diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/dataset_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/dataset_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eef0f46ad47a499bfb25c0a933a23b47fa809037 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/dataset_meta.json @@ -0,0 +1,390 @@ +{ + "date": "8-11-2025", + "env": "ClearFreezer", + "env_args": { + "type": 1, + "env_name": "ClearFreezer", + "env_version": "0.5.1", + "robosuite_version": "1.5.2", + "mujoco_version": "3.3.1", + "env_kwargs": { + "env_name": "ClearFreezer", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": false, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + } + }, + "env_info": { + "env_name": "ClearFreezer", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": true, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + }, + "mujoco_version": "3.3.1", + "robocasa_version": "0.5.1", + "robosuite_version": "1.5.2", + "time": "19:20:26", + "total": 167277 +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000000/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ad6bb5484829bb22bd3932d04ced6f157b12d822 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 44, + "style_id": 41, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06619601604000001, + 0.06056229718000001, + 0.07700000000000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 0.7780713814390087, + 0.650008 + ], + "offset": [ + 0.5315668092804953, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the steak, bell pepper, and garlic from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.582333641446559, + -1.0989042741570967, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000001/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6aaec9302a581615db922beb366810be111a04e4 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 41, + "style_id": 15, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05704048680000002, + 0.059094555600000015, + 0.052538282400000004 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07022024559999997, + 0.09499999999999996, + 0.05790125929999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2499992399999999, + 0.2499999999999999, + 0.05432975749999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 0.7908363403869254, + 0.650008 + ], + "offset": [ + 0.9139958298065374, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the tangerine, steak, and potato from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.394922541617451, + -1.141858321081962, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bb4ab360f10a65a0c484999ffe0bbd33d13b9c87 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,641 @@ +{ + "layout_id": 24, + "style_id": 46, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06408269139999999, + 0.06382025779999997, + 0.06412384874999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.12204, + 0.14225279999999998, + 0.053881464 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2951001491143512, + 0.65 + ], + "offset": [ + 0.7454499254428244, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the bell pepper, peach, and chicken drumstick from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.195029023671062, + -2.2864253573793216, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc5998593e2be565051a588c23e3cbad0beed9c4 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,570 @@ +{ + "layout_id": 38, + "style_id": 57, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05977021499999999, + 0.08349168009999998, + 0.061614149749999986 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05707627820999998, + 0.07515301247999998, + 0.055951042004999986 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_left_group_1", + "min_size": [ + 0.2399951135999999, + 0.23999743919999988, + 0.12351816959999992 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 1.327, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the fish, lemon, and mango from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1401289468328624, + -6.534842561221999, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000004/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f20cb6509229a7c563a2955538dacdccd0e63811 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,570 @@ +{ + "layout_id": 38, + "style_id": 16, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06408269139999999, + 0.06382025779999997, + 0.06412384874999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_left_group_1", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 1.327, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the broccoli, fish, and peach from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0701917409260673, + -6.711253111619304, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3189f3dd08c6954650f0e3d0aa5dc05033151108 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,577 @@ +{ + "layout_id": 45, + "style_id": 16, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06275226709999998, + 0.09499999999999997, + 0.07340883889999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_18/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0852368275144514, + 0.12627049048764677, + 0.07772736160054913 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.2299862160999999, + 0.22998620229999986, + 0.11351701979999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 0.607, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the potato, steak, and lime from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5559001716860004, + -3.5037031840438004, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2803c3542d311ae0397fd92b59ea5eae0f272017 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 41, + "style_id": 13, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05707627820999998, + 0.07515301247999998, + 0.055951042004999986 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0650010083, + 0.09483886289999997, + 0.061665051949999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04724175415926844, + 0.07095003329879473, + 0.04452813252783647 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2399999423999999, + 0.2399959727999999, + 0.12156677519999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "size": [ + 0.7998089078491736, + 0.650008 + ], + "offset": [ + 0.909509546075413, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the mango, lemon, and mushroom from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.165482896046054, + -1.0810071137646782, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..602a5e85a4ae4b8932235812436a187dd05d26dd --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,543 @@ +{ + "layout_id": 44, + "style_id": 22, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.063, + 0.063, + 0.0395256393 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2799999327999999, + 0.2799999999999999, + 0.07451864559999997 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 0.7670193999999999, + 0.650008 + ], + "offset": [ + 0.5370927999999997, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the kiwi, sweet potato, and chicken drumstick from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.772456692198453, + -1.1335735820139214, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..44c12beec59e1193a0272f12c8d66f685d08b329 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,577 @@ +{ + "layout_id": 45, + "style_id": 49, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05977021499999999, + 0.08349168009999998, + 0.061614149749999986 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.2799999327999999, + 0.2799999999999999, + 0.07451864559999997 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 0.607, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the lemon, broccoli, and fish from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5438748508284292, + -3.5960536576268796, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1936681b25d64e945a926a80e4d46b2e5841ca97 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,543 @@ +{ + "layout_id": 44, + "style_id": 39, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06833694022376162, + 0.09999916398829467, + 0.06596303001358675 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2799999327999999, + 0.2799999999999999, + 0.07451864559999997 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 0.8586437019160476, + 0.650008 + ], + "offset": [ + 0.4912806490419761, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the fish, sweet potato, and pear from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.710663531911073, + -1.1290518208525977, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000010/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f227ee6dc7cbb6bc7d73436638c46539cfe2ebb1 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 44, + "style_id": 19, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06166207599999998, + 0.06545791279999998, + 0.06900705419999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.5293502792913627 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05489868767034543, + 0.0876179106044848, + 0.05044507492771319 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.5293502792913627 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.23732507795208496 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf0" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.7699369934549251, + 0.650008 + ], + "offset": [ + 0.5356340032725371, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the peach, mango, and chicken drumstick from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.77410252383706, + -1.1682366978992729, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..45dec50422282d2167709426bc01becc95945474 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,549 @@ +{ + "layout_id": 41, + "style_id": 53, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07241756696672069, + 0.07573404450000003, + 0.07088019883835427 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04064816319999999, + 0.14436470859999995, + 0.04074787679999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2551506515999999, + 0.2566008639999999, + 0.10381967439999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 0.8338688633331166, + 0.650008 + ], + "offset": [ + 0.8924795683334417, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the squash, carrot, and bell pepper from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.351157682647374, + -1.150754576531553, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8ac88349ca10fccc2ba65ee5e9313c1289c93527 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,543 @@ +{ + "layout_id": 44, + "style_id": 58, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.12204, + 0.14225279999999998, + 0.053881464 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06870559919999997, + 0.06802645079999997, + 0.06348796859999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2499992399999999, + 0.2499999999999999, + 0.05432975749999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 0.8385660106143343, + 0.650008 + ], + "offset": [ + 0.5013194946928328, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the bell pepper, chicken drumstick, and orange from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.57615163305426, + -1.136407810210789, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000013/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b74daeb38edc93ed40de376712158bf6057f45e --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,547 @@ +{ + "layout_id": 41, + "style_id": 28, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06875460339999998, + 0.05939274739999998, + 0.057136181899999985 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.2341558587379996, + 0.022653158550433428, + 0.46706460907086156 + ], + "size": [ + 0.28469050695534137, + 0.41264864724413647 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2341558587379996, + 0.022653158550433428, + 0.46706460907086156 + ], + "size": [ + 0.28469050695534137, + 0.41264864724413647 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06730011959999999, + 0.06979004619999998, + 0.06027413279999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2341558587379996, + 0.022653158550433428, + 0.46706460907086156 + ], + "size": [ + 0.28469050695534137, + 0.41264864724413647 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8160343265009941, + 0.650008 + ], + "offset": [ + 0.9013968367495033, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the peach, bell pepper, and peach from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.393214206339024, + -1.1099140877631375, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000014/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8fcabfa31f6c6706f3ba0bc315346b30fb595292 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,642 @@ +{ + "layout_id": 24, + "style_id": 53, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.01934, + 0.088424, + 0.042176 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge004/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0650010083, + 0.09483886289999997, + 0.061665051949999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 1.305679649967797, + 0.65 + ], + "offset": [ + 0.7401601750161015, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the lemon wedge, broccoli, and lemon from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.206314850906477, + -2.2451486281834554, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b84170d2905b00d9336b425edf805d2d840208e9 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,682 @@ +{ + "layout_id": 29, + "style_id": 34, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05896755840000001, + 0.056674650000000014, + 0.039047161200000007 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05840713366587696, + 0.1199999940887535, + 0.05755418774893327 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07489480363000164, + 0.07446963915346248, + 0.07983764375782279 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.2299862160999999, + 0.22998620229999986, + 0.11351701979999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the tangerine, pear, and garlic from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1217268791259056, + -1.0828427880495768, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..67c2a0549d8cc38824de8cec333ad6d3318e2657 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,588 @@ +{ + "layout_id": 57, + "style_id": 11, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.040209665184188684, + 0.07177628892516193, + 0.04507057726581613 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.03141563486424081, + 0.1859341517322251, + 0.0318393911128487 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.7251709780517523, + 0.65 + ], + "offset": [ + 1.013056510974124, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the mushroom, lime, and carrot from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.0849871689021147, + -3.725128788260993, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5c8ec34352cd7776ce5e36cb7a6013d9791103af --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,683 @@ +{ + "layout_id": 29, + "style_id": 32, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.24037219338821816, + 0.06049613523458114, + 0.4752207971463765 + ], + "size": [ + 0.2814781395772921, + 0.5807570242641699 + ], + "name": "freezer_shelf4" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0625436494, + 0.08339562670000002, + 0.049561502500000014 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.24037219338821816, + 0.06049613523458114, + 0.4752207971463765 + ], + "size": [ + 0.2814781395772921, + 0.5807570242641699 + ], + "name": "freezer_shelf4" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06833694022376162, + 0.09999916398829467, + 0.06596303001358675 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.2401194125641917, + 0.06089422441665873, + 0.1805528945115173 + ], + "size": [ + 0.284935200749944, + 0.5819896083424452 + ], + "name": "freezer_shelf3" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.2499992399999999, + 0.2499999999999999, + 0.05432975749999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the steak, mango, and pear from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.3298331859441153, + -1.083060254314258, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..434a2552c54f38d80f6d3e9b82ea444c4a5fc4fa --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,682 @@ +{ + "layout_id": 29, + "style_id": 33, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06408269139999999, + 0.06382025779999997, + 0.06412384874999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the lime, peach, and bell pepper from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2769032062276746, + -1.1261059106294458, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000019/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a674a19d6a0d3b28383256e59ab53d861b83877 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,576 @@ +{ + "layout_id": 45, + "style_id": 58, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.052983322, + 0.16999999999999998, + 0.045520543 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06147772049999999, + 0.08868493147499999, + 0.0641568332475 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.2399951135999999, + 0.23999743919999988, + 0.12351816959999992 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 0.607, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the corn, cucumber, and mango from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.6192214829792073, + -3.3987111277498845, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000020/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..67a7866631d3caee75e4a790c2832d5240156695 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,637 @@ +{ + "layout_id": 43, + "style_id": 60, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07066568713686604, + 0.05329286747463404, + 0.06963380960147325 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.23732507795208496 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf0" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05840713366587696, + 0.1199999940887535, + 0.05755418774893327 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.5293502792913627 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05704048680000002, + 0.059094555600000015, + 0.052538282400000004 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.23732507795208496 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf0" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.2499992399999999, + 0.2499999999999999, + 0.05432975749999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 1.0745, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_1.001_room": { + "cls": "Floor" + }, + "floor_1.001_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.006_room": { + "cls": "WallAccessory" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "SingleCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the mushroom, pear, and tangerine from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.904010185852864, + -2.280884859126086, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000021/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e6f989c4bfc207365fa00de82569d095401f3adb --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,577 @@ +{ + "layout_id": 45, + "style_id": 58, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061548362299999985, + 0.08427053679999998, + 0.05911777369999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06730011959999999, + 0.06979004619999998, + 0.06027413279999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.03141563486424081, + 0.1859341517322251, + 0.0318393911128487 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.607, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the lemon, peach, and carrot from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5540242614925526, + -3.4730007840685744, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5086559c1ff01f53d093d836649e9b7b1c6753f9 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,587 @@ +{ + "layout_id": 57, + "style_id": 42, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06619601604000001, + 0.06056229718000001, + 0.07700000000000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2399951135999999, + 0.23999743919999988, + 0.12351816959999992 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 0.6705392800000002, + 0.65 + ], + "offset": [ + 1.04037236, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the squash, garlic, and chicken drumstick from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.153266696254485, + -3.797663954202616, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000023/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7811a911a431160f7eb50bd5caa78908a169124e --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,577 @@ +{ + "layout_id": 45, + "style_id": 37, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07876752593240186, + 0.09199586015335218, + 0.07757899957280649 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2341558587379996, + 0.022653158550433428, + 0.46706460907086156 + ], + "size": [ + 0.28469050695534137, + 0.41264864724413647 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05050669909999998, + 0.12999999999999995, + 0.07200311039999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.2341558587379996, + 0.022653158550433428, + 0.46706460907086156 + ], + "size": [ + 0.28469050695534137, + 0.41264864724413647 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.052485888220760536, + 0.07075409086873356, + 0.05235486654311284 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.2341558587379996, + 0.022653158550433428, + 0.46706460907086156 + ], + "size": [ + 0.28469050695534137, + 0.41264864724413647 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.2399951135999999, + 0.23999743919999988, + 0.12351816959999992 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 0.607, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the broccoli, potato, and mushroom from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5985108828134327, + -3.6281006281381027, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000024/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6b0d2a86d78e7affababfe2baeae5536d26a2d4b --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,551 @@ +{ + "layout_id": 41, + "style_id": 45, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.038329868, + 0.2, + 0.039621436 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04064816319999999, + 0.14436470859999995, + 0.04074787679999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06825578316094581, + 0.067836388384929, + 0.03648932705092989 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2799999327999999, + 0.2799999999999999, + 0.07451864559999997 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 0.8382639930931683, + 0.650008 + ], + "offset": [ + 0.890282003453416, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the cucumber, carrot, and orange from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.380959565032058, + -1.1460319973995907, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f5992e242193743c1cdb0bee4e19b42adcd1c5e --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,588 @@ +{ + "layout_id": 57, + "style_id": 45, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06381797500000003, + 0.06285560840000001, + 0.051404796300000014 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0852368275144514, + 0.12627049048764677, + 0.07772736160054913 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07395939149999996, + 0.07202754299999997, + 0.07467260324999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2551506515999999, + 0.2566008639999999, + 0.10381967439999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 0.7629541130931685, + 0.65 + ], + "offset": [ + 0.9941649434534159, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the tangerine, steak, and orange from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.130007184613396, + -3.7058455322169666, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000026/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec650c682d37640485af5814e96b06cc553d1e1d --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,544 @@ +{ + "layout_id": 44, + "style_id": 21, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04064816319999999, + 0.14436470859999995, + 0.04074787679999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.5293502792913627 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.23732507795208496 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf0" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07489480363000164, + 0.07446963915346248, + 0.07983764375782279 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.23732507795208496 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf0" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 0.7892696358958159, + 0.650008 + ], + "offset": [ + 0.525967682052092, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the carrot, chicken drumstick, and garlic from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.808972576243809, + -1.1695703361618832, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..09fa54087c8fea2a2958a8fc2f858219248e1863 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,566 @@ +{ + "layout_id": 32, + "style_id": 39, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05792311519, + 0.0802518694, + 0.06601569931 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.2551506515999999, + 0.2566008639999999, + 0.10381967439999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 0.600025, + 0.650008 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the sweet potato, bell pepper, and mango from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.212917822994847, + -3.1734360653767624, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b15b001b5b1baa3daa89190839cca0909de6f3e --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 44, + "style_id": 41, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08040939360000002, + 0.08081546320000002, + 0.05186704160000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0428590073, + 0.11305835380000002, + 0.05232753230000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08040939360000002, + 0.08081546320000002, + 0.05186704160000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2399951135999999, + 0.23999743919999988, + 0.12351816959999992 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 0.7780713814390087, + 0.650008 + ], + "offset": [ + 0.5315668092804953, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the squash, sweet potato, and squash from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.598512546794864, + -1.1617390978153574, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d885c40ff15aebaf981844fe122d6d272d0903ea --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,683 @@ +{ + "layout_id": 29, + "style_id": 53, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07066568713686604, + 0.05329286747463404, + 0.06963380960147325 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07876752593240186, + 0.09199586015335218, + 0.07757899957280649 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04724175415926844, + 0.07095003329879473, + 0.04452813252783647 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.2551506515999999, + 0.2566008639999999, + 0.10381967439999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the mushroom, broccoli, and mushroom from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.09837255507795, + -1.090242097734043, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..403316d51dbe88edf15ae1d7e11eada18c5ea339 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,586 @@ +{ + "layout_id": 57, + "style_id": 22, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06643181373156865, + 0.12999999315711352, + 0.06913134918545921 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06381797500000003, + 0.06285560840000001, + 0.051404796300000014 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2399951135999999, + 0.23999743919999988, + 0.12351816959999992 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 0.6705392800000003, + 0.65 + ], + "offset": [ + 1.04037236, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the pear, tangerine, and lime from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.1607150724739932, + -3.9589633567777724, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000031/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..23a8c4dbe90c5f8164182a601147368020933e31 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,568 @@ +{ + "layout_id": 38, + "style_id": 37, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0587092272, + 0.12123810348934207, + 0.06071863479918593 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_16/model.xml" + }, + "reset_region": { + "offset": [ + -0.2341558587379996, + 0.022653158550433428, + 0.46706460907086156 + ], + "size": [ + 0.28469050695534137, + 0.41264864724413647 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2341558587379996, + 0.022653158550433428, + 0.46706460907086156 + ], + "size": [ + 0.28469050695534137, + 0.41264864724413647 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07066568713686604, + 0.05329286747463404, + 0.06963380960147325 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2341558587379996, + 0.022653158550433428, + 0.46706460907086156 + ], + "size": [ + 0.28469050695534137, + 0.41264864724413647 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_left_group_1", + "min_size": [ + 0.2299862160999999, + 0.22998620229999986, + 0.11351701979999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 1.327, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the pear, bell pepper, and mushroom from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1526102569314414, + -6.445260045359025, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000032/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4eccc1242d3d6abd82da4ac88ac8999d169b335 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,587 @@ +{ + "layout_id": 57, + "style_id": 31, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0428590073, + 0.11305835380000002, + 0.05232753230000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06166207599999998, + 0.06545791279999998, + 0.06900705419999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2799999327999999, + 0.2799999999999999, + 0.07451864559999997 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 0.7646786388788469, + 0.65 + ], + "offset": [ + 0.9933026805605767, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the sweet potato, peach, and lime from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.1681259806210516, + -3.8477062269530915, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6bf2a7c8dca459e0eb139e2ba0fd7680b1911a03 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,587 @@ +{ + "layout_id": 57, + "style_id": 58, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04820910818784264, + 0.04797472361147629, + 0.07149926069000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.040209665184188684, + 0.07177628892516193, + 0.04507057726581613 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.038329868, + 0.2, + 0.039621436 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 0.7420858906143347, + 0.65 + ], + "offset": [ + 1.0045990546928327, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the garlic, mushroom, and cucumber from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.1500649011413107, + -3.872680580510664, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0b28f289046caf39b325ec9c0161732d6b9ef08a --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,588 @@ +{ + "layout_id": 57, + "style_id": 30, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05772821919999999, + 0.08499999829999999, + 0.059420264050000005 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2499992399999999, + 0.2499999999999999, + 0.05432975749999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 0.8481888260768136, + 0.65 + ], + "offset": [ + 0.9515475869615933, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the squash, broccoli, and lemon from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.133230734459625, + -3.9648985205196174, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000035/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5cfc7d717b9d1f02a6febb5bcf60fbb48886c4f1 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,588 @@ +{ + "layout_id": 57, + "style_id": 24, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05706042569999998, + 0.14107461809999997, + 0.05876966047499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.24823407040289508, + 0.1487558149930853, + 0.20539797814789 + ], + "size": [ + 0.2770985319640259, + 0.4029595468751352 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.038329868, + 0.2, + 0.039621436 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.25016892346927594, + 0.14995415865562628, + 0.5275367066005442 + ], + "size": [ + 0.2774026307993884, + 0.3977932491142244 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24823407040289508, + 0.1487558149930853, + 0.20539797814789 + ], + "size": [ + 0.2770985319640259, + 0.4029595468751352 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 0.7621635819160479, + 0.65 + ], + "offset": [ + 0.9945602090419761, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the eggplant, cucumber, and bell pepper from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.1159815814399625, + -3.962510115768641, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d436dbb586828d7c27f38c609579f35e3ff0ec6e --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,575 @@ +{ + "layout_id": 45, + "style_id": 12, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05218256694591862, + 0.10634198422436635, + 0.05545538018749999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.072908, + 0.106228, + 0.054972 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge002/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.23999765999999986, + 0.2399966807999999, + 0.10514416799999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 0.607, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the mango, corn, and lemon wedge from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5608736797969347, + -3.4389319073912294, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000037/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..764dd1b2e227202cc91e005114da73ca6fd6072a --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,638 @@ +{ + "layout_id": 43, + "style_id": 30, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.052485888220760536, + 0.07075409086873356, + 0.05235486654311284 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05391862382619939, + 0.07085656569409443, + 0.054317850551971095 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.2399951135999999, + 0.23999743919999988, + 0.12351816959999992 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 1.0745, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_1.001_room": { + "cls": "Floor" + }, + "floor_1.001_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.006_room": { + "cls": "WallAccessory" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "SingleCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the mushroom, corn, and mushroom from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.891158157007562, + -2.2652446569460967, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000038/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5233e6b8bd27a42c406e94d5a16b85f65b733380 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,593 @@ +{ + "layout_id": 47, + "style_id": 54, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.038329868, + 0.2, + 0.039621436 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05896086600000001, + 0.05867315640000001, + 0.05089237920000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_01_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.23999765999999986, + 0.2399966807999999, + 0.10514416799999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 0.624211, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_03_right_group_1": { + "cls": "Counter" + }, + "counter_corner_2_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "box_05_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_05_front_group_1": { + "cls": "Counter" + }, + "stack_02_front_group_1_base": { + "cls": "Box" + }, + "stack_02_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_front_group_1_2": { + "cls": "Drawer" + }, + "stack_01_front_group_1_base": { + "cls": "Box" + }, + "stack_01_front_group_1_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_02_main_group_1": { + "cls": "Counter" + }, + "counter_01_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "counter_04_front_group_2": { + "cls": "Counter" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "Drawer" + }, + "stack_10_front_group_2_2": { + "cls": "Drawer" + }, + "stack_10_front_group_2_3": { + "cls": "Drawer" + }, + "stack_10_front_group_2_4": { + "cls": "Drawer" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_front_group_2_2": { + "cls": "Drawer" + }, + "cube_front_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the cucumber, bell pepper, and tangerine from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_01_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.0565293217910225, + -1.2340352262309002, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378857158503 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000039/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..72c421fc1a0d207ee69d66aa698c33ea46600488 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,567 @@ +{ + "layout_id": 32, + "style_id": 31, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.03495, + 0.107888, + 0.044468 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge001/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06839594549999997, + 0.06514787849999996, + 0.07482789599999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0650010083, + 0.09483886289999997, + 0.061665051949999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.2299862160999999, + 0.22998620229999986, + 0.11351701979999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 0.600025, + 0.650008 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the lemon wedge, orange, and lemon from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.20191921871549, + -3.200737640597286, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000040/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..10d2f10b721f98210743697400fd3553f95f3022 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,566 @@ +{ + "layout_id": 32, + "style_id": 54, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05391862382619939, + 0.07085656569409443, + 0.054317850551971095 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.2499992399999999, + 0.2499999999999999, + 0.05432975749999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 0.600025, + 0.650008 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the lime, mushroom, and fish from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.23591920863985, + -3.2380586070815536, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2a3b273342f1295728db3afa815ee1b56ef86170 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 41, + "style_id": 31, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05896755840000001, + 0.056674650000000014, + 0.039047161200000007 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2551506515999999, + 0.2566008639999999, + 0.10381967439999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 0.8399885188788467, + 0.650008 + ], + "offset": [ + 0.8894197405605768, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the bell pepper, fish, and tangerine from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.1865517404454256, + -1.1144475226278434, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dbb5c0175c0a067d95ad47e4e16de856e8702a0d --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,543 @@ +{ + "layout_id": 44, + "style_id": 33, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06874411319999997, + 0.06765124519999996, + 0.06256560099999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04820910818784264, + 0.04797472361147629, + 0.07149926069000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.23999765999999986, + 0.2399966807999999, + 0.10514416799999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8611587588788465, + 0.650008 + ], + "offset": [ + 0.4900231205605765, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the sweet potato, orange, and garlic from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.789556890636797, + -1.1617541200380008, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000043/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd0f5081db2a0791e4bdca5390ab55469ab59592 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,641 @@ +{ + "layout_id": 24, + "style_id": 31, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06252291602999999, + 0.07545826889999997, + 0.05928199888499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06874411319999997, + 0.06765124519999996, + 0.06256560099999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061742093059556344, + 0.06812991806648402, + 0.04924424765192108 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.2551506515999999, + 0.2566008639999999, + 0.10381967439999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 1.5851393588788467, + 1.95 + ], + "offset": [ + -1.1074303205605767, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the mango, orange, and kiwi from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.196762391657455, + -2.233979863987564, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000044/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e7be49781164a3274dd5aa495f236a3c12965ef8 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 41, + "style_id": 41, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06870559919999997, + 0.06802645079999997, + 0.06348796859999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061604661799999974, + 0.10999999999999996, + 0.06543139019999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06408269139999999, + 0.06382025779999997, + 0.06412384874999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2551506515999999, + 0.2566008639999999, + 0.10381967439999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 0.7569011414390089, + 0.650008 + ], + "offset": [ + 0.9309634292804956, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the orange, potato, and peach from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.309087978535811, + -1.1609362102265968, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000045/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..704d2f6986e2d459dd0dc2d3b3b30c4551488fae --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 41, + "style_id": 18, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05496633832750106, + 0.10011066582587716, + 0.11258375177999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05896755840000001, + 0.056674650000000014, + 0.039047161200000007 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06875434881227208, + 0.10047349900000001, + 0.06839816487910581 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 0.9495325315595587, + 0.650008 + ], + "offset": [ + 0.8346477342202208, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the eggplant, tangerine, and pear from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.377316634429802, + -1.1474936878914983, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000046/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..60700955b52e62d6b363d9e05478be762652e907 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,545 @@ +{ + "layout_id": 44, + "style_id": 15, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05165974373992843, + 0.15974517784092518, + 0.04071821599999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05772821919999999, + 0.08499999829999999, + 0.059420264050000005 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2399951135999999, + 0.23999743919999988, + 0.12351816959999992 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 0.8120065803869252, + 0.650008 + ], + "offset": [ + 0.5145992098065373, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the corn, carrot, and lemon from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.547969530510951, + -1.1175067686897866, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0b26e6559c9c2721e73e7178b087ea80029782a4 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,587 @@ +{ + "layout_id": 57, + "style_id": 52, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05704048680000002, + 0.059094555600000015, + 0.052538282400000004 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.072908, + 0.106228, + 0.054972 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge002/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 0.7084783627484296, + 0.65 + ], + "offset": [ + 1.021402818625785, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the tangerine, lemon wedge, and broccoli from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.1556158935492278, + -3.7525701647298204, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000048/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a2b99adec3f5ab03d498c20d75dfc23c2e9b5667 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 44, + "style_id": 14, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.040209665184188684, + 0.07177628892516193, + 0.04507057726581613 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.5293502792913627 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06408269139999999, + 0.06382025779999997, + 0.06412384874999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.23732507795208496 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf0" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07876752593240186, + 0.09199586015335218, + 0.07757899957280649 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.23732507795208496 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf0" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 0.9152930480104919, + 0.650008 + ], + "offset": [ + 0.4629559759947537, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the mushroom, peach, and broccoli from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.805160548794912, + -1.1053611284693996, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1ba916bca12142f8c100fbc40281ec55886513b9 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,638 @@ +{ + "layout_id": 43, + "style_id": 31, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07395939149999996, + 0.07202754299999997, + 0.07467260324999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06875460339999998, + 0.05939274739999998, + 0.057136181899999985 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06643181373156865, + 0.12999999315711352, + 0.06913134918545921 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.23999765999999986, + 0.2399966807999999, + 0.10514416799999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 1.0745, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_1.001_room": { + "cls": "Floor" + }, + "floor_1.001_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.006_room": { + "cls": "WallAccessory" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "SingleCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the orange, peach, and pear from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.877618426542871, + -2.269067565715887, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000050/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..26bef076a5b1490279cac33684df08b038e51810 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,570 @@ +{ + "layout_id": 38, + "style_id": 31, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0625436494, + 0.08339562670000002, + 0.049561502500000014 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_left_group_1", + "min_size": [ + 0.23999765999999986, + 0.2399966807999999, + 0.10514416799999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 1.327, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the mango, corn, and chicken drumstick from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1527314688043568, + -6.569113870176789, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000051/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c35639ba2d43666c76b66c46e4b3c7576960201f --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,567 @@ +{ + "layout_id": 32, + "style_id": 33, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06325809199999997, + 0.07999999999999996, + 0.07804364159999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06252291602999999, + 0.07545826889999997, + 0.05928199888499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08040939360000002, + 0.08081546320000002, + 0.05186704160000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.2399999423999999, + 0.2399959727999999, + 0.12156677519999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "size": [ + 0.600025, + 0.650008 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the potato, mango, and squash from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.202119221043755, + -3.143508915639488, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000052/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dbacc2c22ec42c418624b5634d0fec71eb697893 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,588 @@ +{ + "layout_id": 57, + "style_id": 15, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.039628183899999996, + 0.14381945929999995, + 0.041762779649999984 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06166207599999998, + 0.06545791279999998, + 0.06900705419999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.7155264603869256, + 0.65 + ], + "offset": [ + 1.0178787698065372, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the carrot, peach, and bell pepper from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.1590466852201804, + -3.7721884253710103, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1936006f4bbf9d420321c91cc915e315e3529860 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,596 @@ +{ + "layout_id": 21, + "style_id": 31, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07395939149999996, + 0.07202754299999997, + 0.07467260324999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05896086600000001, + 0.05867315640000001, + 0.05089237920000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_3_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.2551506515999999, + 0.2566008639999999, + 0.10381967439999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 0.45, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Take the bell pepper, orange, and tangerine from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_3_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.157349235934803, + -3.478625979286776, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..436d089aeff16f7c6a52bed0676432a95e8bd359 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,543 @@ +{ + "layout_id": 44, + "style_id": 24, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.25016892346927594, + 0.14995415865562628, + 0.5275367066005442 + ], + "size": [ + 0.2774026307993884, + 0.3977932491142244 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0650010083, + 0.09483886289999997, + 0.061665051949999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.25016892346927594, + 0.14995415865562628, + 0.5275367066005442 + ], + "size": [ + 0.2774026307993884, + 0.3977932491142244 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05896755840000001, + 0.056674650000000014, + 0.039047161200000007 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.25016892346927594, + 0.14995415865562628, + 0.5275367066005442 + ], + "size": [ + 0.2774026307993884, + 0.3977932491142244 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8586437019160476, + 0.650008 + ], + "offset": [ + 0.4912806490419761, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the sweet potato, lemon, and tangerine from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.532454135520298, + -1.1161631368797136, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000055/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..632b72781229c8e7a80f89a69dd2a3c8b4c55fde --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,544 @@ +{ + "layout_id": 44, + "style_id": 54, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.062111171395770465, + 0.10999998688697808, + 0.04926267939999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06730011959999999, + 0.06979004619999998, + 0.06027413279999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 0.8523775003217742, + 0.650008 + ], + "offset": [ + 0.49441374983911257, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the steak, potato, and peach from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.592701306708938, + -1.1405328559731018, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1f86ed8f798ff2a34e2c9ae74a58a5838ad0ec6 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,569 @@ +{ + "layout_id": 38, + "style_id": 58, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0587092272, + 0.12123810348934207, + 0.06071863479918593 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_16/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_left_group_1", + "min_size": [ + 0.2799999327999999, + 0.2799999999999999, + 0.07451864559999997 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 1.327, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the lime, broccoli, and pear from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1118692939016155, + -6.70098087836852, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..637b1854d465fe89eeed7b2d0b2f766157c8f7e5 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,576 @@ +{ + "layout_id": 45, + "style_id": 45, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0393408, + 0.118892952, + 0.047486400000000005 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.040209665184188684, + 0.07177628892516193, + 0.04507057726581613 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.2399999423999999, + 0.2399959727999999, + 0.12156677519999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "size": [ + 0.607, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the chicken drumstick, mushroom, and fish from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5605228647074303, + -3.3591412505798175, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e666f7b0268a5bd13e4527c428a917ab5e93fd37 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,569 @@ +{ + "layout_id": 38, + "style_id": 34, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08040939360000002, + 0.08081546320000002, + 0.05186704160000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06643181373156865, + 0.12999999315711352, + 0.06913134918545921 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05772821919999999, + 0.08499999829999999, + 0.059420264050000005 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_left_group_1", + "min_size": [ + 0.2551506515999999, + 0.2566008639999999, + 0.10381967439999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 1.327, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the squash, pear, and lemon