Remove extras
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- extras/dataset_meta.json +0 -474
- extras/episode_000000/ep_meta.json +0 -511
- extras/episode_000000/model.xml.gz +0 -3
- extras/episode_000000/states.npz +0 -3
- extras/episode_000001/ep_meta.json +0 -531
- extras/episode_000001/model.xml.gz +0 -3
- extras/episode_000001/states.npz +0 -3
- extras/episode_000002/ep_meta.json +0 -662
- extras/episode_000002/model.xml.gz +0 -3
- extras/episode_000002/states.npz +0 -3
- extras/episode_000003/ep_meta.json +0 -533
- extras/episode_000003/model.xml.gz +0 -3
- extras/episode_000003/states.npz +0 -3
- extras/episode_000004/ep_meta.json +0 -496
- extras/episode_000004/model.xml.gz +0 -3
- extras/episode_000004/states.npz +0 -3
- extras/episode_000005/ep_meta.json +0 -588
- extras/episode_000005/model.xml.gz +0 -3
- extras/episode_000005/states.npz +0 -3
- extras/episode_000006/ep_meta.json +0 -499
- extras/episode_000006/model.xml.gz +0 -3
- extras/episode_000006/states.npz +0 -3
- extras/episode_000007/ep_meta.json +0 -494
- extras/episode_000007/model.xml.gz +0 -3
- extras/episode_000007/states.npz +0 -3
- extras/episode_000008/ep_meta.json +0 -533
- extras/episode_000008/model.xml.gz +0 -3
- extras/episode_000008/states.npz +0 -3
- extras/episode_000009/ep_meta.json +0 -474
- extras/episode_000009/model.xml.gz +0 -3
- extras/episode_000009/states.npz +0 -3
- extras/episode_000010/ep_meta.json +0 -585
- extras/episode_000010/model.xml.gz +0 -3
- extras/episode_000010/states.npz +0 -3
- extras/episode_000011/ep_meta.json +0 -499
- extras/episode_000011/model.xml.gz +0 -3
- extras/episode_000011/states.npz +0 -3
- extras/episode_000012/ep_meta.json +0 -405
- extras/episode_000012/model.xml.gz +0 -3
- extras/episode_000012/states.npz +0 -3
- extras/episode_000013/ep_meta.json +0 -516
- extras/episode_000013/model.xml.gz +0 -3
- extras/episode_000013/states.npz +0 -3
- extras/episode_000014/ep_meta.json +0 -530
- extras/episode_000014/model.xml.gz +0 -3
- extras/episode_000014/states.npz +0 -3
- extras/episode_000015/ep_meta.json +0 -528
- extras/episode_000015/model.xml.gz +0 -3
- extras/episode_000015/states.npz +0 -3
- extras/episode_000016/ep_meta.json +0 -493
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| 446 |
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| 447 |
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| 448 |
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| 449 |
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| 450 |
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| 451 |
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| 452 |
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| 453 |
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| 454 |
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|
| 455 |
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|
| 456 |
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| 457 |
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| 458 |
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| 459 |
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| 460 |
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| 461 |
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| 462 |
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| 463 |
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| 464 |
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| 465 |
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| 466 |
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| 467 |
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| 468 |
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| 469 |
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| 470 |
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| 471 |
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| 472 |
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| 473 |
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| 474 |
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|
extras/episode_000000/ep_meta.json
DELETED
|
@@ -1,511 +0,0 @@
|
|
| 1 |
-
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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|
| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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|
| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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|
| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 50 |
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| 53 |
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| 54 |
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| 57 |
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| 58 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 66 |
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| 67 |
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| 75 |
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| 76 |
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| 79 |
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| 80 |
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| 84 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 96 |
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| 97 |
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| 98 |
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| 99 |
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| 110 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 122 |
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| 123 |
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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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| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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|
| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 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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| 159 |
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| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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| 164 |
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|
| 165 |
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|
| 166 |
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| 167 |
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| 168 |
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|
| 169 |
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| 170 |
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|
| 171 |
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|
| 172 |
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| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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| 179 |
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|
| 180 |
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|
| 181 |
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},
|
| 182 |
-
"outlet_2_room": {
|
| 183 |
-
"cls": "WallAccessory"
|
| 184 |
-
},
|
| 185 |
-
"outlet_3_room": {
|
| 186 |
-
"cls": "WallAccessory"
|
| 187 |
-
},
|
| 188 |
-
"light_switch_room": {
|
| 189 |
-
"cls": "WallAccessory"
|
| 190 |
-
},
|
| 191 |
-
"light_switch_2_room": {
|
| 192 |
-
"cls": "WallAccessory"
|
| 193 |
-
},
|
| 194 |
-
"utensil_rack_room": {
|
| 195 |
-
"cls": "WallAccessory"
|
| 196 |
-
},
|
| 197 |
-
"window_group_room": {
|
| 198 |
-
"cls": "Window"
|
| 199 |
-
},
|
| 200 |
-
"floor_room": {
|
| 201 |
-
"cls": "Floor"
|
| 202 |
-
},
|
| 203 |
-
"floor_backing_room": {
|
| 204 |
-
"cls": "Floor"
|
| 205 |
-
},
|
| 206 |
-
"cab_main_main_group": {
|
| 207 |
-
"cls": "HingeCabinet"
|
| 208 |
-
},
|
| 209 |
-
"cab_corner_main_group": {
|
| 210 |
-
"cls": "Box"
|
| 211 |
-
},
|
| 212 |
-
"cab_corner_2_main_group": {
|
| 213 |
-
"cls": "Box"
|
| 214 |
-
},
|
| 215 |
-
"counter_corner_left_main_group": {
|
| 216 |
-
"cls": "Counter"
|
| 217 |
-
},
|
| 218 |
-
"sink_main_group": {
|
| 219 |
-
"cls": "Sink"
|
| 220 |
-
},
|
| 221 |
-
"counter_main_main_group": {
|
| 222 |
-
"cls": "Counter"
|
| 223 |
-
},
|
| 224 |
-
"counter_corner_right_main_group": {
|
| 225 |
-
"cls": "Counter"
|
| 226 |
-
},
|
| 227 |
-
"stack_1_main_group_base": {
|
| 228 |
-
"cls": "Box"
|
| 229 |
-
},
|
| 230 |
-
"stack_1_main_group_1": {
|
| 231 |
-
"cls": "Drawer"
|
| 232 |
-
},
|
| 233 |
-
"stack_1_main_group_2": {
|
| 234 |
-
"cls": "Drawer"
|
| 235 |
-
},
|
| 236 |
-
"stack_1_main_group_3": {
|
| 237 |
-
"cls": "Drawer"
|
| 238 |
-
},
|
| 239 |
-
"stack_1_main_group_4": {
|
| 240 |
-
"cls": "Drawer"
|
| 241 |
-
},
|
| 242 |
-
"stack_2_main_group_base": {
|
| 243 |
-
"cls": "Box"
|
| 244 |
-
},
|
| 245 |
-
"stack_2_main_group_1": {
|
| 246 |
-
"cls": "HingeCabinet"
|
| 247 |
-
},
|
| 248 |
-
"stack_2_main_group_2": {
|
| 249 |
-
"cls": "PanelCabinet"
|
| 250 |
-
},
|
| 251 |
-
"dishwasher_main_group": {
|
| 252 |
-
"cls": "Dishwasher"
|
| 253 |
-
},
|
| 254 |
-
"stack_3_main_group_base": {
|
| 255 |
-
"cls": "Box"
|
| 256 |
-
},
|
| 257 |
-
"stack_3_main_group_1": {
|
| 258 |
-
"cls": "HingeCabinet"
|
| 259 |
-
},
|
| 260 |
-
"stack_3_main_group_2": {
|
| 261 |
-
"cls": "Drawer"
|
| 262 |
-
},
|
| 263 |
-
"stack_3_main_group_3": {
|
| 264 |
-
"cls": "Drawer"
|
| 265 |
-
},
|
| 266 |
-
"toaster_oven_main_group": {
|
| 267 |
-
"cls": "ToasterOven"
|
| 268 |
-
},
|
| 269 |
-
"knife_block_main_group": {
|
| 270 |
-
"cls": "Accessory"
|
| 271 |
-
},
|
| 272 |
-
"utensil_set_main_group": {
|
| 273 |
-
"cls": "Accessory"
|
| 274 |
-
},
|
| 275 |
-
"tiered_basket_main_group": {
|
| 276 |
-
"cls": "Accessory"
|
| 277 |
-
},
|
| 278 |
-
"paper_towel_main_group": {
|
| 279 |
-
"cls": "Accessory"
|
| 280 |
-
},
|
| 281 |
-
"soap_dispenser_main_group": {
|
| 282 |
-
"cls": "Accessory"
|
| 283 |
-
},
|
| 284 |
-
"counter_1_right_group": {
|
| 285 |
-
"cls": "Counter"
|
| 286 |
-
},
|
| 287 |
-
"stove_right_group": {
|
| 288 |
-
"cls": "Stove"
|
| 289 |
-
},
|
| 290 |
-
"counter_2_right_group": {
|
| 291 |
-
"cls": "Counter"
|
| 292 |
-
},
|
| 293 |
-
"fridge_right_group": {
|
| 294 |
-
"cls": "FridgeFrenchDoor"
|
| 295 |
-
},
|
| 296 |
-
"fridge_housing_right_group": {
|
| 297 |
-
"cls": "HousingCabinet"
|
| 298 |
-
},
|
| 299 |
-
"counter_corner_right_group": {
|
| 300 |
-
"cls": "Counter"
|
| 301 |
-
},
|
| 302 |
-
"stack_1_right_group_base": {
|
| 303 |
-
"cls": "Box"
|
| 304 |
-
},
|
| 305 |
-
"stack_1_right_group_1": {
|
| 306 |
-
"cls": "SingleCabinet"
|
| 307 |
-
},
|
| 308 |
-
"stack_1_right_group_2": {
|
| 309 |
-
"cls": "Drawer"
|
| 310 |
-
},
|
| 311 |
-
"stack_2_right_group_base": {
|
| 312 |
-
"cls": "Box"
|
| 313 |
-
},
|
| 314 |
-
"stack_2_right_group_1": {
|
| 315 |
-
"cls": "SingleCabinet"
|
| 316 |
-
},
|
| 317 |
-
"stack_2_right_group_2": {
|
| 318 |
-
"cls": "Drawer"
|
| 319 |
-
},
|
| 320 |
-
"cab_1_right_group": {
|
| 321 |
-
"cls": "SingleCabinet"
|
| 322 |
-
},
|
| 323 |
-
"microwave_right_group": {
|
| 324 |
-
"cls": "Microwave"
|
| 325 |
-
},
|
| 326 |
-
"cab_micro_right_group": {
|
| 327 |
-
"cls": "HingeCabinet"
|
| 328 |
-
},
|
| 329 |
-
"cab_2_right_group": {
|
| 330 |
-
"cls": "SingleCabinet"
|
| 331 |
-
},
|
| 332 |
-
"cab_3_right_group": {
|
| 333 |
-
"cls": "HingeCabinet"
|
| 334 |
-
},
|
| 335 |
-
"toaster_right_group": {
|
| 336 |
-
"cls": "Toaster"
|
| 337 |
-
},
|
| 338 |
-
"counter_1_left_group": {
|
| 339 |
-
"cls": "Counter"
|
| 340 |
-
},
|
| 341 |
-
"counter_corner_left_group": {
|
| 342 |
-
"cls": "Counter"
|
| 343 |
-
},
|
| 344 |
-
"stack_1_left_group_base": {
|
| 345 |
-
"cls": "Box"
|
| 346 |
-
},
|
| 347 |
-
"stack_1_left_group_1": {
|
| 348 |
-
"cls": "Drawer"
|
| 349 |
-
},
|
| 350 |
-
"stack_1_left_group_2": {
|
| 351 |
-
"cls": "Drawer"
|
| 352 |
-
},
|
| 353 |
-
"stack_1_left_group_3": {
|
| 354 |
-
"cls": "Drawer"
|
| 355 |
-
},
|
| 356 |
-
"stack_1_left_group_4": {
|
| 357 |
-
"cls": "Drawer"
|
| 358 |
-
},
|
| 359 |
-
"stack_2_left_group_base": {
|
| 360 |
-
"cls": "Box"
|
| 361 |
-
},
|
| 362 |
-
"stack_2_left_group_1": {
|
| 363 |
-
"cls": "HingeCabinet"
|
| 364 |
-
},
|
| 365 |
-
"stack_2_left_group_2": {
|
| 366 |
-
"cls": "Drawer"
|
| 367 |
-
},
|
| 368 |
-
"stack_2_left_group_3": {
|
| 369 |
-
"cls": "Drawer"
|
| 370 |
-
},
|
| 371 |
-
"stack_3_left_group_base": {
|
| 372 |
-
"cls": "Box"
|
| 373 |
-
},
|
| 374 |
-
"stack_3_left_group_1": {
|
| 375 |
-
"cls": "HingeCabinet"
|
| 376 |
-
},
|
| 377 |
-
"stack_3_left_group_2": {
|
| 378 |
-
"cls": "Drawer"
|
| 379 |
-
},
|
| 380 |
-
"cab_1_left_group": {
|
| 381 |
-
"cls": "HingeCabinet"
|
| 382 |
-
},
|
| 383 |
-
"shelves_left_group": {
|
| 384 |
-
"cls": "OpenCabinet"
|
| 385 |
-
},
|
| 386 |
-
"coffee_machine_left_group": {
|
| 387 |
-
"cls": "CoffeeMachine"
|
| 388 |
-
},
|
| 389 |
-
"plant_left_group": {
|
| 390 |
-
"cls": "Accessory"
|
| 391 |
-
},
|
| 392 |
-
"oil_bottle_left_group": {
|
| 393 |
-
"cls": "Accessory"
|
| 394 |
-
},
|
| 395 |
-
"salt_shaker_left_group": {
|
| 396 |
-
"cls": "Accessory"
|
| 397 |
-
},
|
| 398 |
-
"paprika_left_group": {
|
| 399 |
-
"cls": "Accessory"
|
| 400 |
-
},
|
| 401 |
-
"cinnamon_left_group": {
|
| 402 |
-
"cls": "Accessory"
|
| 403 |
-
},
|
| 404 |
-
"turmeric_left_group": {
|
| 405 |
-
"cls": "Accessory"
|
| 406 |
-
},
|
| 407 |
-
"oil_bottle_left_group_auxiliary_left_group": {
|
| 408 |
-
"cls": "Accessory"
|
| 409 |
-
},
|
| 410 |
-
"salt_shaker_left_group_auxiliary_left_group": {
|
| 411 |
-
"cls": "Accessory"
|
| 412 |
-
}
|
| 413 |
-
},
|
| 414 |
-
"gen_textures": {},
|
| 415 |
-
"lang": "Pick the honey bottle from the counter and place it in the cabinet.",
|
| 416 |
-
"fixture_refs": {
|
| 417 |
-
"cab": "cab_1_left_group",
|
| 418 |
-
"counter": "counter_1_left_group"
|
| 419 |
-
},
|
| 420 |
-
"cam_configs": {
|
| 421 |
-
"robot0_agentview_center": {
|
| 422 |
-
"pos": [
|
| 423 |
-
-0.6,
|
| 424 |
-
0.0,
|
| 425 |
-
1.15
|
| 426 |
-
],
|
| 427 |
-
"quat": [
|
| 428 |
-
0.636945903301239,
|
| 429 |
-
0.3325185477733612,
|
| 430 |
-
-0.3199238181114197,
|
| 431 |
-
-0.6175596117973328
|
| 432 |
-
],
|
| 433 |
-
"parent_body": "mobilebase0_support"
|
| 434 |
-
},
|
| 435 |
-
"robot0_agentview_left": {
|
| 436 |
-
"pos": [
|
| 437 |
-
-0.5,
|
| 438 |
-
0.35,
|
| 439 |
-
1.05
|
| 440 |
-
],
|
| 441 |
-
"quat": [
|
| 442 |
-
0.55623853,
|
| 443 |
-
0.29935253,
|
| 444 |
-
-0.37678665,
|
| 445 |
-
-0.6775092
|
| 446 |
-
],
|
| 447 |
-
"camera_attribs": {
|
| 448 |
-
"fovy": "60"
|
| 449 |
-
},
|
| 450 |
-
"parent_body": "mobilebase0_support"
|
| 451 |
-
},
|
| 452 |
-
"robot0_agentview_right": {
|
| 453 |
-
"pos": [
|
| 454 |
-
-0.5,
|
| 455 |
-
-0.35,
|
| 456 |
-
1.05
|
| 457 |
-
],
|
| 458 |
-
"quat": [
|
| 459 |
-
0.6775091886520386,
|
| 460 |
-
0.3767866790294647,
|
| 461 |
-
-0.2993525564670563,
|
| 462 |
-
-0.55623859167099
|
| 463 |
-
],
|
| 464 |
-
"camera_attribs": {
|
| 465 |
-
"fovy": "60"
|
| 466 |
-
},
|
| 467 |
-
"parent_body": "mobilebase0_support"
|
| 468 |
-
},
|
| 469 |
-
"robot0_frontview": {
|
| 470 |
-
"pos": [
|
| 471 |
-
-0.5,
|
| 472 |
-
0,
|
| 473 |
-
0.95
|
| 474 |
-
],
|
| 475 |
-
"quat": [
|
| 476 |
-
0.6088936924934387,
|
| 477 |
-
0.3814677894115448,
|
| 478 |
-
-0.3673907518386841,
|
| 479 |
-
-0.5905545353889465
|
| 480 |
-
],
|
| 481 |
-
"camera_attribs": {
|
| 482 |
-
"fovy": "60"
|
| 483 |
-
},
|
| 484 |
-
"parent_body": "mobilebase0_support"
|
| 485 |
-
},
|
| 486 |
-
"robot0_eye_in_hand": {
|
| 487 |
-
"pos": [
|
| 488 |
-
0.05,
|
| 489 |
-
0,
|
| 490 |
-
0
|
| 491 |
-
],
|
| 492 |
-
"quat": [
|
| 493 |
-
0,
|
| 494 |
-
0.707107,
|
| 495 |
-
0.707107,
|
| 496 |
-
0
|
| 497 |
-
],
|
| 498 |
-
"parent_body": "robot0_right_hand"
|
| 499 |
-
}
|
| 500 |
-
},
|
| 501 |
-
"init_robot_base_pos": [
|
| 502 |
-
0.8417687532716666,
|
| 503 |
-
-3.042670632970914,
|
| 504 |
-
0.0
|
| 505 |
-
],
|
| 506 |
-
"init_robot_base_ori": [
|
| 507 |
-
0.0,
|
| 508 |
-
0.0,
|
| 509 |
-
3.1415963267948968
|
| 510 |
-
]
|
| 511 |
-
}
|
|
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extras/episode_000000/model.xml.gz
DELETED
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| 1 |
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extras/episode_000000/states.npz
DELETED
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| 1 |
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extras/episode_000001/ep_meta.json
DELETED
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| 1 |
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| 144 |
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| 148 |
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| 162 |
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| 163 |
