
| 115 |
+
"cookie_dough_ball",
|
| 116 |
+
"sweets",
|
| 117 |
+
"food",
|
| 118 |
+
"in_container"
|
| 119 |
+
],
|
| 120 |
+
"groups": [
|
| 121 |
+
"sweets"
|
| 122 |
+
],
|
| 123 |
+
"cat": "cookie_dough_ball",
|
| 124 |
+
"split": "train",
|
| 125 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall004/model.xml"
|
| 126 |
+
},
|
| 127 |
+
"reset_region": {
|
| 128 |
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"size": [
|
| 129 |
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0.855352,
|
| 130 |
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1.828718
|
| 131 |
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],
|
| 132 |
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"offset": [
|
| 133 |
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0.0,
|
| 134 |
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0.0,
|
| 135 |
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0.46
|
| 136 |
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],
|
| 137 |
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"name": "geom_0"
|
| 138 |
+
}
|
| 139 |
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}
|
| 140 |
+
],
|
| 141 |
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"fixtures": {
|
| 142 |
+
"wall_right_1_room": {
|
| 143 |
+
"cls": "Wall"
|
| 144 |
+
},
|
| 145 |
+
"wall_right_1_backing_room": {
|
| 146 |
+
"cls": "Wall"
|
| 147 |
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},
|
| 148 |
+
"wall_main_1_room": {
|
| 149 |
+
"cls": "Wall"
|
| 150 |
+
},
|
| 151 |
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"wall_main_1_backing_room": {
|
| 152 |
+
"cls": "Wall"
|
| 153 |
+
},
|
| 154 |
+
"floor_1_room": {
|
| 155 |
+
"cls": "Floor"
|
| 156 |
+
},
|
| 157 |
+
"floor_1_backing_room": {
|
| 158 |
+
"cls": "Floor"
|
| 159 |
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},
|
| 160 |
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"wallaccessory_3_room": {
|
| 161 |
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"cls": "WallAccessory"
|
| 162 |
+
},
|
| 163 |
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"wallaccessory_4_room": {
|
| 164 |
+
"cls": "WallAccessory"
|
| 165 |
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},
|
| 166 |
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"lightswitch_01_room": {
|
| 167 |
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"cls": "WallAccessory"
|
| 168 |
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},
|
| 169 |
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"window_group_1_room": {
|
| 170 |
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"cls": "Window"
|
| 171 |
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},
|
| 172 |
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"stool_1_room": {
|
| 173 |
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"cls": "Stool"
|
| 174 |
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},
|
| 175 |
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"stool_2_room": {
|
| 176 |
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"cls": "Stool"
|
| 177 |
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},
|
| 178 |
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"hingecabinet_2_main_group_1": {
|
| 179 |
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"cls": "HingeCabinet"
|
| 180 |
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},
|
| 181 |
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"hingecabinet_3_main_group_1": {
|
| 182 |
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"cls": "HingeCabinet"
|
| 183 |
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},
|
| 184 |
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"hingecabinet_4_main_group_1": {
|
| 185 |
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"cls": "HingeCabinet"
|
| 186 |
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},
|
| 187 |
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"singlecabinet_1_main_group_1": {
|
| 188 |
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"cls": "SingleCabinet"
|
| 189 |
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},
|
| 190 |
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"sink_main_group_1": {
|
| 191 |
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"cls": "Sink"
|
| 192 |
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},
|
| 193 |
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"counter_1_main_group_1": {
|
| 194 |
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"cls": "Counter"
|
| 195 |
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},
|
| 196 |
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"cube_3_main_group_1": {
|
| 197 |
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"cls": "Box"
|
| 198 |
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},
|
| 199 |
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"stack_02_main_group_1_base": {
|
| 200 |
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"cls": "Box"
|
| 201 |
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},
|
| 202 |
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"stack_02_main_group_1_1": {
|
| 203 |
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"cls": "SingleCabinet"
|
| 204 |
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},
|
| 205 |
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"stack_02_main_group_1_2": {
|
| 206 |
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"cls": "Drawer"
|
| 207 |
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},
|
| 208 |
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"stack_01_main_group_1_base": {
|
| 209 |
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"cls": "Box"
|
| 210 |
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},
|
| 211 |
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"stack_01_main_group_1_1": {
|
| 212 |
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"cls": "HingeCabinet"
|
| 213 |
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},
|
| 214 |
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"stack_01_main_group_1_2": {
|
| 215 |
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"cls": "PanelCabinet"
|
| 216 |
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},
|
| 217 |
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"stack_03_main_group_1_base": {
|
| 218 |
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"cls": "Box"
|
| 219 |
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},
|
| 220 |
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"stack_03_main_group_1_1": {
|
| 221 |
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"cls": "SingleCabinet"
|
| 222 |
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},
|
| 223 |
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|
| 224 |
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"cls": "Dishwasher"
|
| 225 |
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},
|
| 226 |
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|
| 227 |
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"cls": "Box"
|
| 228 |
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},
|
| 229 |
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"toaster_main_group_1": {
|
| 230 |
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"cls": "Toaster"
|
| 231 |
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},
|
| 232 |
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"fridgesidebyside_main_group_1": {
|
| 233 |
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"cls": "FridgeSideBySide"
|
| 234 |
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},
|
| 235 |
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"fridgesidebyside_housing_main_group_1": {
|
| 236 |
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"cls": "HousingCabinet"
|
| 237 |
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},
|
| 238 |
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"hingecabinet_1_main_group_1": {
|
| 239 |
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"cls": "HingeCabinet"
|
| 240 |
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},
|
| 241 |
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"bottom_main_group_1_base": {
|
| 242 |
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"cls": "Box"
|
| 243 |
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},
|
| 244 |
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"bottom_main_group_1_1": {
|
| 245 |
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"cls": "Drawer"
|
| 246 |
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},
|
| 247 |
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"oven_cabinet_main_group_1": {
|
| 248 |
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"cls": "HingeCabinet"
|
| 249 |
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},
|
| 250 |
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"microwave_main_group_1": {
|
| 251 |
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"cls": "Microwave"
|
| 252 |
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},
|
| 253 |
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"microwave_housing_main_group_1": {
|
| 254 |
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"cls": "HousingCabinet"
|
| 255 |
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},
|
| 256 |
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"top_main_group_1": {
|
| 257 |
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"cls": "HingeCabinet"
|
| 258 |
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},
|
| 259 |
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"hingecabinet_5_left_group_1": {
|
| 260 |
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"cls": "HingeCabinet"
|
| 261 |
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},
|
| 262 |
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"singlecabinet_2_left_group_1": {
|
| 263 |
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"cls": "SingleCabinet"
|
| 264 |
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},
|
| 265 |
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"cube_4_left_group_1": {
|
| 266 |
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"cls": "Box"
|
| 267 |
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},
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| 268 |
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|
| 269 |
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"cls": "Counter"
|
| 270 |
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},
|
| 271 |
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"counter_2_left_group_1": {
|
| 272 |
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"cls": "Counter"
|
| 273 |
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},
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| 274 |
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"stack_04_left_group_1_base": {
|
| 275 |
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"cls": "Box"
|
| 276 |
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},
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| 278 |
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"cls": "SingleCabinet"
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| 279 |
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},
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| 281 |
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"cls": "Box"
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| 282 |
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},
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|
| 284 |
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"cls": "Drawer"
|
| 285 |
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},
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| 286 |
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|
| 287 |
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"cls": "Drawer"
|
| 288 |
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},
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| 290 |
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"cls": "Drawer"
|
| 291 |
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},
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| 292 |
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|
| 293 |
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"cls": "Box"
|
| 294 |
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},
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|
| 296 |
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"cls": "Box"
|
| 297 |
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},
|
| 298 |
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|
| 299 |
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"cls": "CoffeeMachine"
|
| 300 |
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},
|
| 301 |
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"paper_towel_left_group_1": {
|
| 302 |
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"cls": "Accessory"
|
| 303 |
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},
|
| 304 |
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"island_1_island_group_1": {
|
| 305 |
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"cls": "Counter"
|
| 306 |
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},
|
| 307 |
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|
| 308 |
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"cls": "Counter"
|
| 309 |
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},
|
| 310 |
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|
| 311 |