from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1414660329481954, + -6.547541792104978, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000059/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e706cf0b911c26370aeefe21f8e629e3794d477 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 44, + "style_id": 22, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.7670193999999999, + 0.650008 + ], + "offset": [ + 0.5370927999999997, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the lime, lime, and fish from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.751523563721648, + -1.1340289513225088, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8bfc83803f604b39191fec75d4fc837868ce9280 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,587 @@ +{ + "layout_id": 57, + "style_id": 33, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07395939149999996, + 0.07202754299999997, + 0.07467260324999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.23999765999999986, + 0.2399966807999999, + 0.10514416799999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 0.7646786388788469, + 0.65 + ], + "offset": [ + 0.9933026805605767, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the bell pepper, bell pepper, and orange from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.1482091758621182, + -3.8984175055856425, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bea126226ed63977c84ef2955b5b327ee74abc52 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,685 @@ +{ + "layout_id": 29, + "style_id": 22, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06730011959999999, + 0.06979004619999998, + 0.06027413279999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06275226709999998, + 0.09499999999999997, + 0.07340883889999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05496633832750106, + 0.10011066582587716, + 0.11258375177999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.2799999327999999, + 0.2799999999999999, + 0.07451864559999997 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the peach, potato, and eggplant from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.309322572318608, + -1.1640400222694767, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000062/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3e79d098ca830aad99e0f0f0aae237bf24edc6d7 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,549 @@ +{ + "layout_id": 41, + "style_id": 49, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04820910818784264, + 0.04797472361147629, + 0.07149926069000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.74584916, + 0.650008 + ], + "offset": [ + 0.9364894199999998, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the garlic, chicken drumstick, and steak from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.233046867670691, + -1.1356254463894861, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000063/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfa7e30578255aadec4e570733511c9da347c7f --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 44, + "style_id": 52, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07489480363000164, + 0.07446963915346248, + 0.07983764375782279 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05357008889999999, + 0.17118411799999997, + 0.049541658399999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06381797500000003, + 0.06285560840000001, + 0.051404796300000014 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2399951135999999, + 0.23999743919999988, + 0.12351816959999992 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 0.8049584827484292, + 0.650008 + ], + "offset": [ + 0.5181232586257853, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the garlic, cucumber, and tangerine from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.5782537716770815, + -1.1431888821254177, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c939a42c006f947c6a8676bd8e990d4c7d284df9 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,566 @@ +{ + "layout_id": 32, + "style_id": 58, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05218256694591862, + 0.10634198422436635, + 0.05545538018749999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05707627820999998, + 0.07515301247999998, + 0.055951042004999986 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.2299862160999999, + 0.22998620229999986, + 0.11351701979999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 0.600025, + 0.650008 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the mango, corn, and mango from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2605628263827766, + -3.095372027801439, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f964b44ed0c84c1f120e40493cd8811aed86c552 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,570 @@ +{ + "layout_id": 38, + "style_id": 30, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06643181373156865, + 0.12999999315711352, + 0.06913134918545921 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0650010083, + 0.09483886289999997, + 0.061665051949999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_left_group_1", + "min_size": [ + 0.2799999327999999, + 0.2799999999999999, + 0.07451864559999997 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 1.327, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the broccoli, pear, and lemon from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1098282880414585, + -6.476515155143748, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000066/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..53920c903fd412bac3440dfa579889f38fb966c7 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,571 @@ +{ + "layout_id": 38, + "style_id": 22, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08144430821325474, + 0.17815407523685567, + 0.053189783522598774 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04982950829999999, + 0.14104355024999995, + 0.05576044664999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_left_group_1", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 1.327, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the sweet potato, fish, and eggplant from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1171023924017467, + -6.741328412169161, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..75e7c523249cf80ff0b7cb13c19c64d80150e239 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,684 @@ +{ + "layout_id": 29, + "style_id": 58, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06408269139999999, + 0.06382025779999997, + 0.06412384874999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.039628183899999996, + 0.14381945929999995, + 0.041762779649999984 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07090421426090804, + 0.07102862744754534, + 0.06306057784554964 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.2799999327999999, + 0.2799999999999999, + 0.07451864559999997 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the peach, carrot, and mushroom from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.351768563085552, + -1.1393641987312615, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..122fff9ce7171684919d99037449514ff8226b94 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,569 @@ +{ + "layout_id": 38, + "style_id": 35, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05496633832750106, + 0.10011066582587716, + 0.11258375177999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061742093059556344, + 0.06812991806648402, + 0.04924424765192108 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05761994327999999, + 0.07254297791999997, + 0.05125164552 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_left_group_1", + "min_size": [ + 0.2399951135999999, + 0.23999743919999988, + 0.12351816959999992 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 1.327, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the eggplant, kiwi, and kiwi from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1452166426644277, + -6.617208612306565, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000069/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce727ce343d59733dcabb8e6d4351c1082c07189 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,587 @@ +{ + "layout_id": 57, + "style_id": 23, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.24828473266602016, + 0.157819889662099, + 0.21670511703882842 + ], + "size": [ + 0.27709121485871707, + 0.4299134540573692 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07090421426090804, + 0.07102862744754534, + 0.06306057784554964 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.25021953505490413, + 0.15896735529487047, + 0.5196044829344353 + ], + "size": [ + 0.2773953074428536, + 0.4249664143078063 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.25021953505490413, + 0.15896735529487047, + 0.5196044829344353 + ], + "size": [ + 0.2773953074428536, + 0.4249664143078063 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2299862160999999, + 0.22998620229999986, + 0.11351701979999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 0.7392615758889072, + 0.65 + ], + "offset": [ + 1.0060112120555464, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the fish, mushroom, and lime from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.1567401293355033, + -3.7311503797640206, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e110ce85f6f8302e147319f214e235e83356b72 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,596 @@ +{ + "layout_id": 21, + "style_id": 31, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05357008889999999, + 0.17118411799999997, + 0.049541658399999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07090421426090804, + 0.07102862744754534, + 0.06306057784554964 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.072908, + 0.106228, + 0.054972 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge002/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_3_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.45, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Take the cucumber, mushroom, and lemon wedge from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_3_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1589286630748563, + -3.3738245885729423, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..051f82a4357922e054191128b50d0224bc6e7a11 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,643 @@ +{ + "layout_id": 24, + "style_id": 12, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.063, + 0.063, + 0.0395256393 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061604661799999974, + 0.10999999999999996, + 0.06543139019999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 1.2951001491143512, + 0.65 + ], + "offset": [ + 0.7454499254428244, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the kiwi, potato, and chicken drumstick from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.228774269398441, + -2.18201996587383, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000072/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9be1d2cdd9f8a6e18e4aa8d78c5a17933743851f --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,576 @@ +{ + "layout_id": 45, + "style_id": 22, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05496633832750106, + 0.10011066582587716, + 0.11258375177999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07876752593240186, + 0.09199586015335218, + 0.07757899957280649 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 0.607, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the bell pepper, eggplant, and broccoli from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5427691964718635, + -3.502137034495922, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c82479b806bb838a3c0bdae6f167be5a9d006694 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,575 @@ +{ + "layout_id": 45, + "style_id": 14, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.5293502792913627 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07489480363000164, + 0.07446963915346248, + 0.07983764375782279 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.23732507795208496 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf0" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08415186662078193, + 0.1307063729902283, + 0.035717186025417944 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.5293502792913627 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.607, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the squash, garlic, and steak from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5540678939734494, + -3.526712973365288, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000074/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..25c6e85fc18762b7765ab9181f21ff5ac3a49e49 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,549 @@ +{ + "layout_id": 41, + "style_id": 31, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05761994327999999, + 0.07254297791999997, + 0.05125164552 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0650010083, + 0.09483886289999997, + 0.061665051949999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2399999423999999, + 0.2399959727999999, + 0.12156677519999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "size": [ + 0.8399885188788467, + 0.650008 + ], + "offset": [ + 0.8894197405605768, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the broccoli, kiwi, and lemon from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.385372858954132, + -1.1642889546191968, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..61c695b3117e74a59911bafa2f602fc8e56164c1 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 41, + "style_id": 51, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06859856, + 0.09609128, + 0.02079624 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0428590073, + 0.11305835380000002, + 0.05232753230000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07066568713686604, + 0.05329286747463404, + 0.06963380960147325 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2082334215548468, + 0.061578739921876374, + 0.4358222445166191 + ], + "size": [ + 0.2802434754155273, + 0.6011813044052923 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2299862160999999, + 0.22998620229999986, + 0.11351701979999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 0.807436779802766, + 0.650008 + ], + "offset": [ + 0.9056956100986169, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the shrimp, sweet potato, and mushroom from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.25836005971465, + -1.164832678071385, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c43e68fe30ddd3d3b0e5dd216d638194da912be --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,683 @@ +{ + "layout_id": 29, + "style_id": 53, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06839594549999997, + 0.06514787849999996, + 0.07482789599999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07090421426090804, + 0.07102862744754534, + 0.06306057784554964 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05761994327999999, + 0.07254297791999997, + 0.05125164552 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.23999765999999986, + 0.2399966807999999, + 0.10514416799999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the orange, mushroom, and kiwi from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1211451018746672, + -1.1345222981885137, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000077/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..020cbf1babee230fcbd3bf820852adf94eee4bf6 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,597 @@ +{ + "layout_id": 21, + "style_id": 44, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.060623244399999984, + 0.08350984289999998, + 0.060327932299999984 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.2341558587379996, + 0.022653158550433428, + 0.46706460907086156 + ], + "size": [ + 0.28469050695534137, + 0.41264864724413647 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05761994327999999, + 0.07254297791999997, + 0.05125164552 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2341558587379996, + 0.022653158550433428, + 0.46706460907086156 + ], + "size": [ + 0.28469050695534137, + 0.41264864724413647 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0428590073, + 0.11305835380000002, + 0.05232753230000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2341558587379996, + 0.022653158550433428, + 0.46706460907086156 + ], + "size": [ + 0.28469050695534137, + 0.41264864724413647 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_3_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.2499992399999999, + 0.2499999999999999, + 0.05432975749999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 0.45, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Take the lemon, kiwi, and sweet potato from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_3_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0986395911406799, + -3.348999757918161, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f6d125284987d663aa9ef9ba820a4c6b28af3bc2 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,587 @@ +{ + "layout_id": 57, + "style_id": 13, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05489868767034543, + 0.0876179106044848, + 0.05044507492771319 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.7244990278491737, + 0.65 + ], + "offset": [ + 1.0133924860754133, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the steak, mango, and lime from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.168464319773254, + -3.8467286784480454, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000079/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c68d010154dc8a8964e9f2862c480a9ef0ae70ff --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,576 @@ +{ + "layout_id": 45, + "style_id": 30, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06166207599999998, + 0.06545791279999998, + 0.06900705419999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06833694022376162, + 0.09999916398829467, + 0.06596303001358675 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061604661799999974, + 0.10999999999999996, + 0.06543139019999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.2799999327999999, + 0.2799999999999999, + 0.07451864559999997 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 0.607, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the peach, pear, and potato from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5711714525313316, + -3.5009346171095475, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000080/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5b7ceab12cb1dc3499d47594f02d9c3ea5c838c1 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,683 @@ +{ + "layout_id": 29, + "style_id": 31, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06381797500000003, + 0.06285560840000001, + 0.051404796300000014 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.2799999327999999, + 0.2799999999999999, + 0.07451864559999997 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the tangerine, fish, and bell pepper from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0993561147574908, + -1.1098757416404794, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d7df26e69dde1b9e43fe9617cc1a569074f92646 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,641 @@ +{ + "layout_id": 24, + "style_id": 54, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05840713366587696, + 0.1199999940887535, + 0.05755418774893327 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.23999765999999986, + 0.2399966807999999, + 0.10514416799999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 1.305679649967797, + 0.65 + ], + "offset": [ + 0.7401601750161015, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the broccoli, lime, and pear from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.1833679222199684, + -2.2197236509304266, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000082/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..33dbbd0fccaebf7aceb83b8f8fe5181042609731 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,569 @@ +{ + "layout_id": 38, + "style_id": 45, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061742093059556344, + 0.06812991806648402, + 0.04924424765192108 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05357008889999999, + 0.17118411799999997, + 0.049541658399999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.022108, + 0.06904, + 0.037036 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge005/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_left_group_1", + "min_size": [ + 0.2551506515999999, + 0.2566008639999999, + 0.10381967439999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 1.327, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the kiwi, cucumber, and lemon wedge from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.158180935160082, + -6.717064197406459, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000083/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c563bd3e2106f3c6af983af47ac58b3a8af586f4 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,565 @@ +{ + "layout_id": 32, + "style_id": 30, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05761994327999999, + 0.07254297791999997, + 0.05125164552 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.02481822, + 0.09999134, + 0.02138027 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.24246779039999988, + 0.2424519695999999, + 0.11385487439999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "size": [ + 0.600025, + 0.650008 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the kiwi, bell pepper, and shrimp from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2324315394327674, + -3.3427043079952585, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0bc570d25f3817f3be9e7b2da5cf3dadeac42467 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,569 @@ +{ + "layout_id": 38, + "style_id": 46, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0639828827, + 0.1432333519, + 0.016380968999999995 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05391862382619939, + 0.07085656569409443, + 0.054317850551971095 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_left_group_1", + "min_size": [ + 0.23999765999999986, + 0.2399966807999999, + 0.10514416799999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 1.327, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the steak, mushroom, and squash from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.167719776719356, + -6.608647282262326, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d160ffde223617a659998bf127a08ecbf039e748 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,549 @@ +{ + "layout_id": 41, + "style_id": 16, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07395939149999996, + 0.07202754299999997, + 0.07467260324999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05706042569999998, + 0.14107461809999997, + 0.05876966047499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.014456, + 0.041804, + 0.02032 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge003/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.23999765999999986, + 0.2399966807999999, + 0.10514416799999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 0.871197369884344, + 0.650008 + ], + "offset": [ + 0.8738153150578281, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the orange, eggplant, and lemon wedge from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.186329486419818, + -1.1245197586932127, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000086/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8150973f8fb2bfe32e8ef4334f8074f34c340c0e --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,588 @@ +{ + "layout_id": 57, + "style_id": 45, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061548362299999985, + 0.08427053679999998, + 0.05911777369999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04820910818784264, + 0.04797472361147629, + 0.07149926069000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.23999765999999986, + 0.2399966807999999, + 0.10514416799999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 0.7629541130931685, + 0.65 + ], + "offset": [ + 0.9941649434534159, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the lemon, garlic, and corn from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.1399907072010174, + -3.918707937382215, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000087/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..079d030c2b3d0744fa6ee56f1ac7fa3e16d114e8 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,642 @@ +{ + "layout_id": 24, + "style_id": 54, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05896755840000001, + 0.056674650000000014, + 0.039047161200000007 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07384239449999998, + 0.07426866764648381, + 0.055746330854518675 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_right_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "fridge_right_group", + "min_size": [ + 0.2551506515999999, + 0.2566008639999999, + 0.10381967439999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 1.5763581003217744, + 1.95 + ], + "offset": [ + -1.1118209498391127, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the tangerine, orange, and fish from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_right_group", + "counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.250591068331979, + -2.220382101461498, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cfef807ca9ce2e6c1729ddaf8f01e5878487d283 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,617 @@ +{ + "layout_id": 18, + "style_id": 30, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06833694022376162, + 0.09999916398829467, + 0.06596303001358675 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05761994327999999, + 0.07254297791999997, + 0.05125164552 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.23873942596173792, + 0.01938695658573661, + 0.3770823952929493 + ], + "size": [ + 0.2878416242800079, + 0.5712387389087408 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.23999765999999986, + 0.2399966807999999, + 0.10514416799999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 0.71, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Take the pear, fish, and kiwi from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.329740568285585, + -1.1623671720330495, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f27e842b6a9a6144db032139d45a7ef9614a8eb8 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,549 @@ +{ + "layout_id": 41, + "style_id": 41, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05496633832750106, + 0.10011066582587716, + 0.11258375177999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0669744, + 0.130678644, + 0.0585768 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick001/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06619601604000001, + 0.06056229718000001, + 0.07700000000000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2399999423999999, + 0.2399959727999999, + 0.12156677519999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "size": [ + 0.7569011414390089, + 0.650008 + ], + "offset": [ + 0.9309634292804956, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the eggplant, chicken drumstick, and garlic from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.4243991040445305, + -1.1623473099493358, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a6a8489eb1df6a7f4286634d830aa97f6e006ac1 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,588 @@ +{ + "layout_id": 57, + "style_id": 53, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06408269139999999, + 0.06382025779999997, + 0.06412384874999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06275226709999998, + 