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| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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| 169 |
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| 170 |
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| 173 |
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|
| 179 |
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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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|
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| 199 |
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|
| 201 |
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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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|
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| 214 |
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|
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|
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|
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| 223 |
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| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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| 235 |
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|
| 236 |
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|
| 237 |
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|
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|
| 239 |
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|
| 240 |
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|
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|
| 242 |
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|
| 243 |
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|
| 244 |
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"stack_1_main_group_1": {
|
| 245 |
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|
| 246 |
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|
| 247 |
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"stack_1_main_group_2": {
|
| 248 |
-
"cls": "Drawer"
|
| 249 |
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|
| 250 |
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"stack_1_main_group_3": {
|
| 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 |
-
"stack_2_main_group_1": {
|
| 257 |
-
"cls": "HingeCabinet"
|
| 258 |
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|
| 259 |
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|
| 260 |
-
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|
| 261 |
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|
| 262 |
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| 263 |
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|
| 264 |
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| 266 |
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|
| 269 |
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|
| 270 |
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|
| 271 |
-
"stack_3_main_group_2": {
|
| 272 |
-
"cls": "Drawer"
|
| 273 |
-
},
|
| 274 |
-
"stack_3_main_group_3": {
|
| 275 |
-
"cls": "Drawer"
|
| 276 |
-
},
|
| 277 |
-
"stack_3_main_group_4": {
|
| 278 |
-
"cls": "Drawer"
|
| 279 |
-
},
|
| 280 |
-
"toaster_main_group": {
|
| 281 |
-
"cls": "Toaster"
|
| 282 |
-
},
|
| 283 |
-
"toaster_oven_main_group": {
|
| 284 |
-
"cls": "ToasterOven"
|
| 285 |
-
},
|
| 286 |
-
"oil_bottle_main_group": {
|
| 287 |
-
"cls": "Accessory"
|
| 288 |
-
},
|
| 289 |
-
"fruit_bowl_main_group": {
|
| 290 |
-
"cls": "Accessory"
|
| 291 |
-
},
|
| 292 |
-
"knife_block_main_group": {
|
| 293 |
-
"cls": "Accessory"
|
| 294 |
-
},
|
| 295 |
-
"utensil_set_main_group": {
|
| 296 |
-
"cls": "Accessory"
|
| 297 |
-
},
|
| 298 |
-
"paper_towel_main_group": {
|
| 299 |
-
"cls": "Accessory"
|
| 300 |
-
},
|
| 301 |
-
"oil_bottle_main_group_auxiliary_main_group": {
|
| 302 |
-
"cls": "Accessory"
|
| 303 |
-
},
|
| 304 |
-
"counter_1_front_group": {
|
| 305 |
-
"cls": "Counter"
|
| 306 |
-
},
|
| 307 |
-
"counter_corner_front_group": {
|
| 308 |
-
"cls": "Counter"
|
| 309 |
-
},
|
| 310 |
-
"counter_1_left_group": {
|
| 311 |
-
"cls": "Counter"
|
| 312 |
-
},
|
| 313 |
-
"stove_left_group": {
|
| 314 |
-
"cls": "Stove"
|
| 315 |
-
},
|
| 316 |
-
"counter_2_left_group": {
|
| 317 |
-
"cls": "Counter"
|
| 318 |
-
},
|
| 319 |
-
"counter_corner_left_group": {
|
| 320 |
-
"cls": "Counter"
|
| 321 |
-
},
|
| 322 |
-
"fridge_left_group": {
|
| 323 |
-
"cls": "FridgeFrenchDoor"
|
| 324 |
-
},
|
| 325 |
-
"fridge_housing_left_group": {
|
| 326 |
-
"cls": "HousingCabinet"
|
| 327 |
-
},
|
| 328 |
-
"stack_1_left_group_base": {
|
| 329 |
-
"cls": "Box"
|
| 330 |
-
},
|
| 331 |
-
"stack_1_left_group_1": {
|
| 332 |
-
"cls": "SingleCabinet"
|
| 333 |
-
},
|
| 334 |
-
"stack_1_left_group_2": {
|
| 335 |
-
"cls": "Drawer"
|
| 336 |
-
},
|
| 337 |
-
"stack_2_left_group_base": {
|
| 338 |
-
"cls": "Box"
|
| 339 |
-
},
|
| 340 |
-
"stack_2_left_group_1": {
|
| 341 |
-
"cls": "SingleCabinet"
|
| 342 |
-
},
|
| 343 |
-
"stack_2_left_group_2": {
|
| 344 |
-
"cls": "Drawer"
|
| 345 |
-
},
|
| 346 |
-
"cab_1_left_group": {
|
| 347 |
-
"cls": "SingleCabinet"
|
| 348 |
-
},
|
| 349 |
-
"microwave_left_group": {
|
| 350 |
-
"cls": "Microwave"
|
| 351 |
-
},
|
| 352 |
-
"cab_micro_left_group": {
|
| 353 |
-
"cls": "HingeCabinet"
|
| 354 |
-
},
|
| 355 |
-
"cab_2_left_group": {
|
| 356 |
-
"cls": "SingleCabinet"
|
| 357 |
-
},
|
| 358 |
-
"cab_3_left_group": {
|
| 359 |
-
"cls": "HingeCabinet"
|
| 360 |
-
},
|
| 361 |
-
"coffee_machine_left_group": {
|
| 362 |
-
"cls": "CoffeeMachine"
|
| 363 |
-
},
|
| 364 |
-
"salt_shaker_left_group": {
|
| 365 |
-
"cls": "Accessory"
|
| 366 |
-
},
|
| 367 |
-
"salt_shaker_left_group_auxiliary_left_group": {
|
| 368 |
-
"cls": "Accessory"
|
| 369 |
-
},
|
| 370 |
-
"sink_right_group": {
|
| 371 |
-
"cls": "Sink"
|
| 372 |
-
},
|
| 373 |
-
"counter_1_right_group": {
|
| 374 |
-
"cls": "Counter"
|
| 375 |
-
},
|
| 376 |
-
"counter_corner_right_group": {
|
| 377 |
-
"cls": "Counter"
|
| 378 |
-
},
|
| 379 |
-
"counter_corner_2_right_group": {
|
| 380 |
-
"cls": "Counter"
|
| 381 |
-
},
|
| 382 |
-
"stack_1_right_group_base": {
|
| 383 |
-
"cls": "Box"
|
| 384 |
-
},
|
| 385 |
-
"stack_1_right_group_1": {
|
| 386 |
-
"cls": "HingeCabinet"
|
| 387 |
-
},
|
| 388 |
-
"stack_1_right_group_2": {
|
| 389 |
-
"cls": "PanelCabinet"
|
| 390 |
-
},
|
| 391 |
-
"dishwasher_right_group": {
|
| 392 |
-
"cls": "Dishwasher"
|
| 393 |
-
},
|
| 394 |
-
"stack_2_right_group_base": {
|
| 395 |
-
"cls": "Box"
|
| 396 |
-
},
|
| 397 |
-
"stack_2_right_group_1": {
|
| 398 |
-
"cls": "Drawer"
|
| 399 |
-
},
|
| 400 |
-
"stack_2_right_group_2": {
|
| 401 |
-
"cls": "Drawer"
|
| 402 |
-
},
|
| 403 |
-
"stack_2_right_group_3": {
|
| 404 |
-
"cls": "Drawer"
|
| 405 |
-
},
|
| 406 |
-
"stack_2_right_group_4": {
|
| 407 |
-
"cls": "Drawer"
|
| 408 |
-
},
|
| 409 |
-
"cab_1_right_group": {
|
| 410 |
-
"cls": "HingeCabinet"
|
| 411 |
-
},
|
| 412 |
-
"shelves_right_group": {
|
| 413 |
-
"cls": "OpenCabinet"
|
| 414 |
-
},
|
| 415 |
-
"flower_vase_right_group": {
|
| 416 |
-
"cls": "Accessory"
|
| 417 |
-
},
|
| 418 |
-
"soap_dispenser_right_group": {
|
| 419 |
-
"cls": "Accessory"
|
| 420 |
-
},
|
| 421 |
-
"glass_cup_right_group": {
|
| 422 |
-
"cls": "Accessory"
|
| 423 |
-
},
|
| 424 |
-
"glass_cup_2_right_group": {
|
| 425 |
-
"cls": "Accessory"
|
| 426 |
-
},
|
| 427 |
-
"paprika_right_group": {
|
| 428 |
-
"cls": "Accessory"
|
| 429 |
-
},
|
| 430 |
-
"cinnamon_right_group": {
|
| 431 |
-
"cls": "Accessory"
|
| 432 |
-
}
|
| 433 |
-
},
|
| 434 |
-
"gen_textures": {},
|
| 435 |
-
"lang": "Pick the milk from the counter and place it in the cabinet.",
|
| 436 |
-
"fixture_refs": {
|
| 437 |
-
"cab": "cab_2_left_group",
|
| 438 |
-
"counter": "counter_2_left_group"
|
| 439 |
-
},
|
| 440 |
-
"cam_configs": {
|
| 441 |
-
"robot0_agentview_center": {
|
| 442 |
-
"pos": [
|
| 443 |
-
-0.6,
|
| 444 |
-
0.0,
|
| 445 |
-
1.15
|
| 446 |
-
],
|
| 447 |
-
"quat": [
|
| 448 |
-
0.636945903301239,
|
| 449 |
-
0.3325185477733612,
|
| 450 |
-
-0.3199238181114197,
|
| 451 |
-
-0.6175596117973328
|
| 452 |
-
],
|
| 453 |
-
"parent_body": "mobilebase0_support"
|
| 454 |
-
},
|
| 455 |
-
"robot0_agentview_left": {
|
| 456 |
-
"pos": [
|
| 457 |
-
-0.5,
|
| 458 |
-
0.35,
|
| 459 |
-
1.05
|
| 460 |
-
],
|
| 461 |
-
"quat": [
|
| 462 |
-
0.55623853,
|
| 463 |
-
0.29935253,
|
| 464 |
-
-0.37678665,
|
| 465 |
-
-0.6775092
|
| 466 |
-
],
|
| 467 |
-
"camera_attribs": {
|
| 468 |
-
"fovy": "60"
|
| 469 |
-
},
|
| 470 |
-
"parent_body": "mobilebase0_support"
|
| 471 |
-
},
|
| 472 |
-
"robot0_agentview_right": {
|
| 473 |
-
"pos": [
|
| 474 |
-
-0.5,
|
| 475 |
-
-0.35,
|
| 476 |
-
1.05
|
| 477 |
-
],
|
| 478 |
-
"quat": [
|
| 479 |
-
0.6775091886520386,
|
| 480 |
-
0.3767866790294647,
|
| 481 |
-
-0.2993525564670563,
|
| 482 |
-
-0.55623859167099
|
| 483 |
-
],
|
| 484 |
-
"camera_attribs": {
|
| 485 |
-
"fovy": "60"
|
| 486 |
-
},
|
| 487 |
-
"parent_body": "mobilebase0_support"
|
| 488 |
-
},
|
| 489 |
-
"robot0_frontview": {
|
| 490 |
-
"pos": [
|
| 491 |
-
-0.5,
|
| 492 |
-
0,
|
| 493 |
-
0.95
|
| 494 |
-
],
|
| 495 |
-
"quat": [
|
| 496 |
-
0.6088936924934387,
|
| 497 |
-
0.3814677894115448,
|
| 498 |
-
-0.3673907518386841,
|
| 499 |
-
-0.5905545353889465
|
| 500 |
-
],
|
| 501 |
-
"camera_attribs": {
|
| 502 |
-
"fovy": "60"
|
| 503 |
-
},
|
| 504 |
-
"parent_body": "mobilebase0_support"
|
| 505 |
-
},
|
| 506 |
-
"robot0_eye_in_hand": {
|
| 507 |
-
"pos": [
|
| 508 |
-
0.05,
|
| 509 |
-
0,
|
| 510 |
-
0
|
| 511 |
-
],
|
| 512 |
-
"quat": [
|
| 513 |
-
0,
|
| 514 |
-
0.707107,
|
| 515 |
-
0.707107,
|
| 516 |
-
0
|
| 517 |
-
],
|
| 518 |
-
"parent_body": "robot0_right_hand"
|
| 519 |
-
}
|
| 520 |
-
},
|
| 521 |
-
"init_robot_base_pos": [
|
| 522 |
-
0.8144805755395474,
|
| 523 |
-
-2.242967105254423,
|
| 524 |
-
0.0
|
| 525 |
-
],
|
| 526 |
-
"init_robot_base_ori": [
|
| 527 |
-
0.0,
|
| 528 |
-
0.0,
|
| 529 |
-
3.1415963267948968
|
| 530 |
-
]
|
| 531 |
-
}
|
|
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| 304 |
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|
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|
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| 310 |
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|
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|
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| 316 |
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|
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| 322 |
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|
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| 330 |
-
"paper_towel_main_group": {
|
| 331 |
-
"cls": "Accessory"
|
| 332 |
-
},
|
| 333 |
-
"utensil_set_main_group": {
|
| 334 |
-
"cls": "Accessory"
|
| 335 |
-
},
|
| 336 |
-
"oil_bottle_main_group": {
|
| 337 |
-
"cls": "Accessory"
|
| 338 |
-
},
|
| 339 |
-
"glass_cup_main_group": {
|
| 340 |
-
"cls": "Accessory"
|
| 341 |
-
},
|
| 342 |
-
"glass_cup_2_main_group": {
|
| 343 |
-
"cls": "Accessory"
|
| 344 |
-
},
|
| 345 |
-
"oil_bottle_main_group_auxiliary_main_group": {
|
| 346 |
-
"cls": "Accessory"
|
| 347 |
-
},
|
| 348 |
-
"sink_island_group": {
|
| 349 |
-
"cls": "Sink"
|
| 350 |
-
},
|
| 351 |
-
"island_island_group": {
|
| 352 |
-
"cls": "Counter"
|
| 353 |
-
},
|
| 354 |
-
"island_stack_1_island_group_base": {
|
| 355 |
-
"cls": "Box"
|
| 356 |
-
},
|
| 357 |
-
"island_stack_1_island_group_1": {
|
| 358 |
-
"cls": "HingeCabinet"
|
| 359 |
-
},
|
| 360 |
-
"island_stack_1_island_group_2": {
|
| 361 |
-
"cls": "PanelCabinet"
|
| 362 |
-
},
|
| 363 |
-
"dishwasher_island_group": {
|
| 364 |
-
"cls": "Dishwasher"
|
| 365 |
-
},
|
| 366 |
-
"island_panel_cab_right_island_group_base": {
|
| 367 |
-
"cls": "Box"
|
| 368 |
-
},
|
| 369 |
-
"island_panel_cab_right_island_group_1": {
|
| 370 |
-
"cls": "PanelCabinet"
|
| 371 |
-
},
|
| 372 |
-
"island_cab_right_island_group_base": {
|
| 373 |
-
"cls": "Box"
|
| 374 |
-
},
|
| 375 |
-
"island_cab_right_island_group_1": {
|
| 376 |
-
"cls": "Drawer"
|
| 377 |
-
},
|
| 378 |
-
"island_cab_right_island_group_2": {
|
| 379 |
-
"cls": "Drawer"
|
| 380 |
-
},
|
| 381 |
-
"island_cab_right_island_group_3": {
|
| 382 |
-
"cls": "Drawer"
|
| 383 |
-
},
|
| 384 |
-
"island_cab_right_island_group_4": {
|
| 385 |
-
"cls": "Drawer"
|
| 386 |
-
},
|
| 387 |
-
"island_panel_cab_left_island_group_base": {
|
| 388 |
-
"cls": "Box"
|
| 389 |
-
},
|
| 390 |
-
"island_panel_cab_left_island_group_1": {
|
| 391 |
-
"cls": "PanelCabinet"
|
| 392 |
-
},
|
| 393 |
-
"island_base_box_island_group": {
|
| 394 |
-
"cls": "Box"
|
| 395 |
-
},
|
| 396 |
-
"plant_island_group": {
|
| 397 |
-
"cls": "Accessory"
|
| 398 |
-
},
|
| 399 |
-
"soap_dispenser_island_group": {
|
| 400 |
-
"cls": "Accessory"
|
| 401 |
-
},
|
| 402 |
-
"fruit_bowl_island_group": {
|
| 403 |
-
"cls": "Accessory"
|
| 404 |
-
},
|
| 405 |
-
"salt_shaker_island_group": {
|
| 406 |
-
"cls": "Accessory"
|
| 407 |
-
},
|
| 408 |
-
"salt_shaker_island_group_auxiliary_island_group": {
|
| 409 |
-
"cls": "Accessory"
|
| 410 |
-
},
|
| 411 |
-
"counter_1_left_group": {
|
| 412 |
-
"cls": "Counter"
|
| 413 |
-
},
|
| 414 |
-
"counter_corner_left_group": {
|
| 415 |
-
"cls": "Counter"
|
| 416 |
-
},
|
| 417 |
-
"bottom_left_group_base": {
|
| 418 |
-
"cls": "Box"
|
| 419 |
-
},
|
| 420 |
-
"bottom_left_group_1": {
|
| 421 |
-
"cls": "Drawer"
|
| 422 |
-
},
|
| 423 |
-
"bottom_left_group_2": {
|
| 424 |
-
"cls": "Drawer"
|
| 425 |
-
},
|
| 426 |
-
"oven_left_group": {
|
| 427 |
-
"cls": "Oven"
|
| 428 |
-
},
|
| 429 |
-
"oven_housing_left_group": {
|
| 430 |
-
"cls": "HousingCabinet"
|
| 431 |
-
},
|
| 432 |
-
"microwave_left_group": {
|
| 433 |
-
"cls": "Microwave"
|
| 434 |
-
},
|
| 435 |
-
"micro_housing_left_group": {
|
| 436 |
-
"cls": "HousingCabinet"
|
| 437 |
-
},
|
| 438 |
-
"top_left_group": {
|
| 439 |
-
"cls": "HingeCabinet"
|
| 440 |
-
},
|
| 441 |
-
"stack_1_left_group_base": {
|
| 442 |
-
"cls": "Box"
|
| 443 |
-
},
|
| 444 |
-
"stack_1_left_group_1": {
|
| 445 |
-
"cls": "SingleCabinet"
|
| 446 |
-
},
|
| 447 |
-
"stack_1_left_group_2": {
|
| 448 |
-
"cls": "Drawer"
|
| 449 |
-
},
|
| 450 |
-
"stack_2_left_group_base": {
|
| 451 |
-
"cls": "Box"
|
| 452 |
-
},
|
| 453 |
-
"stack_2_left_group_1": {
|
| 454 |
-
"cls": "HingeCabinet"
|
| 455 |
-
},
|
| 456 |
-
"stack_2_left_group_2": {
|
| 457 |
-
"cls": "Drawer"
|
| 458 |
-
},
|
| 459 |
-
"stack_2_left_group_3": {
|
| 460 |
-
"cls": "Drawer"
|
| 461 |
-
},
|
| 462 |
-
"stack_3_left_group_base": {
|
| 463 |
-
"cls": "Box"
|
| 464 |
-
},
|
| 465 |
-
"stack_3_left_group_1": {
|
| 466 |
-
"cls": "Drawer"
|
| 467 |
-
},
|
| 468 |
-
"stack_3_left_group_2": {
|
| 469 |
-
"cls": "Drawer"
|
| 470 |
-
},
|
| 471 |
-
"stack_3_left_group_3": {
|
| 472 |
-
"cls": "Drawer"
|
| 473 |
-
},
|
| 474 |
-
"stack_3_left_group_4": {
|
| 475 |
-
"cls": "Drawer"
|
| 476 |
-
},
|
| 477 |
-
"shelves_left_group": {
|
| 478 |
-
"cls": "OpenCabinet"
|
| 479 |
-
},
|
| 480 |
-
"cab_2_left_group": {
|
| 481 |
-
"cls": "SingleCabinet"
|
| 482 |
-
},
|
| 483 |
-
"toaster_oven_left_group": {
|
| 484 |
-
"cls": "ToasterOven"
|
| 485 |
-
},
|
| 486 |
-
"paprika_left_group": {
|
| 487 |
-
"cls": "Accessory"
|
| 488 |
-
},
|
| 489 |
-
"cinnamon_left_group": {
|
| 490 |
-
"cls": "Accessory"
|
| 491 |
-
},
|
| 492 |
-
"turmeric_left_group": {
|
| 493 |
-
"cls": "Accessory"
|
| 494 |
-
},
|
| 495 |
-
"jar_left_group": {
|
| 496 |
-
"cls": "Accessory"
|
| 497 |
-
},
|
| 498 |
-
"jar_left_group_auxiliary_left_group": {
|
| 499 |
-
"cls": "Accessory"
|
| 500 |
-
},
|
| 501 |
-
"counter_1_right_group": {
|
| 502 |
-
"cls": "Counter"
|
| 503 |
-
},
|
| 504 |
-
"counter_corner_right_group": {
|
| 505 |
-
"cls": "Counter"
|
| 506 |
-
},
|
| 507 |
-
"fridge_right_group": {
|
| 508 |
-
"cls": "FridgeSideBySide"
|
| 509 |
-
},
|
| 510 |
-
"fridge_housing_right_group": {
|
| 511 |
-
"cls": "HousingCabinet"
|
| 512 |
-
},
|
| 513 |
-
"stack_1_right_group_base": {
|
| 514 |
-
"cls": "Box"
|
| 515 |
-
},
|
| 516 |
-
"stack_1_right_group_1": {
|
| 517 |
-
"cls": "HingeCabinet"
|
| 518 |
-
},
|
| 519 |
-
"stack_1_right_group_2": {
|
| 520 |
-
"cls": "Drawer"
|
| 521 |
-
},
|
| 522 |
-
"stack_1_right_group_3": {
|
| 523 |
-
"cls": "Drawer"
|
| 524 |
-
},
|
| 525 |
-
"stack_2_right_group_base": {
|
| 526 |
-
"cls": "Box"
|
| 527 |
-
},
|
| 528 |
-
"stack_2_right_group_1": {
|
| 529 |
-
"cls": "SingleCabinet"
|
| 530 |
-
},
|
| 531 |
-
"stack_2_right_group_2": {
|
| 532 |
-
"cls": "Drawer"
|
| 533 |
-
},
|
| 534 |
-
"stack_3_right_group_base": {