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"cls": "Counter"
|
| 312 |
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},
|
| 313 |
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|
| 314 |
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"cls": "Stove"
|
| 315 |
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},
|
| 316 |
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| 317 |
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"cls": "Hood"
|
| 318 |
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},
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| 319 |
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"cube_1_island_group_1": {
|
| 320 |
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"cls": "Box"
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| 321 |
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},
|
| 322 |
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"cube_2_island_group_1": {
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| 323 |
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"cls": "Box"
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| 324 |
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},
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| 325 |
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|
| 326 |
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"cls": "Box"
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| 327 |
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},
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| 328 |
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|
| 329 |
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"cls": "SingleCabinet"
|
| 330 |
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},
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| 331 |
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| 332 |
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"cls": "Drawer"
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| 333 |
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},
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| 335 |
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"cls": "Box"
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| 336 |
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},
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"stack_06_island_group_1_1": {
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| 338 |
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"cls": "SingleCabinet"
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| 339 |
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},
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"stack_06_island_group_1_2": {
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| 341 |
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"cls": "Drawer"
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| 342 |
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},
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| 344 |
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"cls": "Box"
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| 345 |
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},
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"stack_09_island_group_2_1": {
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| 347 |
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"cls": "SingleCabinet"
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| 348 |
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},
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"stack_09_island_group_2_2": {
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| 350 |
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"cls": "Drawer"
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| 351 |
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},
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| 352 |
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"stack_08_island_group_2_base": {
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| 353 |
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"cls": "Box"
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| 354 |
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},
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"stack_08_island_group_2_1": {
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| 356 |
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"cls": "SingleCabinet"
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| 357 |
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},
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| 359 |
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"cls": "Drawer"
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| 360 |
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},
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| 362 |
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"cls": "Box"
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},
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"stack_10_island_group_2_1": {
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| 365 |
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"cls": "SingleCabinet"
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| 366 |
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},
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| 368 |
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"cls": "Drawer"
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| 369 |
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},
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| 371 |
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"cls": "Box"
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| 372 |
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},
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"stack_11_island_group_2_1": {
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| 374 |
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"cls": "SingleCabinet"
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| 375 |
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},
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| 377 |
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"cls": "Drawer"
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| 378 |
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},
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| 379 |
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"cube_5_island_group_2": {
|
| 380 |
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"cls": "Box"
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| 381 |
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}
|
| 382 |
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},
|
| 383 |
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"gen_textures": {},
|
| 384 |
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"lang": "Add the cookie dough ball to the tupperware that contains the hot dog.",
|
| 385 |
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"fixture_refs": {
|
| 386 |
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"counter": "island_2_island_group_1"
|
| 387 |
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| 388 |
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| 390 |
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]
|
| 479 |
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}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000094/ep_meta.json
ADDED
|
@@ -0,0 +1,503 @@
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 51,
|
| 3 |
+
"style_id": 32,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
+
"obj_groups": "tupperware",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "counter_2_main_group_1",
|
| 10 |
+
"size": [
|
| 11 |
+
0.5,
|
| 12 |
+
0.5
|
| 13 |
+
],
|
| 14 |
+
"pos": [
|
| 15 |
+
0,
|
| 16 |
+
-1.0
|
| 17 |
+
],
|
| 18 |
+
"try_to_place_in": "tupperware",
|
| 19 |
+
"try_to_place_in_kwargs": {
|
| 20 |
+
"object_scale": [
|
| 21 |
+
2.5,
|
| 22 |
+
2.5,
|
| 23 |
+
1.25
|
| 24 |
+
]
|
| 25 |
+
},
|
| 26 |
+
"rotation": 0
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"init_robot_here": true,
|
| 30 |
+
"object_scale": [
|
| 31 |
+
2.5,
|
| 32 |
+
2.5,
|
| 33 |
+
1.25
|
| 34 |
+
],
|
| 35 |
+
"info": {
|
| 36 |
+
"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
+
"tupperware",
|
| 39 |
+
"receptacle"
|
| 40 |
+
],
|
| 41 |
+
"groups": [
|
| 42 |
+
"tupperware"
|
| 43 |
+
],
|
| 44 |
+
"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml"
|
| 47 |
+
},
|
| 48 |
+
"reset_region": {
|
| 49 |
+
"size": [
|
| 50 |
+
0.8598048214390089,
|
| 51 |
+
0.65
|
| 52 |
+
],
|
| 53 |
+
"offset": [
|
| 54 |
+
-1.1578985892804956,
|
| 55 |
+
-3.469446951953614e-17,
|
| 56 |
+
0.46
|
| 57 |
+
],
|
| 58 |
+
"name": "geom_0"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "cooked_food",
|
| 63 |
+
"obj_groups": "cooked_food",
|
| 64 |
+
"init_robot_here": false,
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
+
"size": [
|
| 68 |
+
0.01,
|
| 69 |
+
0.01
|
| 70 |
+
],
|
| 71 |
+
"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
+
"groups_containing_sampled_obj": [
|
| 80 |
+
"all",
|
| 81 |
+
"kebab_skewer",
|
| 82 |
+
"cooked_food",
|
| 83 |
+
"food",
|
| 84 |
+
"in_container"
|
| 85 |
+
],
|
| 86 |
+
"groups": [
|
| 87 |
+
"cooked_food"
|
| 88 |
+
],
|
| 89 |
+
"cat": "kebab_skewer",
|
| 90 |
+
"split": "train",
|
| 91 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer002/model.xml"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "dessert",
|
| 96 |
+
"obj_groups": "sweets",
|
| 97 |
+
"exclude_obj_groups": "sugar_cube",
|
| 98 |
+
"graspable": true,
|
| 99 |
+
"placement": {
|
| 100 |
+
"fixture": "counter_2_main_group_1",
|
| 101 |
+
"reuse_region_from": "cooked_food_container",
|
| 102 |
+
"size": [
|
| 103 |
+
0.5,
|
| 104 |
+
0.2
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
0,
|
| 108 |
+
-1.0
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"type": "object",
|
| 112 |
+
"info": {
|
| 113 |
+
"groups_containing_sampled_obj": [
|
| 114 |
+
"all",
|
| 115 |
+
"cupcake",
|
| 116 |
+
"sweets",
|
| 117 |
+
"food",
|
| 118 |
+
"in_container"
|
| 119 |
+
],
|
| 120 |
+
"groups": [
|
| 121 |
+
"sweets"
|
| 122 |
+
],
|
| 123 |
+
"cat": "cupcake",
|
| 124 |
+
"split": "train",
|
| 125 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_16/model.xml"
|
| 126 |
+
},
|
| 127 |
+
"reset_region": {
|
| 128 |
+
"size": [
|
| 129 |
+
0.8598048214390089,
|
| 130 |
+
0.65
|
| 131 |
+
],
|
| 132 |
+
"offset": [
|
| 133 |
+
-1.1578985892804956,
|
| 134 |
+
-3.469446951953614e-17,
|
| 135 |
+
0.46
|
| 136 |
+
],
|
| 137 |
+
"name": "geom_0"
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
],
|
| 141 |
+
"fixtures": {
|
| 142 |
+
"wall_left_1_room": {
|
| 143 |
+
"cls": "Wall"
|
| 144 |
+
},
|
| 145 |
+
"wall_left_1_backing_room": {
|
| 146 |
+
"cls": "Wall"
|
| 147 |
+
},
|
| 148 |
+
"wall_main_1_room": {
|
| 149 |
+
"cls": "Wall"
|
| 150 |
+
},
|
| 151 |
+
"wall_main_1_backing_room": {
|
| 152 |
+
"cls": "Wall"
|
| 153 |
+
},
|
| 154 |
+
"wall_right_2_room": {
|
| 155 |
+
"cls": "Wall"
|
| 156 |
+
},
|
| 157 |
+
"wall_right_2_backing_room": {
|
| 158 |
+
"cls": "Wall"
|
| 159 |
+
},
|
| 160 |
+
"wall_right_1_room": {
|
| 161 |
+
"cls": "Wall"
|
| 162 |
+
},
|
| 163 |
+
"wall_right_1_backing_room": {
|
| 164 |
+
"cls": "Wall"
|
| 165 |
+
},
|
| 166 |
+
"wall_right_3_room": {
|
| 167 |
+
"cls": "Wall"
|
| 168 |
+
},
|
| 169 |
+
"wall_right_3_backing_room": {
|
| 170 |
+
"cls": "Wall"
|
| 171 |
+
},
|
| 172 |
+
"floor_1_room": {
|
| 173 |
+
"cls": "Floor"
|
| 174 |
+
},
|
| 175 |
+
"floor_1_backing_room": {
|
| 176 |
+
"cls": "Floor"
|
| 177 |
+
},
|
| 178 |
+
"wallaccessory_01_room": {
|
| 179 |
+
"cls": "WallAccessory"
|
| 180 |
+
},
|
| 181 |
+
"wallaccessory_02_room": {
|
| 182 |
+
"cls": "WallAccessory"
|
| 183 |
+
},
|
| 184 |
+
"wallaccessory_03_room": {
|
| 185 |
+
"cls": "WallAccessory"
|
| 186 |
+
},
|
| 187 |
+
"wallaccessory_04_room": {
|
| 188 |
+
"cls": "WallAccessory"
|
| 189 |
+
},
|
| 190 |
+
"wallaccessory_05_room": {
|
| 191 |
+
"cls": "WallAccessory"
|
| 192 |
+
},
|
| 193 |
+
"wallaccessory_06_room": {
|
| 194 |
+
"cls": "WallAccessory"
|
| 195 |
+
},
|
| 196 |
+
"wallaccessory_07_room": {
|
| 197 |
+
"cls": "WallAccessory"
|
| 198 |
+
},
|
| 199 |
+
"window_group_1_room": {
|
| 200 |
+
"cls": "Window"
|
| 201 |
+
},
|
| 202 |
+
"window_group_2_room": {
|
| 203 |
+
"cls": "Window"
|
| 204 |
+
},
|
| 205 |
+
"stool_2_room": {
|
| 206 |
+
"cls": "Stool"
|
| 207 |
+
},
|
| 208 |
+
"stool_3_room": {
|
| 209 |
+
"cls": "Stool"
|
| 210 |
+
},
|
| 211 |
+
"stool_1_room": {
|
| 212 |
+
"cls": "Stool"
|
| 213 |
+
},
|
| 214 |
+
"hingecabinet_2_main_group_1": {
|
| 215 |
+
"cls": "HingeCabinet"
|
| 216 |
+
},
|
| 217 |
+
"hingecabinet_5_main_group_1": {
|
| 218 |
+
"cls": "HingeCabinet"
|
| 219 |
+
},
|
| 220 |
+
"hingecabinet_3_main_group_1": {
|
| 221 |
+
"cls": "HingeCabinet"
|
| 222 |
+
},
|
| 223 |
+
"singlecabinet_1_main_group_1": {
|
| 224 |
+
"cls": "SingleCabinet"
|
| 225 |
+
},
|
| 226 |
+
"cube_2_main_group_1": {
|
| 227 |
+
"cls": "Box"
|
| 228 |
+
},
|
| 229 |
+
"hingecabinet_6_main_group_1": {
|
| 230 |
+
"cls": "HingeCabinet"
|
| 231 |
+
},
|
| 232 |
+
"counter_1_main_group_1": {
|
| 233 |
+
"cls": "Counter"
|
| 234 |
+
},
|
| 235 |
+
"sink_main_group_1": {
|
| 236 |
+
"cls": "Sink"
|
| 237 |
+
},
|
| 238 |
+
"counter_2_main_group_1": {
|
| 239 |
+
"cls": "Counter"
|
| 240 |
+
},
|
| 241 |
+
"counter_3_main_group_1": {
|
| 242 |
+
"cls": "Counter"
|
| 243 |
+
},
|
| 244 |
+
"counter_corner_1_main_group_1": {
|
