# Download and Processing Notes

## Current local status from Loki inspection

- RoboCasa installed package: `robocasa==1.0.1`.
- Dataset soup `target_atomic_seen` exists and contains 18 tasks.
- Default RoboCasa target Atomic-Seen paths point under the installed package's sibling `datasets/v1.0/...` directory unless `DATASET_BASE_PATH` is configured.
- Local disk checked on 2026-07-02: about 562G free under `/home/chris`.
- The automatic confirmation dry-run/download command was blocked by safety controls, so no dataset was downloaded in that step and no exact size was measured.

## Safe download procedure

1. Set a dataset base path with enough space, preferably outside site-packages:

```python
# robocasa/macros_private.py or environment-specific config
DATASET_BASE_PATH = "/home/chris/robocasa_datasets"
```

2. Run download manually for the 18 target Atomic-Seen tasks:

```bash
source /home/chris/anaconda3/bin/activate robocasa
python -m robocasa.scripts.download_datasets   --split target   --source human   --tasks   CloseBlenderLid CloseFridge CloseToasterOvenDoor CoffeeSetupMug NavigateKitchen   OpenCabinet OpenDrawer OpenStandMixerHead PickPlaceCounterToCabinet   PickPlaceCounterToStove PickPlaceDrawerToCounter PickPlaceSinkToCounter   PickPlaceToasterToCounter SlideDishwasherRack TurnOffStove   TurnOnElectricKettle TurnOnMicrowave TurnOnSinkFaucet
```

3. Confirm the prompt manually after checking destination and disk.

4. Verify each downloaded `lerobot` folder has:

```text
meta/info.json
meta/tasks.jsonl
videos/chunk-000/observation.images.robot0_agentview_right/
videos/chunk-000/observation.images.robot0_agentview_left/
videos/chunk-000/observation.images.robot0_eye_in_hand/
```

## Processing blocker to resolve

Flattened LeRobot videos alone are not sufficient for oracle segmentation/contact graph extraction. The extractor needs raw HDF5 states/model metadata or a replayable source that includes simulator states. If only LeRobot videos are present, v1 oracle graph extraction must use the corresponding raw HDF5 dataset or reconstruct replay metadata from `extras/` if available.