|
| 535 |
-
"cls": "Box"
|
| 536 |
-
},
|
| 537 |
-
"stack_3_right_group_1": {
|
| 538 |
-
"cls": "Drawer"
|
| 539 |
-
},
|
| 540 |
-
"stack_3_right_group_2": {
|
| 541 |
-
"cls": "Drawer"
|
| 542 |
-
},
|
| 543 |
-
"stack_3_right_group_3": {
|
| 544 |
-
"cls": "Drawer"
|
| 545 |
-
},
|
| 546 |
-
"stack_3_right_group_4": {
|
| 547 |
-
"cls": "Drawer"
|
| 548 |
-
},
|
| 549 |
-
"cab_1_right_group": {
|
| 550 |
-
"cls": "HingeCabinet"
|
| 551 |
-
},
|
| 552 |
-
"cab_2_right_group": {
|
| 553 |
-
"cls": "HingeCabinet"
|
| 554 |
-
},
|
| 555 |
-
"fridge_cab_right_group": {
|
| 556 |
-
"cls": "HingeCabinet"
|
| 557 |
-
},
|
| 558 |
-
"coffee_machine_right_group": {
|
| 559 |
-
"cls": "CoffeeMachine"
|
| 560 |
-
},
|
| 561 |
-
"toaster_right_group": {
|
| 562 |
-
"cls": "Toaster"
|
| 563 |
-
}
|
| 564 |
-
},
|
| 565 |
-
"gen_textures": {},
|
| 566 |
-
"lang": "Pick the sweet potato from the counter and place it in the cabinet.",
|
| 567 |
-
"fixture_refs": {
|
| 568 |
-
"cab": "cab_main_main_group",
|
| 569 |
-
"counter": "counter_main_main_group"
|
| 570 |
-
},
|
| 571 |
-
"cam_configs": {
|
| 572 |
-
"robot0_agentview_center": {
|
| 573 |
-
"pos": [
|
| 574 |
-
-0.6,
|
| 575 |
-
0.0,
|
| 576 |
-
1.15
|
| 577 |
-
],
|
| 578 |
-
"quat": [
|
| 579 |
-
0.636945903301239,
|
| 580 |
-
0.3325185477733612,
|
| 581 |
-
-0.3199238181114197,
|
| 582 |
-
-0.6175596117973328
|
| 583 |
-
],
|
| 584 |
-
"parent_body": "mobilebase0_support"
|
| 585 |
-
},
|
| 586 |
-
"robot0_agentview_left": {
|
| 587 |
-
"pos": [
|
| 588 |
-
-0.5,
|
| 589 |
-
0.35,
|
| 590 |
-
1.05
|
| 591 |
-
],
|
| 592 |
-
"quat": [
|
| 593 |
-
0.55623853,
|
| 594 |
-
0.29935253,
|
| 595 |
-
-0.37678665,
|
| 596 |
-
-0.6775092
|
| 597 |
-
],
|
| 598 |
-
"camera_attribs": {
|
| 599 |
-
"fovy": "60"
|
| 600 |
-
},
|
| 601 |
-
"parent_body": "mobilebase0_support"
|
| 602 |
-
},
|
| 603 |
-
"robot0_agentview_right": {
|
| 604 |
-
"pos": [
|
| 605 |
-
-0.5,
|
| 606 |
-
-0.35,
|
| 607 |
-
1.05
|
| 608 |
-
],
|
| 609 |
-
"quat": [
|
| 610 |
-
0.6775091886520386,
|
| 611 |
-
0.3767866790294647,
|
| 612 |
-
-0.2993525564670563,
|
| 613 |
-
-0.55623859167099
|
| 614 |
-
],
|
| 615 |
-
"camera_attribs": {
|
| 616 |
-
"fovy": "60"
|
| 617 |
-
},
|
| 618 |
-
"parent_body": "mobilebase0_support"
|
| 619 |
-
},
|
| 620 |
-
"robot0_frontview": {
|
| 621 |
-
"pos": [
|
| 622 |
-
-0.5,
|
| 623 |
-
0,
|
| 624 |
-
0.95
|
| 625 |
-
],
|
| 626 |
-
"quat": [
|
| 627 |
-
0.6088936924934387,
|
| 628 |
-
0.3814677894115448,
|
| 629 |
-
-0.3673907518386841,
|
| 630 |
-
-0.5905545353889465
|
| 631 |
-
],
|
| 632 |
-
"camera_attribs": {
|
| 633 |
-
"fovy": "60"
|
| 634 |
-
},
|
| 635 |
-
"parent_body": "mobilebase0_support"
|
| 636 |
-
},
|
| 637 |
-
"robot0_eye_in_hand": {
|
| 638 |
-
"pos": [
|
| 639 |
-
0.05,
|
| 640 |
-
0,
|
| 641 |
-
0
|
| 642 |
-
],
|
| 643 |
-
"quat": [
|
| 644 |
-
0,
|
| 645 |
-
0.707107,
|
| 646 |
-
0.707107,
|
| 647 |
-
0
|
| 648 |
-
],
|
| 649 |
-
"parent_body": "robot0_right_hand"
|
| 650 |
-
}
|
| 651 |
-
},
|
| 652 |
-
"init_robot_base_pos": [
|
| 653 |
-
5.3069887273456,
|
| 654 |
-
-0.8089356337762665,
|
| 655 |
-
0.0
|
| 656 |
-
],
|
| 657 |
-
"init_robot_base_ori": [
|
| 658 |
-
0.0,
|
| 659 |
-
0.0,
|
| 660 |
-
1.5707963267948966
|
| 661 |
-
]
|
| 662 |
-
}
|
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extras/episode_000002/model.xml.gz
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extras/episode_000002/states.npz
DELETED
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| 1 |
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| 185 |
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| 190 |
-
"cls": "WallAccessory"
|
| 191 |
-
},
|
| 192 |
-
"light_switch_room": {
|
| 193 |
-
"cls": "WallAccessory"
|
| 194 |
-
},
|
| 195 |
-
"light_switch_2_room": {
|
| 196 |
-
"cls": "WallAccessory"
|
| 197 |
-
},
|
| 198 |
-
"utensil_rack_room": {
|
| 199 |
-
"cls": "WallAccessory"
|
| 200 |
-
},
|
| 201 |
-
"window_group_room": {
|
| 202 |
-
"cls": "Window"
|
| 203 |
-
},
|
| 204 |
-
"floor_room": {
|
| 205 |
-
"cls": "Floor"
|
| 206 |
-
},
|
| 207 |
-
"floor_backing_room": {
|
| 208 |
-
"cls": "Floor"
|
| 209 |
-
},
|
| 210 |
-
"stool_1_room": {
|
| 211 |
-
"cls": "Stool"
|
| 212 |
-
},
|
| 213 |
-
"stool_2_room": {
|
| 214 |
-
"cls": "Stool"
|
| 215 |
-
},
|
| 216 |
-
"counter_corner_main_group": {
|
| 217 |
-
"cls": "Counter"
|
| 218 |
-
},
|
| 219 |
-
"counter_main_main_group": {
|
| 220 |
-
"cls": "Counter"
|
| 221 |
-
},
|
| 222 |
-
"counter_corner_2_main_group": {
|
| 223 |
-
"cls": "Counter"
|
| 224 |
-
},
|
| 225 |
-
"cab_corner_main_group": {
|
| 226 |
-
"cls": "Box"
|
| 227 |
-
},
|
| 228 |
-
"cab_corner_2_main_group": {
|
| 229 |
-
"cls": "Box"
|
| 230 |
-
},
|
| 231 |
-
"cab_main_main_group": {
|
| 232 |
-
"cls": "HingeCabinet"
|
| 233 |
-
},
|
| 234 |
-
"cab_1_main_group": {
|
| 235 |
-
"cls": "SingleCabinet"
|
| 236 |
-
},
|
| 237 |
-
"cab_corner_3_main_group": {
|
| 238 |
-
"cls": "Box"
|
| 239 |
-
},
|
| 240 |
-
"cab_corner_4_main_group": {
|
| 241 |
-
"cls": "Box"
|
| 242 |
-
},
|
| 243 |
-
"stack_1_main_group_base": {
|
| 244 |
-
"cls": "Box"
|
| 245 |
-
},
|
| 246 |
-
"stack_1_main_group_1": {
|
| 247 |
-
"cls": "HingeCabinet"
|
| 248 |
-
},
|
| 249 |
-
"stack_1_main_group_2": {
|
| 250 |
-
"cls": "Drawer"
|
| 251 |
-
},
|
| 252 |
-
"stack_1_main_group_3": {
|
| 253 |
-
"cls": "Drawer"
|
| 254 |
-
},
|
| 255 |
-
"stack_2_main_group_base": {
|
| 256 |
-
"cls": "Box"
|
| 257 |
-
},
|
| 258 |
-
"stack_2_main_group_1": {
|
| 259 |
-
"cls": "HingeCabinet"
|
| 260 |
-
},
|
| 261 |
-
"stack_2_main_group_2": {
|
| 262 |
-
"cls": "Drawer"
|
| 263 |
-
},
|
| 264 |
-
"stack_2_main_group_3": {
|
| 265 |
-
"cls": "Drawer"
|
| 266 |
-
},
|
| 267 |
-
"stack_3_main_group_base": {
|
| 268 |
-
"cls": "Box"
|
| 269 |
-
},
|
| 270 |
-
"stack_3_main_group_1": {
|
| 271 |
-
"cls": "Drawer"
|
| 272 |
-
},
|
| 273 |
-
"stack_3_main_group_2": {
|
| 274 |
-
"cls": "Drawer"
|
| 275 |
-
},
|
| 276 |
-
"stack_3_main_group_3": {
|
| 277 |
-
"cls": "Drawer"
|
| 278 |
-
},
|
| 279 |
-
"stack_3_main_group_4": {
|
| 280 |
-
"cls": "Drawer"
|
| 281 |
-
},
|
| 282 |
-
"toaster_main_group": {
|
| 283 |
-
"cls": "Toaster"
|
| 284 |
-
},
|
| 285 |
-
"toaster_oven_main_group": {
|
| 286 |
-
"cls": "ToasterOven"
|
| 287 |
-
},
|
| 288 |
-
"oil_bottle_main_group": {
|
| 289 |
-
"cls": "Accessory"
|
| 290 |
-
},
|
| 291 |
-
"fruit_bowl_main_group": {
|
| 292 |
-
"cls": "Accessory"
|
| 293 |
-
},
|
| 294 |
-
"knife_block_main_group": {
|
| 295 |
-
"cls": "Accessory"
|
| 296 |
-
},
|
| 297 |
-
"utensil_set_main_group": {
|
| 298 |
-
"cls": "Accessory"
|
| 299 |
-
},
|
| 300 |
-
"paper_towel_main_group": {
|
| 301 |
-
"cls": "Accessory"
|
| 302 |
-
},
|
| 303 |
-
"oil_bottle_main_group_auxiliary_main_group": {
|
| 304 |
-
"cls": "Accessory"
|
| 305 |
-
},
|
| 306 |
-
"counter_1_front_group": {
|
| 307 |
-
"cls": "Counter"
|
| 308 |
-
},
|
| 309 |
-
"counter_corner_front_group": {
|
| 310 |
-
"cls": "Counter"
|
| 311 |
-
},
|
| 312 |
-
"counter_1_left_group": {
|
| 313 |
-
"cls": "Counter"
|
| 314 |
-
},
|
| 315 |
-
"stove_left_group": {
|
| 316 |
-
"cls": "Stove"
|
| 317 |
-
},
|
| 318 |
-
"counter_2_left_group": {
|
| 319 |
-
"cls": "Counter"
|
| 320 |
-
},
|
| 321 |
-
"counter_corner_left_group": {
|
| 322 |
-
"cls": "Counter"
|
| 323 |
-
},
|
| 324 |
-
"fridge_left_group": {
|
| 325 |
-
"cls": "FridgeFrenchDoor"
|
| 326 |
-
},
|
| 327 |
-
"fridge_housing_left_group": {
|
| 328 |
-
"cls": "HousingCabinet"
|
| 329 |
-
},
|
| 330 |
-
"stack_1_left_group_base": {
|
| 331 |
-
"cls": "Box"
|
| 332 |
-
},
|
| 333 |
-
"stack_1_left_group_1": {
|
| 334 |
-
"cls": "SingleCabinet"
|
| 335 |
-
},
|
| 336 |
-
"stack_1_left_group_2": {
|
| 337 |
-
"cls": "Drawer"
|
| 338 |
-
},
|
| 339 |
-
"stack_2_left_group_base": {
|
| 340 |
-
"cls": "Box"
|
| 341 |
-
},
|
| 342 |
-
"stack_2_left_group_1": {
|
| 343 |
-
"cls": "SingleCabinet"
|
| 344 |
-
},
|
| 345 |
-
"stack_2_left_group_2": {
|
| 346 |
-
"cls": "Drawer"
|
| 347 |
-
},
|
| 348 |
-
"cab_1_left_group": {
|
| 349 |
-
"cls": "SingleCabinet"
|
| 350 |
-
},
|
| 351 |
-
"microwave_left_group": {
|
| 352 |
-
"cls": "Microwave"
|
| 353 |
-
},
|
| 354 |
-
"cab_micro_left_group": {
|
| 355 |
-
"cls": "HingeCabinet"
|
| 356 |
-
},
|
| 357 |
-
"cab_2_left_group": {
|
| 358 |
-
"cls": "SingleCabinet"
|
| 359 |
-
},
|
| 360 |
-
"cab_3_left_group": {
|
| 361 |
-
"cls": "HingeCabinet"
|
| 362 |
-
},
|
| 363 |
-
"coffee_machine_left_group": {
|
| 364 |
-
"cls": "CoffeeMachine"
|
| 365 |
-
},
|
| 366 |
-
"salt_shaker_left_group": {
|
| 367 |
-
"cls": "Accessory"
|
| 368 |
-
},
|
| 369 |
-
"salt_shaker_left_group_auxiliary_left_group": {
|
| 370 |
-
"cls": "Accessory"
|
| 371 |
-
},
|
| 372 |
-
"sink_right_group": {
|
| 373 |
-
"cls": "Sink"
|
| 374 |
-
},
|
| 375 |
-
"counter_1_right_group": {
|
| 376 |
-
"cls": "Counter"
|
| 377 |
-
},
|
| 378 |
-
"counter_corner_right_group": {
|
| 379 |
-
"cls": "Counter"
|
| 380 |
-
},
|
| 381 |
-
"counter_corner_2_right_group": {
|
| 382 |
-
"cls": "Counter"
|
| 383 |
-
},
|
| 384 |
-
"stack_1_right_group_base": {
|
| 385 |
-
"cls": "Box"
|
| 386 |
-
},
|
| 387 |
-
"stack_1_right_group_1": {
|
| 388 |
-
"cls": "HingeCabinet"
|
| 389 |
-
},
|
| 390 |
-
"stack_1_right_group_2": {
|
| 391 |
-
"cls": "PanelCabinet"
|
| 392 |
-
},
|
| 393 |
-
"dishwasher_right_group": {
|
| 394 |
-
"cls": "Dishwasher"
|
| 395 |
-
},
|
| 396 |
-
"stack_2_right_group_base": {
|
| 397 |
-
"cls": "Box"
|
| 398 |
-
},
|
| 399 |
-
"stack_2_right_group_1": {
|
| 400 |
-
"cls": "Drawer"
|
| 401 |
-
},
|
| 402 |
-
"stack_2_right_group_2": {
|
| 403 |
-
"cls": "Drawer"
|
| 404 |
-
},
|
| 405 |
-
"stack_2_right_group_3": {
|
| 406 |
-
"cls": "Drawer"
|
| 407 |
-
},
|
| 408 |
-
"stack_2_right_group_4": {
|
| 409 |
-
"cls": "Drawer"
|
| 410 |
-
},
|
| 411 |
-
"cab_1_right_group": {
|
| 412 |
-
"cls": "HingeCabinet"
|
| 413 |
-
},
|
| 414 |
-
"shelves_right_group": {
|
| 415 |
-
"cls": "OpenCabinet"
|
| 416 |
-
},
|
| 417 |
-
"flower_vase_right_group": {
|
| 418 |
-
"cls": "Accessory"
|
| 419 |
-
},
|
| 420 |
-
"soap_dispenser_right_group": {
|
| 421 |
-
"cls": "Accessory"
|
| 422 |
-
},
|
| 423 |
-
"glass_cup_right_group": {
|
| 424 |
-
"cls": "Accessory"
|
| 425 |
-
},
|
| 426 |
-
"glass_cup_2_right_group": {
|
| 427 |
-
"cls": "Accessory"
|
| 428 |
-
},
|
| 429 |
-
"paprika_right_group": {
|
| 430 |
-
"cls": "Accessory"
|
| 431 |
-
},
|
| 432 |
-
"cinnamon_right_group": {
|
| 433 |
-
"cls": "Accessory"
|
| 434 |
-
}
|
| 435 |
-
},
|
| 436 |
-
"gen_textures": {},
|
| 437 |
-
"lang": "Pick the cheese from the counter and place it in the cabinet.",
|
| 438 |
-
"fixture_refs": {
|
| 439 |
-
"cab": "shelves_right_group",
|
| 440 |
-
"counter": "counter_1_right_group"
|
| 441 |
-
},
|
| 442 |
-
"cam_configs": {
|
| 443 |
-
"robot0_agentview_center": {
|
| 444 |
-
"pos": [
|
| 445 |
-
-0.6,
|
| 446 |
-
0.0,
|
| 447 |
-
1.15
|
| 448 |
-
],
|
| 449 |
-
"quat": [
|
| 450 |
-
0.636945903301239,
|
| 451 |
-
0.3325185477733612,
|
| 452 |
-
-0.3199238181114197,
|
| 453 |
-
-0.6175596117973328
|
| 454 |
-
],
|
| 455 |
-
"parent_body": "mobilebase0_support"
|
| 456 |
-
},
|
| 457 |
-
"robot0_agentview_left": {
|
| 458 |
-
"pos": [
|
| 459 |
-
-0.5,
|
| 460 |
-
0.35,
|
| 461 |
-
1.05
|
| 462 |
-
],
|
| 463 |
-
"quat": [
|
| 464 |
-
0.55623853,
|
| 465 |
-
0.29935253,
|
| 466 |
-
-0.37678665,
|
| 467 |
-
-0.6775092
|
| 468 |
-
],
|
| 469 |
-
"camera_attribs": {
|
| 470 |
-
"fovy": "60"
|
| 471 |
-
},
|
| 472 |
-
"parent_body": "mobilebase0_support"
|
| 473 |
-
},
|
| 474 |
-
"robot0_agentview_right": {
|
| 475 |
-
"pos": [
|
| 476 |
-
-0.5,
|
| 477 |
-
-0.35,
|
| 478 |
-
1.05
|
| 479 |
-
],
|
| 480 |
-
"quat": [
|
| 481 |
-
0.6775091886520386,
|
| 482 |
-
0.3767866790294647,
|
| 483 |
-
-0.2993525564670563,
|
| 484 |
-
-0.55623859167099
|
| 485 |
-
],
|
| 486 |
-
"camera_attribs": {
|
| 487 |
-
"fovy": "60"
|
| 488 |
-
},
|
| 489 |
-
"parent_body": "mobilebase0_support"
|
| 490 |
-
},
|
| 491 |
-
"robot0_frontview": {
|
| 492 |
-
"pos": [
|
| 493 |
-
-0.5,
|
| 494 |
-
0,
|
| 495 |
-
0.95
|
| 496 |
-
],
|
| 497 |
-
"quat": [
|
| 498 |
-
0.6088936924934387,
|
| 499 |
-
0.3814677894115448,
|
| 500 |
-
-0.3673907518386841,
|
| 501 |
-
-0.5905545353889465
|
| 502 |
-
],
|
| 503 |
-
"camera_attribs": {
|
| 504 |
-
"fovy": "60"
|
| 505 |
-
},
|
| 506 |
-
"parent_body": "mobilebase0_support"
|
| 507 |
-
},
|
| 508 |
-
"robot0_eye_in_hand": {
|
| 509 |
-
"pos": [
|
| 510 |
-
0.05,
|
| 511 |
-
0,
|
| 512 |
-
0
|
| 513 |
-
],
|
| 514 |
-
"quat": [
|
| 515 |
-
0,
|
| 516 |
-
0.707107,
|
| 517 |
-
0.707107,
|
| 518 |
-
0
|
| 519 |
-
],
|
| 520 |
-
"parent_body": "robot0_right_hand"
|
| 521 |
-
}
|
| 522 |
-
},
|
| 523 |
-
"init_robot_base_pos": [
|
| 524 |
-
3.5702919962163153,
|
| 525 |
-
-2.31689427728232,
|
| 526 |
-
0.0
|
| 527 |
-
],
|
| 528 |
-
"init_robot_base_ori": [
|
| 529 |
-
0.0,
|
| 530 |
-
0.0,
|
| 531 |
-
-3.673205103416066e-06
|
| 532 |
-
]
|
| 533 |
-
}
|
|
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extras/episode_000003/model.xml.gz
DELETED
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| 1 |
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extras/episode_000003/states.npz
DELETED
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| 1 |
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extras/episode_000004/ep_meta.json
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| 189 |
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| 192 |
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| 195 |
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|
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|
| 214 |
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| 215 |
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| 216 |
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| 222 |
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| 223 |
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| 224 |
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| 228 |
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|
| 231 |
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|
| 232 |
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| 234 |
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| 235 |
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| 236 |
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| 237 |
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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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|
| 248 |
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|
| 249 |
-
"cls": "HingeCabinet"
|
| 250 |
-
},
|
| 251 |
-
"stack_2_left_group_2": {
|
| 252 |
-
"cls": "Drawer"
|
| 253 |
-
},
|
| 254 |
-
"stack_2_left_group_3": {
|
| 255 |
-
"cls": "Drawer"
|
| 256 |
-
},
|
| 257 |
-
"dishwasher_left_group": {
|
| 258 |
-
"cls": "Dishwasher"
|
| 259 |
-
},
|
| 260 |
-
"stack_3_left_group_base": {
|
| 261 |
-
"cls": "Box"
|
| 262 |
-
},
|
| 263 |
-
"stack_3_left_group_1": {
|
| 264 |
-
"cls": "HingeCabinet"
|
| 265 |
-
},
|
| 266 |
-
"stack_3_left_group_2": {
|
| 267 |
-
"cls": "PanelCabinet"
|
| 268 |
-
},
|
| 269 |
-
"stack_4_left_group_base": {
|
| 270 |
-
"cls": "Box"
|
| 271 |
-
},
|
| 272 |
-
"stack_4_left_group_1": {
|
| 273 |
-
"cls": "SingleCabinet"
|
| 274 |
-
},
|
| 275 |
-
"stack_4_left_group_2": {
|
| 276 |
-
"cls": "Drawer"
|
| 277 |
-
},
|
| 278 |
-
"flower_vase_left_group": {
|
| 279 |
-
"cls": "Accessory"
|
| 280 |
-
},
|
| 281 |
-
"soap_dispenser_left_group": {
|
| 282 |
-
"cls": "Accessory"
|
| 283 |
-
},
|
| 284 |
-
"knife_block_left_group": {
|
| 285 |
-
"cls": "Accessory"
|
| 286 |
-
},
|
| 287 |
-
"paprika_left_group": {
|
| 288 |
-
"cls": "Accessory"
|
| 289 |
-
},
|
| 290 |
-
"cinnamon_left_group": {
|
| 291 |
-
"cls": "Accessory"
|
| 292 |
-
},
|
| 293 |
-
"turmeric_left_group": {
|
| 294 |
-
"cls": "Accessory"
|
| 295 |
-
},
|
| 296 |
-
"glass_cup_left_group": {
|
| 297 |
-
"cls": "Accessory"
|
| 298 |
-
},
|
| 299 |
-
"digital_scale_left_group": {
|
| 300 |
-
"cls": "Accessory"
|
| 301 |
-
},
|
| 302 |
-
"paper_towel_left_group": {
|
| 303 |
-
"cls": "Accessory"
|
| 304 |
-
},
|
| 305 |
-
"counter_main_main_group": {
|
| 306 |
-
"cls": "Counter"
|
| 307 |
-
},
|
| 308 |
-
"stove_main_group": {
|
| 309 |
-
"cls": "Stove"
|
| 310 |
-
},
|
| 311 |
-
"counter_right_main_group": {
|
| 312 |
-
"cls": "Counter"
|
| 313 |
-
},
|
| 314 |
-
"cab_main_main_group": {
|
| 315 |
-
"cls": "HingeCabinet"
|
| 316 |
-
},
|
| 317 |
-
"cab_1_main_group": {
|
| 318 |
-
"cls": "HingeCabinet"
|
| 319 |
-
},
|
| 320 |
-
"microwave_main_group": {
|
| 321 |
-
"cls": "Microwave"
|