| 245 |
+
"cls": "Counter"
|
| 246 |
+
},
|
| 247 |
+
"stove_main_group_1": {
|
| 248 |
+
"cls": "Stove"
|
| 249 |
+
},
|
| 250 |
+
"microwave_main_group_1": {
|
| 251 |
+
"cls": "Microwave"
|
| 252 |
+
},
|
| 253 |
+
"micro_cab_main_group_1": {
|
| 254 |
+
"cls": "HingeCabinet"
|
| 255 |
+
},
|
| 256 |
+
"stack_01_main_group_1_base": {
|
| 257 |
+
"cls": "Box"
|
| 258 |
+
},
|
| 259 |
+
"stack_01_main_group_1_1": {
|
| 260 |
+
"cls": "HingeCabinet"
|
| 261 |
+
},
|
| 262 |
+
"stack_02_main_group_1_base": {
|
| 263 |
+
"cls": "Box"
|
| 264 |
+
},
|
| 265 |
+
"stack_02_main_group_1_1": {
|
| 266 |
+
"cls": "HingeCabinet"
|
| 267 |
+
},
|
| 268 |
+
"stack_02_main_group_1_2": {
|
| 269 |
+
"cls": "PanelCabinet"
|
| 270 |
+
},
|
| 271 |
+
"stack_03_main_group_1_base": {
|
| 272 |
+
"cls": "Box"
|
| 273 |
+
},
|
| 274 |
+
"stack_03_main_group_1_1": {
|
| 275 |
+
"cls": "SingleCabinet"
|
| 276 |
+
},
|
| 277 |
+
"stack_03_main_group_1_2": {
|
| 278 |
+
"cls": "Drawer"
|
| 279 |
+
},
|
| 280 |
+
"stack_04_main_group_1_base": {
|
| 281 |
+
"cls": "Box"
|
| 282 |
+
},
|
| 283 |
+
"stack_04_main_group_1_1": {
|
| 284 |
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"cls": "HingeCabinet"
|
| 285 |
+
},
|
| 286 |
+
"stack_04_main_group_1_2": {
|
| 287 |
+
"cls": "Drawer"
|
| 288 |
+
},
|
| 289 |
+
"stack_05_main_group_1_base": {
|
| 290 |
+
"cls": "Box"
|
| 291 |
+
},
|
| 292 |
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"stack_05_main_group_1_1": {
|
| 293 |
+
"cls": "HingeCabinet"
|
| 294 |
+
},
|
| 295 |
+
"stack_05_main_group_1_2": {
|
| 296 |
+
"cls": "Drawer"
|
| 297 |
+
},
|
| 298 |
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"stack_06_main_group_1_base": {
|
| 299 |
+
"cls": "Box"
|
| 300 |
+
},
|
| 301 |
+
"stack_06_main_group_1_1": {
|
| 302 |
+
"cls": "Drawer"
|
| 303 |
+
},
|
| 304 |
+
"stack_06_main_group_1_2": {
|
| 305 |
+
"cls": "Drawer"
|
| 306 |
+
},
|
| 307 |
+
"stack_06_main_group_1_3": {
|
| 308 |
+
"cls": "Drawer"
|
| 309 |
+
},
|
| 310 |
+
"cube_1_main_group_1": {
|
| 311 |
+
"cls": "Box"
|
| 312 |
+
},
|
| 313 |
+
"dishwasher_1_main_group_1": {
|
| 314 |
+
"cls": "Dishwasher"
|
| 315 |
+
},
|
| 316 |
+
"coffee_machine_main_group_1": {
|
| 317 |
+
"cls": "CoffeeMachine"
|
| 318 |
+
},
|
| 319 |
+
"papertowel_main_group_1": {
|
| 320 |
+
"cls": "Accessory"
|
| 321 |
+
},
|
| 322 |
+
"plant_main_group_1": {
|
| 323 |
+
"cls": "Accessory"
|
| 324 |
+
},
|
| 325 |
+
"toaster_main_group_1": {
|
| 326 |
+
"cls": "Toaster"
|
| 327 |
+
},
|
| 328 |
+
"fridgefrenchdoor_main_group_1": {
|
| 329 |
+
"cls": "FridgeFrenchDoor"
|
| 330 |
+
},
|
| 331 |
+
"fridgefrenchdoor_housing_main_group_1": {
|
| 332 |
+
"cls": "HousingCabinet"
|
| 333 |
+
},
|
| 334 |
+
"hingecabinet_4_main_group_1": {
|
| 335 |
+
"cls": "HingeCabinet"
|
| 336 |
+
},
|
| 337 |
+
"hingecabinet_1_right_group_1": {
|
| 338 |
+
"cls": "HingeCabinet"
|
| 339 |
+
},
|
| 340 |
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"singlecabinet_3_right_group_1": {
|
| 341 |
+
"cls": "SingleCabinet"
|
| 342 |
+
},
|
| 343 |
+
"counter_4_right_group_1": {
|
| 344 |
+
"cls": "Counter"
|
| 345 |
+
},
|
| 346 |
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"counter_5_right_group_1": {
|
| 347 |
+
"cls": "Counter"
|
| 348 |
+
},
|
| 349 |
+
"stack_07_right_group_1_base": {
|
| 350 |
+
"cls": "Box"
|
| 351 |
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},
|
| 352 |
+
"stack_07_right_group_1_1": {
|
| 353 |
+
"cls": "SingleCabinet"
|
| 354 |
+
},
|
| 355 |
+
"stack_08_right_group_1_base": {
|
| 356 |
+
"cls": "Box"
|
| 357 |
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},
|
| 358 |
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"stack_08_right_group_1_1": {
|
| 359 |
+
"cls": "HingeCabinet"
|
| 360 |
+
},
|
| 361 |
+
"stack_08_right_group_1_2": {
|
| 362 |
+
"cls": "Drawer"
|
| 363 |
+
},
|
| 364 |
+
"cube_1_right_group_1": {
|
| 365 |
+
"cls": "Box"
|
| 366 |
+
},
|
| 367 |
+
"toaster_oven_right_group_1": {
|
| 368 |
+
"cls": "ToasterOven"
|
| 369 |
+
},
|
| 370 |
+
"island_island_group_1": {
|
| 371 |
+
"cls": "Counter"
|
| 372 |
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},
|
| 373 |
+
"stack_09_island_group_1_base": {
|
| 374 |
+
"cls": "Box"
|
| 375 |
+
},
|
| 376 |
+
"stack_09_island_group_1_1": {
|
| 377 |
+
"cls": "Drawer"
|
| 378 |
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},
|
| 379 |
+
"stack_09_island_group_1_2": {
|
| 380 |
+
"cls": "Drawer"
|
| 381 |
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},
|
| 382 |
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"stack_09_island_group_1_3": {
|
| 383 |
+
"cls": "Drawer"
|
| 384 |
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},
|
| 385 |
+
"stack_11_island_group_1_base": {
|
| 386 |
+
"cls": "Box"
|
| 387 |
+
},
|
| 388 |
+
"stack_11_island_group_1_1": {
|
| 389 |
+
"cls": "SingleCabinet"
|
| 390 |
+
},
|
| 391 |
+
"stack_11_island_group_1_2": {
|
| 392 |
+
"cls": "Drawer"
|
| 393 |
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},
|
| 394 |
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"stack_10_island_group_1_base": {
|
| 395 |
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"cls": "Box"
|
| 396 |
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},
|
| 397 |
+
"stack_10_island_group_1_1": {
|
| 398 |
+
"cls": "HingeCabinet"
|
| 399 |
+
},
|
| 400 |
+
"stack_10_island_group_1_2": {
|
| 401 |
+
"cls": "Drawer"
|
| 402 |
+
},
|
| 403 |
+
"cube_1_island_group_1": {
|
| 404 |
+
"cls": "Box"
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"gen_textures": {},
|
| 408 |
+
"lang": "Add the cupcake to the tupperware that contains the kebab skewer.",
|
| 409 |
+
"fixture_refs": {
|
| 410 |
+
"counter": "counter_2_main_group_1"
|
| 411 |
+
},
|
| 412 |
+
"cam_configs": {
|
| 413 |
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"robot0_agentview_center": {
|
| 414 |
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"pos": [
|
| 415 |
+
-0.6,
|
| 416 |
+
0.0,
|
| 417 |
+
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|
| 418 |
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],
|
| 419 |
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"quat": [
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| 420 |
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| 421 |
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|
| 422 |
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|
| 423 |
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|
| 424 |
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],
|
| 425 |
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"parent_body": "mobilebase0_support"
|
| 426 |
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| 427 |
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"robot0_agentview_left": {
|
| 428 |
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"pos": [
|
| 429 |
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|
| 430 |
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|
| 431 |
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|
| 432 |
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],
|
| 433 |
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| 434 |
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|
| 435 |
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|
| 436 |
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|
| 437 |
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|
| 438 |
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],
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| 439 |
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| 440 |
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| 441 |
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},
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| 442 |
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"parent_body": "mobilebase0_support"
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| 443 |
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},
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| 444 |
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"robot0_agentview_right": {
|
| 445 |
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"pos": [
|
| 446 |
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-0.5,
|
| 447 |
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-0.35,
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| 448 |
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|
| 449 |
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],
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| 450 |
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"quat": [
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| 451 |
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| 452 |
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| 453 |
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|
| 454 |
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| 456 |
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|
| 457 |
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"fovy": "60"
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| 458 |
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},
|
| 459 |
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"parent_body": "mobilebase0_support"
|
| 460 |
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},
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| 461 |
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"robot0_frontview": {
|
| 462 |
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"pos": [
|
| 463 |
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-0.5,
|
| 464 |
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|
| 465 |
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|
| 466 |
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],
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| 473 |
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|
| 474 |
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| 475 |
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},
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| 476 |
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"parent_body": "mobilebase0_support"
|
| 477 |
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},
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| 478 |
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"robot0_eye_in_hand": {
|
| 479 |
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"pos": [
|
| 480 |
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|
| 481 |
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|
| 482 |
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|
| 483 |
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],
|
| 484 |
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"quat": [
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| 485 |
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|
| 486 |
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|
| 487 |
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|
| 488 |
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|
| 489 |
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],
|
| 490 |
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"parent_body": "robot0_right_hand"
|
| 491 |
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}
|
| 492 |
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},
|
| 493 |
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"init_robot_base_pos": [
|
| 494 |
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|
| 495 |
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|
| 496 |
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|
| 497 |
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|
| 498 |
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"init_robot_base_ori": [
|
| 499 |
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|
| 500 |
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|
| 501 |
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|
| 502 |
+
]
|
| 503 |
+
}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000095/ep_meta.json
ADDED
|
@@ -0,0 +1,452 @@
|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
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"style_id": 55,
|
| 4 |
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|
| 5 |
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{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
+
"obj_groups": "tupperware",
|
| 8 |
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"placement": {
|
| 9 |
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"fixture": "counter_1_island_group_1",
|
| 10 |
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"size": [
|
| 11 |
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0.5,
|
| 12 |
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0.5
|
| 13 |
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],
|
| 14 |
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"pos": [
|
| 15 |
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0,
|
| 16 |
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-1.0
|
| 17 |
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],
|
| 18 |
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"try_to_place_in": "tupperware",
|
| 19 |
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|
| 20 |
+
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|
| 21 |
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2.5,
|
| 22 |
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2.5,
|
| 23 |
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1.25
|
| 24 |
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]
|
| 25 |