0.09499999999999997, + 0.07340883889999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2399999423999999, + 0.2399959727999999, + 0.12156677519999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "size": [ + 0.7585589833331168, + 0.65 + ], + "offset": [ + 0.9963625083334415, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the peach, lime, and potato from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.1466874244402014, + -3.6980961824424803, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1cbac19f63c40b5e6aef60b53e744fd94cf0568f --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,586 @@ +{ + "layout_id": 57, + "style_id": 42, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04820910818784264, + 0.04797472361147629, + 0.07149926069000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05489868767034543, + 0.0876179106044848, + 0.05044507492771319 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07090421426090804, + 0.07102862744754534, + 0.06306057784554964 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2499992399999999, + 0.2499999999999999, + 0.05432975749999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 0.6705392800000002, + 0.65 + ], + "offset": [ + 1.04037236, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the garlic, mango, and mushroom from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.1001610202843914, + -3.750804714868292, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d12c1b0760af9ffce3ceb83ca60ae91cc1d77314 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,568 @@ +{ + "layout_id": 32, + "style_id": 54, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.061548362299999985, + 0.08427053679999998, + 0.05911777369999999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05344079369399976, + 0.16891454346687698, + 0.031033123311460444 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.038329868, + 0.2, + 0.039621436 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.2399999423999999, + 0.2399959727999999, + 0.12156677519999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "size": [ + 0.600025, + 0.650008 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the lemon, fish, and cucumber from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2088349421819102, + -3.153002388913862, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f73737de060a1a65737bb76307d8581b31786ca4 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,574 @@ +{ + "layout_id": 45, + "style_id": 22, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06145135064999997, + 0.06749999999999996, + 0.06435373049999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_right_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.03495, + 0.107888, + 0.044468 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge001/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_right_group_1", + "min_size": [ + 0.2399951135999999, + 0.23999743919999988, + 0.12351816959999992 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 0.607, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Take the squash, bell pepper, and lemon wedge from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_right_group_1", + "counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5635478468658244, + -3.5467335515237153, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..68fc79ba527f1ca5cc75f1625e2726d3ca4dd599 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,586 @@ +{ + "layout_id": 57, + "style_id": 34, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06252291602999999, + 0.07545826889999997, + 0.05928199888499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.052485888220760536, + 0.07075409086873356, + 0.05235486654311284 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08040939360000002, + 0.08081546320000002, + 0.05186704160000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2299862160999999, + 0.22998620229999986, + 0.11351701979999994 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "size": [ + 0.7343093144875672, + 0.65 + ], + "offset": [ + 1.0084873427562164, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the mango, mushroom, and squash from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.1473570561280413, + -3.7396337432139433, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ba47cf6728c32b8c320e1886087f9af173fcd478 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,570 @@ +{ + "layout_id": 38, + "style_id": 60, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.5293502792913627 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.052485888220760536, + 0.07075409086873356, + 0.05235486654311284 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.5293502792913627 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_left_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04982950829999999, + 0.14104355024999995, + 0.05576044664999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.5293502792913627 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_left_group_1", + "min_size": [ + 0.2551506515999999, + 0.2566008639999999, + 0.10381967439999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "size": [ + 1.327, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the corn, mushroom, and eggplant from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_left_group_1", + "counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.110341497747422, + -6.567202677704791, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000096/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..16bd58b7efb35d24f197c2a38a5d7b45f98a7a49 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,588 @@ +{ + "layout_id": 57, + "style_id": 56, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05218256694591862, + 0.10634198422436635, + 0.05545538018749999 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.25016892346927594, + 0.14995415865562628, + 0.5275367066005442 + ], + "size": [ + 0.2774026307993884, + 0.3977932491142244 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0428590073, + 0.11305835380000002, + 0.05232753230000001 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.25016892346927594, + 0.14995415865562628, + 0.5275367066005442 + ], + "size": [ + 0.2774026307993884, + 0.3977932491142244 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.25016892346927594, + 0.14995415865562628, + 0.5275367066005442 + ], + "size": [ + 0.2774026307993884, + 0.3977932491142244 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2399999423999999, + 0.2399959727999999, + 0.12156677519999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "size": [ + 0.7251709780517523, + 0.65 + ], + "offset": [ + 1.013056510974124, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the mango, sweet potato, and corn from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.0895480075339554, + -3.712618517133646, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b53a56af112384dc946654b4bdba0096043fda28 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,684 @@ +{ + "layout_id": 29, + "style_id": 55, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.23732507795208496 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf0" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06643181373156865, + 0.12999999315711352, + 0.06913134918545921 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.5293502792913627 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07384239449999998, + 0.07426866764648381, + 0.055746330854518675 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.23732507795208496 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf0" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.2799999327999999, + 0.2799999999999999, + 0.07451864559999997 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the corn, pear, and orange from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.2229833148822562, + -1.1601923423115528, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..710886fa5498fef2083a58d39f1eeff1dcd76e1e --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,683 @@ +{ + "layout_id": 29, + "style_id": 34, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07090421426090804, + 0.07102862744754534, + 0.06306057784554964 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_main_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06166207599999998, + 0.06545791279999998, + 0.06900705419999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "fridge_main_group", + "min_size": [ + 0.23999765999999986, + 0.2399966807999999, + 0.10514416799999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the fish, mushroom, and peach from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_main_group", + "counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1275093397785925, + -1.167023737803857, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000099/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..05be2909c18df845738e01d5d90d6056191d7de7 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,598 @@ +{ + "layout_id": 21, + "style_id": 45, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.24424967949803994, + 0.10736834001828706, + 0.5193345304181378 + ], + "size": [ + 0.2909410411283153, + 0.5310884866297055 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridge_left_group", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.08773307999999999, + 0.12325784749999999, + 0.036399959999999995 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.24475564428553942, + 0.10627552273659963, + 0.19968623948661898 + ], + "size": [ + 0.28909176672101966, + 0.5357998980931095 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_3_left_group", + "sample_region_kwargs": { + "ref": "fridge_left_group", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.45, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Take the fish, corn, and steak from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridge_left_group", + "counter": "counter_3_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.128788154779094, + -3.521282117230749, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000100/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..31e9cd5cba7638198a863bf3a00cb367d9ed5928 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,547 @@ +{ + "layout_id": 41, + "style_id": 28, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.07489480363000164, + 0.07446963915346248, + 0.07983764375782279 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.2341558587379996, + 0.022653158550433428, + 0.46706460907086156 + ], + "size": [ + 0.28469050695534137, + 0.41264864724413647 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06730011959999999, + 0.06979004619999998, + 0.06027413279999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.2341558587379996, + 0.022653158550433428, + 0.46706460907086156 + ], + "size": [ + 0.28469050695534137, + 0.41264864724413647 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.0587092272, + 0.12123810348934207, + 0.06071863479918593 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_16/model.xml" + }, + "reset_region": { + "offset": [ + -0.2341558587379996, + 0.022653158550433428, + 0.46706460907086156 + ], + "size": [ + 0.28469050695534137, + 0.41264864724413647 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2499992399999999, + 0.2499999999999999, + 0.05432975749999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "size": [ + 0.8160343265009941, + 0.650008 + ], + "offset": [ + 0.9013968367495033, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the garlic, peach, and pear from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.420531069304571, + -1.0991048556793366, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000101/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..925238de786fc31da0a11f216421c02deb6d752b --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 41, + "style_id": 46, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.062111171395770465, + 0.10999998688697808, + 0.04926267939999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.050148, + 0.12157199999999999, + 0.040789608 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.5224675631030794 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf2" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2151334448180669, + 0.09438052736270874, + 0.20581187999732026 + ], + "size": [ + 0.3737663799400992, + 0.5584616837664541 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8322232984582226, + 0.650008 + ], + "offset": [ + 0.8933023507708888, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the potato, chicken drumstick, and lime from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.43580594356963, + -1.14254303433077, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000102/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000102/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9602f06d2225cf41cb8b82bc7e03b0438aa3f13b --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,588 @@ +{ + "layout_id": 57, + "style_id": 43, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05977021499999999, + 0.08349168009999998, + 0.061614149749999986 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.5293502792913627 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06166207599999998, + 0.06545791279999998, + 0.06900705419999997 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.5293502792913627 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.2047386177857331, + 0.005177244354625632, + 0.23732507795208496 + ], + "size": [ + 0.28083323259111503, + 0.37611027746536396 + ], + "name": "freezer_shelf0" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2399999423999999, + 0.2399959727999999, + 0.12156677519999995 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "size": [ + 0.7092303236254982, + 0.65 + ], + "offset": [ + 1.0210268381872512, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Take the lemon, peach, and fish from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.105423158501317, + -3.945128651707043, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000103/ep_meta.json b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000103/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2857f87bf72f4e2881d28adb00be1d75bed28465 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,549 @@ +{ + "layout_id": 41, + "style_id": 29, + "object_cfgs": [ + { + "name": "item1", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.06301314029999996, + 0.08249881694999997, + 0.05559345577499998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.18525310562404038, + 0.08681733506637246, + 0.13308273099782958 + ], + "size": [ + 0.30968627510738417, + 0.4761046196990937 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item2", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.04982950829999999, + 0.14104355024999995, + 0.05576044664999998 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.18525310562404038, + 0.08681733506637246, + 0.13308273099782958 + ], + "size": [ + 0.30968627510738417, + 0.4761046196990937 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "item3", + "obj_groups": [ + "vegetable", + "fruit", + "meat" + ], + "graspable": true, + "freezable": true, + "placement": { + "fixture": "fridgesidebyside_main_group_1", + "sample_region_kwargs": { + "compartment": "freezer", + "z_range": [ + 1.0, + 1.5 + ], + "min_size": [ + 0.05496633832750106, + 0.10011066582587716, + 0.11258375177999994 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "vegetable", + "fruit", + "meat" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.18525310562404038, + 0.08681733506637246, + 0.13308273099782958 + ], + "size": [ + 0.30968627510738417, + 0.4761046196990937 + ], + "name": "freezer_shelf1" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "fridgesidebyside_main_group_1", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.5, + 0.4 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 0.74584916, + 0.650008 + ], + "offset": [ + 0.9364894199999998, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Take the bell pepper, eggplant, and eggplant from the freezer and place them in the bowl on the counter.", + "fixture_refs": { + "fridge": "fridgesidebyside_main_group_1", + "counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.334324599598429, + -1.162172242734515, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/meta/embodiment.json b/pretrain/composite/ClearFreezer/20250807/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/meta/episodes.jsonl b/pretrain/composite/ClearFreezer/20250807/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f2f82bc78cb69294479cf110d87063c8270aeb4b --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/meta/episodes.jsonl @@ -0,0 +1,104 @@ +{"episode_index": 0, "tasks": ["Take the steak, bell pepper, and garlic from the freezer and place them in the bowl on the counter."], "length": 1799} +{"episode_index": 1, "tasks": ["Take the tangerine, steak, and potato from the freezer and place them in the bowl on the counter."], "length": 1265} +{"episode_index": 2, "tasks": ["Take the bell pepper, peach, and chicken drumstick from the freezer and place them in the bowl on the counter."], "length": 1511} +{"episode_index": 3, "tasks": ["Take the fish, lemon, and mango from the freezer and place them in the bowl on the counter."], "length": 1213} +{"episode_index": 4, "tasks": ["Take the broccoli, fish, and peach from the freezer and place them in the bowl on the counter."], "length": 1538} +{"episode_index": 5, "tasks": ["Take the potato, steak, and lime from the freezer and place them in the bowl on the counter."], "length": 1806} +{"episode_index": 6, "tasks": ["Take the mango, lemon, and mushroom from the freezer and place them in the bowl on the counter."], "length": 939} +{"episode_index": 7, "tasks": ["Take the kiwi, sweet potato, and chicken drumstick from the freezer and place them in the bowl on the counter."], "length": 1475} +{"episode_index": 8, "tasks": ["Take the lemon, broccoli, and fish from the freezer and place them in the bowl on the counter."], "length": 1530} +{"episode_index": 9, "tasks": ["Take the fish, sweet potato, and pear from the freezer and place them in the bowl on the counter."], "length": 2116} +{"episode_index": 10, "tasks": ["Take the peach, mango, and chicken drumstick from the freezer and place them in the bowl on the counter."], "length": 1829} +{"episode_index": 11, "tasks": ["Take the squash, carrot, and bell pepper from the freezer and place them in the bowl on the counter."], "length": 1582} +{"episode_index": 12, "tasks": ["Take the bell pepper, chicken drumstick, and orange from the freezer and place them in the bowl on the counter."], "length": 2234} +{"episode_index": 13, "tasks": ["Take the peach, bell pepper, and peach from the freezer and place them in the bowl on the counter."], "length": 1615} +{"episode_index": 14, "tasks": ["Take the lemon wedge, broccoli, and lemon from the freezer and place them in the bowl on the counter."], "length": 1600} +{"episode_index": 15, "tasks": ["Take the tangerine, pear, and garlic from the freezer and place them in the bowl on the counter."], "length": 1511} +{"episode_index": 16, "tasks": ["Take the mushroom, lime, and carrot from the freezer and place them in the bowl on the counter."], "length": 1524} +{"episode_index": 17, "tasks": ["Take the steak, mango, and pear from the freezer and place them in the bowl on the counter."], "length": 1472} +{"episode_index": 18, "tasks": ["Take the lime, peach, and bell pepper from the freezer and place them in the bowl on the counter."], "length": 940} +{"episode_index": 19, "tasks": ["Take the corn, cucumber, and mango from the freezer and place them in the bowl on the counter."], "length": 1115} +{"episode_index": 20, "tasks": ["Take the mushroom, pear, and tangerine from the freezer and place them in the bowl on the counter."], "length": 1537} +{"episode_index": 21, "tasks": ["Take the lemon, peach, and carrot from the freezer and place them in the bowl on the counter."], "length": 1948} +{"episode_index": 22, "tasks": ["Take the squash, garlic, and chicken drumstick from the freezer and place them in the bowl on the counter."], "length": 1923} +{"episode_index": 23, "tasks": ["Take the broccoli, potato, and mushroom from the freezer and place them in the bowl on the counter."], "length": 1257} +{"episode_index": 24, "tasks": ["Take the cucumber, carrot, and orange from the freezer and place them in the bowl on the counter."], "length": 897} +{"episode_index": 25, "tasks": ["Take the tangerine, steak, and orange from the freezer and place them in the bowl on the counter."], "length": 1933} +{"episode_index": 26, "tasks": ["Take the carrot, chicken drumstick, and garlic from the freezer and place them in the bowl on the counter."], "length": 1219} +{"episode_index": 27, "tasks": ["Take the sweet potato, bell pepper, and mango from the freezer and place them in the bowl on the counter."], "length": 1727} +{"episode_index": 28, "tasks": ["Take the squash, sweet potato, and squash from the freezer and place them in the bowl on the counter."], "length": 1743} +{"episode_index": 29, "tasks": ["Take the mushroom, broccoli, and mushroom from the freezer and place them in the bowl on the counter."], "length": 1707} +{"episode_index": 30, "tasks": ["Take the pear, tangerine, and lime from the freezer and place them in the bowl on the counter."], "length": 1271} +{"episode_index": 31, "tasks": ["Take the pear, bell pepper, and mushroom from the freezer and place them in the bowl on the counter."], "length": 1806} +{"episode_index": 32, "tasks": ["Take the sweet potato, peach, and lime from the freezer and place them in the bowl on the counter."], "length": 1969} +{"episode_index": 33, "tasks": ["Take the garlic, mushroom, and cucumber from the freezer and place them in the bowl on the counter."], "length": 2055} +{"episode_index": 34, "tasks": ["Take the squash, broccoli, and lemon from the freezer and place them in the bowl on the counter."], "length": 1597} +{"episode_index": 35, "tasks": ["Take the eggplant, cucumber, and bell pepper from the freezer and place them in the bowl on the counter."], "length": 2226} +{"episode_index": 36, "tasks": ["Take the mango, corn, and lemon wedge from the freezer and place them in the bowl on the counter."], "length": 1642} +{"episode_index": 37, "tasks": ["Take the mushroom, corn, and mushroom from the freezer and place them in the bowl on the counter."], "length": 1726} +{"episode_index": 38, "tasks": ["Take the cucumber, bell pepper, and tangerine from the freezer and place them in the bowl on the counter."], "length": 2185} +{"episode_index": 39, "tasks": ["Take the lemon wedge, orange, and lemon from the freezer and place them in the bowl on the counter."], "length": 1269} +{"episode_index": 40, "tasks": ["Take the lime, mushroom, and fish from the freezer and place them in the bowl on the counter."], "length": 1776} +{"episode_index": 41, "tasks": ["Take the bell pepper, fish, and tangerine from the freezer and place them in the bowl on the counter."], "length": 1175} +{"episode_index": 42, "tasks": ["Take the sweet potato, orange, and garlic from the freezer and place them in the bowl on the counter."], "length": 2382} +{"episode_index": 43, "tasks": ["Take the mango, orange, and kiwi from the freezer and place them in the bowl on the counter."], "length": 1482} +{"episode_index": 44, "tasks": ["Take the orange, potato, and peach from the freezer and place them in the bowl on the counter."], "length": 1650} +{"episode_index": 45, "tasks": ["Take the eggplant, tangerine, and pear from the freezer and place them in the bowl on the counter."], "length": 1452} +{"episode_index": 46, "tasks": ["Take the corn, carrot, and lemon from the freezer and place them in the bowl on the counter."], "length": 1776} +{"episode_index": 47, "tasks": ["Take the tangerine, lemon wedge, and broccoli from the freezer and place them in the bowl on the counter."], "length": 1170} +{"episode_index": 48, "tasks": ["Take the mushroom, peach, and broccoli from the freezer and place them in the bowl on the counter."], "length": 2391} +{"episode_index": 49, "tasks": ["Take the orange, peach, and pear from the freezer and place them in the bowl on the counter."], "length": 951} +{"episode_index": 50, "tasks": ["Take the mango, corn, and chicken drumstick from the freezer and place them in the bowl on the counter."], "length": 1353} +{"episode_index": 51, "tasks": ["Take the potato, mango, and squash from the freezer and place them in the bowl on the counter."], "length": 1751} +{"episode_index": 52, "tasks": ["Take the carrot, peach, and bell pepper from the freezer and place them in the bowl on the counter."], "length": 1812} +{"episode_index": 53, "tasks": ["Take the bell pepper, orange, and tangerine from the freezer and place them in the bowl on the counter."], "length": 1928} +{"episode_index": 54, "tasks": ["Take the sweet potato, lemon, and tangerine from the freezer and place them in the bowl on the counter."], "length": 1784} +{"episode_index": 55, "tasks": ["Take the steak, potato, and peach from the freezer and place them in the bowl on the counter."], "length": 2198} +{"episode_index": 56, "tasks": ["Take the lime, broccoli, and pear from the freezer and place them in the bowl on the counter."], "length": 1007} +{"episode_index": 57, "tasks": ["Take the chicken drumstick, mushroom, and fish from the freezer and place them in the bowl on the counter."], "length": 956} +{"episode_index": 58, "tasks": ["Take the squash, pear, and lemon from the freezer and place them in the bowl on the counter."], "length": 1874} +{"episode_index": 59, "tasks": ["Take the lime, lime, and fish from the freezer and place them in the bowl on the counter."], "length": 890} +{"episode_index": 60, "tasks": ["Take the bell pepper, bell pepper, and orange from the freezer and place them in the bowl on the counter."], "length": 2485} +{"episode_index": 61, "tasks": ["Take the peach, potato, and eggplant from the freezer and place them in the bowl on the counter."], "length": 1354} +{"episode_index": 62, "tasks": ["Take the garlic, chicken drumstick, and steak from the freezer and place them in the bowl on the counter."], "length": 1032} +{"episode_index": 63, "tasks": ["Take the garlic, cucumber, and tangerine from the freezer and place them in the bowl on the counter."], "length": 1455} +{"episode_index": 64, "tasks": ["Take the mango, corn, and mango from the freezer and place them in the bowl on the counter."], "length": 1878} +{"episode_index": 65, "tasks": ["Take the broccoli, pear, and lemon from the freezer and place them in the bowl on the counter."], "length": 1426} +{"episode_index": 66, "tasks": ["Take the sweet potato, fish, and eggplant from the freezer and place them in the bowl on the counter."], "length": 940} +{"episode_index": 67, "tasks": ["Take the peach, carrot, and mushroom from the freezer and place them in the bowl on the counter."], "length": 927} +{"episode_index": 68, "tasks": ["Take the eggplant, kiwi, and kiwi from the freezer and place them in the bowl on the counter."], "length": 918} +{"episode_index": 69, "tasks": ["Take the fish, mushroom, and lime from the freezer and place them in the bowl on the counter."], "length": 1800} +{"episode_index": 70, "tasks": ["Take the cucumber, mushroom, and lemon wedge from the freezer and place them in the bowl on the counter."], "length": 1681} +{"episode_index": 71, "tasks": ["Take the kiwi, potato, and chicken drumstick from the freezer and place them in the bowl on the counter."], "length": 1745} +{"episode_index": 72, "tasks": ["Take the bell pepper, eggplant, and broccoli from the freezer and place them in the bowl on the counter."], "length": 1567} +{"episode_index": 73, "tasks": ["Take