| 322 |
-
},
|
| 323 |
-
"cab_micro_main_group": {
|
| 324 |
-
"cls": "HingeCabinet"
|
| 325 |
-
},
|
| 326 |
-
"cab_2_main_group": {
|
| 327 |
-
"cls": "HingeCabinet"
|
| 328 |
-
},
|
| 329 |
-
"cab_3_main_group": {
|
| 330 |
-
"cls": "HingeCabinet"
|
| 331 |
-
},
|
| 332 |
-
"stack_1_main_group_base": {
|
| 333 |
-
"cls": "Box"
|
| 334 |
-
},
|
| 335 |
-
"stack_1_main_group_1": {
|
| 336 |
-
"cls": "HingeCabinet"
|
| 337 |
-
},
|
| 338 |
-
"stack_1_main_group_2": {
|
| 339 |
-
"cls": "Drawer"
|
| 340 |
-
},
|
| 341 |
-
"stack_1_main_group_3": {
|
| 342 |
-
"cls": "Drawer"
|
| 343 |
-
},
|
| 344 |
-
"stack_2_main_group_base": {
|
| 345 |
-
"cls": "Box"
|
| 346 |
-
},
|
| 347 |
-
"stack_2_main_group_1": {
|
| 348 |
-
"cls": "Drawer"
|
| 349 |
-
},
|
| 350 |
-
"stack_2_main_group_2": {
|
| 351 |
-
"cls": "Drawer"
|
| 352 |
-
},
|
| 353 |
-
"stack_2_main_group_3": {
|
| 354 |
-
"cls": "Drawer"
|
| 355 |
-
},
|
| 356 |
-
"stack_2_main_group_4": {
|
| 357 |
-
"cls": "Drawer"
|
| 358 |
-
},
|
| 359 |
-
"stack_3_main_group_base": {
|
| 360 |
-
"cls": "Box"
|
| 361 |
-
},
|
| 362 |
-
"stack_3_main_group_1": {
|
| 363 |
-
"cls": "HingeCabinet"
|
| 364 |
-
},
|
| 365 |
-
"stack_3_main_group_2": {
|
| 366 |
-
"cls": "Drawer"
|
| 367 |
-
},
|
| 368 |
-
"stack_3_main_group_3": {
|
| 369 |
-
"cls": "Drawer"
|
| 370 |
-
},
|
| 371 |
-
"stack_4_main_group_base": {
|
| 372 |
-
"cls": "Box"
|
| 373 |
-
},
|
| 374 |
-
"stack_4_main_group_1": {
|
| 375 |
-
"cls": "HingeCabinet"
|
| 376 |
-
},
|
| 377 |
-
"stack_4_main_group_2": {
|
| 378 |
-
"cls": "Drawer"
|
| 379 |
-
},
|
| 380 |
-
"stack_4_main_group_3": {
|
| 381 |
-
"cls": "Drawer"
|
| 382 |
-
},
|
| 383 |
-
"coffee_machine_main_group": {
|
| 384 |
-
"cls": "CoffeeMachine"
|
| 385 |
-
},
|
| 386 |
-
"utensil_set_main_group": {
|
| 387 |
-
"cls": "Accessory"
|
| 388 |
-
},
|
| 389 |
-
"toaster_main_group": {
|
| 390 |
-
"cls": "Toaster"
|
| 391 |
-
},
|
| 392 |
-
"toaster_oven_main_group": {
|
| 393 |
-
"cls": "ToasterOven"
|
| 394 |
-
},
|
| 395 |
-
"tiered_basket_main_group": {
|
| 396 |
-
"cls": "Accessory"
|
| 397 |
-
}
|
| 398 |
-
},
|
| 399 |
-
"gen_textures": {},
|
| 400 |
-
"lang": "Pick the carrot from the counter and place it in the cabinet.",
|
| 401 |
-
"fixture_refs": {
|
| 402 |
-
"cab": "cab_main_main_group",
|
| 403 |
-
"counter": "counter_main_main_group"
|
| 404 |
-
},
|
| 405 |
-
"cam_configs": {
|
| 406 |
-
"robot0_agentview_center": {
|
| 407 |
-
"pos": [
|
| 408 |
-
-0.6,
|
| 409 |
-
0.0,
|
| 410 |
-
1.15
|
| 411 |
-
],
|
| 412 |
-
"quat": [
|
| 413 |
-
0.636945903301239,
|
| 414 |
-
0.3325185477733612,
|
| 415 |
-
-0.3199238181114197,
|
| 416 |
-
-0.6175596117973328
|
| 417 |
-
],
|
| 418 |
-
"parent_body": "mobilebase0_support"
|
| 419 |
-
},
|
| 420 |
-
"robot0_agentview_left": {
|
| 421 |
-
"pos": [
|
| 422 |
-
-0.5,
|
| 423 |
-
0.35,
|
| 424 |
-
1.05
|
| 425 |
-
],
|
| 426 |
-
"quat": [
|
| 427 |
-
0.55623853,
|
| 428 |
-
0.29935253,
|
| 429 |
-
-0.37678665,
|
| 430 |
-
-0.6775092
|
| 431 |
-
],
|
| 432 |
-
"camera_attribs": {
|
| 433 |
-
"fovy": "60"
|
| 434 |
-
},
|
| 435 |
-
"parent_body": "mobilebase0_support"
|
| 436 |
-
},
|
| 437 |
-
"robot0_agentview_right": {
|
| 438 |
-
"pos": [
|
| 439 |
-
-0.5,
|
| 440 |
-
-0.35,
|
| 441 |
-
1.05
|
| 442 |
-
],
|
| 443 |
-
"quat": [
|
| 444 |
-
0.6775091886520386,
|
| 445 |
-
0.3767866790294647,
|
| 446 |
-
-0.2993525564670563,
|
| 447 |
-
-0.55623859167099
|
| 448 |
-
],
|
| 449 |
-
"camera_attribs": {
|
| 450 |
-
"fovy": "60"
|
| 451 |
-
},
|
| 452 |
-
"parent_body": "mobilebase0_support"
|
| 453 |
-
},
|
| 454 |
-
"robot0_frontview": {
|
| 455 |
-
"pos": [
|
| 456 |
-
-0.5,
|
| 457 |
-
0,
|
| 458 |
-
0.95
|
| 459 |
-
],
|
| 460 |
-
"quat": [
|
| 461 |
-
0.6088936924934387,
|
| 462 |
-
0.3814677894115448,
|
| 463 |
-
-0.3673907518386841,
|
| 464 |
-
-0.5905545353889465
|
| 465 |
-
],
|
| 466 |
-
"camera_attribs": {
|
| 467 |
-
"fovy": "60"
|
| 468 |
-
},
|
| 469 |
-
"parent_body": "mobilebase0_support"
|
| 470 |
-
},
|
| 471 |
-
"robot0_eye_in_hand": {
|
| 472 |
-
"pos": [
|
| 473 |
-
0.05,
|
| 474 |
-
0,
|
| 475 |
-
0
|
| 476 |
-
],
|
| 477 |
-
"quat": [
|
| 478 |
-
0,
|
| 479 |
-
0.707107,
|
| 480 |
-
0.707107,
|
| 481 |
-
0
|
| 482 |
-
],
|
| 483 |
-
"parent_body": "robot0_right_hand"
|
| 484 |
-
}
|
| 485 |
-
},
|
| 486 |
-
"init_robot_base_pos": [
|
| 487 |
-
2.3838962062353417,
|
| 488 |
-
-0.6464544351638669,
|
| 489 |
-
0.0
|
| 490 |
-
],
|
| 491 |
-
"init_robot_base_ori": [
|
| 492 |
-
0.0,
|
| 493 |
-
0.0,
|
| 494 |
-
-3.673205103416066e-06
|
| 495 |
-
]
|
| 496 |
-
}
|
|
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|
| 361 |
-
"salt_shaker_main_group_auxiliary_main_group": {
|
| 362 |
-
"cls": "Accessory"
|
| 363 |
-
},
|
| 364 |
-
"fridge_left_group": {
|
| 365 |
-
"cls": "FridgeFrenchDoor"
|
| 366 |
-
},
|
| 367 |
-
"fridge_housing_left_group": {
|
| 368 |
-
"cls": "HousingCabinet"
|
| 369 |
-
},
|
| 370 |
-
"fridge_top_left_group": {
|
| 371 |
-
"cls": "HingeCabinet"
|
| 372 |
-
},
|
| 373 |
-
"stack_left_left_group_base": {
|
| 374 |
-
"cls": "Box"
|
| 375 |
-
},
|
| 376 |
-
"stack_left_left_group_1": {
|
| 377 |
-
"cls": "SingleCabinet"
|
| 378 |
-
},
|
| 379 |
-
"stack_left_left_group_2": {
|
| 380 |
-
"cls": "SingleCabinet"
|
| 381 |
-
},
|
| 382 |
-
"stack_right_left_group_base": {
|
| 383 |
-
"cls": "Box"
|
| 384 |
-
},
|
| 385 |
-
"stack_right_left_group_1": {
|
| 386 |
-
"cls": "SingleCabinet"
|
| 387 |
-
},
|
| 388 |
-
"stack_right_left_group_2": {
|
| 389 |
-
"cls": "SingleCabinet"
|
| 390 |
-
},
|
| 391 |
-
"box_left_top_left_group": {
|
| 392 |
-
"cls": "Box"
|
| 393 |
-
},
|
| 394 |
-
"box_left_bottom_left_group": {
|
| 395 |
-
"cls": "Box"
|
| 396 |
-
},
|
| 397 |
-
"box_right_top_left_group": {
|
| 398 |
-
"cls": "Box"
|
| 399 |
-
},
|
| 400 |
-
"box_right_bottom_left_group": {
|
| 401 |
-
"cls": "Box"
|
| 402 |
-
},
|
| 403 |
-
"sink_right_group": {
|
| 404 |
-
"cls": "Sink"
|
| 405 |
-
},
|
| 406 |
-
"counter_1_right_group": {
|
| 407 |
-
"cls": "Counter"
|
| 408 |
-
},
|
| 409 |
-
"counter_corner_right_group": {
|
| 410 |
-
"cls": "Counter"
|
| 411 |
-
},
|
| 412 |
-
"stack_1_right_group_base": {
|
| 413 |
-
"cls": "Box"
|
| 414 |
-
},
|
| 415 |
-
"stack_1_right_group_1": {
|
| 416 |
-
"cls": "HingeCabinet"
|
| 417 |
-
},
|
| 418 |
-
"stack_1_right_group_2": {
|
| 419 |
-
"cls": "PanelCabinet"
|
| 420 |
-
},
|
| 421 |
-
"dishwasher_right_group": {
|
| 422 |
-
"cls": "Dishwasher"
|
| 423 |
-
},
|
| 424 |
-
"stack_2_right_group_base": {
|
| 425 |
-
"cls": "Box"
|
| 426 |
-
},
|
| 427 |
-
"stack_2_right_group_1": {
|
| 428 |
-
"cls": "SingleCabinet"
|
| 429 |
-
},
|
| 430 |
-
"cab_1_right_group": {
|
| 431 |
-
"cls": "HingeCabinet"
|
| 432 |
-
},
|
| 433 |
-
"cab_2_right_group": {
|
| 434 |
-
"cls": "SingleCabinet"
|
| 435 |
-
},
|
| 436 |
-
"soap_dispenser_right_group": {
|
| 437 |
-
"cls": "Accessory"
|
| 438 |
-
},
|
| 439 |
-
"counter_corner_1_front_group": {
|
| 440 |
-
"cls": "Counter"
|
| 441 |
-
},
|
| 442 |
-
"counter_1_front_group": {
|
| 443 |
-
"cls": "Counter"
|
| 444 |
-
},
|
| 445 |
-
"stack_1_front_group_base": {
|
| 446 |
-
"cls": "Box"
|
| 447 |
-
},
|
| 448 |
-
"stack_1_front_group_1": {
|
| 449 |
-
"cls": "HingeCabinet"
|
| 450 |
-
},
|
| 451 |
-
"stack_1_front_group_2": {
|
| 452 |
-
"cls": "Drawer"
|
| 453 |
-
},
|
| 454 |
-
"shelves_front_group": {
|
| 455 |
-
"cls": "OpenCabinet"
|
| 456 |
-
},
|
| 457 |
-
"bottom_front_group_base": {
|
| 458 |
-
"cls": "Box"
|
| 459 |
-
},
|
| 460 |
-
"bottom_front_group_1": {
|
| 461 |
-
"cls": "Drawer"
|
| 462 |
-
},
|
| 463 |
-
"bottom_front_group_2": {
|
| 464 |
-
"cls": "Drawer"
|
| 465 |
-
},
|
| 466 |
-
"cab_middle_front_group": {
|
| 467 |
-
"cls": "HingeCabinet"
|
| 468 |
-
},
|
| 469 |
-
"microwave_front_group": {
|
| 470 |
-
"cls": "Microwave"
|
| 471 |
-
},
|
| 472 |
-
"micro_housing_front_group": {
|
| 473 |
-
"cls": "HousingCabinet"
|
| 474 |
-
},
|
| 475 |
-
"top_front_group": {
|
| 476 |
-
"cls": "HingeCabinet"
|
| 477 |
-
},
|
| 478 |
-
"utensil_set_front_group": {
|
| 479 |
-
"cls": "Accessory"
|
| 480 |
-
},
|
| 481 |
-
"counter_1_dining_area_group": {
|
| 482 |
-
"cls": "Counter"
|
| 483 |
-
},
|
| 484 |
-
"paper_towel_dining_area_group": {
|
| 485 |
-
"cls": "Accessory"
|
| 486 |
-
},
|
| 487 |
-
"fruit_bowl_dining_area_group": {
|
| 488 |
-
"cls": "Accessory"
|
| 489 |
-
}
|
| 490 |
-
},
|
| 491 |
-
"gen_textures": {},
|
| 492 |
-
"lang": "Pick the whisk from the counter and place it in the cabinet.",
|
| 493 |
-
"fixture_refs": {
|
| 494 |
-
"cab": "shelves_main_group",
|
| 495 |
-
"counter": "counter_1_main_group"
|
| 496 |
-
},
|
| 497 |
-
"cam_configs": {
|
| 498 |
-
"robot0_agentview_center": {
|
| 499 |
-
"pos": [
|
| 500 |
-
-0.6,
|
| 501 |
-
0.0,
|
| 502 |
-
1.15
|
| 503 |
-
],
|
| 504 |
-
"quat": [
|
| 505 |
-
0.636945903301239,
|
| 506 |
-
0.3325185477733612,
|
| 507 |
-
-0.3199238181114197,
|
| 508 |
-
-0.6175596117973328
|
| 509 |
-
],
|
| 510 |
-
"parent_body": "mobilebase0_support"
|
| 511 |
-
},
|
| 512 |
-
"robot0_agentview_left": {
|
| 513 |
-
"pos": [
|
| 514 |
-
-0.5,
|
| 515 |
-
0.35,
|
| 516 |
-
1.05
|
| 517 |
-
],
|
| 518 |
-
"quat": [
|
| 519 |
-
0.55623853,
|
| 520 |
-
0.29935253,
|
| 521 |
-
-0.37678665,
|
| 522 |
-
-0.6775092
|
| 523 |
-
],
|
| 524 |
-
"camera_attribs": {
|
| 525 |
-
"fovy": "60"
|
| 526 |
-
},
|
| 527 |
-
"parent_body": "mobilebase0_support"
|
| 528 |
-
},
|
| 529 |
-
"robot0_agentview_right": {
|
| 530 |
-
"pos": [
|
| 531 |
-
-0.5,
|
| 532 |
-
-0.35,
|
| 533 |
-
1.05
|
| 534 |
-
],
|
| 535 |
-
"quat": [
|
| 536 |
-
0.6775091886520386,
|
| 537 |
-
0.3767866790294647,
|
| 538 |
-
-0.2993525564670563,
|
| 539 |
-
-0.55623859167099
|
| 540 |
-
],
|
| 541 |
-
"camera_attribs": {
|
| 542 |
-
"fovy": "60"
|
| 543 |
-
},
|
| 544 |
-
"parent_body": "mobilebase0_support"
|
| 545 |
-
},
|
| 546 |
-
"robot0_frontview": {
|
| 547 |
-
"pos": [
|
| 548 |
-
-0.5,
|
| 549 |
-
0,
|
| 550 |
-
0.95
|
| 551 |
-
],
|
| 552 |
-
"quat": [
|
| 553 |
-
0.6088936924934387,
|
| 554 |
-
0.3814677894115448,
|
| 555 |
-
-0.3673907518386841,
|
| 556 |
-
-0.5905545353889465
|
| 557 |
-
],
|
| 558 |
-
"camera_attribs": {
|
| 559 |
-
"fovy": "60"
|
| 560 |
-
},
|
| 561 |
-
"parent_body": "mobilebase0_support"
|
| 562 |
-
},
|
| 563 |
-
"robot0_eye_in_hand": {
|
| 564 |
-
"pos": [
|
| 565 |
-
0.05,
|
| 566 |
-
0,
|
| 567 |
-
0
|
| 568 |
-
],
|
| 569 |
-
"quat": [
|
| 570 |
-
0,
|
| 571 |
-
0.707107,
|
| 572 |
-
0.707107,
|
| 573 |
-
0
|
| 574 |
-
],
|
| 575 |
-
"parent_body": "robot0_right_hand"
|
| 576 |
-
}
|
| 577 |
-
},
|
| 578 |
-
"init_robot_base_pos": [
|
| 579 |
-
4.430922689809689,
|
| 580 |
-
-0.8058307354928902,
|
| 581 |
-
0.0
|
| 582 |
-
],
|
| 583 |
-
"init_robot_base_ori": [
|
| 584 |
-
0.0,
|
| 585 |
-
0.0,
|
| 586 |
-
1.5707963267948966
|
| 587 |
-
]
|
| 588 |
-
}
|
|
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|
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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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| 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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| 354 |
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| 372 |
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| 400 |
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| 401 |
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|
extras/episode_000006/model.xml.gz
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:a25ab25c4f01411b61983195acce05cfd46cf4cd23d355c6046e4b9d8b08afcb
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| 3 |
-
size 66140
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|
extras/episode_000006/states.npz
DELETED
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@@ -1,3 +0,0 @@
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|
| 1 |
-
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:09e24c25903092b66a5e8eecbe7650c4dd75fe6b43adbec561daa05b7c2cda8a
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size 192408
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extras/episode_000007/ep_meta.json
DELETED
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@@ -1,494 +0,0 @@
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| 1 |
-
{
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| 2 |
-
"layout_id": 5,
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| 3 |
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"style_id": 5,
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| 4 |
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| 5 |
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{
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| 6 |
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| 7 |
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| 381 |
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| 382 |
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| 383 |
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| 385 |
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|
| 386 |
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| 388 |
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| 389 |
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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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},
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| 397 |
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|
| 398 |
-
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|
| 399 |
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|
| 400 |
-
"cab": "cab_3_main_group",
|
| 401 |
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| 402 |
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| 403 |
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| 406 |
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| 407 |
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| 417 |
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| 419 |
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| 420 |
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| 421 |
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| 422 |
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| 432 |
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| 439 |
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extras/episode_000007/model.xml.gz
DELETED
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| 1 |
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extras/episode_000007/states.npz
DELETED
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@@ -1,3 +0,0 @@
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| 1 |
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extras/episode_000008/ep_meta.json
DELETED
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| 132 |
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],
|
| 133 |
-
"offset": [
|
| 134 |
-
0.0,
|
| 135 |
-
0.0
|
| 136 |
-
]
|
| 137 |
-
},
|
| 138 |
-
"type": "object",
|
| 139 |
-
"info": {
|
| 140 |
-
"groups_containing_sampled_obj": [
|
| 141 |
-
"all",
|
| 142 |
-
"jam",
|
| 143 |
-
"packaged_food"
|
| 144 |
-
],
|
| 145 |
-
"groups": [
|
| 146 |
-
"all"
|
| 147 |
-
],
|
| 148 |
-
"cat": "jam",
|
| 149 |
-
"split": "test",
|
| 150 |
-
"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_5/model.xml"
|
| 151 |
-
},
|
| 152 |
-
"reset_region": {
|
| 153 |
-
"offset": [
|
| 154 |
-
0.0,
|
| 155 |
-
0.0,
|
| 156 |
-
-0.43
|
| 157 |
-
],
|
| 158 |
-
"size": [
|
| 159 |
-
0.44,
|
| 160 |
-
0.34
|
| 161 |
-
],
|
| 162 |
-
"height": 0.2666666666666667,
|
| 163 |
-
"name": "level0"
|
| 164 |
-
}
|
| 165 |
-
}
|
| 166 |
-
],
|
| 167 |
-
"fixtures": {
|
| 168 |
-
"wall_room": {
|
| 169 |
-
"cls": "Wall"
|
| 170 |
-
},
|
| 171 |
-
"wall_backing_room": {
|
| 172 |
-
"cls": "Wall"
|
| 173 |
-
},
|
| 174 |
-
"wall_left_room": {
|
| 175 |
-
"cls": "Wall"
|
| 176 |
-
},
|
| 177 |
-
"wall_left_backing_room": {
|
| 178 |
-
"cls": "Wall"
|
| 179 |
-
},
|
| 180 |
-
"wall_right_room": {
|
| 181 |
-
"cls": "Wall"
|
| 182 |
-
},
|
| 183 |
-
"wall_right_backing_room": {
|
| 184 |
-
"cls": "Wall"
|
| 185 |
-
},
|
| 186 |
-
"outlet_room": {
|
| 187 |
-
"cls": "WallAccessory"
|
| 188 |
-
},
|
| 189 |
-
"outlet_2_room": {
|
| 190 |
-
"cls": "WallAccessory"
|
| 191 |
-
},
|
| 192 |
-
"light_switch_room": {
|
| 193 |
-
"cls": "WallAccessory"
|
| 194 |
-
},
|
| 195 |
-
"light_switch_2_room": {
|
| 196 |
-
"cls": "WallAccessory"
|
| 197 |
-
},
|
| 198 |
-
"utensil_rack_room": {
|
| 199 |
-
"cls": "WallAccessory"
|
| 200 |
-
},
|
| 201 |
-
"window_group_room": {
|
| 202 |
-
"cls": "Window"
|
| 203 |
-
},
|
| 204 |
-
"floor_room": {
|