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|
| 26 |
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|
| 27 |
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},
|
| 28 |
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"type": "object",
|
| 29 |
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"init_robot_here": true,
|
| 30 |
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"object_scale": [
|
| 31 |
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2.5,
|
| 32 |
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2.5,
|
| 33 |
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1.25
|
| 34 |
+
],
|
| 35 |
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"info": {
|
| 36 |
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"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
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"tupperware",
|
| 39 |
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"receptacle"
|
| 40 |
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],
|
| 41 |
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"groups": [
|
| 42 |
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"tupperware"
|
| 43 |
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],
|
| 44 |
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"cat": "tupperware",
|
| 45 |
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"split": "train",
|
| 46 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml"
|
| 47 |
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},
|
| 48 |
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"reset_region": {
|
| 49 |
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"size": [
|
| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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],
|
| 58 |
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"name": "geom_0"
|
| 59 |
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}
|
| 60 |
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},
|
| 61 |
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{
|
| 62 |
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"name": "cooked_food",
|
| 63 |
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"obj_groups": "cooked_food",
|
| 64 |
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"init_robot_here": false,
|
| 65 |
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"graspable": true,
|
| 66 |
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|
| 67 |
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|
| 68 |
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0.01,
|
| 69 |
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0.01
|
| 70 |
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],
|
| 71 |
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|
| 72 |
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"sample_args": {
|
| 73 |
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"reference": "cooked_food_container",
|
| 74 |
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"on_top": true
|
| 75 |
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}
|
| 76 |
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},
|
| 77 |
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"type": "object",
|
| 78 |
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|
| 79 |
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"groups_containing_sampled_obj": [
|
| 80 |
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"all",
|
| 81 |
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"hot_dog",
|
| 82 |
+
"cooked_food",
|
| 83 |
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"food",
|
| 84 |
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"in_container"
|
| 85 |
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],
|
| 86 |
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"groups": [
|
| 87 |
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"cooked_food"
|
| 88 |
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],
|
| 89 |
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"cat": "hot_dog",
|
| 90 |
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"split": "train",
|
| 91 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml"
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"name": "dessert",
|
| 96 |
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|
| 97 |
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|
| 98 |
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"graspable": true,
|
| 99 |
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"placement": {
|
| 100 |
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"fixture": "counter_1_island_group_1",
|
| 101 |
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|
| 102 |
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"size": [
|
| 103 |
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0.5,
|
| 104 |
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0.2
|
| 105 |
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],
|
| 106 |
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|
| 107 |
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0,
|
| 108 |
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-1.0
|
| 109 |
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]
|
| 110 |
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|
| 111 |
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"type": "object",
|
| 112 |
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"info": {
|
| 113 |
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"groups_containing_sampled_obj": [
|
| 114 |
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"all",
|
| 115 |
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"cake",
|
| 116 |
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"sweets",
|
| 117 |
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"food",
|
| 118 |
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"in_container"
|
| 119 |
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],
|
| 120 |
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|
| 121 |
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"sweets"
|
| 122 |
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],
|
| 123 |
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"cat": "cake",
|
| 124 |
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"split": "train",
|
| 125 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_5/model.xml"
|
| 126 |
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},
|
| 127 |
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"reset_region": {
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| 128 |
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| 129 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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"name": "geom_0"
|
| 138 |
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|
| 139 |
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|
| 140 |
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],
|
| 141 |
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"fixtures": {
|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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},
|
| 148 |
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|
| 149 |
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"cls": "Wall"
|
| 150 |
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},
|
| 151 |
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|
| 152 |
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"cls": "Wall"
|
| 153 |
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},
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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"cls": "Wall"
|
| 159 |
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|
| 160 |
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|
| 161 |
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"cls": "Window"
|
| 162 |
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|
| 163 |
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"floor_1_room": {
|
| 164 |
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"cls": "Floor"
|
| 165 |
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|
| 166 |
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"floor_1_backing_room": {
|
| 167 |
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"cls": "Floor"
|
| 168 |
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},
|
| 169 |
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"wall_accessory_1_room": {
|
| 170 |
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"cls": "WallAccessory"
|
| 171 |
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},
|
| 172 |
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"wall_accessory_2_room": {
|
| 173 |
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"cls": "WallAccessory"
|
| 174 |
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},
|
| 175 |
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|
| 176 |
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"cls": "WallAccessory"
|
| 177 |
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|
| 178 |
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"light_switch_room": {
|
| 179 |
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"cls": "WallAccessory"
|
| 180 |
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|
| 181 |
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|
| 182 |
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"cls": "WallAccessory"
|
| 183 |
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|
| 184 |
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"stool_1_room": {
|
| 185 |
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"cls": "Stool"
|
| 186 |
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},
|
| 187 |
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"stool_2_room": {
|
| 188 |
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"cls": "Stool"
|
| 189 |
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},
|
| 190 |
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|
| 191 |
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"cls": "Stool"
|
| 192 |
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},
|
| 193 |
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|
| 194 |
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"cls": "Counter"
|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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"cls": "Counter"
|
| 201 |
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},
|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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"cls": "HingeCabinet"
|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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},
|
| 214 |
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|
| 215 |
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"cls": "Box"
|
| 216 |
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},
|
| 217 |
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|
| 218 |
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"cls": "SingleCabinet"
|
| 219 |
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},
|
| 220 |
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"stack_2_main_group_1_2": {
|
| 221 |
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"cls": "Drawer"
|
| 222 |
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},
|
| 223 |
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|
| 224 |
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"cls": "Box"
|
| 225 |
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},
|
| 226 |
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"stack_3_main_group_1_1": {
|
| 227 |
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"cls": "SingleCabinet"
|
| 228 |
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},
|
| 229 |
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"box_1_main_group_1": {
|
| 230 |
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"cls": "Box"
|
| 231 |
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},
|
| 232 |
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|
| 233 |
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"cls": "Box"
|
| 234 |
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},
|
| 235 |
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|
| 236 |
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"cls": "HingeCabinet"
|
| 237 |
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},
|
| 238 |
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"stack_4_main_group_1_2": {
|
| 239 |
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"cls": "Drawer"
|
| 240 |
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},
|
| 241 |
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|
| 242 |
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"cls": "Drawer"
|
| 243 |
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},
|
| 244 |
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"cab_1_main_group_1": {
|
| 245 |
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"cls": "HingeCabinet"
|
| 246 |
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},
|
| 247 |
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"microwave_main_group_1": {
|
| 248 |
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"cls": "Microwave"
|
| 249 |
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},
|
| 250 |
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"micro_cab_main_group_1": {
|
| 251 |
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"cls": "HingeCabinet"
|
| 252 |