the squash, garlic, and steak from the freezer and place them in the bowl on the counter."], "length": 1114} +{"episode_index": 74, "tasks": ["Take the broccoli, kiwi, and lemon from the freezer and place them in the bowl on the counter."], "length": 1726} +{"episode_index": 75, "tasks": ["Take the shrimp, sweet potato, and mushroom from the freezer and place them in the bowl on the counter."], "length": 1798} +{"episode_index": 76, "tasks": ["Take the orange, mushroom, and kiwi from the freezer and place them in the bowl on the counter."], "length": 1647} +{"episode_index": 77, "tasks": ["Take the lemon, kiwi, and sweet potato from the freezer and place them in the bowl on the counter."], "length": 1502} +{"episode_index": 78, "tasks": ["Take the steak, mango, and lime from the freezer and place them in the bowl on the counter."], "length": 1703} +{"episode_index": 79, "tasks": ["Take the peach, pear, and potato from the freezer and place them in the bowl on the counter."], "length": 948} +{"episode_index": 80, "tasks": ["Take the tangerine, fish, and bell pepper from the freezer and place them in the bowl on the counter."], "length": 1685} +{"episode_index": 81, "tasks": ["Take the broccoli, lime, and pear from the freezer and place them in the bowl on the counter."], "length": 1664} +{"episode_index": 82, "tasks": ["Take the kiwi, cucumber, and lemon wedge from the freezer and place them in the bowl on the counter."], "length": 1707} +{"episode_index": 83, "tasks": ["Take the kiwi, bell pepper, and shrimp from the freezer and place them in the bowl on the counter."], "length": 1189} +{"episode_index": 84, "tasks": ["Take the steak, mushroom, and squash from the freezer and place them in the bowl on the counter."], "length": 1717} +{"episode_index": 85, "tasks": ["Take the orange, eggplant, and lemon wedge from the freezer and place them in the bowl on the counter."], "length": 1097} +{"episode_index": 86, "tasks": ["Take the lemon, garlic, and corn from the freezer and place them in the bowl on the counter."], "length": 1827} +{"episode_index": 87, "tasks": ["Take the tangerine, orange, and fish from the freezer and place them in the bowl on the counter."], "length": 1620} +{"episode_index": 88, "tasks": ["Take the pear, fish, and kiwi from the freezer and place them in the bowl on the counter."], "length": 1488} +{"episode_index": 89, "tasks": ["Take the eggplant, chicken drumstick, and garlic from the freezer and place them in the bowl on the counter."], "length": 1583} +{"episode_index": 90, "tasks": ["Take the peach, lime, and potato from the freezer and place them in the bowl on the counter."], "length": 1946} +{"episode_index": 91, "tasks": ["Take the garlic, mango, and mushroom from the freezer and place them in the bowl on the counter."], "length": 2178} +{"episode_index": 92, "tasks": ["Take the lemon, fish, and cucumber from the freezer and place them in the bowl on the counter."], "length": 1938} +{"episode_index": 93, "tasks": ["Take the squash, bell pepper, and lemon wedge from the freezer and place them in the bowl on the counter."], "length": 1665} +{"episode_index": 94, "tasks": ["Take the mango, mushroom, and squash from the freezer and place them in the bowl on the counter."], "length": 2340} +{"episode_index": 95, "tasks": ["Take the corn, mushroom, and eggplant from the freezer and place them in the bowl on the counter."], "length": 1827} +{"episode_index": 96, "tasks": ["Take the mango, sweet potato, and corn from the freezer and place them in the bowl on the counter."], "length": 1958} +{"episode_index": 97, "tasks": ["Take the corn, pear, and orange from the freezer and place them in the bowl on the counter."], "length": 1325} +{"episode_index": 98, "tasks": ["Take the fish, mushroom, and peach from the freezer and place them in the bowl on the counter."], "length": 1629} +{"episode_index": 99, "tasks": ["Take the fish, corn, and steak from the freezer and place them in the bowl on the counter."], "length": 1920} +{"episode_index": 100, "tasks": ["Take the garlic, peach, and pear from the freezer and place them in the bowl on the counter."], "length": 1580} +{"episode_index": 101, "tasks": ["Take the potato, chicken drumstick, and lime from the freezer and place them in the bowl on the counter."], "length": 2259} +{"episode_index": 102, "tasks": ["Take the lemon, peach, and fish from the freezer and place them in the bowl on the counter."], "length": 1800} +{"episode_index": 103, "tasks": ["Take the bell pepper, eggplant, and eggplant from the freezer and place them in the bowl on the counter."], "length": 1680} diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/meta/episodes_stats.jsonl b/pretrain/composite/ClearFreezer/20250807/lerobot/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0255e6fee52a2def7036d141ed90f020074be1f2 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/meta/episodes_stats.jsonl @@ -0,0 +1,104 @@ +{"episode_index": 0, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5298282494291591]], [[0.48723289097327677]], [[0.46497879223445493]]], "std": [[[0.21669948332325667]], [[0.23320497908094548]], [[0.22912486273983906]]], "count": [276]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5358032395670989]], [[0.5020185090628969]], [[0.46640445614918014]]], "std": [[[0.22503410875592847]], [[0.22083216506790293]], [[0.2278769931494908]]], "count": [276]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4693185631203767]], [[0.4604489451411367]], [[0.4474186935489846]]], "std": [[[0.22368118328136524]], [[0.20742693400285575]], [[0.2021113836955977]]], "count": [276]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1799]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1799]}, "observation.state": {"min": [3.513939116523546, -1.6296068807193853, 0.6999983118329005, 0.0, 0.0, 0.5941416025161743, 0.2656068503856659, -0.11945252461434408, -0.03165242354692621, 0.3031774382497805, -0.999168336391449, -0.1661148965358734, -0.5231339931488037, 3.130287223029882e-05, 0.020545006665124547, -0.04008190649717175], "max": [4.712091888719071, -0.7576009000484336, 0.7016785964840131, 0.0, 0.0, 0.9640814065933228, 0.8043605089187622, 0.4710506296522914, 0.2413163539712766, 0.7964742701183157, 0.9909067153930664, 0.10726982355117798, 0.3294847011566162, 0.08245687186717987, 0.04041714348536255, -0.019773215499894137], "mean": [4.285677014635352, -1.002023986139327, 0.7010821790911324, 0.0, 0.0, 0.6903344477594661, 0.7197713266981516, 0.07977745313728038, 0.02699975413218946, 0.6255757512201581, -0.44408091463732546, -0.037913166220533374, -0.16990935869251916, 0.024811962711754516, 0.03846985537877028, -0.03370069227874767], "std": [0.33391556943192735, 0.22287793857561825, 0.00047513814109870976, 0.0, 0.0, 0.04167545677310357, 0.06025563522030523, 0.1699295061610975, 0.0501925170125069, 0.12385270822164393, 0.8359900732896082, 0.04974104635375411, 0.2649033542623531, 0.018508110634227668, 0.002473994579799782, 0.007039975380591157], "count": [1799]}, "action": {"min": [-1.0, -1.0, -0.6714285714285715, 0.0, -1.0, -1.0, -0.6214285714285714, -0.7357142857142858, -0.08285714285714285, -0.2742857142857143, -0.1657142857142857, -1.0], "max": [1.0, 1.0, 0.842857142857143, 0.0, 1.0, 0.9214285714285714, 0.7785714285714286, 0.7857142857142857, 0.08857142857142856, 0.2, 0.13428571428571429, 1.0], "mean": [0.06191137933772733, 0.024795521321369033, 0.00143095370443897, 0.0, -0.18176764869371873, -0.0071944731199872995, 0.0016795044866195518, -0.0018422933375684986, -0.00038116413880727386, -0.000555864369093941, 0.0003700468514253956, -0.08615897720956087], "std": [0.32070912277856445, 0.2767467415155139, 0.12090802609520006, 0.0, 0.9833415082708479, 0.35827363693687553, 0.0853085934594708, 0.24282609681842385, 0.009271542909525868, 0.0504394998793057, 0.025779479430923617, 0.9962814013351032], "count": [1799]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008893829770386219], "std": [0.09388678520917892], "count": [1799]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005558643690939411], "std": [0.023570222398125836], "count": [1799]}, "timestamp": {"min": [0.0], "max": [89.9], "mean": [44.95], "std": [25.96632434519757], "count": [1799]}, "frame_index": {"min": [0], "max": [1798], "mean": [899.0], "std": [519.3264869039514], "count": [1799]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1799]}, "index": {"min": [0], "max": [1798], "mean": [899.0], "std": [519.3264869039514], "count": [1799]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1799]}}} +{"episode_index": 1, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5730025604394821]], [[0.5365793993770304]], [[0.5060199572428746]]], "std": [[[0.2201190292393358]], [[0.23739694021499497]], [[0.24509262307387458]]], "count": [212]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5350469879252003]], [[0.49926819457330396]], [[0.4704198122465562]]], "std": [[[0.18456760045290221]], [[0.2072736163862727]], [[0.2266482119529805]]], "count": [212]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5041229685544526]], [[0.4539309832946574]], [[0.4142826081733548]]], "std": [[[0.19063938103170178]], [[0.21649936668079423]], [[0.24577561364658115]]], "count": [212]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1265]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1265]}, "observation.state": {"min": [3.4369952834030704, -1.2522461764151203, 0.6999915949408402, 0.0, 0.0, 0.6933891773223877, 0.6978171467781067, -0.1248063611739213, -0.13322579801778645, 0.2795546601957928, -0.997807502746582, -0.15719890594482422, -0.511322557926178, 3.2814546102599707e-06, 0.02055103573998283, -0.040294571333922814], "max": [4.4429103496810605, -0.7538958808690455, 0.7004652136917047, 0.0, 0.0, 0.7162760496139526, 0.7205631732940674, 0.5009279665196401, 0.0371566885741097, 0.8197239849655003, 0.9869487285614014, 0.10150036215782166, 0.5009186267852783, 0.1169143095612526, 0.040374601937209646, -0.020515524813259856], "mean": [4.02956686783446, -0.92796336498387, 0.7001600107309071, 0.0, 0.0, 0.7060892170125788, 0.7080804105332718, 0.11142909651953305, -0.036943170300124166, 0.6044348465641228, -0.40585712915352684, -0.01691442929473319, -0.12271520396466312, 0.019206188446594163, 0.035758438494689605, -0.0363791864559116], "std": [0.4578766357035509, 0.11861292678373915, 0.00013609537367315002, 0.0, 0.0, 0.005506578499847762, 0.005460726837915487, 0.18325125715761018, 0.041153466403791236, 0.14594814300124848, 0.8547016021482695, 0.04955265043785509, 0.29318489885404514, 0.02526485584222804, 0.005983597533854941, 0.004792829989149658], "count": [1265]}, "action": {"min": [-1.0, -1.0, -0.18285714285714286, 0.0, -1.0, -1.0, -0.7285714285714285, -1.0, -0.06285714285714286, -0.3857142857142858, -0.30857142857142855, -1.0], "max": [0.8500000000000001, 1.0, 0.10571428571428572, 0.0, 1.0, 1.0, 0.7000000000000001, 0.9714285714285714, 0.10857142857142858, 0.2142857142857143, 0.18857142857142858, 1.0], "mean": [0.04634105025409372, 0.001456804065499718, -0.002068887634105026, 0.0, -0.45454545454545453, -0.016662902315076212, -0.0015810276679841914, 0.007933370976849216, 0.0005759457933370974, -0.0030965556182947457, -0.0008492377188029336, -0.108300395256917], "std": [0.2631057839508659, 0.3377211171453847, 0.019837968249475414, 0.0, 0.890723542830249, 0.4865778058453838, 0.1320451167997945, 0.34030888286346794, 0.011348561499647762, 0.06051181866933932, 0.04063624349438429, 0.9941182144932207], "count": [1265]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02292490191757679], "std": [0.14966411888599396], "count": [1265]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007905138339920949], "std": [0.028104962584397118], "count": [1265]}, "timestamp": {"min": [0.0], "max": [63.2], "mean": [31.6], "std": [18.25869655807884], "count": [1265]}, "frame_index": {"min": [0], "max": [1264], "mean": [632.0], "std": [365.1739311615768], "count": [1265]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1265]}, "index": {"min": [1799], "max": [3063], "mean": [2431.0], "std": [365.1739311615768], "count": [1265]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1265]}}} +{"episode_index": 2, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5563866303276541]], [[0.505255540876523]], [[0.48212098186704955]]], "std": [[[0.23255695365192713]], [[0.2362728095138415]], [[0.2384795140897526]]], "count": [242]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46332074481999347]], [[0.4652606789170585]], [[0.46028315832038846]]], "std": [[[0.2612124614373781]], [[0.23652312784748883]], [[0.2265749333582333]]], "count": [242]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4236375558049844]], [[0.42781559992524254]], [[0.42621541212567476]]], "std": [[[0.23865734227585372]], [[0.21780204705198783]], [[0.20856150086530548]]], "count": [242]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1511]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1511]}, "observation.state": {"min": [5.501347954321112, -2.5398795332518334, 0.6999901255801417, 0.0, 0.0, -0.7242147326469421, 0.6895745992660522, -0.09892408442996903, -0.1343222202657115, 0.2826340681408286, -0.9956757426261902, -0.3721729516983032, -0.6019508838653564, 7.805501809343696e-06, 0.0032368436135033945, -0.04023087833518301], "max": [6.732394451442124, -0.8472420572479429, 0.7003224366107695, 0.0, 0.0, 0.5913559198379517, 1.0, 0.6708048265761466, 0.2463448790590823, 0.8689427654371761, 0.9957770705223083, 0.434271901845932, 0.5115143656730652, 0.32179591059684753, 0.040042186175683954, -0.012787501140909657], "mean": [6.284987524323582, -1.7038718135362836, 0.7001054413872619, 0.0, 0.0, 0.09845963145522779, 0.9319001583371392, 0.18668226003968177, 0.06483080107888699, 0.5888779600950664, -0.4621978443162793, 0.05324141230510608, -0.16068961335700357, 0.054356344122197545, 0.03267426609223469, -0.03332682773298085], "std": [0.3136818126739611, 0.6257607143325824, 9.707100240806212e-05, 0.0, 0.0, 0.3409419617387166, 0.0750091689764449, 0.19785698411955485, 0.07746534352716687, 0.1301140072791195, 0.8052431289915577, 0.2068353956426697, 0.24849484876532651, 0.04261077966457173, 0.008889772928944415, 0.00850127960038333], "count": [1511]}, "action": {"min": [-1.0, -0.8285714285714285, -0.96, 0.0, -1.0, -1.0, -0.9785714285714284, -1.0, -0.4028571428571428, -0.5457142857142857, -0.34285714285714286, -1.0], "max": [1.0, 0.9571428571428572, 0.8885714285714287, 0.0, 1.0, 1.0, 1.0, 1.0, 0.2885714285714286, 0.4114285714285714, 0.5885714285714285, 1.0], "mean": [0.022161293372411843, 0.029601966531152477, 0.021605370142762592, 0.0, -0.15949702183984116, -0.0014890800794176136, -0.006419589675711445, 0.004793419684220483, 0.007251583624846367, -0.009539566984967385, 0.0011477734707383965, -0.0800794176042356], "std": [0.5022434810869001, 0.26271373918825075, 0.33621229369925487, 0.0, 0.987198409654428, 0.472320936087429, 0.23929783247385458, 0.3277866703959145, 0.06719062797749822, 0.12785601406362362, 0.09282290859250983, 0.9967884865286973], "count": [1511]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011250827461481094], "std": [0.10547152906656265], "count": [1511]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006618133686300463], "std": [0.02571721936164851], "count": [1511]}, "timestamp": {"min": [0.0], "max": [75.5], "mean": [37.75], "std": [21.80940164241101], "count": [1511]}, "frame_index": {"min": [0], "max": [1510], "mean": [755.0], "std": [436.1880328482202], "count": [1511]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1511]}, "index": {"min": [3064], "max": [4574], "mean": [3819.0], "std": [436.1880328482202], "count": [1511]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1511]}}} +{"episode_index": 3, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5100768899940408]], [[0.5019144813687194]], [[0.477929883945051]]], "std": [[[0.24844216521335794]], [[0.24144031662790955]], [[0.24467665787464693]]], "count": [205]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4841407808717046]], [[0.4999838716569898]], [[0.4586334438679721]]], "std": [[[0.23041311311230286]], [[0.22040720987029305]], [[0.21683521820517235]]], "count": [205]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4815165073389302]], [[0.478194643711143]], [[0.45092330604235786]]], "std": [[[0.21047581031847928]], [[0.2039603034254612]], [[0.19557224582337746]]], "count": [205]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1213]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1213]}, "observation.state": {"min": [0.8164188619517389, -6.748938617897612, 0.6999844097839014, 0.0, 0.0, -1.0, 3.1587785542797064e-06, -0.05502057147812334, -0.020884803934285046, 0.32639100533649923, -0.9921622276306152, -0.1837655007839203, -0.7245455980300903, 4.550405719783157e-06, 0.018079131937600183, -0.0400698250740816], "max": [1.7481442023376588, -5.276767407461546, 0.7004970159570174, 0.0, 0.0, 1.0, 0.10153715312480927, 0.5332071534581909, 0.21869687920726388, 0.8206280676270674, 0.9912691712379456, 0.18576186895370483, 0.5793167352676392, 0.10071592777967453, 0.040286890459857144, -0.020511427796259085], "mean": [1.074909698042025, -6.2695450136955335, 0.7002140500477111, 0.0, 0.0, 0.2846802252929071, 0.03383018553998703, 0.23179981903311994, 0.08054316902561848, 0.5886289373388659, -0.3713947897692505, 0.017636352196421786, -0.12120197107132466, 0.038585519516305324, 0.03309400974172515, -0.034416520998909184], "std": [0.19083229495408977, 0.5733200123352813, 0.00014513360018050505, 0.0, 0.0, 0.9573141351561703, 0.03691024348313433, 0.13391673130955298, 0.058191254276079074, 0.09927198493887618, 0.8486704737131967, 0.09988342581301712, 0.3384785355514464, 0.028109006664300922, 0.00810572356383586, 0.006870404601301618], "count": [1213]}, "action": {"min": [-1.0, -1.0, -0.44857142857142857, 0.0, -1.0, -1.0, -0.9142857142857143, -1.0, -0.2, -0.7571428571428571, -0.16285714285714287, -1.0], "max": [1.0, 1.0, 0.41428571428571437, 0.0, 1.0, 1.0, 0.6714285714285714, 1.0, 0.2542857142857143, 0.6428571428571429, 0.21142857142857144, 1.0], "mean": [0.04623130373336475, -0.010263808738664457, 0.0021528677423153938, 0.0, -0.2629843363561418, -0.012124602520315634, 0.013149216817807093, -0.0005476386762454423, 0.00033918266399717326, -0.0153880579437051, -0.0009374631963255207, -0.19868095630667765], "std": [0.38769324470311717, 0.3968422106493761, 0.07701548423234875, 0.0, 0.9648001030427622, 0.4292401430183861, 0.1119919631107683, 0.3381276294977808, 0.03548456613413832, 0.1460685198503376, 0.03473766923661062, 0.980064221161595], "count": [1213]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014839241281151772], "std": [0.12090921401977539], "count": [1213]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008244023083264633], "std": [0.028700569143494163], "count": [1213]}, "timestamp": {"min": [0.0], "max": [60.6], "mean": [30.299999999999994], "std": [17.508140963563207], "count": [1213]}, "frame_index": {"min": [0], "max": [1212], "mean": [606.0], "std": [350.16281927126414], "count": [1213]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1213]}, "index": {"min": [4575], "max": [5787], "mean": [5181.0], "std": [350.16281927126414], "count": [1213]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1213]}}} +{"episode_index": 4, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5333932188598095]], [[0.5056367669137968]], [[0.48017776153430125]]], "std": [[[0.2159107005692117]], [[0.2303962563883074]], [[0.2471650854510707]]], "count": [245]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.0196078431372549]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5431222872449761]], [[0.4809744417786646]], [[0.4390651560917336]]], "std": [[[0.21917563969354495]], [[0.21324730109853973]], [[0.22378078382174765]]], "count": [245]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.023529411764705882]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5019010123580683]], [[0.45955177823082355]], [[0.4336706232786083]]], "std": [[[0.21590784675560373]], [[0.20488625723717518]], [[0.214952067106294]]], "count": [245]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1538]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1538]}, "observation.state": {"min": [0.763691321999416, -6.738492414253935, 0.6999959758971693, 0.0, 0.0, -0.9999992847442627, 0.00014811409346293658, -0.1065388216382872, -0.03748382758800961, 0.3064115886462707, -0.9946856498718262, -0.27998387813568115, -0.4043394923210144, 9.749508171807975e-05, 0.016969256498749218, -0.040290513966709934], "max": [1.7777071302544014, -5.228807725253786, 0.7017343897223645, 0.0, 0.0, 1.0, 0.0663217157125473, 0.509117447641904, 0.12046892833307954, 0.7727367588551568, 0.9646179676055908, 0.17079618573188782, 0.3996031880378723, 0.08851148933172226, 0.040453983031873975, -0.018724867315023076], "mean": [0.9666366192653192, -6.161941637887197, 0.7008601963071629, 0.0, 0.0, 0.67243863148094, 0.023914721862105148, 0.12568486415213723, 0.00804573163150036, 0.5552340179225266, -0.6168219888938884, -0.05560322084569497, -0.14352153915965202, 0.029226182164689883, 0.03419910434317621, -0.03442684898318691], "std": [0.18827437554793608, 0.6214364510777871, 0.0005865541894504705, 0.0, 0.0, 0.7395526050988106, 0.017785672950172245, 0.1657406057295408, 0.03562235205100678, 0.11840795576622093, 0.7329387042291448, 0.06703357037730265, 0.2302315712422499, 0.016943787973412318, 0.007372481981173948, 0.00731723768548296], "count": [1538]}, "action": {"min": [-1.0, -1.0, -0.17714285714285713, 0.0, -1.0, -1.0, -0.6357142857142857, -1.0, -0.17714285714285713, -0.3171428571428571, -0.17142857142857143, -1.0], "max": [0.8857142857142857, 1.0, 0.2142857142857143, 0.0, 1.0, 1.0, 0.5285714285714286, 0.9285714285714287, 0.08857142857142856, 0.27714285714285714, 0.27714285714285714, 1.0], "mean": [0.051156418354077644, -0.006158276054244855, 9.660040869403732e-05, 0.0, -0.3159947984395319, -0.017397362065762607, -0.0018623444176109974, -0.013575143971762958, 0.00013375441203789678, -0.0042838565855470925, -0.0004960059446405369, -0.10143042912873862], "std": [0.2932684188889794, 0.3456867212594476, 0.03031851839019751, 0.0, 0.948760922129042, 0.3862329804199542, 0.09983074766557114, 0.27498041380993665, 0.017419074682121633, 0.0534115453946348, 0.048750456757035945, 0.9948426348155668], "count": [1538]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010403120890259743], "std": [0.10146377235651016], "count": [1538]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006501950585175553], "std": [0.025490631708599037], "count": [1538]}, "timestamp": {"min": [0.0], "max": [76.85], "mean": [38.425000000000004], "std": [22.19911315796196], "count": [1538]}, "frame_index": {"min": [0], "max": [1537], "mean": [768.5], "std": [443.98226315923927], "count": [1538]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1538]}, "index": {"min": [5788], "max": [7325], "mean": [6556.5], "std": [443.98226315923927], "count": [1538]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1538]}}} +{"episode_index": 5, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5256393548189526]], [[0.5021852715924902]], [[0.4784494988282218]]], "std": [[[0.23162126438850345]], [[0.23902462095453542]], [[0.2477001049229059]]], "count": [277]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5028420469432978]], [[0.4504598135147208]], [[0.4173096184856431]]], "std": [[[0.22279431265294947]], [[0.21488125365523417]], [[0.22416797576603475]]], "count": [277]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47123262388248677]], [[0.4392971902640583]], [[0.4180200928494776]]], "std": [[[0.23506210689900336]], [[0.21288034502867578]], [[0.21077014738547967]]], "count": [277]}, "annotation.human.task_description": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1806]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1806]}, "observation.state": {"min": [3.1970723473906735, -3.560606565720297, 0.6999977433279946, 0.0, 0.0, -0.03525986894965172, 0.9993782043457031, -0.16419162117801056, -0.0504055909902279, 0.31338116749226075, -0.9950616359710693, -0.1810952126979828, -0.514231264591217, 0.00010026735253632069, 0.005812241366898939, -0.04007972802466376], "max": [3.943595860753308, -2.604496933105253, 0.7009317798469552, 0.0, 0.0, 0.009330986067652702, 1.0, 0.6226786740501526, 0.20078352163045032, 0.7815308751617324, 0.9947617650032043, 0.032814860343933105, 0.24928106367588043, 0.1267695277929306, 0.04001967717939369, -0.006090264481391555], "mean": [3.6854492832659598, -3.0950222842881394, 0.700388316098807, 0.0, 0.0, -0.0061395485873031305, 0.9999512925430522, 0.08047249039033533, 0.01627590333008779, 0.623328583825662, -0.821611554288653, -0.026686845209082363, -0.2575949345233696, 0.030815912144500537, 0.030784184741049065, -0.02942703692224453], "std": [0.22546313725392297, 0.3550524430352035, 0.00025534770544221897, 0.0, 0.0, 0.007729951177744875, 8.366059866522263e-05, 0.21413013657804567, 0.06371871362464057, 0.12933865840262943, 0.4789209806099934, 0.04639948923519832, 0.15520680276466117, 0.036470871420045146, 0.012420431049609415, 0.012415798178072767], "count": [1806]}, "action": {"min": [-1.0, -1.0, -0.13428571428571429, 0.0, -1.0, -1.0, -0.5714285714285715, -0.6642857142857144, -0.10285714285714286, -0.3057142857142857, -0.15142857142857147, -1.0], "max": [0.807142857142857, 1.0, 0.12571428571428572, 0.0, 1.0, 0.8642857142857142, 0.8357142857142857, 0.8642857142857142, 0.1457142857142857, 0.19714285714285715, 0.19142857142857142, 1.0], "mean": [0.04479908242366714, 0.019783262142066133, -0.0014950166112956814, 0.0, -0.29457364341085274, -0.0048489163107103194, 0.0011983863312766936, 0.0027210884353741347, 0.0010931814586299634, -0.0009207403891789296, 0.00022781205505457993, -0.015503875968992248], "std": [0.3060568575086764, 0.29416682395007976, 0.020807106270964916, 0.0, 0.9556287818016242, 0.3617700458161226, 0.11013259529004092, 0.22767085881833837, 0.015632832297164313, 0.04732873592639578, 0.02395939399748961, 0.9998798076918881], "count": [1806]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008859357796609402], "std": [0.09370630234479904], "count": [1806]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005537098560354374], "std": [0.023524524680230346], "count": [1806]}, "timestamp": {"min": [0.0], "max": [90.25], "mean": [45.125], "std": [26.067360657854614], "count": [1806]}, "frame_index": {"min": [0], "max": [1805], "mean": [902.5], "std": [521.3472131570924], "count": [1806]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1806]}, "index": {"min": [7326], "max": [9131], "mean": [8228.5], "std": [521.3472131570924], "count": [1806]}, "task_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1806]}}} +{"episode_index": 6, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5124807040671182]], [[0.48628636948925974]], [[0.44798999241546655]]], "std": [[[0.2114195109288738]], [[0.19392120442044758]], [[0.1935817602192697]]], "count": [169]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.460196721995011]], [[0.46249422152366865]], [[0.4504244683886753]]], "std": [[[0.22501038955246552]], [[0.21221070813479218]], [[0.21519682043042326]]], "count": [169]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4094017520085304]], [[0.42556950743644584]], [[0.4244338994568912]]], "std": [[[0.21364491406676844]], [[0.20131589505121802]], [[0.20138251848173125]]], "count": [169]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [939]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [939]}, "observation.state": {"min": [3.2679774151752006, -1.8331251566669942, 0.6999626009694239, 0.0, 0.0, -0.9999948740005493, 0.0016983288805931807, 0.04237396863849208, -0.0880925903463452, 0.3073349964377555, -0.9862602353096008, -0.3551318049430847, -0.6116664409637451, 0.00014621004811488092, 0.006736915907117723, -0.040093102072318546], "max": [4.41803851810189, -0.7514881830065501, 