| 205 |
-
"cls": "Floor"
|
| 206 |
-
},
|
| 207 |
-
"floor_backing_room": {
|
| 208 |
-
"cls": "Floor"
|
| 209 |
-
},
|
| 210 |
-
"stool_1_room": {
|
| 211 |
-
"cls": "Stool"
|
| 212 |
-
},
|
| 213 |
-
"stool_2_room": {
|
| 214 |
-
"cls": "Stool"
|
| 215 |
-
},
|
| 216 |
-
"counter_corner_main_group": {
|
| 217 |
-
"cls": "Counter"
|
| 218 |
-
},
|
| 219 |
-
"counter_main_main_group": {
|
| 220 |
-
"cls": "Counter"
|
| 221 |
-
},
|
| 222 |
-
"counter_corner_2_main_group": {
|
| 223 |
-
"cls": "Counter"
|
| 224 |
-
},
|
| 225 |
-
"cab_corner_main_group": {
|
| 226 |
-
"cls": "Box"
|
| 227 |
-
},
|
| 228 |
-
"cab_corner_2_main_group": {
|
| 229 |
-
"cls": "Box"
|
| 230 |
-
},
|
| 231 |
-
"cab_main_main_group": {
|
| 232 |
-
"cls": "HingeCabinet"
|
| 233 |
-
},
|
| 234 |
-
"cab_1_main_group": {
|
| 235 |
-
"cls": "SingleCabinet"
|
| 236 |
-
},
|
| 237 |
-
"cab_corner_3_main_group": {
|
| 238 |
-
"cls": "Box"
|
| 239 |
-
},
|
| 240 |
-
"cab_corner_4_main_group": {
|
| 241 |
-
"cls": "Box"
|
| 242 |
-
},
|
| 243 |
-
"stack_1_main_group_base": {
|
| 244 |
-
"cls": "Box"
|
| 245 |
-
},
|
| 246 |
-
"stack_1_main_group_1": {
|
| 247 |
-
"cls": "HingeCabinet"
|
| 248 |
-
},
|
| 249 |
-
"stack_1_main_group_2": {
|
| 250 |
-
"cls": "Drawer"
|
| 251 |
-
},
|
| 252 |
-
"stack_1_main_group_3": {
|
| 253 |
-
"cls": "Drawer"
|
| 254 |
-
},
|
| 255 |
-
"stack_2_main_group_base": {
|
| 256 |
-
"cls": "Box"
|
| 257 |
-
},
|
| 258 |
-
"stack_2_main_group_1": {
|
| 259 |
-
"cls": "HingeCabinet"
|
| 260 |
-
},
|
| 261 |
-
"stack_2_main_group_2": {
|
| 262 |
-
"cls": "Drawer"
|
| 263 |
-
},
|
| 264 |
-
"stack_2_main_group_3": {
|
| 265 |
-
"cls": "Drawer"
|
| 266 |
-
},
|
| 267 |
-
"stack_3_main_group_base": {
|
| 268 |
-
"cls": "Box"
|
| 269 |
-
},
|
| 270 |
-
"stack_3_main_group_1": {
|
| 271 |
-
"cls": "Drawer"
|
| 272 |
-
},
|
| 273 |
-
"stack_3_main_group_2": {
|
| 274 |
-
"cls": "Drawer"
|
| 275 |
-
},
|
| 276 |
-
"stack_3_main_group_3": {
|
| 277 |
-
"cls": "Drawer"
|
| 278 |
-
},
|
| 279 |
-
"stack_3_main_group_4": {
|
| 280 |
-
"cls": "Drawer"
|
| 281 |
-
},
|
| 282 |
-
"toaster_main_group": {
|
| 283 |
-
"cls": "Toaster"
|
| 284 |
-
},
|
| 285 |
-
"toaster_oven_main_group": {
|
| 286 |
-
"cls": "ToasterOven"
|
| 287 |
-
},
|
| 288 |
-
"oil_bottle_main_group": {
|
| 289 |
-
"cls": "Accessory"
|
| 290 |
-
},
|
| 291 |
-
"fruit_bowl_main_group": {
|
| 292 |
-
"cls": "Accessory"
|
| 293 |
-
},
|
| 294 |
-
"knife_block_main_group": {
|
| 295 |
-
"cls": "Accessory"
|
| 296 |
-
},
|
| 297 |
-
"utensil_set_main_group": {
|
| 298 |
-
"cls": "Accessory"
|
| 299 |
-
},
|
| 300 |
-
"paper_towel_main_group": {
|
| 301 |
-
"cls": "Accessory"
|
| 302 |
-
},
|
| 303 |
-
"oil_bottle_main_group_auxiliary_main_group": {
|
| 304 |
-
"cls": "Accessory"
|
| 305 |
-
},
|
| 306 |
-
"counter_1_front_group": {
|
| 307 |
-
"cls": "Counter"
|
| 308 |
-
},
|
| 309 |
-
"counter_corner_front_group": {
|
| 310 |
-
"cls": "Counter"
|
| 311 |
-
},
|
| 312 |
-
"counter_1_left_group": {
|
| 313 |
-
"cls": "Counter"
|
| 314 |
-
},
|
| 315 |
-
"stove_left_group": {
|
| 316 |
-
"cls": "Stove"
|
| 317 |
-
},
|
| 318 |
-
"counter_2_left_group": {
|
| 319 |
-
"cls": "Counter"
|
| 320 |
-
},
|
| 321 |
-
"counter_corner_left_group": {
|
| 322 |
-
"cls": "Counter"
|
| 323 |
-
},
|
| 324 |
-
"fridge_left_group": {
|
| 325 |
-
"cls": "FridgeFrenchDoor"
|
| 326 |
-
},
|
| 327 |
-
"fridge_housing_left_group": {
|
| 328 |
-
"cls": "HousingCabinet"
|
| 329 |
-
},
|
| 330 |
-
"stack_1_left_group_base": {
|
| 331 |
-
"cls": "Box"
|
| 332 |
-
},
|
| 333 |
-
"stack_1_left_group_1": {
|
| 334 |
-
"cls": "SingleCabinet"
|
| 335 |
-
},
|
| 336 |
-
"stack_1_left_group_2": {
|
| 337 |
-
"cls": "Drawer"
|
| 338 |
-
},
|
| 339 |
-
"stack_2_left_group_base": {
|
| 340 |
-
"cls": "Box"
|
| 341 |
-
},
|
| 342 |
-
"stack_2_left_group_1": {
|
| 343 |
-
"cls": "SingleCabinet"
|
| 344 |
-
},
|
| 345 |
-
"stack_2_left_group_2": {
|
| 346 |
-
"cls": "Drawer"
|
| 347 |
-
},
|
| 348 |
-
"cab_1_left_group": {
|
| 349 |
-
"cls": "SingleCabinet"
|
| 350 |
-
},
|
| 351 |
-
"microwave_left_group": {
|
| 352 |
-
"cls": "Microwave"
|
| 353 |
-
},
|
| 354 |
-
"cab_micro_left_group": {
|
| 355 |
-
"cls": "HingeCabinet"
|
| 356 |
-
},
|
| 357 |
-
"cab_2_left_group": {
|
| 358 |
-
"cls": "SingleCabinet"
|
| 359 |
-
},
|
| 360 |
-
"cab_3_left_group": {
|
| 361 |
-
"cls": "HingeCabinet"
|
| 362 |
-
},
|
| 363 |
-
"coffee_machine_left_group": {
|
| 364 |
-
"cls": "CoffeeMachine"
|
| 365 |
-
},
|
| 366 |
-
"salt_shaker_left_group": {
|
| 367 |
-
"cls": "Accessory"
|
| 368 |
-
},
|
| 369 |
-
"salt_shaker_left_group_auxiliary_left_group": {
|
| 370 |
-
"cls": "Accessory"
|
| 371 |
-
},
|
| 372 |
-
"sink_right_group": {
|
| 373 |
-
"cls": "Sink"
|
| 374 |
-
},
|
| 375 |
-
"counter_1_right_group": {
|
| 376 |
-
"cls": "Counter"
|
| 377 |
-
},
|
| 378 |
-
"counter_corner_right_group": {
|
| 379 |
-
"cls": "Counter"
|
| 380 |
-
},
|
| 381 |
-
"counter_corner_2_right_group": {
|
| 382 |
-
"cls": "Counter"
|
| 383 |
-
},
|
| 384 |
-
"stack_1_right_group_base": {
|
| 385 |
-
"cls": "Box"
|
| 386 |
-
},
|
| 387 |
-
"stack_1_right_group_1": {
|
| 388 |
-
"cls": "HingeCabinet"
|
| 389 |
-
},
|
| 390 |
-
"stack_1_right_group_2": {
|
| 391 |
-
"cls": "PanelCabinet"
|
| 392 |
-
},
|
| 393 |
-
"dishwasher_right_group": {
|
| 394 |
-
"cls": "Dishwasher"
|
| 395 |
-
},
|
| 396 |
-
"stack_2_right_group_base": {
|
| 397 |
-
"cls": "Box"
|
| 398 |
-
},
|
| 399 |
-
"stack_2_right_group_1": {
|
| 400 |
-
"cls": "Drawer"
|
| 401 |
-
},
|
| 402 |
-
"stack_2_right_group_2": {
|
| 403 |
-
"cls": "Drawer"
|
| 404 |
-
},
|
| 405 |
-
"stack_2_right_group_3": {
|
| 406 |
-
"cls": "Drawer"
|
| 407 |
-
},
|
| 408 |
-
"stack_2_right_group_4": {
|
| 409 |
-
"cls": "Drawer"
|
| 410 |
-
},
|
| 411 |
-
"cab_1_right_group": {
|
| 412 |
-
"cls": "HingeCabinet"
|
| 413 |
-
},
|
| 414 |
-
"shelves_right_group": {
|
| 415 |
-
"cls": "OpenCabinet"
|
| 416 |
-
},
|
| 417 |
-
"flower_vase_right_group": {
|
| 418 |
-
"cls": "Accessory"
|
| 419 |
-
},
|
| 420 |
-
"soap_dispenser_right_group": {
|
| 421 |
-
"cls": "Accessory"
|
| 422 |
-
},
|
| 423 |
-
"glass_cup_right_group": {
|
| 424 |
-
"cls": "Accessory"
|
| 425 |
-
},
|
| 426 |
-
"glass_cup_2_right_group": {
|
| 427 |
-
"cls": "Accessory"
|
| 428 |
-
},
|
| 429 |
-
"paprika_right_group": {
|
| 430 |
-
"cls": "Accessory"
|
| 431 |
-
},
|
| 432 |
-
"cinnamon_right_group": {
|
| 433 |
-
"cls": "Accessory"
|
| 434 |
-
}
|
| 435 |
-
},
|
| 436 |
-
"gen_textures": {},
|
| 437 |
-
"lang": "Pick the apple from the counter and place it in the cabinet.",
|
| 438 |
-
"fixture_refs": {
|
| 439 |
-
"cab": "cab_2_left_group",
|
| 440 |
-
"counter": "counter_2_left_group"
|
| 441 |
-
},
|
| 442 |
-
"cam_configs": {
|
| 443 |
-
"robot0_agentview_center": {
|
| 444 |
-
"pos": [
|
| 445 |
-
-0.6,
|
| 446 |
-
0.0,
|
| 447 |
-
1.15
|
| 448 |
-
],
|
| 449 |
-
"quat": [
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| 450 |
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0.636945903301239,
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| 451 |
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0.3325185477733612,
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| 452 |
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-0.3199238181114197,
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| 453 |
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-0.6175596117973328
|
| 454 |
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],
|
| 455 |
-
"parent_body": "mobilebase0_support"
|
| 456 |
-
},
|
| 457 |
-
"robot0_agentview_left": {
|
| 458 |
-
"pos": [
|
| 459 |
-
-0.5,
|
| 460 |
-
0.35,
|
| 461 |
-
1.05
|
| 462 |
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],
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| 463 |
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"quat": [
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| 464 |
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0.55623853,
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| 465 |
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0.29935253,
|
| 466 |
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| 467 |
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|
| 468 |
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],
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| 469 |
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"camera_attribs": {
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| 470 |
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"fovy": "60"
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| 471 |
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},
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| 472 |
-
"parent_body": "mobilebase0_support"
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| 473 |
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},
|
| 474 |
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"robot0_agentview_right": {
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| 475 |
-
"pos": [
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| 476 |
-
-0.5,
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| 477 |
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-0.35,
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| 478 |
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1.05
|
| 479 |
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],
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| 480 |
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"quat": [
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| 481 |
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0.6775091886520386,
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| 482 |
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0.3767866790294647,
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| 483 |
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| 484 |
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| 485 |
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],
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| 486 |
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"camera_attribs": {
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| 487 |
-
"fovy": "60"
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| 488 |
-
},
|
| 489 |
-
"parent_body": "mobilebase0_support"
|
| 490 |
-
},
|
| 491 |
-
"robot0_frontview": {
|
| 492 |
-
"pos": [
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| 493 |
-
-0.5,
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| 494 |
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0,
|
| 495 |
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0.95
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| 496 |
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],
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| 497 |
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"quat": [
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| 498 |
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0.6088936924934387,
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| 499 |
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0.3814677894115448,
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| 500 |
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| 501 |
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| 502 |
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],
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"camera_attribs": {
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| 504 |
-
"fovy": "60"
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| 505 |
-
},
|
| 506 |
-
"parent_body": "mobilebase0_support"
|
| 507 |
-
},
|
| 508 |
-
"robot0_eye_in_hand": {
|
| 509 |
-
"pos": [
|
| 510 |
-
0.05,
|
| 511 |
-
0,
|
| 512 |
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0
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| 513 |
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],
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| 514 |
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"quat": [
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| 515 |
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0,
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| 516 |
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0.707107,
|
| 517 |
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0.707107,
|
| 518 |
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0
|
| 519 |
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],
|
| 520 |
-
"parent_body": "robot0_right_hand"
|
| 521 |
-
}
|
| 522 |
-
},
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| 523 |
-
"init_robot_base_pos": [
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| 524 |
-
0.8229939458306553,
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| 525 |
-
-2.1360861979235777,
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| 526 |
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0.0
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| 527 |
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],
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| 528 |
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"init_robot_base_ori": [
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| 529 |
-
0.0,
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| 530 |
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0.0,
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| 531 |
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3.1415963267948968
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| 532 |
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]
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| 533 |
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}
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extras/episode_000008/model.xml.gz
DELETED
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| 1 |
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extras/episode_000008/states.npz
DELETED
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| 1 |
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extras/episode_000009/ep_meta.json
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| 183 |
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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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-
"light_switch_2_room": {
|
| 194 |
-
"cls": "WallAccessory"
|
| 195 |
-
},
|
| 196 |
-
"utensil_rack_room": {
|
| 197 |
-
"cls": "WallAccessory"
|
| 198 |
-
},
|
| 199 |
-
"outlet_2_room": {
|
| 200 |
-
"cls": "WallAccessory"
|
| 201 |
-
},
|
| 202 |
-
"cab_1_main_group": {
|
| 203 |
-
"cls": "HingeCabinet"
|
| 204 |
-
},
|
| 205 |
-
"cab_2_main_group": {
|
| 206 |
-
"cls": "HingeCabinet"
|
| 207 |
-
},
|
| 208 |
-
"cab_main_main_group": {
|
| 209 |
-
"cls": "HingeCabinet"
|
| 210 |
-
},
|
| 211 |
-
"cab_corner_main_group": {
|
| 212 |
-
"cls": "Box"
|
| 213 |
-
},
|
| 214 |
-
"cab_corner_2_main_group": {
|
| 215 |
-
"cls": "Box"
|
| 216 |
-
},
|
| 217 |
-
"sink_main_group": {
|
| 218 |
-
"cls": "Sink"
|
| 219 |
-
},
|
| 220 |
-
"counter_main_main_group": {
|
| 221 |
-
"cls": "Counter"
|
| 222 |
-
},
|
| 223 |
-
"counter_corner_main_main_group": {
|
| 224 |
-
"cls": "Counter"
|
| 225 |
-
},
|
| 226 |
-
"stack_1_main_group_base": {
|
| 227 |
-
"cls": "Box"
|
| 228 |
-
},
|
| 229 |
-
"stack_1_main_group_1": {
|
| 230 |
-
"cls": "Drawer"
|
| 231 |
-
},
|
| 232 |
-
"stack_1_main_group_2": {
|
| 233 |
-
"cls": "Drawer"
|
| 234 |
-
},
|
| 235 |
-
"stack_1_main_group_3": {
|
| 236 |
-
"cls": "Drawer"
|
| 237 |
-
},
|
| 238 |
-
"stack_1_main_group_4": {
|
| 239 |
-
"cls": "Drawer"
|
| 240 |
-
},
|
| 241 |
-
"stack_2_main_group_base": {
|
| 242 |
-
"cls": "Box"
|
| 243 |
-
},
|
| 244 |
-
"stack_2_main_group_1": {
|
| 245 |
-
"cls": "HingeCabinet"
|
| 246 |
-
},
|
| 247 |
-
"dishwasher_main_group": {
|
| 248 |
-
"cls": "Dishwasher"
|
| 249 |
-
},
|
| 250 |
-
"stack_3_main_group_base": {
|
| 251 |
-
"cls": "Box"
|
| 252 |
-
},
|
| 253 |
-
"stack_3_main_group_1": {
|
| 254 |
-
"cls": "SingleCabinet"
|
| 255 |
-
},
|
| 256 |
-
"toaster_oven_main_group": {
|
| 257 |
-
"cls": "ToasterOven"
|
| 258 |
-
},
|
| 259 |
-
"plant_main_group": {
|
| 260 |
-
"cls": "Accessory"
|
| 261 |
-
},
|
| 262 |
-
"knife_block_main_group": {
|
| 263 |
-
"cls": "Accessory"
|
| 264 |
-
},
|
| 265 |
-
"paper_towel_main_group": {
|
| 266 |
-
"cls": "Accessory"
|
| 267 |
-
},
|
| 268 |
-
"soap_dispenser_main_group": {
|
| 269 |
-
"cls": "Accessory"
|
| 270 |
-
},
|
| 271 |
-
"counter_1_right_group": {
|
| 272 |
-
"cls": "Counter"
|