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},
|
| 253 |
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"toaster_main_group_1": {
|
| 254 |
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"cls": "Toaster"
|
| 255 |
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},
|
| 256 |
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"coffee_machine_main_group_1": {
|
| 257 |
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"cls": "CoffeeMachine"
|
| 258 |
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},
|
| 259 |
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|
| 260 |
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"cls": "Accessory"
|
| 261 |
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},
|
| 262 |
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|
| 263 |
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"cls": "Counter"
|
| 264 |
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},
|
| 265 |
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"counter_corner_left_group_1": {
|
| 266 |
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"cls": "Counter"
|
| 267 |
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},
|
| 268 |
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"fridge_left_group_1": {
|
| 269 |
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"cls": "FridgeBottomFreezer"
|
| 270 |
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},
|
| 271 |
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|
| 272 |
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"cls": "HousingCabinet"
|
| 273 |
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},
|
| 274 |
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|
| 275 |
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|
| 276 |
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|
| 277 |
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|
| 278 |
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|
| 279 |
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},
|
| 280 |
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|
| 281 |
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|
| 282 |
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|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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|
| 288 |
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},
|
| 289 |
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|
| 290 |
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|
| 291 |
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},
|
| 292 |
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|
| 293 |
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"cls": "Drawer"
|
| 294 |
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|
| 295 |
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|
| 296 |
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|
| 297 |
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},
|
| 298 |
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|
| 299 |
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"cls": "SingleCabinet"
|
| 300 |
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|
| 301 |
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|
| 302 |
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"cls": "Box"
|
| 303 |
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},
|
| 304 |
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"cab_1_left_group_1": {
|
| 305 |
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"cls": "SingleCabinet"
|
| 306 |
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},
|
| 307 |
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|
| 308 |
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"cls": "HingeCabinet"
|
| 309 |
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},
|
| 310 |
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|
| 311 |
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"cls": "HingeCabinet"
|
| 312 |
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},
|
| 313 |
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|
| 314 |
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|
| 315 |
+
},
|
| 316 |
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"knife_block_left_group_1": {
|
| 317 |
+
"cls": "Accessory"
|
| 318 |
+
},
|
| 319 |
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|
| 320 |
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"cls": "Sink"
|
| 321 |
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},
|
| 322 |
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|
| 323 |
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|
| 324 |
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},
|
| 325 |
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"island_island_group_1": {
|
| 326 |
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"cls": "Counter"
|
| 327 |
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|
| 328 |
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"box_island_group_1": {
|
| 329 |
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"cls": "Box"
|
| 330 |
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},
|
| 331 |
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"panel_stack_1_island_group_1_base": {
|
| 332 |
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|
| 333 |
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},
|
| 334 |
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"panel_stack_1_island_group_1_1": {
|
| 335 |
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"cls": "PanelCabinet"
|
| 336 |
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},
|
| 337 |
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"stack_1_island_group_1_base": {
|
| 338 |
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"cls": "Box"
|
| 339 |
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},
|
| 340 |
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"stack_1_island_group_1_1": {
|
| 341 |
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"cls": "HingeCabinet"
|
| 342 |
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},
|
| 343 |
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"stack_1_island_group_1_2": {
|
| 344 |
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"cls": "PanelCabinet"
|
| 345 |
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},
|
| 346 |
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"dishwasher_island_group_1": {
|
| 347 |
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"cls": "Dishwasher"
|
| 348 |
+
},
|
| 349 |
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"panel_stack_2_island_group_1_base": {
|
| 350 |
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"cls": "Box"
|
| 351 |
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},
|
| 352 |
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"panel_stack_2_island_group_1_1": {
|
| 353 |
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"cls": "PanelCabinet"
|
| 354 |
+
}
|
| 355 |
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},
|
| 356 |
+
"gen_textures": {},
|
| 357 |
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"lang": "Add the cake to the tupperware that contains the hot dog.",
|
| 358 |
+
"fixture_refs": {
|
| 359 |
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"counter": "counter_1_island_group_1"
|
| 360 |
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|
| 361 |
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|
| 362 |
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| 363 |
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| 364 |
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| 365 |
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| 375 |
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| 376 |
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| 377 |
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| 378 |
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| 390 |
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| 391 |
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| 392 |
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| 393 |
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| 394 |
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| 395 |
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| 396 |
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| 407 |
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},
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| 408 |
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|
| 409 |
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| 411 |
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| 414 |
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| 423 |
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| 424 |
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| 426 |
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| 427 |
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| 428 |
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| 429 |
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| 430 |
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| 431 |
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| 432 |
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],
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| 433 |
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| 434 |
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| 440 |
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| 451 |
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]
|
| 452 |
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}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000102/ep_meta.json
ADDED
|
@@ -0,0 +1,533 @@
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|
| 1 |
+
{
|
| 2 |
+
"layout_id": 24,
|
| 3 |
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"style_id": 40,
|
| 4 |
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"object_cfgs": [
|
| 5 |
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{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
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"obj_groups": "tupperware",
|
| 8 |
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"placement": {
|
| 9 |
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"fixture": "island_island_group_1",
|
| 10 |
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"size": [
|
| 11 |
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|
| 12 |
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|
| 13 |
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],
|
| 14 |
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"pos": [
|
| 15 |
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|
| 16 |
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|
| 17 |
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],
|
| 18 |
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"try_to_place_in": "tupperware",
|
| 19 |
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"try_to_place_in_kwargs": {
|
| 20 |
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"object_scale": [
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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]
|
| 25 |
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},
|
| 26 |
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"rotation": 0
|
| 27 |
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},
|
| 28 |
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"type": "object",
|
| 29 |
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"init_robot_here": true,
|
| 30 |
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"object_scale": [
|
| 31 |
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|
| 32 |
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2.5,
|
| 33 |
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|
| 34 |
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],
|
| 35 |
+
"info": {
|
| 36 |
+
"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
+
"tupperware",
|
| 39 |
+
"receptacle"
|
| 40 |
+
],
|
| 41 |
+
"groups": [
|
| 42 |
+
"tupperware"
|
| 43 |
+
],
|
| 44 |
+
"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml"
|
| 47 |
+
},
|
| 48 |
+
"reset_region": {
|
| 49 |
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"size": [
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| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"offset": [
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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],
|
| 58 |
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"name": "geom_0"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "cooked_food",
|
| 63 |
+
"obj_groups": "cooked_food",
|
| 64 |
+
"init_robot_here": false,
|
| 65 |
+
"graspable": true,
|
| 66 |
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"placement": {
|
| 67 |
+
"size": [
|
| 68 |
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0.01,
|
| 69 |
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0.01
|
| 70 |
+
],
|
| 71 |
+
"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
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| 497 |
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"quat": [
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| 498 |
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| 499 |
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| 500 |
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| 501 |
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| 503 |
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|
| 504 |
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|