0.70021018004194, 0.0, 0.0, 0.9999985694885254, 0.9893602132797241, 0.5417976155889328, 0.2643283330162749, 0.859880574271114, 0.9762184619903564, 0.363990843296051, 0.6501680612564087, 0.15266290307044983, 0.04005289355866919, -0.0019646261679722617], "mean": [3.867596696157415, -1.1094364252265223, 0.7000435594351662, 0.0, 0.0, 0.6804469229219059, 0.681605571856637, 0.20149409927616194, 0.04764032439298686, 0.5915567898364107, -0.40691527949608425, 0.053024559784621096, -0.15363004656867604, 0.03784431806538369, 0.032492734351571795, -0.028490294834245915], "std": [0.399583060032313, 0.28589118040309797, 4.995495821927906e-05, 0.0, 0.0, 0.19717446738575692, 0.18310666741318482, 0.14373392345188624, 0.08038434777318257, 0.1287598715816054, 0.82587174879128, 0.17056635579412746, 0.3062057929177338, 0.0406810671754163, 0.011191488747131561, 0.012316831930292276], "count": [939]}, "action": {"min": [-1.0, -1.0, -0.9485714285714286, 0.0, -1.0, -1.0, -0.9, -1.0, -0.23428571428571432, -0.6514285714285715, -0.4914285714285715, -1.0], "max": [1.0, 1.0, 0.9571428571428573, 0.0, 1.0, 1.0, 0.8428571428571429, 1.0, 0.28285714285714286, 0.5428571428571428, 0.5142857142857142, 1.0], "mean": [0.14539023277042448, -0.0019397535371976275, -0.005537806176783843, 0.0, -0.1650692225772098, -0.000745473908413186, 0.007781834778639894, -0.010216035295907488, 0.00036208732694355814, -0.010713525026624076, -0.00033165982047771283, -0.054313099041533544], "std": [0.4851409093746864, 0.31857283659083696, 0.35393346860318026, 0.0, 0.9862819838959543, 0.5367806604513949, 0.16861349412469054, 0.42679663071703916, 0.05203322216473122, 0.15989988901033544, 0.08151231595886156, 0.9985239542807721], "count": [939]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03301384299993515], "std": [0.1786726862192154], "count": [939]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010649627263045794], "std": [0.032616385156791376], "count": [939]}, "timestamp": {"min": [0.0], "max": [46.9], "mean": [23.45], "std": [13.553289883517825], "count": [939]}, "frame_index": {"min": [0], "max": [938], "mean": [469.0], "std": [271.0657976703565], "count": [939]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [939]}, "index": {"min": [9132], "max": [10070], "mean": [9601.0], "std": [271.0657976703565], "count": [939]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [939]}}} +{"episode_index": 7, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.529800025335272]], [[0.5033082940351002]], [[0.4675025742575293]]], "std": [[[0.21301944309801335]], [[0.22473494630529084]], [[0.235989618194742]]], "count": [238]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.0392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5594547027220815]], [[0.5227346986301413]], [[0.4979368623742006]]], "std": [[[0.18314910770239703]], [[0.20352734110951026]], [[0.21990054857431532]]], "count": [238]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5488358210213083]], [[0.5085948172855425]], [[0.48353119273617073]]], "std": [[[0.19368709036045906]], [[0.21832882031140408]], [[0.23674019568240998]]], "count": [238]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1475]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1475]}, "observation.state": {"min": [3.631780092721991, -1.4384300889946748, 0.6999972752631882, 0.0, 0.0, 0.6804887056350708, 0.7014234662055969, -0.06789685135254198, -0.16513283980020255, 0.243839409850657, -0.9959767460823059, -0.12238013744354248, -0.48043859004974365, 0.00011816992628155276, 0.006946033549597904, -0.040103474005780626], "max": [4.824565283830355, -0.7496611417110428, 0.7017830831194113, 0.0, 0.0, 0.7127447724342346, 0.7327585816383362, 0.5417709078314776, 0.007301578569884892, 0.8063885219066759, 0.9839112162590027, 0.0928918719291687, 0.4608825147151947, 0.07141558825969696, 0.04001157235810643, -0.009168555492197054], "mean": [4.3772460741941215, -0.9625249815377438, 0.7014480140604815, 0.0, 0.0, 0.7028493755550708, 0.711301769159608, 0.15148116754074364, -0.05405782943317501, 0.5695504387107778, -0.11092005010378563, -0.01426922064211409, -0.031501211140115386, 0.026561530552842945, 0.03095271328269915, -0.031813434852648405], "std": [0.5267660103834721, 0.15987371919141843, 0.000508918545103964, 0.0, 0.0, 0.00516728845358157, 0.005083579386740025, 0.18030509031651729, 0.0439276883023496, 0.14704166290302853, 0.9531484502554488, 0.050668261565175024, 0.2726300605996397, 0.0202212755133592, 0.010677845559777271, 0.01036862543850156], "count": [1475]}, "action": {"min": [-1.0, -1.0, -0.22, 0.0, -1.0, -1.0, -0.7928571428571428, -1.0, -0.10857142857142858, -0.24571428571428575, -0.1, -1.0], "max": [0.8500000000000001, 1.0, 0.16285714285714287, 0.0, 1.0, 0.8571428571428572, 0.6642857142857144, 1.0, 0.19428571428571428, 0.18, 0.19428571428571428, 1.0], "mean": [0.037573849878934626, -0.013191283292978214, -0.002675060532687652, 0.0, -0.4074576271186441, -0.008987893462469735, -0.006242130750605329, 0.0040629539951573986, 0.0006411622276029054, 0.000825181598062954, 0.0006527845036319605, -0.12677966101694915], "std": [0.2625005496415313, 0.3458412995923862, 0.02212408133013271, 0.0, 0.9132241138421858, 0.39881043220531864, 0.12365842437068036, 0.3495297906564465, 0.018084657578795387, 0.04628080955830861, 0.022169811486895837, 0.9919309036179943], "count": [1475]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010847457684576511], "std": [0.10358469933271408], "count": [1475]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006779661016949153], "std": [0.026028954332816902], "count": [1475]}, "timestamp": {"min": [0.0], "max": [73.7], "mean": [36.85], "std": [21.289786283567995], "count": [1475]}, "frame_index": {"min": [0], "max": [1474], "mean": [737.0], "std": [425.79572567135995], "count": [1475]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1475]}, "index": {"min": [10071], "max": [11545], "mean": [10808.0], "std": [425.79572567135995], "count": [1475]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1475]}}} +{"episode_index": 8, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5412869121437478]], [[0.5079600778970256]], [[0.4743561031350136]]], "std": [[[0.22806992847349158]], [[0.23748387331121276]], [[0.25845007230066996]]], "count": [244]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4928611465988723]], [[0.4647641968244297]], [[0.44706525027043026]]], "std": [[[0.207964219035921]], [[0.21254612838499817]], [[0.21935033274062243]]], "count": [244]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5205451648973338]], [[0.49109656304188076]], [[0.47052262102971315]]], "std": [[[0.18475334974619137]], [[0.18666779346907522]], [[0.19341021658658436]]], "count": [244]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1530]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1530]}, "observation.state": {"min": [3.1929666992772106, -3.656717360871354, 0.6999828124326539, 0.0, 0.0, -0.007045051082968712, 0.9998242259025574, -0.09827762579364308, -0.16708157383441025, 0.2682653711607087, -0.9942379593849182, -0.146864116191864, -0.4246198832988739, 1.4352588095789542e-06, 0.00568911234333693, -0.04026570143215904], "max": [3.9508317314894428, -2.7263934581254277, 0.7022916549111556, 0.0, 0.0, 0.018749674782156944, 1.0, 0.46115100965086375, 0.018507529181142957, 0.7493850302245761, 0.9957267642021179, 0.061725080013275146, 0.3759799897670746, 0.18450865149497986, 0.04037316356209614, -0.010552756280251907], "mean": [3.7434100595415236, -3.2524921405586737, 0.7009823942976242, 0.0, 0.0, 0.005456868855336931, 0.9999614113686132, 0.12364090428467384, -0.04662310192995589, 0.598357353007132, -0.19630628434661168, -0.009068861150858448, -0.084189807204834, 0.02400814865760126, 0.0313781944607867, -0.03274505112125152], "std": [0.1823158783081659, 0.4260494177759705, 0.0008584693045206113, 0.0, 0.0, 0.0068881495309184495, 4.779595620397242e-05, 0.18399062177944173, 0.045091733156633354, 0.13772834951618526, 0.939401989671254, 0.04022132944125124, 0.26028246115020837, 0.04331828508561108, 0.01019623473997403, 0.009945322709845824], "count": [1530]}, "action": {"min": [-1.0, -1.0, -0.08285714285714285, 0.0, -1.0, -1.0, -0.6857142857142858, -1.0, -0.15142857142857147, -0.2, -0.16285714285714287, -1.0], "max": [0.8571428571428572, 1.0, 0.09428571428571429, 0.0, 1.0, 1.0, 0.7714285714285714, 1.0, 0.1142857142857143, 0.44571428571428573, 0.12571428571428572, 1.0], "mean": [0.05263772175536886, -0.01725023342670401, 9.337068160597494e-06, 0.0, -0.3803921568627451, -0.007838468720821662, 0.0009710550887021514, -0.005336134453781504, 0.0006573295985060682, -0.0006311858076563959, -0.0012380952380952382, -0.17647058823529413], "std": [0.29008114503000365, 0.29683333003321144, 0.012144913026407462, 0.0, 0.9248252845793571, 0.4153644512582075, 0.13241904955254966, 0.30020985011676843, 0.01583950061956162, 0.05101040339972861, 0.021937826707073883, 0.9843059135695058], "count": [1530]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010457516647875309], "std": [0.10172589868307114], "count": [1530]}, "next.done": {"min": [false], "max": [true], "mean": [0.00065359477124183], "std": [0.02555714352420543], "count": [1530]}, "timestamp": {"min": [0.0], "max": [76.45], "mean": [38.225], "std": [22.083643079588718], "count": [1530]}, "frame_index": {"min": [0], "max": [1529], "mean": [764.5], "std": [441.67286159177434], "count": [1530]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1530]}, "index": {"min": [11546], "max": [13075], "mean": [12310.5], "std": [441.67286159177434], "count": [1530]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1530]}}} +{"episode_index": 9, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5550458128474398]], [[0.5321714965597121]], [[0.5109878667989314]]], "std": [[[0.21966122693659137]], [[0.22886944624636843]], [[0.245183056954573]]], "count": [311]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5207031663673747]], [[0.5117967986916242]], [[0.5028012479586451]]], "std": [[[0.20873257568336168]], [[0.20837307984262463]], [[0.21083049223827294]]], "count": [311]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47491205796401154]], [[0.46825767956257436]], [[0.46159887138873207]]], "std": [[[0.19644347091347583]], [[0.19484322626882522]], [[0.19583164886667673]]], "count": [311]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [2116]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [2116]}, "observation.state": {"min": [3.477882171216489, -1.7339754559743767, 0.6999969526897526, 0.0, 0.0, 0.5841536521911621, 0.4767916798591614, -0.2440236956672177, -0.15180973901515626, 0.2779981950600493, -0.9994598031044006, -0.30794432759284973, -0.6076443195343018, 0.0005918239476159215, -0.0014297336268046636, -0.04076509766696107], "max": [4.801138358226327, -0.7467039290141377, 0.7191645878163017, 0.0, 0.0, 0.8790162801742554, 0.8116430640220642, 0.5217491068931461, 0.26642615186079244, 0.8341754346054171, 0.9997698664665222, 0.8208646178245544, 0.4620956778526306, 0.4369363486766815, 0.04050417469330991, -0.005830864050021613], "mean": [4.250238083095658, -1.0043316088786125, 0.7090251336808284, 0.0, 0.0, 0.7088392823371185, 0.7012241684844003, 0.14089158382655065, 0.019307167386600523, 0.6285832437225469, -0.15935017614993346, 0.2863709757655563, -0.02867892438363979, 0.17999146927843734, 0.030951184157688223, -0.03295898267601248], "std": [0.4856071969849307, 0.20131054814020716, 0.007492992100160123, 0.0, 0.0, 0.05386157384781233, 0.054133797744396, 0.20871697425230917, 0.10873606481344604, 0.13640496633485966, 0.8203792247253363, 0.27977619796687464, 0.3020474750983371, 0.12980872551075281, 0.011460812461942933, 0.011559347506665082], "count": [2116]}, "action": {"min": [-1.0, -1.0, -0.5914285714285714, 0.0, -1.0, -1.0, -1.0, -1.0, -0.2485714285714286, -0.5142857142857142, -0.58, -1.0], "max": [1.0, 1.0, 0.48, 0.0, 1.0, 1.0, 0.7214285714285715, 1.0, 0.8142857142857143, 0.40571428571428575, 0.32571428571428573, 1.0], "mean": [0.05733526870105319, 0.026870105320010808, -0.002736970024304619, 0.0, -0.4839319470699433, -0.008310829057520898, -0.008685525249797462, -0.06385700783148802, 0.010603564677288688, 0.0004847421009991859, 0.002379152038887395, -0.1947069943289225], "std": [0.32884112939518423, 0.31073015294331413, 0.11065414387712205, 0.0, 0.8751056339694762, 0.3683466595329351, 0.19400471605263628, 0.3354929781756004, 0.09975272410043524, 0.09198651011905785, 0.08709507101082972, 0.9808614511537205], "count": [2116]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007561436854302883], "std": [0.08662713319063187], "count": [2116]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004725897920604915], "std": [0.02173399298216809], "count": [2116]}, "timestamp": {"min": [0.0], "max": [105.75], "mean": [52.875], "std": [30.541825829507967], "count": [2116]}, "frame_index": {"min": [0], "max": [2115], "mean": [1057.5], "std": [610.8365165901594], "count": [2116]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [2116]}, "index": {"min": [13076], "max": [15191], "mean": [14133.5], "std": [610.8365165901594], "count": [2116]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [2116]}}} +{"episode_index": 10, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4673225331519257]], [[0.41407785744733744]], [[0.3838962817394823]]], "std": [[[0.19793141842582507]], [[0.19225007503120478]], [[0.21229543635249226]]], "count": [279]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4536955161392584]], [[0.41579878762363337]], [[0.3937561050169466]]], "std": [[[0.21455957809912485]], [[0.21430567483547078]], [[0.2273938475403513]]], "count": [279]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45037930439190266]], [[0.4256359077017694]], [[0.4113190801809355]]], "std": [[[0.20359090268820385]], [[0.20480295754946362]], [[0.21480577586962205]]], "count": [279]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1829]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1829]}, "observation.state": {"min": [3.452301763508738, -1.7951484930788533, 0.6999433472195019, 0.0, 0.0, -0.05168995261192322, 0.28915950655937195, -0.02511804360638914, -0.02929328168981371, 0.3091896610812549, -0.9999264478683472, -0.13402613997459412, -0.4771926999092102, 0.00012154064461356029, 0.001253619974407167, -0.04016387159533968], "max": [4.8175789023530555, -0.7537337425152342, 0.7021988340340471, 0.0, 0.0, 0.9572809338569641, 0.9999955892562866, 0.6342461866776126, 0.10578404758476534, 0.7880820547086107, 0.9891778230667114, 0.03491872549057007, 0.33286285400390625, 0.11079469323158264, 0.04086894380236928, -0.0011167354460853542], "mean": [4.266808507806889, -1.0568167496753356, 0.7003168450916175, 0.0, 0.0, 0.6871301868449012, 0.7083934905621574, 0.15553635105121258, 0.02322590226146073, 0.6151036232070883, -0.6601564908953167, -0.02569618573368508, -0.18634430949982667, 0.03285236708866919, 0.034998853269755874, -0.03323904952059671], "std": [0.40068986710265947, 0.2412420757245288, 0.0006504578912956718, 0.0, 0.0, 0.13631629733995712, 0.08630547910738506, 0.17882615454895998, 0.03028263529001406, 0.12336416754629499, 0.6974542525352785, 0.029316908032288234, 0.19994535012369263, 0.02120312949679842, 0.007202837771040076, 0.009218180619089399], "count": [1829]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.7000000000000001, -0.9857142857142858, -0.1, -0.40857142857142864, -0.14, -1.0], "max": [1.0, 1.0, 0.9742857142857143, 0.0, 1.0, 1.0, 0.5357142857142857, 0.9857142857142858, 0.12857142857142856, 0.45999999999999996, 0.3457142857142857, 1.0], "mean": [0.09660235882215108, 0.03675310474107631, 0.0008826056393032894, 0.0, -0.20065609622744668, -0.002749355619776604, 7.810669374367932e-06, -0.010915410450675631, -0.00047957509958603434, -0.0018355073029758646, 0.00133562446301648, -0.28485511208310554], "std": [0.34708295922030935, 0.3075598234490929, 0.2449476301472532, 0.0, 0.9796617431781056, 0.3477590551482008, 0.0861029612594976, 0.2832833099979965, 0.0126757350901408, 0.08794519635448397, 0.026682653563740534, 0.9585705843181728], "count": [1829]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0087479492649436], "std": [0.09312047809362411], "count": [1829]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005467468562055768], "std": [0.02337622561665604], "count": [1829]}, "timestamp": {"min": [0.0], "max": [91.4], "mean": [45.7], "std": [26.399337112889786], "count": [1829]}, "frame_index": {"min": [0], "max": [1828], "mean": [914.0], "std": [527.9867422577958], "count": [1829]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1829]}, "index": {"min": [15192], "max": [17020], "mean": [16106.0], "std": [527.9867422577958], "count": [1829]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1829]}}} +{"episode_index": 11, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5602904878504136]], [[0.5385357417087928]], [[0.5116370153090533]]], "std": [[[0.21317334097200233]], [[0.21587335591973197]], [[0.2271520668452506]]], "count": [250]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49244781972847734]], [[0.48632995366115195]], [[0.479897045659084]]], "std": [[[0.1890990292058684]], [[0.1880237696719569]], [[0.18799122093203885]]], "count": [250]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4536661238128064]], [[0.4493132242838542]], [[0.4450678476371017]]], "std": [[[0.2076154110206114]], [[0.20670231949039455]], [[0.20628819715793403]]], "count": [250]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1582]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1582]}, "observation.state": {"min": [3.33714389713829, -1.2848955468758172, 0.6999880984725255, 0.0, 0.0, 0.6988731622695923, 0.6980963349342346, -0.06769209406477783, -0.1576252025683349, 0.31477222039552044, -0.994976818561554, -0.5180945992469788, -0.4549524784088135, 2.4548966393922456e-05, 0.009263779719658208, -0.04008311142895341], "max": [4.441255111833178, -0.7566674146072501, 0.7004841369551615, 0.0, 0.0, 0.7160038352012634, 0.7152456045150757, 0.5775773970826891, 0.017672916490351298, 0.7927904776630766, 0.9726961255073547, 0.18128836154937744, 0.4337998628616333, 0.17986047267913818, 0.0401401820417242, -0.009242614791971169], "mean": [4.033423394250635, -0.9652132614634715, 0.7001662867338881, 0.0, 0.0, 0.70928843238411, 0.7048848944276985, 0.17066511891567201, -0.05069332054977536, 0.549492442811615, -0.6680690829280655, -0.06711613280432564, -0.1840478668387334, 0.036222882384148995, 0.03302309680176526, -0.03062969604890105], "std": [0.4879029929728829, 0.11987259933116225, 0.0001504894982422379, 0.0, 0.0, 0.004855464544792567, 0.004861595616181686, 0.17820593899282203, 0.04178744098285802, 0.11914645055768099, 0.6630957406092766, 0.1389706824218971, 0.23026210609835088, 0.044316628741448004, 0.009500185663344846, 0.010815362202254004], "count": [1582]}, "action": {"min": [-1.0, -1.0, -0.11142857142857143, 0.0, -1.0, -1.0, -0.5571428571428572, -0.8571428571428572, -0.08, -0.2914285714285714, -0.25142857142857145, -1.0], "max": [0.6642857142857144, 1.0, 0.06, 0.0, 1.0, 0.8714285714285716, 0.45, 0.8500000000000001, 0.12, 0.21142857142857144, 0.24571428571428575, 1.0], "mean": [0.04099692974534948, -0.002162723496478237, -0.0006140509301065558, 0.0, -0.4475347661188369, -0.010502076936969479, -0.0018918186743724112, 0.003851363554271244, 0.000996929745349466, -0.000391908975979774, 3.612064294744708e-05, -0.07206068268015171], "std": [0.2227256039792892, 0.3085941226923417, 0.009550091706499753, 0.0, 0.8942665335988818, 0.3634324317159866, 0.10366923911145072, 0.234546163312616, 0.01287276420886923, 0.05007629744701088, 0.04818669387045833, 0.9974002496548992], "count": [1582]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01011378038674593], "std": [0.1000574380159378], "count": [1582]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006321112515802782], "std": [0.025133875287068324], "count": [1582]}, "timestamp": {"min": [0.0], "max": [79.05], "mean": [39.525], "std": [22.834198584579227], "count": [1582]}, "frame_index": {"min": [0], "max": [1581], "mean": [790.5], "std": [456.68397169158453], "count": [1582]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1582]}, "index": {"min": [17021], "max": [18602], "mean": [17811.5], "std": [456.68397169158453], "count": [1582]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1582]}}} +{"episode_index": 12, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.532433560476901]], [[0.49933341586598473]], [[0.462099281150358]]], "std": [[[0.20801446759773454]], [[0.20898903356213816]], [[0.2202378912312534]]], "count": [324]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4672857535257665]], [[0.4548649426148377]], [[0.44117763189621917]]], "std": [[[0.24136771874582483]], [[0.24010718179272875]], [[0.2409594967825325]]], "count": [324]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43932168000663807]], [[0.4399305271138524]], [[0.43715703055114674]]], "std": [[[0.22417961919958193]], [[0.21621381262866549]], [[0.21246040518830647]]], "count": [324]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [2234]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [2234]}, "observation.state": {"min": [3.6334791503907815, -1.6407310948492324, 0.6999965087194786, 0.0, 0.0, 0.5172587037086487, 0.6999616026878357, -0.12846493456694663, -0.14501138620432652, 0.25975125276306366, -0.998000979423523, -0.41110146045684814, -0.44132137298583984, 0.0002519782865419984, 0.011053182659130053, -0.040084009966432646], "max": [4.663963227392514, -0.7497590003247501, 0.7008429657102176, 0.0, 0.0, 0.7141805291175842, 0.8558290600776672, 0.44128410325081, 0.11432446314219291, 0.8409689819063673, 0.99969482421875, 0.17592230439186096, 0.4322299659252167, 0.11126333475112915, 0.04008039674924461, -0.012993909552563989], "mean": [4.241908451270325, -0.9927837540085809, 0.7005736362425689, 0.0, 0.0, 0.6979495921941773, 0.7154653223903454, 0.07674238197946776, -0.005376356791249524, 0.6083459831876843, 0.06773764999615046, -0.03894013807847896, 0.04590341888712894, 0.022741194309829547, 0.03378272253519637, -0.031384376740617066], "std": [0.36124277832139357, 0.22873098064836536, 0.00027058591418655583, 0.0, 0.0, 0.02419972249073106, 0.01975120915625845, 0.17148849803247768, 0.05162195808159222, 0.14619992756726136, 0.9579603972876305, 0.09416111785554605, 0.2534892353749599, 0.02144210033938985, 0.009344141363237987, 0.009862924966734797], "count": [2234]}, "action": {"min": [-1.0, -1.0, -0.47714285714285715, 0.0, -1.0, -1.0, -0.39285714285714285, -0.7642857142857143, -0.08285714285714285, -0.3742857142857143, -0.17142857142857143, -1.0], "max": [0.8714285714285716, 1.0, 0.5542857142857143, 0.0, 1.0, 0.7714285714285714, 0.5, 0.9285714285714287, 0.06285714285714286, 0.38857142857142857, 0.20285714285714287, 1.0], "mean": [0.026716971479728895, 0.03371594833098863, 0.00025067144136078847, 0.0, -0.3124440465532677, -0.006039774907277157, 7.99334953318778e-05, 0.003162169075329321, 0.0001905614528712112, -8.824657884639978e-05, -6.26678603401972e-05, -0.06177260519247986], "std": [0.28527821219374333, 0.26904594637772516, 0.058707284412154906, 0.0, 0.9499361651044721, 0.28638349340840896, 0.07884573497667569, 0.22476858980456887, 0.0056055201357827706, 0.04757794969317093, 0.029242404332068234, 0.99809024904952], "count": [2234]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007162041030824184], "std": [0.08432524651288986], "count": [2234]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004476275738585497], "std": [0.021152475113179338], "count": [2234]}, "timestamp": {"min": [0.0], "max": [111.65], "mean": [55.825], "std": [32.245009303766686], "count": [2234]}, "frame_index": {"min": [0], "max": [2233], "mean": [1116.5], "std": [644.9001860753336], "count": [2234]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [2234]}, "index": {"min": [18603], "max": [20836], "mean": [19719.5], "std": [644.9001860753336], "count": [2234]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [2234]}}} +{"episode_index": 13, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5632330089508429]], [[0.514167216473088]], [[0.498604579853095]]], "std": [[[0.21724185515020927]], [[0.23781134078203947]], [[0.2509478314485048]]], "count": [254]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5029071084028853]], [[0.47816398070516347]], [[0.4681507720169838]]], "std": [[[0.24185143125370281]], [[0.25842049263806377]], [[0.26736771425843603]]], "count": [254]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5309876805196965]], [[0.5128238434737822]], [[0.505667730546097]]], "std": [[[0.23737617921543738]], [[0.25397955780220255]], [[0.26264907393486386]]], "count": [254]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1615]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1615]}, "observation.state": {"min": [3.1308880071498244, -1.582595703955489, 0.699982380826638, 0.0, 0.0, 0.41548359394073486, 0.4964594841003418, -0.10389776367907622, -0.12605247673574071, 0.2783488434355975, -0.9908949732780457, -0.910599410533905, -0.36150890588760376, 6.26757991994964e-06, 0.014084557009384395, -0.040630805690351705], "max": [4.39321427535033, -0.770840527859745, 0.7042530299676272, 0.0, 0.0, 0.8680599331855774, 0.9096007347106934, 0.5746812317942562, 0.12932470233980675, 0.8067250861700216, 0.9362748265266418, 0.9115215539932251, 0.44222187995910645, 0.36830466985702515, 0.040738858562239376, -0.01344230703332301], "mean": [3.8471481462539656, -1.013266589869389, 0.7017321617052062, 0.0, 0.0, 0.688433706944941, 0.70927050905331, 0.14651078238842158, -0.008879322081433534, 0.628479240152881, 0.39429325513057295, 0.6174449590429802, 0.19069972349209682, 0.17859244939775273, 0.03424050031329732, -0.03664833391004803], "std": [0.4284317638267029, 0.180865346299267, 0.0012171232329009844, 0.0, 0.0, 0.11044911483900056, 0.10390076393159459, 0.20501690735145128, 0.049824495198666885, 0.14040181882120656, 0.48848460021755746, 0.3440511763202606, 0.168305288140547, 0.09857902730628464, 0.007482867848514395, 0.005244143226064668], "count": [1615]}, "action": {"min": [-1.0, -1.0, -0.7771428571428571, 0.0, -1.0, -1.0, -0.7571428571428572, -0.807142857142857, -0.31142857142857144, -0.29714285714285715, -0.30857142857142855, -1.0], "max": [1.0, 1.0, 0.7342857142857143, 0.0, 1.0, 1.0, 0.9785714285714284, 1.0, 0.12571428571428572, 0.2285714285714286, 0.2885714285714286, 1.0], "mean": [0.09400265369305623, 0.0656700574966829, 0.007306501547987618, 0.0, -0.426625386996904, -0.00818664307828395, 0.003918620079610791, -0.01692171605484298, -0.009065015479876168, -0.004863334807607254, 0.008109685979655027, -0.21857585139318886], "std": [0.38264044015754123, 0.3525749604529172, 0.16673583547009557, 0.0, 0.9044284267811046, 0.4477056748643748, 0.14298136288419291, 0.27241551358743116, 0.04325709303396142, 0.06209427068242367, 0.04915885999967859, 0.975819961462014], "count": [1615]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00990712083876133], "std": [0.09904024004936218], "count": [1615]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006191950464396285], "std": [0.024875924986502373], "count": [1615]}, "timestamp": {"min": [0.0], "max": [80.7], "mean": [40.35], "std": [23.310512649875378], "count": [1615]}, "frame_index": {"min": [0], "max": [1614], "mean": [807.0], "std": [466.21025299750755], "count": [1615]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1615]}, "index": {"min": [20837], "max": [22451], "mean": [21644.0], "std": [466.21025299750755], "count": [1615]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1615]}}} +{"episode_index": 14, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5028385059061059]], [[0.47307845399715875]], [[0.43958493068587023]]], "std": [[[0.2023215728974381]], [[0.21424853205416233]], [[0.23595266014897634]]], "count": [252]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4890509231714604]], [[0.4705897162942325]], [[0.45809854815542755]]], "std": [[[0.18741864569266775]], [[0.19076142830075554]], [[0.19835006915374848]]], "count": [252]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4629474422622239]], [[0.45224411053483893]], [[0.44529305442337525]]], "std": [[[0.21061246382405277]], [[0.2117183121463923]], [[0.21574849757693365]]], "count": [252]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1600]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1600]}, "observation.state": {"min": [5.755047432534099, -2.4547195470288243, 0.6999923802999574, 0.0, 0.0, -0.999997615814209, 0.0021814771462231874, -0.055865583479338454, -0.16157197248350252, 0.3080996215973646, -0.9950597286224365, -0.11792322993278503, -0.5500442385673523, 2.5178553642035695e-06, 0.00441586560199112, -0.04001950983946637], "max": [6.74885771183343, -0.7997436215512517, 0.7001826242938051, 0.0, 0.0, 0.9999748468399048, 1.0, 0.5250144271854484, -0.00841828825496993, 0.7661711599333216, 0.9840226173400879, 0.09194803237915039, 0.47964176535606384, 0.06658071279525757, 0.04011790206681077, -0.003685272386260038], "mean": [6.409056488269182, -1.7451553260094874, 0.7000370084736602, 0.0, 0.0, 0.21096917082188504, 0.8515968837637047, 0.11850244316534361, -0.06353470625966368, 0.5952637980488745, -0.35773320447653534, -0.008364798775874078, -0.08062642025295645, 0.017384352851238846, 0.029877852952863854, -0.029178142320765085], "std": [0.2551939306253534, 0.730449935024138, 3.993314107817656e-05, 0.0, 0.0, 0.43742780282836285, 0.19731116545254723, 0.1605144452139683, 0.03200741292822591, 0.11900917979449953, 0.8831174035053234, 0.03548606844769431, 0.2892452739228492, 0.018322427216129335, 0.01306799660649381, 0.013170149893998796], "count": [1600]}, "action": {"min": [-1.0, -1.0, -0.20285714285714287, 0.0, -1.0, -1.0, -0.3357142857142857, -0.8571428571428572, -0.07142857142857142, -0.3657142857142857, -0.2542857142857143, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 0.7857142857142857, 0.40714285714285714, 0.8285714285714285, 0.08, 0.4514285714285714, 0.06, 1.0], "mean": [0.14383482142857137, -0.009727678571428571, 0.14825178571428574, 0.0, -0.17125, -0.004116071428571409, -0.00442410714285714, 0.004562499999999993, -2.857142857142848e-05, 0.001094642857142854, -0.00016428571428571395, -0.16125], "std": [0.3327092436772433, 0.3116304982229327, 0.278044051846497, 0.0, 0.9852276069518217, 0.37355063011874984, 0.08625336420808888, 0.23845626480846013, 0.007821947145235398, 0.057762539250701274, 0.025868851926592874, 0.9869135917090104], "count": [1600]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009999999776482582], "std": [0.09949874877929688], "count": [1600]}, "next.done": {"min": [false], "max": [true], "mean": [0.000625], "std": [0.02499218627891526], "count": [1600]}, "timestamp": {"min": [0.0], "max": [79.95], "mean": [39.975], "std": [23.094006257035613], "count": [1600]}, "frame_index": {"min": [0], "max": [1599], "mean": [799.5], "std": [461.88012514071227], "count": [1600]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1600]}, "index": {"min": [22452], "max": [24051], "mean": [23251.5], "std": [461.88012514071227], "count": [1600]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1600]}}} +{"episode_index": 15, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.603402188971332]], [[0.5921009403093381]], [[0.5693500835917561]]], "std": [[[0.19829833639179287]], [[0.19664057890942674]], [[0.20933184360590415]]], "count": [242]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5997083877516497]], [[0.5707547373409269]], [[0.5318860447323703]]], "std": [[[0.20125194601179633]], [[0.19030700972693165]], [[0.19189900216641892]]], "count": [242]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6506465011198581]], [[0.6129967056049401]], [[0.5613866956553493]]], "std": [[[0.2028682267754838]], [[0.19414312516244606]], [[0.20350833819038439]]], "count": [242]}, "annotation.human.task_description": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1511]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1511]}, "observation.state": {"min": [1.1217228158198307, -1.8421310261073942, 0.6999964650696776, 0.0, 0.0, 0.6393783688545227, 0.6740795373916626, -0.05601817581275337, -0.1552608291408859, 0.30308520683252627, -0.9978628158569336, -0.4323921799659729, -0.5445948839187622, 3.359654874657281e-05, 0.017202744146287773, -0.04014836621670108], "max": [3.1013864668671802, -0.7677390668652629, 0.7032947869609986, 0.0, 0.0, 0.7386587262153625, 0.768892228603363, 0.5111696976371981, 0.009205993226200526, 0.8422280918781864, 0.9955854415893555, 0.5094870328903198, 0.47226622700691223, 0.21257534623146057, 0.04057211668039441, -0.02050653798159292], "mean": [2.0320288274170175, -1.0567718573970883, 0.7009180505561525, 0.0, 0.0, 0.7059032347405848, 0.7079770959109994, 0.13582731452609423, -0.03858196179678429, 0.6172293353116978, -0.1031670722639537, 0.10354051073799853, -0.002442807529652787, 0.06843689310578495, 0.03412244421739477, -0.037717797473630195], "std": [0.8034415609705251, 0.2918942909098294, 0.0009535375880401684, 0.0, 0.0, 0.015338952234263603, 0.015289535569406756, 0.17448239117279382, 0.03929990287805867, 0.13210228013187694, 0.9106080829364173, 0.21521538071762522, 0.3056086371783004, 0.07088696135372842, 0.008525653006469467, 0.003008620296208247], "count": [1511]}, "action": {"min": [-1.0, -1.0, -0.29428571428571426, 0.0, -1.0, -1.0, -0.41428571428571426, -1.0, -0.22285714285714286, -0.37714285714285717, -0.4257142857142857, -1.0], "max": [1.0, 1.0, 0.2742857142857143, 0.0, 1.0, 0.8142857142857143, 0.6, 1.0, 0.2857142857142857, 0.22, 0.26571428571428574, 1.0], "mean": [0.03977025621631846, -0.03454665784248842, -0.0036513188994989165, 0.0, -0.2561217736598279, -0.009076297626926362, -1.418171504207318e-05, -0.01719296586933911, 0.004046516025337997, -0.004770728940153163, -0.0024827455800321453, -0.1502316346790205], "std": [0.41062832511836367, 0.4425113332439104, 0.05278163228853765, 0.0, 0.9666445246611299, 0.40473176342039435, 0.10012434934709374, 0.3188170191699776, 0.046880692393154094, 0.07560162075754243, 0.07042789855691325, 0.9886508260966963], "count": [1511]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010589013807475567], "std": [0.1023566722869873], "count": [1511]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006618133686300463], "std": [0.02571721936164851], "count": [1511]}, "timestamp": {"min": [0.0], "max": [75.5], "mean": [37.75], "std": [21.80940164241101], "count": [1511]}, "frame_index": {"min": [0], "max": [1510], "mean": [755.0], "std": [436.1880328482202], "count": [1511]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1511]}, "index": {"min": [24052], "max": [25562], "mean": [24807.0], "std": [436.1880328482202], "count": [1511]}, "task_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1511]}}} +{"episode_index": 16, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4713502540240553]], [[0.43284719616912964]], [[0.4158593978026122]]], "std": [[[0.22983545180850326]], [[0.22783703879796044]], [[0.242538766990364]]], "count": [243]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46255373561160096]], [[0.4340433852547337]], [[0.4194126754313801]]], "std": [[[0.18956915389075182]], [[0.20293987914436967]], [[0.21736348554177803]]], "count": [243]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4301406903445052]], [[0.3800340632612034]], [[0.351623304913891]]], "std": [[[0.2139620299625279]], [[0.23203955344474664]], [[0.25360805685817694]]], "count": [243]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1524]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1524]}, "observation.state": {"min": [-1.4317666433020753, -3.9942855593480466, 0.699995258909162, 0.0, 0.0, -0.0222946684807539, 0.9997513890266418, -0.10762765814931874, -0.16722863947285882, 0.29465537228306093, -0.9982603192329407, -0.2270626425743103, -0.4026954770088196, 9.163303184323013e-05, 0.01093901657823599, -0.040106667542259056], "max": [-0.7482837648237649, -2.4948041344674166, 0.7020178483871348, 0.0, 0.0, 0.009553404524922371, 1.0, 0.48772827638683147, 0.01029633432239363, 0.7672646406167019, 0.9854540824890137, 0.1311769187450409, 0.3824883997440338, 0.09878044575452805, 0.040005713932732716, -0.006621493292447914], "mean": [-0.9518805723216099, -3.506942500370064, 0.7011847205354157, 0.0, 0.0, -0.002022791408465517, 0.9999743204886519, 0.09415713063679884, -0.05446624896405702, 0.5854800874767216, -0.16677909870473107, -0.02525992996335577, -0.03453163373139821, 0.027906871948790633, 0.029494295043987744, -0.03045589372987938], "std": [0.16338687713657743, 0.5206173227285228, 0.0007700289744204517, 0.0, 0.0, 0.006878731632181138, 3.722195122707473e-05, 0.18671470682024707, 0.03922928016454654, 0.12915582081180604, 0.9387110646606701, 0.07225049521562425, 0.28743254099838655, 0.023651207201625123, 0.011631350847441454, 0.012511854381781417], "count": [1524]}, "action": {"min": [-1.0, -1.0, -0.1742857142857143, 0.0, -1.0, -1.0, -0.5571428571428572, -0.8857142857142857, -0.11714285714285716, -0.2714285714285714, -0.21142857142857144, -1.0], "max": [0.7428571428571429, 1.0, 0.05714285714285715, 0.0, 1.0, 0.942857142857143, 0.5714285714285715, 0.8285714285714285, 0.12857142857142856, 0.17142857142857143, 0.16285714285714287, 1.0], "mean": [0.04760967379077612, -0.008698912635920516, -0.0008342707161604799, 0.0, -0.35958005249343833, -0.01334833145856769, -0.0015466816647919078, -0.0026762279715035454, -0.00039557555305586793, -0.0013048368953880788, -1.4998125234344953e-05, -0.09055118110236221], "std": [0.2695124661274283, 0.3378108509360243, 0.01404999801962187, 0.0, 0.9331142405133535, 0.4213383884620055, 0.10171716248225961, 0.29969380288326625, 0.01672240720416279, 0.04283739963513895, 0.03495242575301273, 0.9958918031598423], "count": [1524]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018372703343629837], "std": [0.1342950016260147], "count": [1524]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006561679790026247], "std": [0.02560737047386858], "count": [1524]}, "timestamp": {"min": [0.0], "max": [76.15], "mean": [38.075], "std": [21.99704052063974], "count": [1524]}, "frame_index": {"min": [0], "max": [1523], "mean": [761.5], "std": [439.9408104127948], "count": [1524]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1524]}, "index": {"min": [25563], "max": [27086], "mean": [26324.5], "std": [439.9408104127948], "count": [1524]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1524]}}} +{"episode_index": 17, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5988780413252294]], [[0.5661721437930312]], [[0.5401348450762409]]], "std": [[[0.1774102599047392]], [[0.18647652156488606]], [[0.2124794730428383]]], "count": [237]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5337457304173647]], [[0.4750418169342417]], [[0.44585866567523796]]], "std": [[[0.21595037041546417]], [[0.24799479982978337]], [[0.26518866069347347]]], "count": [237]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5462245042008266]], [[0.48867211056631416]], [[0.4592883338148682]]], "std": [[[0.2038608591995711]], [[0.2400291846690662]], [[0.2568020434605946]]], "count": [237]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1472]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1472]}, "observation.state": {"min": [1.0978277821901892, -1.6088291062601898, 0.6999954643200443, 0.0, 0.0, 0.680396556854248, 0.5456846952438354, -0.09605232416433684, -0.18579741427862517, 0.28019368104799636, -0.9897986054420471, -0.6869580745697021, -0.698055624961853, 0.0004876712919212878, 0.009883082700882433, -0.04104841430098051], "max": [3.027419616072014, -0.7576912619782081, 0.7037459767585548, 0.0, 0.0, 0.8379906415939331, 0.7328441143035889, 0.5264916267787455, 0.3944429044026222, 0.740930619201681, 0.9424199461936951, 0.6804529428482056, 0.7071078419685364, 0.34318456053733826, 0.04018002989290317, -0.011586789808955078], "mean": [1.9471432600146286, -0.985950970243246, 0.7009969219823889, 0.0, 0.0, 0.7356212971246113, 0.6763473590431006, 0.1545689625754056, 0.0029006635865346624, 0.5995059512225768, -0.17024139142797692, 0.11460950291391624, -0.10442159013093813, 0.12321739598867323, 0.03141220367802385, -0.03178773677928606], "std": [0.8552836033481965, 0.15704016815806696, 0.0009779602959798248, 0.0, 0.0, 0.024692267926734207, 0.028387491538458504, 0.19064417788603014, 0.12928359050147903, 0.13122301369454242, 0.8294957388355376, 0.34107092274500495, 0.3445618166950281, 0.09317045535329632, 0.010760760940363103, 0.010227969028228848], "count": [1472]}, "action": {"min": [-1.0, -1.0, -0.6371428571428571, 0.0, -1.0, -1.0, -0.942857142857143, -1.0, -0.5742857142857143, -0.7514285714285714, -0.5628571428571428, -1.0], "max": [1.0, 1.0, 0.52, 0.0, 1.0, 0.9071428571428573, 1.0, 1.0, 0.44857142857142857, 0.28, 0.64, 1.0], "mean": [0.054614712732919235, -0.01484860248447204, 0.007307841614906835, 0.0, -0.4483695652173913, -0.007094332298136633, -0.013887810559006208, -0.02018148291925465, -0.0015314440993788906, -0.011013198757763975, 0.010157220496894404, -0.08695652173913043], "std": [0.29290593568088225, 0.43778411909467296, 0.08934374175592487, 0.0, 0.89384827179269, 0.4225558803569328, 0.2383222171890385, 0.33414399012839774, 0.08483216152140483, 0.09002023608480243, 0.09330760133645723, 0.9962121075990955], "count": [1472]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010869565419852734], "std": [0.103689044713974], "count": [1472]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006793478260869565], "std": [0.026055446889626504], "count": [1472]}, "timestamp": {"min": [0.0], "max": [73.55], "mean": [36.775], "std": [21.246485003407038], "count": [1472]}, "frame_index": {"min": [0], "max": [1471], "mean": [735.5], "std": [424.9297000681407], "count": [1472]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1472]}, "index": {"min": [27087], "max": [28558], "mean": [27822.5], "std": [424.9297000681407], "count": [1472]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1472]}}} +{"episode_index": 18, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4767233470045285]], [[0.4471768425351603]], [[0.4180570976628216]]], "std": [[[0.23101177872682974]], [[0.23540102440959396]], [[0.2505988020996066]]], "count": [169]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3725174805282343]], [[0.36418458270506565]], [[0.3526007364044916]]], "std": [[[0.25912087764707503]], [[0.25668271901860973]], [[0.259501521428222]]], "count": [169]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37877317084031287]], [[0.36825478776506215]], [[0.35430454670629113]]], "std": [[[0.2397004501930219]], [[0.23590179470813236]], [[0.2389530350189332]]], "count": [169]}, "annotation.human.task_description": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [940]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [940]}, "observation.state": {"min": [1.1264538140700016, -1.449029368633027, 0.6999727589222113, 0.0, 0.0, 0.4614426791667938, 0.55777907371521, 0.018011652074220286, -0.2554768202494575, 0.31292371379440953, -0.9912130236625671, -0.43844497203826904, -0.4644301235675812, 0.0004134801565669477, 0.020555230747097943, -0.04000568499651079], "max": [3.1148109359145346, -0.824237054016052, 0.7008437007784706, 0.0, 0.0, 0.8299894332885742, 0.8871699571609497, 0.7305158309662254, 0.24745923229367728, 0.7361848723514667, 0.9858506321907043, 0.7737147808074951, 0.516206681728363, 0.38717880845069885, 0.04030081126828786, -0.020511329980244675], "mean": [1.8892466471742893, -1.0905445008539738, 0.7002103285967445, 0.0, 0.0, 0.6984095268427057, 0.7102180671184621, 0.2787464628046001, 0.04462482939830945, 0.5820216800447331, -0.4012435805290303, 0.21403977097348964, -0.12804710776247877, 0.05510560897645848, 0.037696973071459285, -0.03408549252899972], "std": [0.7939186561409852, 0.15127647140330147, 0.00028430359759756217, 0.0, 0.0, 0.06479727146760964, 0.060130991843683784, 0.15909707910581167, 0.10716432128493215, 0.10055433291464014, 0.7758073640798606, 0.2727496736473151, 0.30656274070800094, 0.05922591700445525, 0.0028764901144507876, 0.005904262289561845], "count": [940]}, "action": {"min": [-1.0, -1.0, -0.6742857142857143, 0.0, -1.0, -1.0, -1.0, -1.0, -0.842857142857143, -0.76, -0.32285714285714284, -1.0], "max": [1.0, 1.0, 0.7342857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.4285714285714286, 0.4542857142857143, 0.5171428571428571, 1.0], "mean": [0.0949468085106383, -0.03283434650455928, -0.002358662613981761, 0.0, -0.23617021276595745, -0.005144376899696057, -0.0018237082066869421, -0.01862462006079027, 0.005756838905775076, -0.01538297872340424, -0.003224924012158051, -0.13404255319148936], "std": [0.35562035263467223, 0.5118216145205249, 0.18228852003143353, 0.0, 0.9717117013816771, 0.5380108532766369, 0.27521344531116115, 0.3749427621589348, 0.09401507586394608, 0.11436275369357729, 0.08990772634881324, 0.9909755768604512], "count": [940]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01702127605676651], "std": [0.12935051321983337], "count": [940]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010638297872340426], "std": [0.032599049885201195], "count": [940]}, "timestamp": {"min": [0.0], "max": [46.95], "mean": [23.475], "std": [13.56772364842386], "count": [940]}, "frame_index": {"min": [0], "max": [939], "mean": [469.5], "std": [271.3544729684772], "count": [940]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [940]}, "index": {"min": [28559], "max": [29498], "mean": [29028.5], "std": [271.3544729684772], "count": [940]}, "task_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [940]}}} +{"episode_index": 19, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5396560304305132]], [[0.5219069854885924]], [[0.4715323392082663]]], "std": [[[0.21299352173053965]], [[0.20971646008053044]], [[0.20250736973283834]]], "count": [192]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4688280220904381]], [[0.4567900947496003]], [[0.4424811054678524]]], "std": [[[0.24205986390067186]], [[0.23848148216899193]], [[0.2378991098585577]]], "count": [192]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4743121851503459]], [[0.4697367649452359]], [[0.46096485705157514]]], "std": [[[0.24804048438729068]], [[0.23776908166662894]], [[0.23342895340961262]]], "count": [192]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1115]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1115]}, "observation.state": {"min": [3.0081334620969318, -3.693954133116211, 0.6999984888300298, 0.0, 0.0, -0.641984224319458, 0.7667178511619568, 0.017096349124871235, -0.046526857831965085, 0.3355804252053096, -0.9878345131874084, -0.3081064522266388, -0.7761465907096863, 0.0003179501509293914, 0.019359453505120378, -0.04017939238486183], "max": [3.9057476651637777, -2.55447618158726, 0.7008340303364587, 0.0, 0.0, 0.4507530629634857, 1.0, 0.5502852564668959, 0.2774434153788756, 0.8288395792555984, 0.9949517846107483, 0.4116663932800293, 0.5758099555969238, 0.262972354888916, 0.04051866187653039, -0.01929858014312372], "mean": [3.5686440485036672, -3.1175181072955143, 0.7004145140590281, 0.0, 0.0, -0.0579907621723584, 0.9783956840433882, 0.21749041574850794, 0.0652362414047075, 0.5540194268014171, -0.6113773849512965, 0.15824263401897498, -0.24013878582170725, 0.09599395909423902, 0.03621124208262293, -0.03398835599498473], "std": [0.2604421999617492, 0.3711728557275421, 0.00010765697158462824, 0.0, 0.0, 0.19254757095755934, 0.04800417015999794, 0.15033387561097444, 0.0719584107178127, 0.10301083069716464, 0.6696188028132171, 0.19195961801669226, 0.2066652189403712, 0.07966892712809037, 0.006527964174340032, 0.007011289258439501], "count": [1115]}, "action": {"min": [-1.0, -1.0, -0.8171428571428573, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4828571428571429, -0.8028571428571428, -0.30285714285714294, -1.0], "max": [1.0, 1.0, 0.9457142857142856, 0.0, 1.0, 1.0, 0.9785714285714284, 1.0, 0.6628571428571428, 0.5514285714285714, 0.5628571428571428, 1.0], "mean": [0.12518257527226143, 0.09324151185137726, -0.002600896860986548, 0.0, -0.09058295964125561, 0.0009288917360666369, 0.009487508007687372, 0.005150544522741814, 1.5374759769376948e-05, -0.01635618193465727, -0.0029417040358744365, -0.06726457399103139], "std": [0.5279346728816298, 0.4083234605942863, 0.2732290535860842, 0.0, 0.9958889131939503, 0.5025897125113652, 0.18808663880211293, 0.36558593091022507, 0.08439280128464925, 0.12463077628041162, 0.07644159028986013, 0.9977351738241035], "count": [1115]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01434977538883686], "std": [0.1189279556274414], "count": [1115]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008968609865470852], "std": [0.029934204965522217], "count": [1115]}, "timestamp": {"min": [0.0], "max": [55.7], "mean": [27.85], "std": [16.093632281122865], "count": [1115]}, "frame_index": {"min": [0], "max": [1114], "mean": [557.0], "std": [321.87264562245736], "count": [1115]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1115]}, "index": {"min": [29499], "max": [30613], "mean": [30056.0], "std": [321.87264562245736], "count": [1115]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1115]}}} +{"episode_index": 20, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5507714924348646]], [[0.5362957497452107]], [[0.5088635190404287]]], "std": [[[0.2033018125375517]], [[0.19226919102249035]], [[0.20287977871501653]]], "count": [245]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.03529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5261318133210315]], [[0.5239013947864302]], [[0.5159787936170562]]], "std": [[[0.23075487820048107]], [[0.2091502896154442]], [[0.19290390496598983]]], "count": [245]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4921006635075905]], [[0.4953999128948454]], [[0.49400197847693766]]], "std": [[[0.21512922117352778]], [[0.1988256016889106]], [[0.1871803606428703]]], "count": [245]}, "annotation.human.task_description": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1537]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1537]}, "observation.state": {"min": [4.499092898679686, -2.2808852474134316, 0.6999948084170666, 0.0, 0.0, -0.037279047071933746, 0.9993048906326294, -0.1273390205926619, -0.04319224758705542, 0.27463950254115865, -0.9966415166854858, -0.0836775004863739, -0.40778088569641113, 6.45529871690087e-06, 0.02052830700398231, -0.04012256129405047], "max": [5.284546961389055, -1.062962853282331, 0.7006765407086705, 0.0, 0.0, 0.014921672642230988, 1.0, 0.5071423723142834, 0.1263433336094597, 0.7634549665951014, 0.9996912479400635, 0.150791198015213, 0.27645212411880493, 0.13499309122562408, 0.040026188193538655, -0.020538252382463058], "mean": [5.0530684417990335, -1.7837519674123081, 0.7004009464141643, 0.0, 0.0, -0.010040174796755452, 0.9998977451101091, 0.13408678803089058, 0.01971776603507103, 0.559427978343775, -0.5750514148657556, 0.005324868966444173, -0.17498314213600746, 0.034174323802268716, 0.03656483648742482, -0.03470240860435309], "std": [0.18601077114586348, 0.4250588131365268, 0.00019749510722589923, 0.0, 0.0, 0.01018337163365158, 0.00012497062202192143, 0.18094198332914915, 0.0408548497798147, 0.11398332300187096, 0.7733710186616614, 0.04368281294856181, 0.19043254556838937, 0.03500080612214161, 0.004409678963315644, 0.006197660366078645], "count": [1537]}, "action": {"min": [-1.0, -1.0, -0.10857142857142858, 0.0, -1.0, -1.0, -0.5357142857142857, -1.0, -0.1742857142857143, -0.26, -0.20857142857142857, -1.0], "max": [1.0, 1.0, 0.17714285714285713, 0.0, 1.0, 1.0, 0.8857142857142857, 1.0, 0.11714285714285716, 0.3142857142857143, 0.15428571428571428, 1.0], "mean": [0.024286643740124566, 0.060893205688260975, 0.002890603215912261, 0.0, -0.3597918022121015, -0.010674783901849618, 0.0009201598661585679, -0.0031601449948880063, 0.0001319825262570869, -0.0018291662793939963, 0.0003401803141555908, -0.1893298633702017], "std": [0.3429539918812003, 0.33084051865079733, 0.02489453426948043, 0.0, 0.9330326141464499, 0.40488344378314567, 0.11264956202101584, 0.2731495255442034, 0.023437846027773063, 0.053050707050273836, 0.02968722013818454, 0.9819135414262347], "count": [1537]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010409889742732048], "std": [0.10149642080068588], "count": [1537]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006506180871828237], "std": [0.02549891729637661], "count": [1537]}, "timestamp": {"min": [0.0], "max": [76.8], "mean": [38.4], "std": [22.184679398179274], "count": [1537]}, "frame_index": {"min": [0], "max": [1536], "mean": [768.0], "std": [443.6935879635855], "count": [1537]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1537]}, "index": {"min": [30614], "max": [32150], "mean": [31382.0], "std": [443.6935879635855], "count": [1537]}, "task_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1537]}}} +{"episode_index": 21, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5297146092407006]], [[0.48715446108134086]], [[0.45612197913758484]]], "std": [[[0.21397467844838494]], [[0.21170419511598337]], [[0.21693432677184007]]], "count": [293]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4598062954984148]], [[0.44033899496798773]], [[0.423988278668576]]], "std": [[[0.23379538236092082]], [[0.23145519034160833]], [[0.23237180145704672]]], "count": [293]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4704098938188423]], [[0.4682749567170352]], [[0.4623558331882508]]], "std": [[[0.23724791345715915]], [[0.22460248670556315]], [[0.21841479203165517]]], "count": [293]}, "annotation.human.task_description": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1948]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1948]}, "observation.state": {"min": [2.9420159601347518, -3.733653634555531, 0.6999953964336709, 0.0, 0.0, -0.8011078834533691, 0.5985199809074402, -0.2081843704014883, -0.06662514376224915, 0.30085961988127596, -0.99265456199646, -0.22381991147994995, -0.4821435511112213, 3.664252290036529e-05, 0.0007904533748019633, -0.04004899569686188], "max": [3.9373557894950992, -2.423959231004725, 0.7020880273278027, 0.0, 0.0, 0.7478631138801575, 1.0, 0.5287265879988006, 0.06080252772728523, 0.7992990979262945, 0.9910526871681213, 0.17294356226921082, 0.43597427010536194, 0.18422572314739227, 0.040194287860114544, -0.0007547732551546806], "mean": [3.6413448218196898, -3.1188142333968822, 0.7007486233173089, 0.0, 0.0, -0.02100111177416499, 0.9650010076146841, 0.09655117792227892, 0.0025174532989343593, 0.605777185564753, -0.16605077481979708, -0.009655179555319419, -0.07728828334878725, 0.018046705451679766, 0.03201114213231147, -0.031685848776695655], "std": [0.2520510679560852, 0.3373681774708341, 0.0005801841193824625, 0.0, 0.0, 0.24834737079718552, 0.08158193976505784, 0.20103312202708545, 0.025531454926179364, 0.13271945940682264, 0.935176196864467, 0.05397435572381367, 0.2968861382727327, 0.020630682053227028, 0.010660704885590237, 0.010536914473617324], "count": [1948]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.55, -1.0, -0.14857142857142858, -0.35714285714285715, -0.2142857142857143, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.5142857142857143, 1.0, 0.1, 0.3914285714285714, 0.43428571428571433, 1.0], "mean": [0.10174171311234963, 0.017021120563215076, 0.0012995013200352054, 0.0, -0.11396303901437371, -0.009936931651510704, 0.0008066881783514253, -0.0011660310941625212, -0.0011220299207978875, -0.0007758873569961835, -0.00014080375476679323, -0.052361396303901436], "std": [0.4043663716914998, 0.27848201635048975, 0.3297121844332146, 0.0, 0.9934849901929096, 0.39885143711453025, 0.07548283481659443, 0.29456730492165895, 0.016127215063456928, 0.06587960331092854, 0.041688539543507645, 