| 273 |
-
},
|
| 274 |
-
"counter_corner_left_right_group": {
|
| 275 |
-
"cls": "Counter"
|
| 276 |
-
},
|
| 277 |
-
"stove_right_group": {
|
| 278 |
-
"cls": "Stove"
|
| 279 |
-
},
|
| 280 |
-
"counter_2_right_group": {
|
| 281 |
-
"cls": "Counter"
|
| 282 |
-
},
|
| 283 |
-
"fridge_right_group": {
|
| 284 |
-
"cls": "FridgeBottomFreezer"
|
| 285 |
-
},
|
| 286 |
-
"fridge_housing_right_group": {
|
| 287 |
-
"cls": "HousingCabinet"
|
| 288 |
-
},
|
| 289 |
-
"stack_1_right_group_base": {
|
| 290 |
-
"cls": "Box"
|
| 291 |
-
},
|
| 292 |
-
"stack_1_right_group_1": {
|
| 293 |
-
"cls": "SingleCabinet"
|
| 294 |
-
},
|
| 295 |
-
"stack_1_right_group_2": {
|
| 296 |
-
"cls": "Drawer"
|
| 297 |
-
},
|
| 298 |
-
"stack_2_right_group_base": {
|
| 299 |
-
"cls": "Box"
|
| 300 |
-
},
|
| 301 |
-
"stack_2_right_group_1": {
|
| 302 |
-
"cls": "HingeCabinet"
|
| 303 |
-
},
|
| 304 |
-
"stack_2_right_group_2": {
|
| 305 |
-
"cls": "Drawer"
|
| 306 |
-
},
|
| 307 |
-
"stack_2_right_group_3": {
|
| 308 |
-
"cls": "Drawer"
|
| 309 |
-
},
|
| 310 |
-
"stack_3_right_group_base": {
|
| 311 |
-
"cls": "Box"
|
| 312 |
-
},
|
| 313 |
-
"stack_3_right_group_1": {
|
| 314 |
-
"cls": "Drawer"
|
| 315 |
-
},
|
| 316 |
-
"stack_3_right_group_2": {
|
| 317 |
-
"cls": "Drawer"
|
| 318 |
-
},
|
| 319 |
-
"stack_3_right_group_3": {
|
| 320 |
-
"cls": "Drawer"
|
| 321 |
-
},
|
| 322 |
-
"stack_3_right_group_4": {
|
| 323 |
-
"cls": "Drawer"
|
| 324 |
-
},
|
| 325 |
-
"cab_1_right_group": {
|
| 326 |
-
"cls": "SingleCabinet"
|
| 327 |
-
},
|
| 328 |
-
"microwave_right_group": {
|
| 329 |
-
"cls": "Microwave"
|
| 330 |
-
},
|
| 331 |
-
"cab_micro_right_group": {
|
| 332 |
-
"cls": "HingeCabinet"
|
| 333 |
-
},
|
| 334 |
-
"cab_2_right_group": {
|
| 335 |
-
"cls": "SingleCabinet"
|
| 336 |
-
},
|
| 337 |
-
"shelves_right_group": {
|
| 338 |
-
"cls": "OpenCabinet"
|
| 339 |
-
},
|
| 340 |
-
"cab_3_right_group": {
|
| 341 |
-
"cls": "HingeCabinet"
|
| 342 |
-
},
|
| 343 |
-
"toaster_right_group": {
|
| 344 |
-
"cls": "Toaster"
|
| 345 |
-
},
|
| 346 |
-
"coffee_machine_right_group": {
|
| 347 |
-
"cls": "CoffeeMachine"
|
| 348 |
-
},
|
| 349 |
-
"oil_bottle_right_group": {
|
| 350 |
-
"cls": "Accessory"
|
| 351 |
-
},
|
| 352 |
-
"tiered_basket_right_group": {
|
| 353 |
-
"cls": "Accessory"
|
| 354 |
-
},
|
| 355 |
-
"jar_right_group": {
|
| 356 |
-
"cls": "Accessory"
|
| 357 |
-
},
|
| 358 |
-
"salt_shaker_right_group": {
|
| 359 |
-
"cls": "Accessory"
|
| 360 |
-
},
|
| 361 |
-
"paprika_right_group": {
|
| 362 |
-
"cls": "Accessory"
|
| 363 |
-
},
|
| 364 |
-
"turmeric_right_group": {
|
| 365 |
-
"cls": "Accessory"
|
| 366 |
-
},
|
| 367 |
-
"oil_bottle_right_group_auxiliary_right_group": {
|
| 368 |
-
"cls": "Accessory"
|
| 369 |
-
},
|
| 370 |
-
"jar_right_group_auxiliary_right_group": {
|
| 371 |
-
"cls": "Accessory"
|
| 372 |
-
},
|
| 373 |
-
"salt_shaker_right_group_auxiliary_right_group": {
|
| 374 |
-
"cls": "Accessory"
|
| 375 |
-
}
|
| 376 |
-
},
|
| 377 |
-
"gen_textures": {},
|
| 378 |
-
"lang": "Pick the peach from the counter and place it in the cabinet.",
|
| 379 |
-
"fixture_refs": {
|
| 380 |
-
"cab": "cab_1_right_group",
|
| 381 |
-
"counter": "counter_1_right_group"
|
| 382 |
-
},
|
| 383 |
-
"cam_configs": {
|
| 384 |
-
"robot0_agentview_center": {
|
| 385 |
-
"pos": [
|
| 386 |
-
-0.6,
|
| 387 |
-
0.0,
|
| 388 |
-
1.15
|
| 389 |
-
],
|
| 390 |
-
"quat": [
|
| 391 |
-
0.636945903301239,
|
| 392 |
-
0.3325185477733612,
|
| 393 |
-
-0.3199238181114197,
|
| 394 |
-
-0.6175596117973328
|
| 395 |
-
],
|
| 396 |
-
"parent_body": "mobilebase0_support"
|
| 397 |
-
},
|
| 398 |
-
"robot0_agentview_left": {
|
| 399 |
-
"pos": [
|
| 400 |
-
-0.5,
|
| 401 |
-
0.35,
|
| 402 |
-
1.05
|
| 403 |
-
],
|
| 404 |
-
"quat": [
|
| 405 |
-
0.55623853,
|
| 406 |
-
0.29935253,
|
| 407 |
-
-0.37678665,
|
| 408 |
-
-0.6775092
|
| 409 |
-
],
|
| 410 |
-
"camera_attribs": {
|
| 411 |
-
"fovy": "60"
|
| 412 |
-
},
|
| 413 |
-
"parent_body": "mobilebase0_support"
|
| 414 |
-
},
|
| 415 |
-
"robot0_agentview_right": {
|
| 416 |
-
"pos": [
|
| 417 |
-
-0.5,
|
| 418 |
-
-0.35,
|
| 419 |
-
1.05
|
| 420 |
-
],
|
| 421 |
-
"quat": [
|
| 422 |
-
0.6775091886520386,
|
| 423 |
-
0.3767866790294647,
|
| 424 |
-
-0.2993525564670563,
|
| 425 |
-
-0.55623859167099
|
| 426 |
-
],
|
| 427 |
-
"camera_attribs": {
|
| 428 |
-
"fovy": "60"
|
| 429 |
-
},
|
| 430 |
-
"parent_body": "mobilebase0_support"
|
| 431 |
-
},
|
| 432 |
-
"robot0_frontview": {
|
| 433 |
-
"pos": [
|
| 434 |
-
-0.5,
|
| 435 |
-
0,
|
| 436 |
-
0.95
|
| 437 |
-
],
|
| 438 |
-
"quat": [
|
| 439 |
-
0.6088936924934387,
|
| 440 |
-
0.3814677894115448,
|
| 441 |
-
-0.3673907518386841,
|
| 442 |
-
-0.5905545353889465
|
| 443 |
-
],
|
| 444 |
-
"camera_attribs": {
|
| 445 |
-
"fovy": "60"
|
| 446 |
-
},
|
| 447 |
-
"parent_body": "mobilebase0_support"
|
| 448 |
-
},
|
| 449 |
-
"robot0_eye_in_hand": {
|
| 450 |
-
"pos": [
|
| 451 |
-
0.05,
|
| 452 |
-
0,
|
| 453 |
-
0
|
| 454 |
-
],
|
| 455 |
-
"quat": [
|
| 456 |
-
0,
|
| 457 |
-
0.707107,
|
| 458 |
-
0.707107,
|
| 459 |
-
0
|
| 460 |
-
],
|
| 461 |
-
"parent_body": "robot0_right_hand"
|
| 462 |
-
}
|
| 463 |
-
},
|
| 464 |
-
"init_robot_base_pos": [
|
| 465 |
-
4.384736342141994,
|
| 466 |
-
-0.911386500806183,
|
| 467 |
-
0.0
|
| 468 |
-
],
|
| 469 |
-
"init_robot_base_ori": [
|
| 470 |
-
0.0,
|
| 471 |
-
0.0,
|
| 472 |
-
-3.673205103416066e-06
|
| 473 |
-
]
|
| 474 |
-
}
|
|
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-
"jar_main_group": {
|
| 335 |
-
"cls": "Accessory"
|
| 336 |
-
},
|
| 337 |
-
"cinnamon_main_group": {
|
| 338 |
-
"cls": "Accessory"
|
| 339 |
-
},
|
| 340 |
-
"turmeric_main_group": {
|
| 341 |
-
"cls": "Accessory"
|
| 342 |
-
},
|
| 343 |
-
"paprika_main_group": {
|
| 344 |
-
"cls": "Accessory"
|
| 345 |
-
},
|
| 346 |
-
"oil_bottle_main_group_auxiliary_main_group": {
|
| 347 |
-
"cls": "Accessory"
|
| 348 |
-
},
|
| 349 |
-
"jar_main_group_auxiliary_main_group": {
|
| 350 |
-
"cls": "Accessory"
|
| 351 |
-
},
|
| 352 |
-
"counter_1_front_group": {
|
| 353 |
-
"cls": "Counter"
|
| 354 |
-
},
|
| 355 |
-
"counter_corner_front_group": {
|
| 356 |
-
"cls": "Counter"
|
| 357 |
-
},
|
| 358 |
-
"salt_shaker_front_group": {
|
| 359 |
-
"cls": "Accessory"
|
| 360 |
-
},
|
| 361 |
-
"salt_shaker_front_group_auxiliary_front_group": {
|
| 362 |
-
"cls": "Accessory"
|
| 363 |
-
},
|
| 364 |
-
"counter_corner_left_group": {
|
| 365 |
-
"cls": "Counter"
|
| 366 |
-
},
|
| 367 |
-
"sink_left_group": {
|
| 368 |
-
"cls": "Sink"
|
| 369 |
-
},
|
| 370 |
-
"counter_1_left_group": {
|
| 371 |
-
"cls": "Counter"
|
| 372 |
-
},
|
| 373 |
-
"counter_corner_right_left_group": {
|
| 374 |
-
"cls": "Counter"
|
| 375 |
-
},
|
| 376 |
-
"stack_1_left_group_base": {
|
| 377 |
-
"cls": "Box"
|
| 378 |
-
},
|
| 379 |
-
"stack_1_left_group_1": {
|
| 380 |
-
"cls": "HingeCabinet"
|
| 381 |
-
},
|
| 382 |
-
"stack_1_left_group_2": {
|
| 383 |
-
"cls": "Drawer"
|
| 384 |
-
},
|
| 385 |
-
"stack_1_left_group_3": {
|
| 386 |
-
"cls": "Drawer"
|
| 387 |
-
},
|
| 388 |
-
"stack_2_left_group_base": {
|
| 389 |
-
"cls": "Box"
|
| 390 |
-
},
|
| 391 |
-
"stack_2_left_group_1": {
|
| 392 |
-
"cls": "HingeCabinet"
|
| 393 |
-
},
|
| 394 |
-
"dishwasher_left_group": {
|
| 395 |
-
"cls": "Dishwasher"
|
| 396 |
-
},
|
| 397 |
-
"stack_3_left_group_base": {
|
| 398 |
-
"cls": "Box"
|
| 399 |
-
},
|
| 400 |
-
"stack_3_left_group_1": {
|
| 401 |
-
"cls": "SingleCabinet"
|
| 402 |
-
},
|
| 403 |
-
"cab_1_left_group": {
|
| 404 |
-
"cls": "HingeCabinet"
|
| 405 |
-
},
|
| 406 |
-
"cab_2_left_group": {
|
| 407 |
-
"cls": "SingleCabinet"
|
| 408 |
-
},
|
| 409 |
-
"plant_left_group": {
|
| 410 |
-
"cls": "Accessory"
|
| 411 |
-
},
|
| 412 |
-
"soap_dispenser_left_group": {
|
| 413 |
-
"cls": "Accessory"
|
| 414 |
-
},
|
| 415 |
-
"fruit_bowl_left_group": {
|
| 416 |
-
"cls": "Accessory"
|
| 417 |
-
},
|
| 418 |
-
"stack_left_right_group_base": {
|
| 419 |
-
"cls": "Box"
|
| 420 |
-
},
|
| 421 |
-
"stack_left_right_group_1": {
|
| 422 |
-
"cls": "SingleCabinet"
|
| 423 |
-
},
|
| 424 |
-
"stack_left_right_group_2": {
|
| 425 |
-
"cls": "SingleCabinet"
|
| 426 |
-
},
|
| 427 |
-
"fridge_right_group": {
|
| 428 |
-
"cls": "FridgeSideBySide"
|
| 429 |
-
},
|
| 430 |
-
"fridge_housing_right_group": {
|
| 431 |
-
"cls": "HousingCabinet"
|
| 432 |
-
},
|
| 433 |
-
"fridge_top_right_group": {
|
| 434 |
-
"cls": "HingeCabinet"
|
| 435 |
-
},
|
| 436 |
-
"stack_right_right_group_base": {
|
| 437 |
-
"cls": "Box"
|
| 438 |
-
},
|
| 439 |
-
"stack_right_right_group_1": {
|
| 440 |
-
"cls": "SingleCabinet"
|
| 441 |
-
},
|
| 442 |
-
"stack_right_right_group_2": {
|
| 443 |
-
"cls": "SingleCabinet"
|
| 444 |
-
},
|
| 445 |
-
"cab_top_corner_right_group": {
|
| 446 |
-
"cls": "Box"
|
| 447 |
-
},
|
| 448 |
-
"bottom_corner_right_group": {
|
| 449 |
-
"cls": "Box"
|
| 450 |
-
},
|
| 451 |
-
"bottom_right_group_base": {
|
| 452 |
-
"cls": "Box"
|
| 453 |
-
},
|
| 454 |
-
"bottom_right_group_1": {
|
| 455 |
-
"cls": "Drawer"
|
| 456 |
-
},
|
| 457 |
-
"bottom_right_group_2": {
|
| 458 |
-
"cls": "Drawer"
|
| 459 |
-
},
|
| 460 |
-
"oven_right_group": {
|
| 461 |
-
"cls": "Oven"
|
| 462 |
-
},
|
| 463 |
-
"oven_housing_right_group": {
|
| 464 |
-
"cls": "HousingCabinet"
|
| 465 |
-
},
|
| 466 |
-
"microwave_right_group": {
|
| 467 |
-
"cls": "Microwave"
|
| 468 |
-
},
|
| 469 |
-
"micro_housing_right_group": {
|
| 470 |
-
"cls": "HousingCabinet"
|
| 471 |
-
},
|
| 472 |
-
"top_right_group": {
|
| 473 |
-
"cls": "HingeCabinet"
|
| 474 |
-
},
|
| 475 |
-
"side_bottom_right_group_base": {
|
| 476 |
-
"cls": "Box"
|
| 477 |
-
},
|
| 478 |
-
"side_bottom_right_group_1": {
|
| 479 |
-
"cls": "Drawer"
|
| 480 |
-
},
|
| 481 |
-
"side_bottom_right_group_2": {
|
| 482 |
-
"cls": "Drawer"
|
| 483 |
-
},
|
| 484 |
-
"side_bottom_right_group_3": {
|
| 485 |
-
"cls": "HingeCabinet"
|
| 486 |
-
}
|
| 487 |
-
},
|
| 488 |
-
"gen_textures": {},
|
| 489 |
-
"lang": "Pick the bottled water from the counter and place it in the cabinet.",
|
| 490 |
-
"fixture_refs": {
|
| 491 |
-
"cab": "cab_2_left_group",
|
| 492 |
-
"counter": "counter_1_left_group"
|
| 493 |
-
},
|
| 494 |
-
"cam_configs": {
|
| 495 |
-
"robot0_agentview_center": {
|
| 496 |
-
"pos": [
|
| 497 |
-
-0.6,
|
| 498 |
-
0.0,
|
| 499 |
-
1.15
|
| 500 |
-
],
|
| 501 |
-
"quat": [
|
| 502 |
-
0.636945903301239,
|
| 503 |
-
0.3325185477733612,
|
| 504 |
-
-0.3199238181114197,
|
| 505 |
-
-0.6175596117973328
|
| 506 |
-
],
|
| 507 |
-
"parent_body": "mobilebase0_support"
|
| 508 |
-
},
|
| 509 |
-
"robot0_agentview_left": {
|
| 510 |
-
"pos": [
|
| 511 |
-
-0.5,
|
| 512 |
-
0.35,
|
| 513 |
-
1.05
|
| 514 |
-
],
|
| 515 |
-
"quat": [
|
| 516 |
-
0.55623853,
|
| 517 |
-
0.29935253,
|
| 518 |
-
-0.37678665,
|
| 519 |
-
-0.6775092
|
| 520 |
-
],
|
| 521 |
-
"camera_attribs": {
|
| 522 |
-
"fovy": "60"
|
| 523 |
-
},
|
| 524 |
-
"parent_body": "mobilebase0_support"
|
| 525 |
-
},
|
| 526 |
-
"robot0_agentview_right": {
|
| 527 |
-
"pos": [
|
| 528 |
-
-0.5,
|
| 529 |
-
-0.35,
|
| 530 |
-
1.05
|
| 531 |
-
],
|
| 532 |
-
"quat": [
|
| 533 |
-
0.6775091886520386,
|
| 534 |
-
0.3767866790294647,
|
| 535 |
-
-0.2993525564670563,
|
| 536 |
-
-0.55623859167099
|
| 537 |
-
],
|
| 538 |
-
"camera_attribs": {
|
| 539 |
-
"fovy": "60"
|
| 540 |
-
},
|
| 541 |
-
"parent_body": "mobilebase0_support"
|
| 542 |
-
},
|
| 543 |
-
"robot0_frontview": {
|
| 544 |
-
"pos": [
|
| 545 |
-
-0.5,
|
| 546 |
-
0,
|
| 547 |
-
0.95
|
| 548 |
-
],
|
| 549 |
-
"quat": [
|
| 550 |
-
0.6088936924934387,
|
| 551 |
-
0.3814677894115448,
|
| 552 |
-
-0.3673907518386841,
|
| 553 |
-
-0.5905545353889465
|
| 554 |
-
],
|
| 555 |
-
"camera_attribs": {
|
| 556 |
-
"fovy": "60"
|
| 557 |
-
},
|
| 558 |
-
"parent_body": "mobilebase0_support"
|
| 559 |
-
},
|
| 560 |
-
"robot0_eye_in_hand": {
|
| 561 |
-
"pos": [
|
| 562 |
-
0.05,
|
| 563 |
-
0,
|
| 564 |
-
0
|
| 565 |
-
],
|
| 566 |
-
"quat": [
|
| 567 |
-
0,
|
| 568 |
-
0.707107,
|
| 569 |
-
0.707107,
|
| 570 |
-
0
|
| 571 |
-
],
|
| 572 |
-
"parent_body": "robot0_right_hand"
|
| 573 |
-
}
|
| 574 |
-
},
|
| 575 |
-
"init_robot_base_pos": [
|
| 576 |
-
0.7703749169220664,
|
| 577 |
-
-0.9954105630925584,
|
| 578 |
-
0.0
|
| 579 |
-
],
|
| 580 |
-
"init_robot_base_ori": [
|
| 581 |
-
0.0,
|
| 582 |
-
0.0,
|
| 583 |
-
3.1415963267948968
|
| 584 |
-
]
|
| 585 |
-
}
|
|
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|
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|
| 261 |
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|
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|
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|
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|
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| 291 |
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|
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| 294 |
-
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|
| 295 |
-
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|
| 296 |
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| 297 |
-
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|
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|
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|
| 301 |
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|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
-
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|
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-
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-
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|
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-
},
|
| 314 |
-
"cab_corner_4_left_group": {
|
| 315 |
-
"cls": "Box"
|
| 316 |
-
},
|
| 317 |
-
"sink_left_group": {
|
| 318 |
-
"cls": "Sink"
|
| 319 |
-
},
|
| 320 |
-
"counter_1_left_left_group": {
|
| 321 |
-
"cls": "Counter"
|
| 322 |
-
},
|
| 323 |
-
"counter_corner_left_group": {
|
| 324 |
-
"cls": "Counter"
|
| 325 |
-
},
|
| 326 |
-
"bottom_left_group_base": {
|
| 327 |
-
"cls": "Box"
|
| 328 |
-
},
|
| 329 |
-
"bottom_left_group_1": {
|
| 330 |
-
"cls": "Drawer"
|
| 331 |
-
},
|
| 332 |
-
"bottom_left_group_2": {
|
| 333 |
-
"cls": "Drawer"
|
| 334 |
-
},
|
| 335 |
-
"oven_left_group": {
|
| 336 |
-
"cls": "Oven"
|
| 337 |
-
},
|
| 338 |
-
"oven_housing_left_group": {
|
| 339 |
-
"cls": "HousingCabinet"
|
| 340 |
-
},
|
| 341 |
-
"microwave_left_group": {
|
| 342 |
-
"cls": "Microwave"
|
| 343 |
-
},
|
| 344 |
-
"micro_housing_left_group": {
|
| 345 |
-
"cls": "HousingCabinet"
|
| 346 |
-
},
|
| 347 |
-
"top_left_group": {
|
| 348 |
-
"cls": "HingeCabinet"
|
| 349 |
-
},
|
| 350 |
-
"stack_1_left_group": {
|
| 351 |
-
"cls": "SingleCabinet"
|
| 352 |
-
},
|
| 353 |
-
"dishwasher_left_group": {
|
| 354 |
-
"cls": "Dishwasher"
|
| 355 |
-
},
|
| 356 |
-
"stack_2_left_group_base": {
|
| 357 |
-
"cls": "Box"
|
| 358 |
-
},
|
| 359 |
-
"stack_2_left_group_1": {
|
| 360 |
-
"cls": "HingeCabinet"
|
| 361 |
-
},
|
| 362 |
-
"stack_2_left_group_2": {
|
| 363 |
-
"cls": "PanelCabinet"
|
| 364 |
-
},
|
| 365 |
-
"stack_3_left_group_base": {
|
| 366 |
-
"cls": "Box"
|
| 367 |
-
},
|
| 368 |
-
"stack_3_left_group_1": {
|
| 369 |
-
"cls": "HingeCabinet"
|
| 370 |
-
},
|
| 371 |
-
"stack_3_left_group_2": {
|
| 372 |
-
"cls": "Drawer"
|
| 373 |
-
},
|
| 374 |
-
"stack_3_left_group_3": {
|
| 375 |
-
"cls": "Drawer"
|
| 376 |
-
},
|
| 377 |
-
"coffee_machine_left_group": {
|
| 378 |
-
"cls": "CoffeeMachine"
|
| 379 |
-
},
|
| 380 |
-
"soap_dispenser_left_group": {
|
| 381 |
-
"cls": "Accessory"
|
| 382 |
-
},
|
| 383 |
-
"tiered_basket_left_group": {
|
| 384 |
-
"cls": "Accessory"
|
| 385 |
-
},
|
| 386 |
-
"island_island_group": {
|
| 387 |
-
"cls": "Counter"
|
| 388 |
-
},
|
| 389 |
-
"plant_island_group": {
|
| 390 |
-
"cls": "Accessory"
|
| 391 |
-
},
|
| 392 |
-
"fruit_bowl_island_group": {
|
| 393 |
-
"cls": "Accessory"
|
| 394 |
-
},
|
| 395 |
-
"salt_shaker_island_group": {
|
| 396 |
-
"cls": "Accessory"
|
| 397 |
-
},
|
| 398 |
-
"salt_shaker_island_group_auxiliary_island_group": {
|
| 399 |
-
"cls": "Accessory"
|
| 400 |
-
}
|
| 401 |
-
},
|
| 402 |
-
"gen_textures": {},
|
| 403 |
-
"lang": "Pick the broccoli from the counter and place it in the cabinet.",
|
| 404 |
-
"fixture_refs": {
|
| 405 |
-
"cab": "shelves_main_group",
|
| 406 |
-
"counter": "counter_1_right_main_group"
|
| 407 |
-
},
|
| 408 |
-
"cam_configs": {
|
| 409 |
-
"robot0_agentview_center": {
|
| 410 |
-
"pos": [
|
| 411 |
-
-0.6,
|
| 412 |
-
0.0,
|
| 413 |
-
1.15
|
| 414 |
-
],
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| 415 |
-
"quat": [
|
| 416 |
-
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| 417 |