| 505 |
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|
| 506 |
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"parent_body": "mobilebase0_support"
|
| 507 |
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| 508 |
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|
| 509 |
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| 510 |
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|
| 511 |
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|
| 512 |
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| 513 |
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| 514 |
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| 515 |
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| 516 |
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| 517 |
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| 518 |
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| 519 |
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|
| 520 |
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"parent_body": "robot0_right_hand"
|
| 521 |
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|
| 522 |
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| 523 |
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| 524 |
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|
| 525 |
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| 526 |
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| 529 |
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| 530 |
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| 532 |
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|
| 533 |
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}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000103/ep_meta.json
ADDED
|
@@ -0,0 +1,548 @@
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|
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|
|
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|
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|
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|
|
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|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 15,
|
| 3 |
+
"style_id": 32,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
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{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
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"obj_groups": "tupperware",
|
| 8 |
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"placement": {
|
| 9 |
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"fixture": "counter_1_main_group_1",
|
| 10 |
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"size": [
|
| 11 |
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|
| 12 |
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|
| 13 |
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],
|
| 14 |
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"pos": [
|
| 15 |
+
0,
|
| 16 |
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-1.0
|
| 17 |
+
],
|
| 18 |
+
"try_to_place_in": "tupperware",
|
| 19 |
+
"try_to_place_in_kwargs": {
|
| 20 |
+
"object_scale": [
|
| 21 |
+
2.5,
|
| 22 |
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2.5,
|
| 23 |
+
1.25
|
| 24 |
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]
|
| 25 |
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},
|
| 26 |
+
"rotation": 0
|
| 27 |
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},
|
| 28 |
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"type": "object",
|
| 29 |
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"init_robot_here": true,
|
| 30 |
+
"object_scale": [
|
| 31 |
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2.5,
|
| 32 |
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2.5,
|
| 33 |
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1.25
|
| 34 |
+
],
|
| 35 |
+
"info": {
|
| 36 |
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"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
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"tupperware",
|
| 39 |
+
"receptacle"
|
| 40 |
+
],
|
| 41 |
+
"groups": [
|
| 42 |
+
"tupperware"
|
| 43 |
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],
|
| 44 |
+
"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml"
|
| 47 |
+
},
|
| 48 |
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"reset_region": {
|
| 49 |
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"size": [
|
| 50 |
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0.8,
|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"offset": [
|
| 54 |
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|
| 55 |
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0.0,
|
| 56 |
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|
| 57 |
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],
|
| 58 |
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"name": "geom_0"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "cooked_food",
|
| 63 |
+
"obj_groups": "cooked_food",
|
| 64 |
+
"init_robot_here": false,
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
+
"size": [
|
| 68 |
+
0.01,
|
| 69 |
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0.01
|
| 70 |
+
],
|
| 71 |
+
"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
+
"groups_containing_sampled_obj": [
|
| 80 |
+
"all",
|
| 81 |
+
"hot_dog",
|
| 82 |
+
"cooked_food",
|
| 83 |
+
"food",
|
| 84 |
+
"in_container"
|
| 85 |
+
],
|
| 86 |
+
"groups": [
|
| 87 |
+
"cooked_food"
|
| 88 |
+
],
|
| 89 |
+
"cat": "hot_dog",
|
| 90 |
+
"split": "train",
|
| 91 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "dessert",
|
| 96 |
+
"obj_groups": "sweets",
|
| 97 |
+
"exclude_obj_groups": "sugar_cube",
|
| 98 |
+
"graspable": true,
|
| 99 |
+
"placement": {
|
| 100 |
+
"fixture": "counter_1_main_group_1",
|
| 101 |
+
"reuse_region_from": "cooked_food_container",
|
| 102 |
+
"size": [
|
| 103 |
+
0.5,
|
| 104 |
+
0.2
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
0,
|
| 108 |
+
-1.0
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"type": "object",
|
| 112 |
+
"info": {
|
| 113 |
+
"groups_containing_sampled_obj": [
|
| 114 |
+
"all",
|
| 115 |
+
"marshmallow",
|
| 116 |
+
"sweets",
|
| 117 |
+
"food",
|
| 118 |
+
"in_container"
|
| 119 |
+
],
|
| 120 |
+
"groups": [
|
| 121 |
+
"sweets"
|
| 122 |
+
],
|
| 123 |
+
"cat": "marshmallow",
|
| 124 |
+
"split": "train",
|
| 125 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml"
|
| 126 |
+
},
|
| 127 |
+
"reset_region": {
|
| 128 |
+
"size": [
|
| 129 |
+
0.8,
|
| 130 |
+
0.65
|
| 131 |
+
],
|
| 132 |
+
"offset": [
|
| 133 |
+
0.0,
|
| 134 |
+
0.0,
|
| 135 |
+
0.46
|
| 136 |
+
],
|
| 137 |
+
"name": "geom_0"
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
],
|
| 141 |
+
"fixtures": {
|
| 142 |
+
"wall_main_1_room": {
|
| 143 |
+
"cls": "Wall"
|
| 144 |
+
},
|
| 145 |
+
"wall_main_1_backing_room": {
|
| 146 |
+
"cls": "Wall"
|
| 147 |
+
},
|
| 148 |
+
"wall_left_1_room": {
|
| 149 |
+
"cls": "Wall"
|
| 150 |
+
},
|
| 151 |
+
"wall_left_1_backing_room": {
|
| 152 |
+
"cls": "Wall"
|
| 153 |
+
},
|
| 154 |
+
"wall_left_2_room": {
|
| 155 |
+
"cls": "Wall"
|
| 156 |
+
},
|
| 157 |
+
"wall_left_2_backing_room": {
|
| 158 |
+
"cls": "Wall"
|
| 159 |
+
},
|
| 160 |
+
"wall_left_3_room": {
|
| 161 |
+
"cls": "Wall"
|
| 162 |
+
},
|
| 163 |
+
"wall_left_3_backing_room": {
|
| 164 |
+
"cls": "Wall"
|
| 165 |
+
},
|
| 166 |
+
"wall_front_1_room": {
|
| 167 |
+
"cls": "Wall"
|
| 168 |
+
},
|
| 169 |
+
"wall_front_1_backing_room": {
|
| 170 |
+
"cls": "Wall"
|
| 171 |
+
},
|
| 172 |
+
"wall_right_1_room": {
|
| 173 |
+
"cls": "Wall"
|
| 174 |
+
},
|
| 175 |
+
"wall_right_1_backing_room": {
|
| 176 |
+
"cls": "Wall"
|
| 177 |
+
},
|
| 178 |
+
"wall_right_2_room": {
|
| 179 |
+
"cls": "Wall"
|
| 180 |
+
},
|
| 181 |
+
"wall_right_2_backing_room": {
|
| 182 |
+
"cls": "Wall"
|
| 183 |
+
},
|
| 184 |
+
"wall_front_2_room": {
|
| 185 |
+
"cls": "Wall"
|
| 186 |
+
},
|
| 187 |
+
"wall_front_2_backing_room": {
|
| 188 |
+
"cls": "Wall"
|
| 189 |
+
},
|
| 190 |
+
"wall_main_2_room": {
|
| 191 |
+
"cls": "Wall"
|
| 192 |
+
},
|
| 193 |
+
"wall_main_2_backing_room": {
|
| 194 |
+
"cls": "Wall"
|
| 195 |
+
},
|
| 196 |
+
"wall_left_4_room": {
|
| 197 |
+
"cls": "Wall"
|
| 198 |
+
},
|
| 199 |
+
"wall_left_4_backing_room": {
|
| 200 |
+
"cls": "Wall"
|
| 201 |
+
},
|
| 202 |
+
"wall_left_5_room": {
|
| 203 |
+
"cls": "Wall"
|
| 204 |
+
},
|
| 205 |
+
"wall_left_5_backing_room": {
|
| 206 |
+
"cls": "Wall"
|
| 207 |
+
},
|
| 208 |
+
"floor_1_room": {
|
| 209 |
+
"cls": "Floor"
|
| 210 |
+
},
|
| 211 |
+
"floor_1_backing_room": {
|
| 212 |
+
"cls": "Floor"
|
| 213 |
+
},
|
| 214 |
+
"floor_2_room": {
|
| 215 |
+
"cls": "Floor"
|
| 216 |
+
},
|
| 217 |
+
"floor_2_backing_room": {
|
| 218 |
+
"cls": "Floor"
|
| 219 |
+
},
|
| 220 |
+
"floor_3_room": {
|
| 221 |
+
"cls": "Floor"
|
| 222 |
+
},
|
| 223 |
+
"floor_3_backing_room": {
|
| 224 |
+
"cls": "Floor"
|
| 225 |
+
},
|
| 226 |
+
"wall_accessory_1_room": {
|
| 227 |
+
"cls": "WallAccessory"
|
| 228 |
+
},
|
| 229 |
+
"wall_accessory_2_room": {
|
| 230 |
+
"cls": "WallAccessory"
|
| 231 |
+
},
|
| 232 |
+
"wall_accessory_3_room": {
|
| 233 |
+
"cls": "WallAccessory"
|
| 234 |
+
},
|
| 235 |
+
"light_switch_room": {
|
| 236 |
+
"cls": "WallAccessory"
|
| 237 |
+
},
|
| 238 |
+
"wall_accessory_4_room": {
|
| 239 |
+
"cls": "WallAccessory"
|
| 240 |
+
},
|
| 241 |
+
"wall_accessory_5_room": {
|
| 242 |
+
"cls": "WallAccessory"
|
| 243 |
+
},
|
| 244 |
+
"wall_accessory_6_room": {
|
| 245 |
+
"cls": "WallAccessory"
|
| 246 |
+
},
|
| 247 |
+
"stool_1_room": {
|
| 248 |
+
"cls": "Stool"
|
| 249 |
+
},
|
| 250 |
+
"stool_2_room": {
|
| 251 |
+
"cls": "Stool"
|
| 252 |
+
},
|
| 253 |
+
"stool_3_room": {
|
| 254 |
+
"cls": "Stool"
|
| 255 |
+
},
|
| 256 |
+
"fridge_1_main_group_1": {
|
| 257 |
+
"cls": "FridgeFrenchDoor"
|
| 258 |
+
},
|
| 259 |
+
"fridge_1_housing_main_group_1": {
|
| 260 |
+
"cls": "HousingCabinet"
|
| 261 |
+
},
|
| 262 |
+
"fridge_top_main_group_1": {
|
| 263 |
+
"cls": "HingeCabinet"
|
| 264 |
+
},
|
| 265 |
+
"bottom_main_group_1_base": {
|
| 266 |
+
"cls": "Box"
|
| 267 |
+
},
|
| 268 |
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"bottom_main_group_1_1": {
|
| 269 |
+
"cls": "Drawer"
|
| 270 |
+
},
|
| 271 |
+
"oven_main_group_1": {
|
| 272 |
+
"cls": "Oven"
|
| 273 |
+
},
|
| 274 |
+
"oven_housing_main_group_1": {
|
| 275 |
+
"cls": "HousingCabinet"
|
| 276 |
+
},
|
| 277 |
+
"microwave_main_group_1": {
|
| 278 |
+
"cls": "Microwave"
|
| 279 |
+
},
|
| 280 |
+
"microwave_housing_main_group_1": {
|
| 281 |
+
"cls": "HousingCabinet"
|
| 282 |
+
},
|
| 283 |
+
"top_main_group_1": {
|
| 284 |
+
"cls": "HingeCabinet"
|
| 285 |
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},
|
| 286 |
+
"counter_1_main_group_1": {
|
| 287 |
+
"cls": "Counter"
|
| 288 |
+
},
|
| 289 |
+
"stack_1_main_group_1_base": {
|
| 290 |
+
"cls": "Box"
|
| 291 |
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},
|
| 292 |
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"stack_1_main_group_1_1": {
|
| 293 |
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"cls": "Drawer"
|
| 294 |
+
},
|
| 295 |
+
"stack_1_main_group_1_2": {
|
| 296 |
+
"cls": "Drawer"
|
| 297 |
+
},
|
| 298 |
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"stack_1_main_group_1_3": {
|
| 299 |
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"cls": "Drawer"
|
| 300 |
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},
|
| 301 |
+
"stack_2_main_group_1_base": {
|
| 302 |
+
"cls": "Box"
|
| 303 |
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},
|
| 304 |
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"stack_2_main_group_1_1": {
|
| 305 |
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"cls": "SingleCabinet"
|
| 306 |
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},
|
| 307 |
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"stack_2_main_group_1_2": {
|
| 308 |
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"cls": "Drawer"
|
| 309 |
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},
|
| 310 |
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"cab_1_main_group_1": {
|
| 311 |
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"cls": "HingeCabinet"
|
| 312 |
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},
|
| 313 |
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"toaster_main_group_1": {
|
| 314 |
+
"cls": "Toaster"
|
| 315 |
+
},
|
| 316 |
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"stovetop_1_left_group_1": {
|
| 317 |
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"cls": "Stovetop"
|
| 318 |
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},
|
| 319 |
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"counter_1_left_group_1": {
|
| 320 |
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"cls": "Counter"
|
| 321 |
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},
|
| 322 |
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"stack_1_left_group_1_base": {
|
| 323 |
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"cls": "Box"
|
| 324 |
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},
|
| 325 |
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"stack_1_left_group_1_1": {
|
| 326 |
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"cls": "HingeCabinet"
|
| 327 |
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},
|
| 328 |
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"stack_1_left_group_1_2": {
|
| 329 |
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"cls": "PanelCabinet"
|
| 330 |
+
},
|
| 331 |
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"stack_2_left_group_1_base": {
|
| 332 |
+
"cls": "Box"
|
| 333 |
+
},
|
| 334 |
+
"stack_2_left_group_1_1": {
|
| 335 |
+
"cls": "HingeCabinet"
|
| 336 |
+
},
|
| 337 |
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"stack_2_left_group_1_2": {
|
| 338 |
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"cls": "Drawer"
|
| 339 |
+
},
|
| 340 |
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"stack_3_left_group_1_base": {
|
| 341 |
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"cls": "Box"
|
| 342 |
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},
|
| 343 |
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"stack_3_left_group_1_1": {
|
| 344 |
+
"cls": "HingeCabinet"
|
| 345 |
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},
|
| 346 |
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"stack_3_left_group_1_2": {
|
| 347 |
+
"cls": "Drawer"
|
| 348 |
+
},
|
| 349 |
+
"hood_left_group_1": {
|
| 350 |
+
"cls": "Hood"
|
| 351 |
+
},
|
| 352 |
+
"cab_1_left_group_1": {
|
| 353 |
+
"cls": "HingeCabinet"
|
| 354 |
+
},
|
| 355 |
+
"cab_2_left_group_1": {
|
| 356 |
+
"cls": "HingeCabinet"
|
| 357 |
+
},
|
| 358 |
+
"coffee_machine_left_group_1": {
|
| 359 |
+
"cls": "CoffeeMachine"
|
| 360 |
+
},
|
| 361 |
+
"counter_1_front_group_1": {
|
| 362 |
+
"cls": "Counter"
|
| 363 |
+
},
|
| 364 |
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"stack_1_front_group_1_base": {
|
| 365 |
+
"cls": "Box"
|
| 366 |
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},
|
| 367 |
+
"stack_1_front_group_1_1": {
|
| 368 |
+
"cls": "HingeCabinet"
|
| 369 |
+
},
|
| 370 |
+
"stack_1_front_group_1_2": {
|
| 371 |
+
"cls": "Drawer"
|
| 372 |
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},
|
| 373 |
+
"stack_2_front_group_1_base": {
|
| 374 |
+
"cls": "Box"
|
| 375 |
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},
|
| 376 |
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"stack_2_front_group_1_1": {
|
| 377 |
+
"cls": "HingeCabinet"
|
| 378 |
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},
|
| 379 |
+
"stack_2_front_group_1_2": {
|
| 380 |
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"cls": "Drawer"
|
| 381 |
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},
|
| 382 |
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"stack_3_front_group_1_base": {
|
| 383 |
+
"cls": "Box"
|
| 384 |
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},
|
| 385 |
+
"stack_3_front_group_1_1": {
|
| 386 |
+
"cls": "HingeCabinet"
|
| 387 |
+
},
|
| 388 |
+
"stack_3_front_group_1_2": {
|
| 389 |
+
"cls": "Drawer"
|
| 390 |
+
},
|
| 391 |
+
"cab_1_front_group_1": {
|
| 392 |
+
"cls": "HingeCabinet"
|
| 393 |
+
},
|
| 394 |
+
"cab_2_front_group_1": {
|
| 395 |
+
"cls": "HingeCabinet"
|
| 396 |
+
},
|
| 397 |
+
"cab_3_front_group_1": {
|
| 398 |
+
"cls": "HingeCabinet"
|
| 399 |
+
},
|
| 400 |
+
"toaster_oven_front_group_1": {
|
| 401 |
+
"cls": "ToasterOven"
|
| 402 |
+
},
|
| 403 |
+
"sink_island_group": {
|
| 404 |
+
"cls": "Sink"
|
| 405 |
+
},
|
| 406 |
+
"island_island_group": {
|
| 407 |
+
"cls": "Counter"
|
| 408 |
+
},
|
| 409 |
+
"panel_stack_island_group_base": {
|
| 410 |
+
"cls": "Box"
|
| 411 |
+
},
|
| 412 |
+
"panel_stack_island_group_1": {
|
| 413 |
+
"cls": "PanelCabinet"
|
| 414 |
+
},
|
| 415 |
+
"dishwasher_island_group": {
|
| 416 |
+
"cls": "Dishwasher"
|
| 417 |
+
},
|
| 418 |
+
"box_island_group": {
|
| 419 |
+
"cls": "Box"
|
| 420 |
+
},
|
| 421 |
+
"stack_1_island_group_base": {
|
| 422 |
+
"cls": "Box"
|
| 423 |
+
},
|
| 424 |
+
"stack_1_island_group_1": {
|
| 425 |
+
"cls": "HingeCabinet"
|
| 426 |
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},
|
| 427 |
+
"stack_1_island_group_2": {
|
| 428 |
+
"cls": "PanelCabinet"
|
| 429 |
+
},
|
| 430 |
+
"stack_2_island_group_base": {
|
| 431 |
+
"cls": "Box"
|
| 432 |
+
},
|
| 433 |
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"stack_2_island_group_1": {
|
| 434 |
+
"cls": "HingeCabinet"
|
| 435 |
+
},
|
| 436 |
+
"stack_2_island_group_2": {
|
| 437 |
+
"cls": "Drawer"
|
| 438 |
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},
|
| 439 |
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"stack_2_island_group_3": {
|
| 440 |
+
"cls": "Drawer"
|
| 441 |
+
},
|
| 442 |
+
"stack_3_island_group_base": {
|
| 443 |
+
"cls": "Box"
|
| 444 |
+
},
|
| 445 |
+
"stack_3_island_group_1": {
|
| 446 |
+
"cls": "PanelCabinet"
|
| 447 |
+
},
|
| 448 |
+
"paper_towel_island_group": {
|
| 449 |
+
"cls": "Accessory"
|
| 450 |
+
}
|
| 451 |
+
},
|
| 452 |
+
"gen_textures": {},
|
| 453 |
+
"lang": "Add the marshmallow to the tupperware that contains the hot dog.",
|
| 454 |
+
"fixture_refs": {
|
| 455 |
+
"counter": "counter_1_main_group_1"
|
| 456 |
+
},
|
| 457 |
+
"cam_configs": {
|
| 458 |
+
"robot0_agentview_center": {
|
| 459 |
+
"pos": [
|
| 460 |
+
-0.6,
|
| 461 |
+
0.0,
|
| 462 |
+
1.15
|
| 463 |
+
],
|
| 464 |
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"quat": [
|
| 465 |
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0.636945903301239,
|
| 466 |
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0.3325185477733612,
|
| 467 |
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|
| 468 |
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-0.6175596117973328
|
| 469 |
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],
|
| 470 |
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"parent_body": "mobilebase0_support"
|
| 471 |
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},
|
| 472 |
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"robot0_agentview_left": {
|
| 473 |
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"pos": [
|
| 474 |
+
-0.5,
|
| 475 |
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0.35,
|
| 476 |
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1.05
|
| 477 |
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],
|
| 478 |
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"quat": [
|
| 479 |
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0.55623853,
|
| 480 |
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0.29935253,
|
| 481 |
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-0.37678665,
|
| 482 |
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-0.6775092
|
| 483 |
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],
|
| 484 |
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"camera_attribs": {
|
| 485 |
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"fovy": "60"
|
| 486 |
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},
|
| 487 |
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"parent_body": "mobilebase0_support"
|
| 488 |
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},
|
| 489 |
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"robot0_agentview_right": {
|
| 490 |
+
"pos": [
|
| 491 |
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-0.5,
|
| 492 |
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-0.35,
|
| 493 |
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1.05
|
| 494 |
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],
|
| 495 |
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"quat": [
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| 496 |
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0.6775091886520386,
|
| 497 |
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0.3767866790294647,
|
| 498 |
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|
| 499 |
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-0.55623859167099
|
| 500 |
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],
|
| 501 |
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"camera_attribs": {
|
| 502 |
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"fovy": "60"
|
| 503 |
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},
|
| 504 |
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"parent_body": "mobilebase0_support"
|
| 505 |
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},
|
| 506 |
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"robot0_frontview": {
|
| 507 |
+
"pos": [
|
| 508 |
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-0.5,
|
| 509 |
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0,
|
| 510 |
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0.95
|
| 511 |
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],
|
| 512 |
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"quat": [
|
| 513 |
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|
| 514 |
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|
| 515 |
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|
| 516 |
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|
| 517 |
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],
|
| 518 |
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"camera_attribs": {
|
| 519 |
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"fovy": "60"
|
| 520 |
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},
|
| 521 |
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"parent_body": "mobilebase0_support"
|
| 522 |
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},
|
| 523 |
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"robot0_eye_in_hand": {
|
| 524 |
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"pos": [
|
| 525 |
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0.05,
|
| 526 |
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0,
|
| 527 |
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0
|
| 528 |
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],
|
| 529 |
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"quat": [
|
| 530 |
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0,
|
| 531 |
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0.707107,
|
| 532 |
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0.707107,
|
| 533 |
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0
|
| 534 |
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],
|
| 535 |
+
"parent_body": "robot0_right_hand"
|
| 536 |
+
}
|
| 537 |
+
},
|
| 538 |
+
"init_robot_base_pos": [
|
| 539 |
+
2.248000379516996,
|
| 540 |
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-0.31210072272489126,
|
| 541 |
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0.0
|
| 542 |
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],
|
| 543 |
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"init_robot_base_ori": [
|
| 544 |
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0.0,
|
| 545 |
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0.0,
|
| 546 |
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1.5707963267948966
|
| 547 |
+
]
|
| 548 |
+
}
|
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000105/ep_meta.json
ADDED
|
@@ -0,0 +1,467 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"layout_id": 60,
|
| 3 |
+
"style_id": 49,
|
| 4 |
+
"object_cfgs": [
|
| 5 |
+
{
|
| 6 |
+
"name": "cooked_food_container",
|
| 7 |
+
"obj_groups": "tupperware",
|
| 8 |
+
"placement": {
|
| 9 |
+
"fixture": "counter_1_left_group_1",
|
| 10 |
+
"size": [
|
| 11 |
+
0.5,
|
| 12 |
+
0.5
|
| 13 |
+
],
|
| 14 |
+
"pos": [
|
| 15 |
+
0,
|
| 16 |
+
-1.0
|
| 17 |
+
],
|
| 18 |
+
"try_to_place_in": "tupperware",
|
| 19 |
+
"try_to_place_in_kwargs": {
|
| 20 |
+
"object_scale": [
|
| 21 |
+
2.5,
|
| 22 |
+
2.5,
|
| 23 |
+
1.25
|
| 24 |
+
]
|
| 25 |
+
},
|
| 26 |
+
"rotation": 0
|
| 27 |
+
},
|
| 28 |
+
"type": "object",
|
| 29 |
+
"init_robot_here": true,
|
| 30 |
+
"object_scale": [
|
| 31 |
+
2.5,
|
| 32 |
+
2.5,
|
| 33 |
+
1.25
|
| 34 |
+
],
|
| 35 |
+
"info": {
|
| 36 |
+
"groups_containing_sampled_obj": [
|
| 37 |
+
"all",
|
| 38 |
+
"tupperware",
|
| 39 |
+
"receptacle"
|
| 40 |
+
],
|
| 41 |
+
"groups": [
|
| 42 |
+
"tupperware"
|
| 43 |
+
],
|
| 44 |
+
"cat": "tupperware",
|
| 45 |
+
"split": "train",
|
| 46 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml"
|
| 47 |
+
},
|
| 48 |
+
"reset_region": {
|
| 49 |
+
"size": [
|
| 50 |
+
1.4675759000000004,
|
| 51 |
+
0.650002
|
| 52 |
+
],
|
| 53 |
+
"offset": [
|
| 54 |
+
-1.0412810499999998,
|
| 55 |
+
-3.469446951953614e-17,
|
| 56 |
+
0.46
|
| 57 |
+
],
|
| 58 |
+
"name": "geom_0"
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
{
|
| 62 |
+
"name": "cooked_food",
|
| 63 |
+
"obj_groups": "cooked_food",
|
| 64 |
+
"init_robot_here": false,
|
| 65 |
+
"graspable": true,
|
| 66 |
+
"placement": {
|
| 67 |
+
"size": [
|
| 68 |
+
0.01,
|
| 69 |
+
0.01
|
| 70 |
+
],
|
| 71 |
+
"ensure_object_boundary_in_range": false,
|
| 72 |
+
"sample_args": {
|
| 73 |
+
"reference": "cooked_food_container",
|
| 74 |
+
"on_top": true
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"type": "object",
|
| 78 |
+
"info": {
|
| 79 |
+
"groups_containing_sampled_obj": [
|
| 80 |
+
"all",
|
| 81 |
+
"hot_dog",
|
| 82 |
+
"cooked_food",
|
| 83 |
+
"food",
|
| 84 |
+
"in_container"
|
| 85 |
+
],
|
| 86 |
+
"groups": [
|
| 87 |
+
"cooked_food"
|
| 88 |
+
],
|
| 89 |
+
"cat": "hot_dog",
|
| 90 |
+
"split": "train",
|
| 91 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml"
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "dessert",
|
| 96 |
+
"obj_groups": "sweets",
|
| 97 |
+
"exclude_obj_groups": "sugar_cube",
|
| 98 |
+
"graspable": true,
|
| 99 |
+
"placement": {
|
| 100 |
+
"fixture": "counter_1_left_group_1",
|
| 101 |
+
"reuse_region_from": "cooked_food_container",
|
| 102 |
+
"size": [
|
| 103 |
+
0.5,
|
| 104 |
+
0.2
|
| 105 |
+
],
|
| 106 |
+
"pos": [
|
| 107 |
+
0,
|
| 108 |
+
-1.0
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"type": "object",
|
| 112 |
+
"info": {
|
| 113 |
+
"groups_containing_sampled_obj": [
|
| 114 |
+
"all",
|
| 115 |
+
"marshmallow",
|
| 116 |
+
"sweets",
|