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| 418 |
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| 419 |
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|
| 420 |
-
],
|
| 421 |
-
"parent_body": "mobilebase0_support"
|
| 422 |
-
},
|
| 423 |
-
"robot0_agentview_left": {
|
| 424 |
-
"pos": [
|
| 425 |
-
-0.5,
|
| 426 |
-
0.35,
|
| 427 |
-
1.05
|
| 428 |
-
],
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| 429 |
-
"quat": [
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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 |
-
"camera_attribs": {
|
| 436 |
-
"fovy": "60"
|
| 437 |
-
},
|
| 438 |
-
"parent_body": "mobilebase0_support"
|
| 439 |
-
},
|
| 440 |
-
"robot0_agentview_right": {
|
| 441 |
-
"pos": [
|
| 442 |
-
-0.5,
|
| 443 |
-
-0.35,
|
| 444 |
-
1.05
|
| 445 |
-
],
|
| 446 |
-
"quat": [
|
| 447 |
-
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| 448 |
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|
| 449 |
-
-0.2993525564670563,
|
| 450 |
-
-0.55623859167099
|
| 451 |
-
],
|
| 452 |
-
"camera_attribs": {
|
| 453 |
-
"fovy": "60"
|
| 454 |
-
},
|
| 455 |
-
"parent_body": "mobilebase0_support"
|
| 456 |
-
},
|
| 457 |
-
"robot0_frontview": {
|
| 458 |
-
"pos": [
|
| 459 |
-
-0.5,
|
| 460 |
-
0,
|
| 461 |
-
0.95
|
| 462 |
-
],
|
| 463 |
-
"quat": [
|
| 464 |
-
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|
| 465 |
-
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|
| 466 |
-
-0.3673907518386841,
|
| 467 |
-
-0.5905545353889465
|
| 468 |
-
],
|
| 469 |
-
"camera_attribs": {
|
| 470 |
-
"fovy": "60"
|
| 471 |
-
},
|
| 472 |
-
"parent_body": "mobilebase0_support"
|
| 473 |
-
},
|
| 474 |
-
"robot0_eye_in_hand": {
|
| 475 |
-
"pos": [
|
| 476 |
-
0.05,
|
| 477 |
-
0,
|
| 478 |
-
0
|
| 479 |
-
],
|
| 480 |
-
"quat": [
|
| 481 |
-
0,
|
| 482 |
-
0.707107,
|
| 483 |
-
0.707107,
|
| 484 |
-
0
|
| 485 |
-
],
|
| 486 |
-
"parent_body": "robot0_right_hand"
|
| 487 |
-
}
|
| 488 |
-
},
|
| 489 |
-
"init_robot_base_pos": [
|
| 490 |
-
3.172380359130987,
|
| 491 |
-
-0.7761948958247397,
|
| 492 |
-
0.0
|
| 493 |
-
],
|
| 494 |
-
"init_robot_base_ori": [
|
| 495 |
-
0.0,
|
| 496 |
-
0.0,
|
| 497 |
-
1.5707963267948966
|
| 498 |
-
]
|
| 499 |
-
}
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|
extras/episode_000011/model.xml.gz
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
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extras/episode_000012/model.xml.gz
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| 241 |
-
"micro_housing_main_group": {
|
| 242 |
-
"cls": "HousingCabinet"
|
| 243 |
-
},
|
| 244 |
-
"top_main_group": {
|
| 245 |
-
"cls": "HingeCabinet"
|
| 246 |
-
},
|
| 247 |
-
"fridge_main_group": {
|
| 248 |
-
"cls": "FridgeSideBySide"
|
| 249 |
-
},
|
| 250 |
-
"fridge_housing_main_group": {
|
| 251 |
-
"cls": "HousingCabinet"
|
| 252 |
-
},
|
| 253 |
-
"fridge_top_main_group": {
|
| 254 |
-
"cls": "HingeCabinet"
|
| 255 |
-
},
|
| 256 |
-
"cab_main_main_group": {
|
| 257 |
-
"cls": "HingeCabinet"
|
| 258 |
-
},
|
| 259 |
-
"hood_main_group": {
|
| 260 |
-
"cls": "Hood"
|
| 261 |
-
},
|
| 262 |
-
"shelves_main_group": {
|
| 263 |
-
"cls": "OpenCabinet"
|
| 264 |
-
},
|
| 265 |
-
"cab_2_main_group": {
|
| 266 |
-
"cls": "HingeCabinet"
|
| 267 |
-
},
|
| 268 |
-
"stack_3_main_group_base": {
|
| 269 |
-
"cls": "Box"
|
| 270 |
-
},
|
| 271 |
-
"stack_3_main_group_1": {
|
| 272 |
-
"cls": "HingeCabinet"
|
| 273 |
-
},
|
| 274 |
-
"stack_3_main_group_2": {
|
| 275 |
-
"cls": "Drawer"
|
| 276 |
-
},
|
| 277 |
-
"stack_3_main_group_3": {
|
| 278 |
-
"cls": "Drawer"
|
| 279 |
-
},
|
| 280 |
-
"stack_4_main_group_base": {
|
| 281 |
-
"cls": "Box"
|
| 282 |
-
},
|
| 283 |
-
"stack_4_main_group_1": {
|
| 284 |
-
"cls": "HingeCabinet"
|
| 285 |
-
},
|
| 286 |
-
"stack_4_main_group_2": {
|
| 287 |
-
"cls": "Drawer"
|
| 288 |
-
},
|
| 289 |
-
"stack_4_main_group_3": {
|
| 290 |
-
"cls": "Drawer"
|
| 291 |
-
},
|
| 292 |
-
"stack_5_main_group_base": {
|
| 293 |
-
"cls": "Box"
|
| 294 |
-
},
|
| 295 |
-
"stack_5_main_group_1": {
|
| 296 |
-
"cls": "HingeCabinet"
|
| 297 |
-
},
|
| 298 |
-
"stack_5_main_group_2": {
|
| 299 |
-
"cls": "Drawer"
|
| 300 |
-
},
|
| 301 |
-
"stack_5_main_group_3": {
|
| 302 |
-
"cls": "Drawer"
|
| 303 |
-
},
|
| 304 |
-
"stack_6_main_group_base": {
|
| 305 |
-
"cls": "Box"
|
| 306 |
-
},
|
| 307 |
-
"stack_6_main_group_1": {
|
| 308 |
-
"cls": "Drawer"
|
| 309 |
-
},
|
| 310 |
-
"stack_6_main_group_2": {
|
| 311 |
-
"cls": "Drawer"
|
| 312 |
-
},
|
| 313 |
-
"stack_6_main_group_3": {
|
| 314 |
-
"cls": "Drawer"
|
| 315 |
-
},
|
| 316 |
-
"stack_6_main_group_4": {
|
| 317 |
-
"cls": "Drawer"
|
| 318 |
-
},
|
| 319 |
-
"toaster_main_group": {
|
| 320 |
-
"cls": "Toaster"
|
| 321 |
-
},
|
| 322 |
-
"knife_block_main_group": {
|
| 323 |
-
"cls": "Accessory"
|
| 324 |
-
},
|
| 325 |
-
"paper_towel_main_group": {
|
| 326 |
-
"cls": "Accessory"
|
| 327 |
-
},
|
| 328 |
-
"coffee_machine_main_group": {
|
| 329 |
-
"cls": "CoffeeMachine"
|
| 330 |
-
},
|
| 331 |
-
"digital_scale_main_group": {
|
| 332 |
-
"cls": "Accessory"
|
| 333 |
-
},
|
| 334 |
-
"oil_bottle_main_group": {
|
| 335 |
-
"cls": "Accessory"
|
| 336 |
-
},
|
| 337 |
-
"jar_main_group": {
|
| 338 |
-
"cls": "Accessory"
|
| 339 |
-
},
|
| 340 |
-
"paprika_main_group": {
|
| 341 |
-
"cls": "Accessory"
|
| 342 |
-
},
|
| 343 |
-
"cinnamon_main_group": {
|
| 344 |
-
"cls": "Accessory"
|
| 345 |
-
},
|
| 346 |
-
"turmeric_main_group": {
|
| 347 |
-
"cls": "Accessory"
|
| 348 |
-
},
|
| 349 |
-
"oil_bottle_main_group_auxiliary_main_group": {
|
| 350 |
-
"cls": "Accessory"
|
| 351 |
-
},
|
| 352 |
-
"jar_main_group_auxiliary_main_group": {
|
| 353 |
-
"cls": "Accessory"
|
| 354 |
-
},
|
| 355 |
-
"sink_island_group": {
|
| 356 |
-
"cls": "Sink"
|
| 357 |
-
},
|
| 358 |
-
"island_island_group": {
|
| 359 |
-
"cls": "Counter"
|
| 360 |
-
},
|
| 361 |
-
"island_stack_1_island_group_base": {
|
| 362 |
-
"cls": "Box"
|
| 363 |
-
},
|
| 364 |
-
"island_stack_1_island_group_1": {
|
| 365 |
-
"cls": "HingeCabinet"
|
| 366 |
-
},
|
| 367 |
-
"island_stack_1_island_group_2": {
|
| 368 |
-
"cls": "PanelCabinet"
|
| 369 |
-
},
|
| 370 |
-
"dishwasher_island_group": {
|
| 371 |
-
"cls": "Dishwasher"
|
| 372 |
-
},
|
| 373 |
-
"island_panel_cab_right_island_group_base": {
|
| 374 |
-
"cls": "Box"
|
| 375 |
-
},
|
| 376 |
-
"island_panel_cab_right_island_group_1": {
|
| 377 |
-
"cls": "PanelCabinet"
|
| 378 |
-
},
|
| 379 |
-
"island_cab_left_island_group_base": {
|
| 380 |
-
"cls": "Box"
|
| 381 |
-
},
|
| 382 |
-
"island_cab_left_island_group_1": {
|
| 383 |
-
"cls": "Drawer"
|
| 384 |
-
},
|
| 385 |
-
"island_cab_left_island_group_2": {
|
| 386 |
-
"cls": "Drawer"
|
| 387 |
-
},
|
| 388 |
-
"island_cab_left_island_group_3": {
|
| 389 |
-
"cls": "Drawer"
|
| 390 |
-
},
|
| 391 |
-
"island_cab_left_island_group_4": {
|
| 392 |
-
"cls": "Drawer"
|
| 393 |
-
},
|
| 394 |
-
"island_panel_cab_left_island_group_base": {
|
| 395 |
-
"cls": "Box"
|
| 396 |
-
},
|
| 397 |
-
"island_panel_cab_left_island_group_1": {
|
| 398 |
-
"cls": "PanelCabinet"
|
| 399 |
-
},
|
| 400 |
-
"island_base_box_island_group": {
|
| 401 |
-
"cls": "Box"
|
| 402 |
-
},
|
| 403 |
-
"plant_island_group": {
|
| 404 |
-
"cls": "Accessory"
|
| 405 |
-
},
|
| 406 |
-
"soap_dispenser_island_group": {
|
| 407 |
-
"cls": "Accessory"
|
| 408 |
-
},
|
| 409 |
-
"fruit_bowl_island_group": {
|
| 410 |
-
"cls": "Accessory"
|
| 411 |
-
},
|
| 412 |
-
"salt_shaker_island_group": {
|
| 413 |
-
"cls": "Accessory"
|
| 414 |
-
},
|
| 415 |
-
"salt_shaker_island_group_auxiliary_island_group": {
|
| 416 |
-
"cls": "Accessory"
|
| 417 |
-
}
|
| 418 |
-
},
|
| 419 |
-
"gen_textures": {},
|
| 420 |
-
"lang": "Pick the banana from the counter and place it in the cabinet.",
|
| 421 |
-
"fixture_refs": {
|
| 422 |
-
"cab": "shelves_main_group",
|
| 423 |
-
"counter": "counter_main_main_group"
|
| 424 |
-
},
|
| 425 |
-
"cam_configs": {
|
| 426 |
-
"robot0_agentview_center": {
|
| 427 |
-
"pos": [
|
| 428 |
-
-0.6,
|
| 429 |
-
0.0,
|
| 430 |
-
1.15
|
| 431 |
-
],
|
| 432 |
-
"quat": [
|
| 433 |
-
0.636945903301239,
|
| 434 |
-
0.3325185477733612,
|
| 435 |
-
-0.3199238181114197,
|
| 436 |
-
-0.6175596117973328
|
| 437 |
-
],
|
| 438 |
-
"parent_body": "mobilebase0_support"
|
| 439 |
-
},
|
| 440 |
-
"robot0_agentview_left": {
|
| 441 |
-
"pos": [
|
| 442 |
-
-0.5,
|
| 443 |
-
0.35,
|
| 444 |
-
1.05
|
| 445 |
-
],
|
| 446 |
-
"quat": [
|
| 447 |
-
0.55623853,
|
| 448 |
-
0.29935253,
|
| 449 |
-
-0.37678665,
|
| 450 |
-
-0.6775092
|
| 451 |
-
],
|
| 452 |
-
"camera_attribs": {
|
| 453 |
-
"fovy": "60"
|
| 454 |
-
},
|
| 455 |
-
"parent_body": "mobilebase0_support"
|
| 456 |
-
},
|
| 457 |
-
"robot0_agentview_right": {
|
| 458 |
-
"pos": [
|
| 459 |
-
-0.5,
|
| 460 |
-
-0.35,
|
| 461 |
-
1.05
|
| 462 |
-
],
|
| 463 |
-
"quat": [
|
| 464 |
-
0.6775091886520386,
|
| 465 |
-
0.3767866790294647,
|
| 466 |
-
-0.2993525564670563,
|
| 467 |
-
-0.55623859167099
|
| 468 |
-
],
|
| 469 |
-
"camera_attribs": {
|
| 470 |
-
"fovy": "60"
|
| 471 |
-
},
|
| 472 |
-
"parent_body": "mobilebase0_support"
|
| 473 |
-
},
|
| 474 |
-
"robot0_frontview": {
|
| 475 |
-
"pos": [
|
| 476 |
-
-0.5,
|
| 477 |
-
0,
|
| 478 |
-
0.95
|
| 479 |
-
],
|
| 480 |
-
"quat": [
|
| 481 |
-
0.6088936924934387,
|
| 482 |
-
0.3814677894115448,
|
| 483 |
-
-0.3673907518386841,
|
| 484 |
-
-0.5905545353889465
|
| 485 |
-
],
|
| 486 |
-
"camera_attribs": {
|
| 487 |
-
"fovy": "60"
|
| 488 |
-
},
|
| 489 |
-
"parent_body": "mobilebase0_support"
|
| 490 |
-
},
|
| 491 |
-
"robot0_eye_in_hand": {
|
| 492 |
-
"pos": [
|
| 493 |
-
0.05,
|
| 494 |
-
0,
|
| 495 |
-
0
|
| 496 |
-
],
|
| 497 |
-
"quat": [
|
| 498 |
-
0,
|
| 499 |
-
0.707107,
|
| 500 |
-
0.707107,
|
| 501 |
-
0
|
| 502 |
-
],
|
| 503 |
-
"parent_body": "robot0_right_hand"
|
| 504 |
-
}
|
| 505 |
-
},
|
| 506 |
-
"init_robot_base_pos": [
|
| 507 |
-
3.78183521754722,
|
| 508 |
-
-0.7865962864833371,
|
| 509 |
-
0.0
|
| 510 |
-
],
|
| 511 |
-
"init_robot_base_ori": [
|
| 512 |
-
0.0,
|
| 513 |
-
0.0,
|
| 514 |
-
1.5707963267948966
|
| 515 |
-
]
|
| 516 |
-
}
|
|
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| 304 |
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|
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|
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"counter_corner_left_group": {
|
| 319 |
-
"cls": "Counter"
|
| 320 |
-
},
|
| 321 |
-
"fridge_left_group": {
|
| 322 |
-
"cls": "FridgeFrenchDoor"
|
| 323 |
-
},
|
| 324 |
-
"fridge_housing_left_group": {
|
| 325 |
-
"cls": "HousingCabinet"
|
| 326 |
-
},
|
| 327 |
-
"stack_1_left_group_base": {
|
| 328 |
-
"cls": "Box"
|
| 329 |
-
},
|
| 330 |
-
"stack_1_left_group_1": {
|
| 331 |
-
"cls": "SingleCabinet"
|
| 332 |
-
},
|
| 333 |
-
"stack_1_left_group_2": {
|
| 334 |
-
"cls": "Drawer"
|
| 335 |
-
},
|
| 336 |
-
"stack_2_left_group_base": {
|
| 337 |
-
"cls": "Box"
|
| 338 |
-
},
|
| 339 |
-
"stack_2_left_group_1": {
|
| 340 |
-
"cls": "SingleCabinet"
|
| 341 |
-
},
|
| 342 |
-
"stack_2_left_group_2": {
|
| 343 |
-
"cls": "Drawer"
|
| 344 |
-
},
|
| 345 |
-
"cab_1_left_group": {
|
| 346 |
-
"cls": "SingleCabinet"
|
| 347 |
-
},
|
| 348 |
-
"microwave_left_group": {
|
| 349 |
-
"cls": "Microwave"
|
| 350 |
-
},
|
| 351 |
-
"cab_micro_left_group": {
|
| 352 |
-
"cls": "HingeCabinet"
|
| 353 |
-
},
|
| 354 |
-
"cab_2_left_group": {
|
| 355 |
-
"cls": "SingleCabinet"
|
| 356 |
-
},
|
| 357 |
-
"cab_3_left_group": {
|
| 358 |
-
"cls": "HingeCabinet"
|
| 359 |
-
},
|
| 360 |
-
"coffee_machine_left_group": {
|
| 361 |
-
"cls": "CoffeeMachine"
|
| 362 |
-
},
|
| 363 |
-
"salt_shaker_left_group": {
|
| 364 |
-
"cls": "Accessory"
|
| 365 |
-
},
|
| 366 |
-
"salt_shaker_left_group_auxiliary_left_group": {
|
| 367 |
-
"cls": "Accessory"
|
| 368 |
-
},
|
| 369 |
-
"sink_right_group": {
|
| 370 |
-
"cls": "Sink"
|
| 371 |
-
},
|
| 372 |
-
"counter_1_right_group": {
|
| 373 |
-
"cls": "Counter"
|
| 374 |
-
},
|
| 375 |
-
"counter_corner_right_group": {
|
| 376 |
-
"cls": "Counter"
|
| 377 |
-
},
|
| 378 |
-
"counter_corner_2_right_group": {
|
| 379 |
-
"cls": "Counter"
|
| 380 |
-
},
|
| 381 |
-
"stack_1_right_group_base": {
|
| 382 |
-
"cls": "Box"
|
| 383 |
-
},
|
| 384 |
-
"stack_1_right_group_1": {
|
| 385 |
-
"cls": "HingeCabinet"
|
| 386 |
-
},
|
| 387 |
-
"stack_1_right_group_2": {
|
| 388 |
-
"cls": "PanelCabinet"
|
| 389 |
-
},
|
| 390 |
-
"dishwasher_right_group": {
|
| 391 |
-
"cls": "Dishwasher"
|
| 392 |
-
},
|
| 393 |
-
"stack_2_right_group_base": {
|
| 394 |
-
"cls": "Box"
|
| 395 |
-
},
|
| 396 |
-
"stack_2_right_group_1": {
|
| 397 |
-
"cls": "Drawer"
|
| 398 |
-
},
|
| 399 |
-
"stack_2_right_group_2": {
|
| 400 |
-
"cls": "Drawer"
|
| 401 |
-
},
|
| 402 |
-
"stack_2_right_group_3": {
|
| 403 |
-
"cls": "Drawer"
|
| 404 |
-
},
|
| 405 |
-
"stack_2_right_group_4": {
|
| 406 |
-
"cls": "Drawer"
|
| 407 |
-
},
|
| 408 |
-
"cab_1_right_group": {
|
| 409 |
-
"cls": "HingeCabinet"
|
| 410 |
-
},
|
| 411 |
-
"shelves_right_group": {
|
| 412 |
-
"cls": "OpenCabinet"
|
| 413 |
-
},
|
| 414 |
-
"flower_vase_right_group": {
|
| 415 |
-
"cls": "Accessory"
|
| 416 |
-
},
|
| 417 |
-
"soap_dispenser_right_group": {
|
| 418 |
-
"cls": "Accessory"
|
| 419 |
-
},
|
| 420 |
-
"glass_cup_right_group": {
|
| 421 |
-
"cls": "Accessory"
|
| 422 |
-
},
|
| 423 |
-
"glass_cup_2_right_group": {
|
| 424 |
-
"cls": "Accessory"
|
| 425 |
-
},
|
| 426 |
-
"paprika_right_group": {
|
| 427 |
-
"cls": "Accessory"
|
| 428 |
-
},
|
| 429 |
-
"cinnamon_right_group": {
|
| 430 |
-
"cls": "Accessory"
|
| 431 |
-
}
|
| 432 |
-
},
|
| 433 |
-
"gen_textures": {},
|
| 434 |
-
"lang": "Pick the wine from the counter and place it in the cabinet.",
|
| 435 |
-
"fixture_refs": {
|
| 436 |
-
"cab": "shelves_right_group",
|
| 437 |
-
"counter": "counter_1_right_group"
|
| 438 |
-
},
|
| 439 |
-
"cam_configs": {
|
| 440 |
-
"robot0_agentview_center": {
|
| 441 |
-
"pos": [
|
| 442 |
-
-0.6,
|
| 443 |
-
0.0,
|
| 444 |
-
1.15
|
| 445 |
-
],
|
| 446 |
-
"quat": [
|
| 447 |
-
0.636945903301239,
|
| 448 |
-
0.3325185477733612,
|
| 449 |
-
-0.3199238181114197,
|
| 450 |
-
-0.6175596117973328
|
| 451 |
-
],
|
| 452 |
-
"parent_body": "mobilebase0_support"
|
| 453 |
-
},
|
| 454 |
-
"robot0_agentview_left": {
|
| 455 |
-
"pos": [
|
| 456 |
-
-0.5,
|
| 457 |
-
0.35,
|
| 458 |
-
1.05
|
| 459 |
-
],
|
| 460 |
-
"quat": [
|
| 461 |
-
0.55623853,
|
| 462 |
-
0.29935253,
|
| 463 |
-
-0.37678665,
|
| 464 |
-
-0.6775092
|
| 465 |
-
],
|
| 466 |
-
"camera_attribs": {
|
| 467 |
-
"fovy": "60"
|
| 468 |
-
},
|
| 469 |
-
"parent_body": "mobilebase0_support"
|
| 470 |
-
},
|
| 471 |
-
"robot0_agentview_right": {
|
| 472 |
-
"pos": [
|
| 473 |
-
-0.5,
|
| 474 |
-
-0.35,
|
| 475 |
-
1.05
|
| 476 |
-
],
|
| 477 |
-
"quat": [
|
| 478 |
-
0.6775091886520386,
|
| 479 |
-
0.3767866790294647,
|
| 480 |
-
-0.2993525564670563,
|
| 481 |
-
-0.55623859167099
|
| 482 |
-
],
|
| 483 |
-
"camera_attribs": {
|
| 484 |
-
"fovy": "60"
|
| 485 |
-
},
|
| 486 |
-
"parent_body": "mobilebase0_support"
|
| 487 |
-
},
|
| 488 |
-
"robot0_frontview": {
|
| 489 |
-
"pos": [
|
| 490 |
-
-0.5,
|
| 491 |
-
0,
|
| 492 |
-
0.95
|
| 493 |
-
],
|
| 494 |
-
"quat": [
|
| 495 |
-
0.6088936924934387,
|
| 496 |
-
0.3814677894115448,
|
| 497 |
-
-0.3673907518386841,
|
| 498 |
-
-0.5905545353889465
|
| 499 |
-
],
|
| 500 |
-
"camera_attribs": {
|
| 501 |
-
"fovy": "60"
|
| 502 |
-
},
|
| 503 |
-
"parent_body": "mobilebase0_support"
|
| 504 |
-
},
|
| 505 |
-
"robot0_eye_in_hand": {
|
| 506 |
-
"pos": [
|
| 507 |
-
0.05,
|
| 508 |
-
0,
|
| 509 |
-
0
|
| 510 |
-
],
|
| 511 |
-
"quat": [
|
| 512 |
-
0,
|
| 513 |
-
0.707107,
|
| 514 |
-
0.707107,
|
| 515 |
-
0
|
| 516 |
-
],
|
| 517 |
-
"parent_body": "robot0_right_hand"
|
| 518 |
-
}
|
| 519 |
-
},
|
| 520 |
-
"init_robot_base_pos": [
|
| 521 |
-
3.601154380729589,
|
| 522 |
-
-2.0660888432863014,
|
| 523 |
-
0.0
|
| 524 |
-
],
|
| 525 |
-
"init_robot_base_ori": [
|
| 526 |
-
0.0,
|
| 527 |
-
0.0,
|
| 528 |
-
-3.673205103416066e-06
|
| 529 |
-
]
|
| 530 |
-
}
|
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extras/episode_000015/model.xml.gz
DELETED
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@@ -1,3 +0,0 @@
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extras/episode_000015/states.npz
DELETED
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@@ -1,3 +0,0 @@
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extras/episode_000016/ep_meta.json
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| 11 |
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| 12 |
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| 13 |