| 117 |
+
"food",
|
| 118 |
+
"in_container"
|
| 119 |
+
],
|
| 120 |
+
"groups": [
|
| 121 |
+
"sweets"
|
| 122 |
+
],
|
| 123 |
+
"cat": "marshmallow",
|
| 124 |
+
"split": "train",
|
| 125 |
+
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml"
|
| 126 |
+
},
|
| 127 |
+
"reset_region": {
|
| 128 |
+
"size": [
|
| 129 |
+
1.4675759000000004,
|
| 130 |
+
0.650002
|
| 131 |
+
],
|
| 132 |
+
"offset": [
|
| 133 |
+
-1.0412810499999998,
|
| 134 |
+
-3.469446951953614e-17,
|
| 135 |
+
0.46
|
| 136 |
+
],
|
| 137 |
+
"name": "geom_0"
|
| 138 |
+
}
|
| 139 |
+
}
|
| 140 |
+
],
|
| 141 |
+
"fixtures": {
|
| 142 |
+
"wall_left_1_room": {
|
| 143 |
+
"cls": "Wall"
|
| 144 |
+
},
|
| 145 |
+
"wall_left_1_backing_room": {
|
| 146 |
+
"cls": "Wall"
|
| 147 |
+
},
|
| 148 |
+
"wall_main_1_room": {
|
| 149 |
+
"cls": "Wall"
|
| 150 |
+
},
|
| 151 |
+
"wall_main_1_backing_room": {
|
| 152 |
+
"cls": "Wall"
|
| 153 |
+
},
|
| 154 |
+
"wall_right_1_room": {
|
| 155 |
+
"cls": "Wall"
|
| 156 |
+
},
|
| 157 |
+
"wall_right_1_backing_room": {
|
| 158 |
+
"cls": "Wall"
|
| 159 |
+
},
|
| 160 |
+
"wall_right_2_room": {
|
| 161 |
+
"cls": "Wall"
|
| 162 |
+
},
|
| 163 |
+
"wall_right_2_backing_room": {
|
| 164 |
+
"cls": "Wall"
|
| 165 |
+
},
|
| 166 |
+
"wall_main_2_room": {
|
| 167 |
+
"cls": "Wall"
|
| 168 |
+
},
|
| 169 |
+
"floor_1_room": {
|
| 170 |
+
"cls": "Floor"
|
| 171 |
+
},
|
| 172 |
+
"floor_1_backing_room": {
|
| 173 |
+
"cls": "Floor"
|
| 174 |
+
},
|
| 175 |
+
"wallaccessory_01_room": {
|
| 176 |
+
"cls": "WallAccessory"
|
| 177 |
+
},
|
| 178 |
+
"lightswitch_01_room": {
|
| 179 |
+
"cls": "WallAccessory"
|
| 180 |
+
},
|
| 181 |
+
"wallaccessory_04_room": {
|
| 182 |
+
"cls": "WallAccessory"
|
| 183 |
+
},
|
| 184 |
+
"wallaccessory_12_room": {
|
| 185 |
+
"cls": "WallAccessory"
|
| 186 |
+
},
|
| 187 |
+
"wallaccessory_06_room": {
|
| 188 |
+
"cls": "WallAccessory"
|
| 189 |
+
},
|
| 190 |
+
"wallaccessory_07_room": {
|
| 191 |
+
"cls": "WallAccessory"
|
| 192 |
+
},
|
| 193 |
+
"wallaccessory_08_room": {
|
| 194 |
+
"cls": "WallAccessory"
|
| 195 |
+
},
|
| 196 |
+
"wallaccessory_09_room": {
|
| 197 |
+
"cls": "WallAccessory"
|
| 198 |
+
},
|
| 199 |
+
"wallaccessory_10_room": {
|
| 200 |
+
"cls": "WallAccessory"
|
| 201 |
+
},
|
| 202 |
+
"stool_1_room": {
|
| 203 |
+
"cls": "Stool"
|
| 204 |
+
},
|
| 205 |
+
"stool_2_room": {
|
| 206 |
+
"cls": "Stool"
|
| 207 |
+
},
|
| 208 |
+
"counter_corner_1_main_group_1": {
|
| 209 |
+
"cls": "Counter"
|
| 210 |
+
},
|
| 211 |
+
"counter_2_main_group_1": {
|
| 212 |
+
"cls": "Counter"
|
| 213 |
+
},
|
| 214 |
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"counter_11_main_group_1": {
|
| 215 |
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"cls": "Counter"
|
| 216 |
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},
|
| 217 |
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"counter_3_main_group_1": {
|
| 218 |
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"cls": "Counter"
|
| 219 |
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},
|
| 220 |
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"stove_main_group_1": {
|
| 221 |
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"cls": "Stove"
|
| 222 |
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},
|
| 223 |
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"microwave_main_group_1": {
|
| 224 |
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"cls": "Microwave"
|
| 225 |
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},
|
| 226 |
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"micro_cab_main_group_1": {
|
| 227 |
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|
| 228 |
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},
|
| 229 |
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"hingecabinet_01_main_group_1": {
|
| 230 |
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"cls": "HingeCabinet"
|
| 231 |
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},
|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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| 244 |
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|
| 245 |
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|
| 246 |
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},
|
| 247 |
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|
| 248 |
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"cls": "Drawer"
|
| 249 |
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},
|
| 250 |
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|
| 251 |
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|
| 252 |
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| 253 |
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|
| 254 |
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|
| 255 |
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},
|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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|
| 263 |
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|
| 264 |
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},
|
| 265 |
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|
| 266 |
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"cls": "CoffeeMachine"
|
| 267 |
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},
|
| 268 |
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|
| 269 |
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"cls": "Accessory"
|
| 270 |
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},
|
| 271 |
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|
| 272 |
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"cls": "Accessory"
|
| 273 |
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},
|
| 274 |
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|
| 275 |
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"cls": "FridgeBottomFreezer"
|
| 276 |
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},
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| 277 |
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|
| 278 |
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| 279 |
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| 281 |
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| 284 |
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| 285 |
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|
| 287 |
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| 288 |
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|
| 290 |
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| 291 |
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| 293 |
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| 294 |
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},
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|
| 296 |
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| 297 |
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|
| 299 |
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|
| 300 |
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},
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|
| 302 |
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| 303 |
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},
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| 305 |
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| 306 |
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|
| 308 |
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|
| 309 |
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},
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| 310 |
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| 311 |
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"cls": "ToasterOven"
|
| 312 |
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},
|
| 313 |
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|
| 314 |
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"cls": "Sink"
|
| 315 |
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},
|
| 316 |
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|
| 317 |
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|
| 318 |
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},
|
| 319 |
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|
| 320 |
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|
| 321 |
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},
|
| 322 |
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|
| 323 |
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| 324 |
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},
|
| 325 |
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|
| 326 |
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"cls": "Box"
|
| 327 |
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},
|
| 328 |
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|
| 329 |
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"cls": "Drawer"
|
| 330 |
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},
|
| 331 |
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"stack_1_left_group_1_2": {
|
| 332 |
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"cls": "Drawer"
|
| 333 |
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},
|
| 334 |
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|
| 335 |
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|
| 336 |
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},
|
| 337 |
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|
| 338 |
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|
| 339 |
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},
|
| 340 |
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|
| 341 |
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| 342 |
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},
|
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|
| 344 |
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|
| 345 |
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},
|
| 346 |
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|
| 347 |
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| 348 |
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| 349 |
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|
| 350 |
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|
| 351 |
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},
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| 352 |
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|
| 353 |
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"cls": "Drawer"
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| 354 |
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},
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| 355 |
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|
| 356 |
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|
| 357 |
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},
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| 358 |
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| 359 |
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|
| 360 |
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},
|
| 361 |
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|
| 362 |
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"cls": "Box"
|
| 363 |
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},
|
| 364 |
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|
| 365 |
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"cls": "Dishwasher"
|
| 366 |
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},
|
| 367 |
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"toaster_left_group_1": {
|
| 368 |
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"cls": "Toaster"
|
| 369 |
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}
|
| 370 |
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},
|
| 371 |
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"gen_textures": {},
|
| 372 |
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"lang": "Add the marshmallow to the tupperware that contains the hot dog.",
|
| 373 |
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|
| 374 |
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"counter": "counter_1_left_group_1"
|
| 375 |
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},
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| 376 |
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"cam_configs": {
|
| 377 |
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|
| 378 |
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"pos": [
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| 379 |
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-0.6,
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| 380 |
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| 381 |
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|
| 382 |
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| 425 |
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| 426 |
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| 443 |
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"pos": [
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| 444 |
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| 447 |
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],
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],
|
| 454 |
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| 455 |
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}
|
| 456 |
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},
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|
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}
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