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| 25 |
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| 26 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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|
| 36 |
-
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|
| 37 |
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"orange",
|
| 38 |
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"fruit",
|
| 39 |
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|
| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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|
| 45 |
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| 46 |
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|
| 47 |
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|
| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 60 |
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|
| 61 |
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| 62 |
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| 63 |
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{
|
| 64 |
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|
| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 81 |
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| 82 |
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| 85 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 92 |
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"all",
|
| 93 |
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"tupperware",
|
| 94 |
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"receptacle"
|
| 95 |
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|
| 96 |
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| 97 |
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|
| 98 |
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| 99 |
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|
| 100 |
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| 101 |
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|
| 102 |
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| 103 |
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| 104 |
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| 113 |
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| 114 |
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| 115 |
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|
| 116 |
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{
|
| 117 |
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|
| 118 |
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| 119 |
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| 120 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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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 |
-
"meat",
|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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| 144 |
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| 145 |
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|
| 146 |
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|
| 147 |
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"cat": "steak",
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| 148 |
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| 149 |
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"mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_6/model.xml"
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 155 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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|
| 180 |
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| 181 |
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|
| 182 |
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| 183 |
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"cls": "Wall"
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| 184 |
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| 185 |
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"outlet_room": {
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| 186 |
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"cls": "WallAccessory"
|
| 187 |
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| 188 |
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"outlet_2_room": {
|
| 189 |
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"cls": "WallAccessory"
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| 190 |
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| 191 |
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"outlet_3_room": {
|
| 192 |
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"cls": "WallAccessory"
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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| 197 |
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| 198 |
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| 199 |
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| 200 |
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| 201 |
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|
| 202 |
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| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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| 221 |
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|
| 222 |
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| 223 |
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|
| 224 |
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|
| 225 |
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|
| 226 |
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| 227 |
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|
| 228 |
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|
| 229 |
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| 230 |
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| 231 |
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|
| 232 |
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| 233 |
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|
| 234 |
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| 235 |
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| 236 |
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| 237 |
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|
| 238 |
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|
| 239 |
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|
| 240 |
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"cls": "Drawer"
|
| 241 |
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|
| 242 |
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|
| 243 |
-
"cls": "Box"
|
| 244 |
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},
|
| 245 |
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|
| 246 |
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"cls": "HingeCabinet"
|
| 247 |
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|
| 248 |
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|
| 249 |
-
"cls": "Drawer"
|
| 250 |
-
},
|
| 251 |
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"stack_2_left_group_3": {
|
| 252 |
-
"cls": "Drawer"
|
| 253 |
-
},
|
| 254 |
-
"dishwasher_left_group": {
|
| 255 |
-
"cls": "Dishwasher"
|
| 256 |
-
},
|
| 257 |
-
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|
| 258 |
-
"cls": "Box"
|
| 259 |
-
},
|
| 260 |
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|
| 261 |
-
"cls": "HingeCabinet"
|
| 262 |
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},
|
| 263 |
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|
| 264 |
-
"cls": "PanelCabinet"
|
| 265 |
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|
| 266 |
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|
| 267 |
-
"cls": "Box"
|
| 268 |
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},
|
| 269 |
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|
| 270 |
-
"cls": "SingleCabinet"
|
| 271 |
-
},
|
| 272 |
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|
| 273 |
-
"cls": "Drawer"
|
| 274 |
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},
|
| 275 |
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"flower_vase_left_group": {
|
| 276 |
-
"cls": "Accessory"
|
| 277 |
-
},
|
| 278 |
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"soap_dispenser_left_group": {
|
| 279 |
-
"cls": "Accessory"
|
| 280 |
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},
|
| 281 |
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"knife_block_left_group": {
|
| 282 |
-
"cls": "Accessory"
|
| 283 |
-
},
|
| 284 |
-
"paprika_left_group": {
|
| 285 |
-
"cls": "Accessory"
|
| 286 |
-
},
|
| 287 |
-
"cinnamon_left_group": {
|
| 288 |
-
"cls": "Accessory"
|
| 289 |
-
},
|
| 290 |
-
"turmeric_left_group": {
|
| 291 |
-
"cls": "Accessory"
|
| 292 |
-
},
|
| 293 |
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"glass_cup_left_group": {
|
| 294 |
-
"cls": "Accessory"
|
| 295 |
-
},
|
| 296 |
-
"digital_scale_left_group": {
|
| 297 |
-
"cls": "Accessory"
|
| 298 |
-
},
|
| 299 |
-
"paper_towel_left_group": {
|
| 300 |
-
"cls": "Accessory"
|
| 301 |
-
},
|
| 302 |
-
"counter_main_main_group": {
|
| 303 |
-
"cls": "Counter"
|
| 304 |
-
},
|
| 305 |
-
"stove_main_group": {
|
| 306 |
-
"cls": "Stove"
|
| 307 |
-
},
|
| 308 |
-
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|
| 309 |
-
"cls": "Counter"
|
| 310 |
-
},
|
| 311 |
-
"cab_main_main_group": {
|
| 312 |
-
"cls": "HingeCabinet"
|
| 313 |
-
},
|
| 314 |
-
"cab_1_main_group": {
|
| 315 |
-
"cls": "HingeCabinet"
|
| 316 |
-
},
|
| 317 |
-
"microwave_main_group": {
|
| 318 |
-
"cls": "Microwave"
|
| 319 |
-
},
|
| 320 |
-
"cab_micro_main_group": {
|
| 321 |
-
"cls": "HingeCabinet"
|
| 322 |
-
},
|
| 323 |
-
"cab_2_main_group": {
|
| 324 |
-
"cls": "HingeCabinet"
|
| 325 |
-
},
|
| 326 |
-
"cab_3_main_group": {
|
| 327 |
-
"cls": "HingeCabinet"
|
| 328 |
-
},
|
| 329 |
-
"stack_1_main_group_base": {
|
| 330 |
-
"cls": "Box"
|
| 331 |
-
},
|
| 332 |
-
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|
| 333 |
-
"cls": "HingeCabinet"
|
| 334 |
-
},
|
| 335 |
-
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|
| 336 |
-
"cls": "Drawer"
|
| 337 |
-
},
|
| 338 |
-
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|
| 339 |
-
"cls": "Drawer"
|
| 340 |
-
},
|
| 341 |
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|
| 342 |
-
"cls": "Box"
|
| 343 |
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},
|
| 344 |
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"stack_2_main_group_1": {
|
| 345 |
-
"cls": "Drawer"
|
| 346 |
-
},
|
| 347 |
-
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|
| 348 |
-
"cls": "Drawer"
|
| 349 |
-
},
|
| 350 |
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|
| 351 |
-
"cls": "Drawer"
|
| 352 |
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},
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| 353 |
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| 354 |
-
"cls": "Drawer"
|
| 355 |
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},
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| 356 |
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|
| 357 |
-
"cls": "Box"
|
| 358 |
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},
|
| 359 |
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|
| 360 |
-
"cls": "HingeCabinet"
|
| 361 |
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|
| 362 |
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|
| 363 |
-
"cls": "Drawer"
|
| 364 |
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},
|
| 365 |
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| 366 |
-
"cls": "Drawer"
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| 367 |
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},
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| 368 |
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| 369 |
-
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|
| 370 |
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},
|
| 371 |
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|
| 372 |
-
"cls": "HingeCabinet"
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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 |
-
"cls": "Drawer"
|
| 379 |
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},
|
| 380 |
-
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|
| 381 |
-
"cls": "CoffeeMachine"
|
| 382 |
-
},
|
| 383 |
-
"utensil_set_main_group": {
|
| 384 |
-
"cls": "Accessory"
|
| 385 |
-
},
|
| 386 |
-
"toaster_main_group": {
|
| 387 |
-
"cls": "Toaster"
|
| 388 |
-
},
|
| 389 |
-
"toaster_oven_main_group": {
|
| 390 |
-
"cls": "ToasterOven"
|
| 391 |
-
},
|
| 392 |
-
"tiered_basket_main_group": {
|
| 393 |
-
"cls": "Accessory"
|
| 394 |
-
}
|
| 395 |
-
},
|
| 396 |
-
"gen_textures": {},
|
| 397 |
-
"lang": "Pick the orange from the counter and place it in the cabinet.",
|
| 398 |
-
"fixture_refs": {
|
| 399 |
-
"cab": "cab_main_main_group",
|
| 400 |
-
"counter": "counter_main_main_group"
|
| 401 |
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},
|
| 402 |
-
"cam_configs": {
|
| 403 |
-
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| 404 |
-
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| 405 |
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| 406 |
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0.0,
|
| 407 |
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1.15
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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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],
|
| 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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0.35,
|
| 421 |
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1.05
|
| 422 |
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| 423 |
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| 424 |
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| 425 |
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| 426 |
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| 427 |
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| 428 |
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],
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| 429 |
-
"camera_attribs": {
|
| 430 |
-
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|
| 431 |
-
},
|
| 432 |
-
"parent_body": "mobilebase0_support"
|
| 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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| 439 |
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| 444 |
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| 445 |
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],
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| 446 |
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| 447 |
-
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|
| 448 |
-
},
|
| 449 |
-
"parent_body": "mobilebase0_support"
|
| 450 |
-
},
|
| 451 |
-
"robot0_frontview": {
|
| 452 |
-
"pos": [
|
| 453 |
-
-0.5,
|
| 454 |
-
0,
|
| 455 |
-
0.95
|
| 456 |
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],
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| 457 |
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"quat": [
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| 458 |
-
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| 459 |
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| 460 |
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| 461 |
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| 462 |
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],
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| 463 |
-
"camera_attribs": {
|
| 464 |
-
"fovy": "60"
|
| 465 |
-
},
|
| 466 |
-
"parent_body": "mobilebase0_support"
|
| 467 |
-
},
|
| 468 |
-
"robot0_eye_in_hand": {
|
| 469 |
-
"pos": [
|
| 470 |
-
0.05,
|
| 471 |
-
0,
|
| 472 |
-
0
|
| 473 |
-
],
|
| 474 |
-
"quat": [
|
| 475 |
-
0,
|
| 476 |
-
0.707107,
|
| 477 |
-
0.707107,
|
| 478 |
-
0
|
| 479 |
-
],
|
| 480 |
-
"parent_body": "robot0_right_hand"
|
| 481 |
-
}
|
| 482 |
-
},
|
| 483 |
-
"init_robot_base_pos": [
|
| 484 |
-
2.428994021955379,
|
| 485 |
-
-0.40065785403197673,
|
| 486 |
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0.0
|
| 487 |
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| 488 |
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"init_robot_base_ori": [
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| 489 |
-
0.0,
|
| 490 |
-
0.0,
|
| 491 |
-
-3.673205103416066e-06
|
| 492 |
-
]
|
| 493 |
-
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