0.9986282011725519], "count": [1948]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00872689951211214], "std": [0.0930093452334404], "count": [1948]}, "next.done": {"min": [false], "max": [true], "mean": [0.000513347022587269], "std": [0.022651346481427317], "count": [1948]}, "timestamp": {"min": [0.0], "max": [97.35], "mean": [48.675], "std": [28.11695440477151], "count": [1948]}, "frame_index": {"min": [0], "max": [1947], "mean": [973.5], "std": [562.3390880954302], "count": [1948]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1948]}, "index": {"min": [32151], "max": [34098], "mean": [33124.5], "std": [562.3390880954302], "count": [1948]}, "task_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1948]}}} +{"episode_index": 22, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5449768714311559]], [[0.5443599861356517]], [[0.523078158096819]]], "std": [[[0.21425423175323033]], [[0.1949002611637936]], [[0.19865261669486456]]], "count": [290]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4819274706321443]], [[0.50107845654594]], [[0.49921737495510055]]], "std": [[[0.23178011672874768]], [[0.21376406928132805]], [[0.20881420134796763]]], "count": [290]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3994458507153535]], [[0.42253210453345535]], [[0.4256100172928816]]], "std": [[[0.21075406839127045]], [[0.1994716431966599]], [[0.19092597647051301]]], "count": [290]}, "annotation.human.task_description": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1923]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1923]}, "observation.state": {"min": [-1.6718149258512967, -3.994197236149233, 0.6999957896503959, 0.0, 0.0, -0.30104541778564453, 0.953609824180603, -0.048777921589390205, -0.006864051996372744, 0.30234017095040366, -0.9963464736938477, -0.1214752197265625, -0.4875531494617462, 7.475342135876417e-05, 0.01374943338999164, -0.040062621412890256], "max": [-0.8438329694782631, -2.828665246127942, 0.7046244151976173, 0.0, 0.0, 0.13881877064704895, 1.0, 0.6279069753547211, 0.19834165215072286, 0.782105827469438, 0.97575443983078, 0.21731260418891907, 0.5171124339103699, 0.1651427298784256, 0.040928582777020474, -0.0006550997052996018], "mean": [-1.0446313006308443, -3.48722293380885, 0.7022588195220184, 0.0, 0.0, -0.06133205464653988, 0.9837477789902154, 0.2201964001368919, 0.10250415158587194, 0.5657644032835684, -0.7545913122807452, 0.04311791957742028, -0.25046982090422343, 0.0707041657173518, 0.03458797601943642, -0.03241164203450904], "std": [0.19420501862544007, 0.40015863440011573, 0.001896314692658727, 0.0, 0.0, 0.16793130883637009, 0.016666191879156862, 0.19808435706418792, 0.047796075921152516, 0.1302715723922207, 0.5429302430368756, 0.08865683119786948, 0.23722459052332898, 0.04571427561284895, 0.008625377794921495, 0.010007582080373214], "count": [1923]}, "action": {"min": [-1.0, -1.0, -0.6685714285714286, 0.0, -1.0, -1.0, -0.6642857142857144, -1.0, -0.14857142857142858, -0.41714285714285715, -0.25142857142857145, -1.0], "max": [1.0, 1.0, 0.4228571428571429, 0.0, 1.0, 1.0, 0.7000000000000001, 0.8571428571428572, 0.14857142857142858, 0.2914285714285714, 0.1742857142857143, 1.0], "mean": [0.05638511254735908, 0.024050962038481522, -0.001138102666963827, 0.0, -0.46021840873634945, -0.012101626922219742, 0.008528341133645373, -0.03510883292474564, 0.001919619641928535, -0.0032330436074585844, -0.0008142039967312974, -0.13884555382215288], "std": [0.29705174483434776, 0.3178963737481953, 0.12572115511408202, 0.0, 0.8878057311485498, 0.3668710798618135, 0.12274029100675153, 0.28578815550006526, 0.024663414787595744, 0.06883907952084856, 0.025515150291280993, 0.9903140472515777], "count": [1923]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008320332504808903], "std": [0.09083559364080429], "count": [1923]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005200208008320333], "std": [0.02279803454683617], "count": [1923]}, "timestamp": {"min": [0.0], "max": [96.1], "mean": [48.05], "std": [27.756110438364136], "count": [1923]}, "frame_index": {"min": [0], "max": [1922], "mean": [961.0], "std": [555.1222087672828], "count": [1923]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1923]}, "index": {"min": [34099], "max": [36021], "mean": [35060.0], "std": [555.1222087672828], "count": [1923]}, "task_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1923]}}} +{"episode_index": 23, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5756367207238161]], [[0.5539721649626509]], [[0.529593389245416]]], "std": [[[0.21901941292440968]], [[0.22879439142335795]], [[0.2444278674312929]]], "count": [211]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5684418629275059]], [[0.5283489580724267]], [[0.491654385333721]]], "std": [[[0.25460703583440897]], [[0.27253157804000194]], [[0.29137790457130647]]], "count": [211]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6033549918238641]], [[0.5711462271323202]], [[0.5391060393756788]]], "std": [[[0.21500991360864]], [[0.23286196946481552]], [[0.2501123072644752]]], "count": [211]}, "annotation.human.task_description": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1257]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1257]}, "observation.state": {"min": [2.959485882108037, -3.705461245394937, 0.6999731041416637, 0.0, 0.0, -0.7234214544296265, 0.6904066801071167, -0.046074866606803766, -0.07122205490746492, 0.3139451620801932, -0.9919781684875488, -0.4605957865715027, -0.5983092784881592, 0.0002952840004581958, 0.01760175952721538, -0.040145449796564564], "max": [3.911381218023106, -2.3543010253575365, 0.7007322777670559, 0.0, 0.0, 0.634303867816925, 1.0, 0.6396422102131991, 0.30984572265921173, 0.8062148232379501, 0.9937413930892944, 0.3626529574394226, 0.5338709950447083, 0.316273033618927, 0.04068092624200838, -0.013409600945096923], "mean": [3.549355788534827, -3.1344960472335037, 0.7003900002413631, 0.0, 0.0, -0.0064782407214086235, 0.9579981874641958, 0.2219162425217873, 0.03496752386504239, 0.6328341585854753, -0.4824136197804077, 0.08129742876726574, -0.21532456585242765, 0.06920952800961949, 0.03443934136525745, -0.03341349997883868], "std": [0.2585008061213804, 0.41442120361111306, 0.0002448209313944713, 0.0, 0.0, 0.27716950042437727, 0.07331157839813426, 0.16972356828268087, 0.07889580443932787, 0.10505372897973046, 0.7652466776059386, 0.17971751235896982, 0.296606982150443, 0.060304536298270296, 0.008013984742487124, 0.007865316030681328], "count": [1257]}, "action": {"min": [-1.0, -1.0, -0.9428571428571428, 0.0, -1.0, -1.0, -0.8214285714285715, -1.0, -0.28, -0.7257142857142858, -0.5657142857142857, -1.0], "max": [1.0, 1.0, 0.9714285714285715, 0.0, 1.0, 1.0, 1.0, 1.0, 0.23142857142857146, 0.7628571428571429, 0.4828571428571429, 1.0], "mean": [0.1371689964768724, 0.05482441186498468, -0.0035958631662688905, 0.0, -0.1424025457438345, 0.0025741561541084124, 0.0009319240822820859, -0.001727469030571662, -0.0019820434140243185, -0.010778497556540518, -0.0006137061029662454, -0.1105807478122514], "std": [0.5095821654781157, 0.27856389340622034, 0.33382792820031765, 0.0, 0.9898088274842126, 0.5403849409402638, 0.22587918623914147, 0.3556701354168809, 0.05031236058711212, 0.14335634854400747, 0.07876063364314684, 0.993867143140004], "count": [1257]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012728719040751457], "std": [0.11210129410028458], "count": [1257]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007955449482895784], "std": [0.028194184799792125], "count": [1257]}, "timestamp": {"min": [0.0], "max": [62.8], "mean": [31.400000000000002], "std": [18.143226467931957], "count": [1257]}, "frame_index": {"min": [0], "max": [1256], "mean": [628.0], "std": [362.8645293586391], "count": [1257]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1257]}, "index": {"min": [36022], "max": [37278], "mean": [36650.0], "std": [362.8645293586391], "count": [1257]}, "task_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1257]}}} +{"episode_index": 24, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5418820092412204]], [[0.5196060450487471]], [[0.49118348305999454]]], "std": [[[0.24368846671093236]], [[0.24238460186760527]], [[0.2678131874995833]]], "count": [163]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5179100735041549]], [[0.5065167455857918]], [[0.4981608575852815]]], "std": [[[0.22103478855971623]], [[0.22413381279692401]], [[0.2249595516085179]]], "count": [163]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49323038289109017]], [[0.48637307390873574]], [[0.480872220062656]]], "std": [[[0.23718376684501966]], [[0.23850475044541275]], [[0.23965977701724775]]], "count": [163]}, "annotation.human.task_description": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [897]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [897]}, "observation.state": {"min": [3.1312790098520162, -1.448915074804348, 0.6999973257225875, 0.0, 0.0, 0.7070918083190918, 0.5567383170127869, -0.04981586395047555, -0.4006586462585293, 0.2698895307554272, -0.9883805513381958, -0.23615312576293945, -0.6544384956359863, 1.1234395969950128e-05, 0.013510197014848542, -0.040099856909672014], "max": [4.380965975660493, -0.7539151796870918, 0.7007563910850119, 0.0, 0.0, 0.830687940120697, 0.7071217894554138, 0.6597681582427932, -0.006138128386330877, 0.7992915927276926, 0.9931492209434509, 0.29004955291748047, 0.4628610610961914, 0.1822463721036911, 0.04019263398404173, -0.016608930485023665], "mean": [3.883136056820007, -1.0119581653660548, 0.7002391004730396, 0.0, 0.0, 0.7438840435500129, 0.6667800908503325, 0.21592396876806672, -0.23575721719159862, 0.5400084287425707, 0.030497050870089495, 0.0031097273995379275, -0.029865928359720087, 0.041497097988464224, 0.03220558692744547, -0.030506926718686763], "std": [0.5131206583846188, 0.18645843295358513, 0.00022408115225843784, 0.0, 0.0, 0.02961112777022985, 0.034117643937080416, 0.17556426509399756, 0.06385244525500804, 0.12670436762973444, 0.9362142580919716, 0.165482357656875, 0.301720184834767, 0.039110920573194444, 0.008878514688469228, 0.010107562655818891], "count": [897]}, "action": {"min": [-1.0, -1.0, -0.40857142857142864, 0.0, -1.0, -1.0, -0.8, -1.0, -0.24571428571428575, -0.7, -0.25142857142857145, -1.0], "max": [1.0, 1.0, 0.31142857142857144, 0.0, 1.0, 1.0, 1.0, 1.0, 0.26857142857142857, 0.42, 0.24285714285714288, 1.0], "mean": [0.04393215480172001, 0.032210543080108296, 0.002990922121356902, 0.0, -0.391304347826087, -0.010105112279025347, -0.051998725911769475, 0.005709507883420923, 0.008077719382067207, -0.010883898709985663, -0.003917821309125656, -0.14381270903010032], "std": [0.3920752387891955, 0.41649985304020887, 0.08455133096280562, 0.0, 0.9202613255876838, 0.5307613436411347, 0.2024246645463568, 0.4307102678275842, 0.04617050345628322, 0.12110963619627663, 0.054005898902348706, 0.9896049235535591], "count": [897]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01783723570406437], "std": [0.1323596090078354], "count": [897]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011148272017837235], "std": [0.03337041147624474], "count": [897]}, "timestamp": {"min": [0.0], "max": [44.8], "mean": [22.4], "std": [12.947071741002544], "count": [897]}, "frame_index": {"min": [0], "max": [896], "mean": [448.0], "std": [258.9414348200509], "count": [897]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [897]}, "index": {"min": [37279], "max": [38175], "mean": [37727.0], "std": [258.9414348200509], "count": [897]}, "task_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [897]}}} +{"episode_index": 25, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5780777860720775]], [[0.5581030127028797]], [[0.5383403764967247]]], "std": [[[0.2331100760292127]], [[0.24523333161187566]], [[0.2517294563914631]]], "count": [291]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5378330162597886]], [[0.5246357256877328]], [[0.5166104342093903]]], "std": [[[0.22085529308472016]], [[0.22082402003928273]], [[0.21939634807156497]]], "count": [291]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.468413111517897]], [[0.4596752040542511]], [[0.4543519172696731]]], "std": [[[0.23305319403937458]], [[0.2307602827477607]], [[0.22951358661682436]]], "count": [291]}, "annotation.human.task_description": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1933]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1933]}, "observation.state": {"min": [-1.6583276152325541, -3.998021996457298, 0.6999932105033813, 0.0, 0.0, -0.0404445081949234, 0.9991818070411682, -0.15219150950389015, -0.1625205134481842, 0.2796606641097943, -0.9963874816894531, -0.23563462495803833, -0.5453611612319946, 8.534198059351183e-06, 0.002985235059906237, -0.04006359411586794], "max": [-0.7508338111671169, -2.9161406891893886, 0.7017805272637002, 0.0, 0.0, 0.020401738584041595, 1.0, 0.5630871042903152, 0.02020764215245352, 0.8139403801572208, 0.9856022000312805, 0.205413818359375, 0.47174957394599915, 0.11801837384700775, 0.040213828501819704, -0.0063897267208910865], "mean": [-0.9495517229179389, -3.562169653318365, 0.7007017741002369, 0.0, 0.0, -0.012001060981197666, 0.9998503248431309, 0.12335916015319343, -0.04134960261255073, 0.5873171957921975, -0.5928172596797262, -0.024514592609686737, -0.17273494990364746, 0.030746190426747304, 0.03348911983893812, -0.03154894943634679], "std": [0.16518411228339122, 0.4817273866387027, 0.000620405042101316, 0.0, 0.0, 0.012461996135322673, 0.00018818847878886687, 0.21155044901488795, 0.04511410093602814, 0.13739671501333145, 0.7305539435336716, 0.0885852542766441, 0.27423973589526873, 0.020498670983461333, 0.012116872438076295, 0.011874954294416944], "count": [1933]}, "action": {"min": [-1.0, -1.0, -0.2257142857142857, 0.0, -1.0, -1.0, -0.4928571428571429, -0.9857142857142858, -0.12857142857142856, -0.4514285714285714, -0.3057142857142857, -1.0], "max": [0.807142857142857, 1.0, 0.07714285714285714, 0.0, 1.0, 1.0, 0.5142857142857143, 1.0, 0.13428571428571429, 0.19714285714285715, 0.1457142857142857, 1.0], "mean": [0.037554504471214244, -0.019758332717463616, -0.0020308920257187204, 0.0, -0.42783238489394726, -0.011905993644224375, -0.0015889439065848846, -0.00016628482743332416, 0.0007272189786416376, -0.0019540314832606613, -0.0007612149878057811, -0.13502327987584067], "std": [0.24245629928579757, 0.2834898026335656, 0.01828752300852828, 0.0, 0.9038580919790116, 0.3727054708778691, 0.09880248721303313, 0.2874791196469185, 0.013825072452676222, 0.05461413476233482, 0.03109047394667612, 0.9908424263683937], "count": [1933]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0082772895693779], "std": [0.09060229361057281], "count": [1933]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005173305742369374], "std": [0.022739018081568453], "count": [1933]}, "timestamp": {"min": [0.0], "max": [96.6], "mean": [48.3], "std": [27.900448025076585], "count": [1933]}, "frame_index": {"min": [0], "max": [1932], "mean": [966.0], "std": [558.0089605015318], "count": [1933]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1933]}, "index": {"min": [38176], "max": [40108], "mean": [39142.0], "std": [558.0089605015318], "count": [1933]}, "task_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1933]}}} +{"episode_index": 26, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5295573753242195]], [[0.49993340713556167]], [[0.475460730029269]]], "std": [[[0.19183668305645923]], [[0.19682647827279368]], [[0.20970941153482198]]], "count": [206]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5204275320399132]], [[0.47376965650394715]], [[0.44537748100415836]]], "std": [[[0.20605534138884024]], [[0.21898696423882583]], [[0.23532108583348954]]], "count": [206]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47755230043630204]], [[0.4385253737772984]], [[0.41725429300351435]]], "std": [[[0.19009635432001204]], [[0.201546108268585]], [[0.21587664626336614]]], "count": [206]}, "annotation.human.task_description": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1219]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1219]}, "observation.state": {"min": [3.675128926275348, -1.9767510279321236, 0.699961024538771, 0.0, 0.0, 0.40943700075149536, 0.686717689037323, -0.08271166582752487, -0.06314292111034714, 0.35300455497035976, -0.9908064007759094, -0.4864279627799988, -0.5383618474006653, 2.8436739739845507e-05, 0.02056917148329281, -0.04009182284981159], "max": [4.808988298670595, -0.7790535342092925, 0.7005746850445688, 0.0, 0.0, 0.7269242405891418, 0.9123383164405823, 0.5313075401264319, 0.27238252629705606, 0.8375409832995047, 0.9730961918830872, 0.6909443140029907, 0.49946048855781555, 0.2486630082130432, 0.04027538190000963, -0.016923960856159256], "mean": [4.356468912994174, -1.1008485011862785, 0.7002041649249068, 0.0, 0.0, 0.6523534490056856, 0.7518974342631746, 0.16426532217008188, 0.09910723768407911, 0.577098685689119, -0.44467307124791133, 0.09834363193566727, -0.12859780464850068, 0.07996306045249534, 0.03620519892368446, -0.033425862331751655], "std": [0.3990548031035958, 0.26819580754457945, 0.00014985184701793027, 0.0, 0.0, 0.07481017000984067, 0.059064928259606415, 0.18115127012653856, 0.056994498197507105, 0.102407948635307, 0.8091283465887636, 0.1978436276017446, 0.26952865238331036, 0.05644844276491489, 0.005678324864031309, 0.00821276762543968], "count": [1219]}, "action": {"min": [-1.0, -1.0, -0.5342857142857143, 0.0, -1.0, -1.0, -1.0, -0.9642857142857144, -0.3857142857142858, -0.6657142857142857, -0.3342857142857143, -1.0], "max": [1.0, 1.0, 0.5457142857142857, 0.0, 1.0, 1.0, 0.9071428571428573, 1.0, 0.4028571428571428, 0.3342857142857143, 0.30857142857142855, 1.0], "mean": [0.04759170280089064, 0.0419782022735263, -0.010692605179889838, 0.0, -0.26989335520918784, -0.01043009492558303, 0.006058830423063421, 0.005777569436306097, 0.005254892769248799, -0.010915270127739359, -0.004146255713113792, -0.23707957342083674], "std": [0.45553525097039244, 0.35623613613492605, 0.12980787854093145, 0.0, 0.9628902205412201, 0.4862836614724665, 0.18519373309325324, 0.33228822631782073, 0.08345843905099509, 0.11468188848901174, 0.06784103792924531, 0.9714902345708869], "count": [1219]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01312551274895668], "std": [0.11381226778030396], "count": [1219]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008203445447087777], "std": [0.028629907082223377], "count": [1219]}, "timestamp": {"min": [0.0], "max": [60.9], "mean": [30.450000000000003], "std": [17.59474353322605], "count": [1219]}, "frame_index": {"min": [0], "max": [1218], "mean": [609.0], "std": [351.8948706645211], "count": [1219]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1219]}, "index": {"min": [40109], "max": [41327], "mean": [40718.0], "std": [351.8948706645211], "count": [1219]}, "task_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1219]}}} +{"episode_index": 27, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.023529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5460322800629498]], [[0.5162599437954826]], [[0.4946870516827254]]], "std": [[[0.23653398673144746]], [[0.24311597192601053]], [[0.24770822295597453]]], "count": [267]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.504166115346683]], [[0.48777074674471993]], [[0.47351579572990393]]], "std": [[[0.22866517668174413]], [[0.2231094970742055]], [[0.22274432712517186]]], "count": [267]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4887346409872397]], [[0.478209008839264]], [[0.4686065400409271]]], "std": [[[0.2113491149819068]], [[0.2074509603979961]], [[0.20703334048457397]]], "count": [267]}, "annotation.human.task_description": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1727]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1727]}, "observation.state": {"min": [2.6696570747694475, -3.385943437093148, 0.699997467680908, 0.0, 0.0, -0.20863784849643707, 0.9323492050170898, -0.1297120815406414, -0.18755689525513164, 0.3024023680027066, -0.9850679039955139, -0.5637240409851074, -0.36569610238075256, 0.00029533341876231134, 0.01749983910922093, -0.04075881555780717], "max": [3.5375985312375473, -2.0222297802342517, 0.7034460249570731, 0.0, 0.0, 0.3615589141845703, 1.0, 0.6076595763352342, 0.23579000949035667, 0.7989823035491548, 0.9066839814186096, 0.6706757545471191, 0.49900880455970764, 0.387375146150589, 0.0401054059100265, -0.020531954565084658], "mean": [3.3149258053639286, -2.715917352904018, 0.7013719830675891, 0.0, 0.0, 0.08022985727425753, 0.9873066444789045, 0.16571134709867408, -0.028143499646574137, 0.6011708280721568, 0.6636384861898615, 0.47617200525185244, 0.18815253693983203, 0.16427472945548835, 0.03089890435057665, -0.03756098385132086], "std": [0.19931757824977459, 0.4594256909648609, 0.0010816594646109658, 0.0, 0.0, 0.13592358963484708, 0.01770728587246254, 0.22205594030215603, 0.08674108725742351, 0.11916783642298767, 0.4139356841748521, 0.2631804356382302, 0.13937348139704311, 0.10210267655032298, 0.009250903351464194, 0.0032824279263795977], "count": [1727]}, "action": {"min": [-1.0, -1.0, -0.6085714285714285, 0.0, -1.0, -1.0, -0.6571428571428571, -0.7642857142857143, -0.26857142857142857, -0.4742857142857143, -0.2, -1.0], "max": [1.0, 1.0, 0.6857142857142857, 0.0, 1.0, 1.0, 0.6785714285714286, 1.0, 0.44571428571428573, 0.28285714285714286, 0.4, 1.0], "mean": [0.10100918190090157, 0.021515427247911324, -0.0037571345851600663, 0.0, -0.43022582513028373, 0.0013524691868640815, -0.011919927206551406, -0.008362974605012811, 0.00200512862933245, -0.0006534866407477896, 0.00023326991479857826, -0.1013317892298784], "std": [0.3694549749974201, 0.33410485999735356, 0.16874818306688064, 0.0, 0.9027212966309072, 0.4173478345309465, 0.13360724518952502, 0.2556989387124803, 0.049830096658085805, 0.07563842345188171, 0.05484146728366268, 0.9948526868292982], "count": [1727]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009264620952308178], "std": [0.09580599516630173], "count": [1727]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005790387955993051], "std": [0.02405625718337115], "count": [1727]}, "timestamp": {"min": [0.0], "max": [86.3], "mean": [43.15], "std": [24.927093693409184], "count": [1727]}, "frame_index": {"min": [0], "max": [1726], "mean": [863.0], "std": [498.5418738681837], "count": [1727]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1727]}, "index": {"min": [41328], "max": [43054], "mean": [42191.0], "std": [498.5418738681837], "count": [1727]}, "task_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1727]}}} +{"episode_index": 28, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5442694514892098]], [[0.5182327173743132]], [[0.4976719834921146]]], "std": [[[0.22335387965266212]], [[0.2158858697492947]], [[0.21813018809898987]]], "count": [269]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.0392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5471775653593585]], [[0.5156378223211479]], [[0.48072617052073935]]], "std": [[[0.2236333964324803]], [[0.2180137666637304]], [[0.22553316483112945]]], "count": [269]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.03137254901960784]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46655981754959475]], [[0.45865210377359295]], [[0.445797119318583]]], "std": [[[0.22986143355871888]], [[0.21320975771131992]], [[0.20796407339565798]]], "count": [269]}, "annotation.human.task_description": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1743]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1743]}, "observation.state": {"min": [3.5906269198129612, -1.7358017829464334, 0.6999993009018052, 0.0, 0.0, 0.6449001431465149, 0.6975097060203552, -0.18037786054691218, -0.03306448465183598, 0.3293192812961572, -0.993220865726471, -0.2969611883163452, -0.5764913558959961, 4.559281296678819e-05, 0.01621408891794388, -0.040307599720043295], "max": [4.675718713497607, -0.7519228354163839, 0.7004150820753329, 0.0, 0.0, 0.7165752053260803, 0.7642667889595032, 0.4773344010715241, 0.18953979276888067, 0.8333727822581364, 0.9932749271392822, 0.17896896600723267, 0.5679696202278137, 0.4282342493534088, 0.040311430937582264, -0.018026277655959686], "mean": [4.262052849853298, -1.0073905577656426, 0.7002114758161033, 0.0, 0.0, 0.6934021471631439, 0.7203389999856911, 0.08648512431043569, 0.03282653678162052, 0.6451601179371991, -0.6640524880269172, -0.06397455685349353, -0.2264860769583108, 0.05726336283263156, 0.03675301232769605, -0.035346682655012424], "std": [0.35055627475775775, 0.24502336265041455, 9.31481484552276e-05, 0.0, 0.0, 0.012681389793351401, 0.012015318927296695, 0.1979690285986919, 0.04669125876286216, 0.13715630975310633, 0.6608009906827292, 0.0825734786985243, 0.22553412021941366, 0.07761792453634503, 0.006088758220668041, 0.006669453921046273], "count": [1743]}, "action": {"min": [-1.0, -1.0, -0.4371428571428572, 0.0, -1.0, -1.0, -0.7928571428571428, -0.9714285714285714, -0.25142857142857145, -0.44, -0.3342857142857143, -1.0], "max": [1.0, 1.0, 0.2542857142857143, 0.0, 1.0, 1.0, 0.6714285714285714, 1.0, 0.21714285714285717, 0.4114285714285714, 0.23142857142857146, 1.0], "mean": [0.039701663798049326, 0.007962462093271038, 0.0008409146791246627, 0.0, -0.3838209982788296, -0.011802311285960172, 0.007298582083435784, 0.0051225309400868705, 0.0017932956315056137, -0.00477665765101221, -0.0002524383247274812, -0.12105565117613311], "std": [0.357014477350527, 0.305729888979151, 0.046864275564505106, 0.0, 0.923407516365472, 0.4253035434613029, 0.12163620854085411, 0.27711590377218803, 0.0364843845633391, 0.07384320570125343, 0.051346837106739096, 0.992645721956386], "count": [1743]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009179575368762016], "std": [0.09536933153867722], "count": [1743]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005737234652897303], "std": [0.023945653189568795], "count": [1743]}, "timestamp": {"min": [0.0], "max": [87.1], "mean": [43.55], "std": [25.15803383944514], "count": [1743]}, "frame_index": {"min": [0], "max": [1742], "mean": [871.0], "std": [503.1606767889028], "count": [1743]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1743]}, "index": {"min": [43055], "max": [44797], "mean": [43926.0], "std": [503.1606767889028], "count": [1743]}, "task_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1743]}}} +{"episode_index": 29, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5423309292301088]], [[0.524448598508168]], [[0.4989136148636931]]], "std": [[[0.21791909215756702]], [[0.22374593974533563]], [[0.2332595473018198]]], "count": [265]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4818061698210755]], [[0.47208156121381334]], [[0.46494057912540754]]], "std": [[[0.19676629614686095]], [[0.19676002810650728]], [[0.19870795307344813]]], "count": [265]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47797634270117983]], [[0.4689275244664493]], [[0.46291395181027156]]], "std": [[[0.20084920942174375]], [[0.2005824416297122]], [[0.20293384819049004]]], "count": [265]}, "annotation.human.task_description": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1707]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1707]}, "observation.state": {"min": [0.9522413633581203, -1.8856482417465235, 0.6999882517073657, 0.0, 0.0, -0.9999551773071289, 0.00946519523859024, -0.0628506835694127, -0.14598231435093734, 0.2756470261553775, -0.9962906837463379, -0.21894219517707825, -0.4133221209049225, 0.00036329441354610026, -0.0006745518832507374, -0.040014410273071455], "max": [3.0658635929601354, -0.8024170801788745, 0.7013757509826042, 0.0, 0.0, 0.9997187256813049, 0.9999996423721313, 0.6038100748988446, 0.05729099337711441, 0.6226148086507329, 0.9655585289001465, 0.047367244958877563, 0.3311428427696228, 0.1398901343345642, 0.04012385999301095, -0.005938157383598495], "mean": [1.9162212146258766, -1.0810471229414342, 0.700242391097311, 0.0, 0.0, 0.6580926705848175, 0.6979160098174579, 0.1556818009091025, -0.024649266811773058, 0.5193702872790471, -0.837685830284436, -0.03282503393060224, -0.19722398774677644, 0.034244735507107264, 0.028036428887422544, -0.029005085898505808], "std": [0.7373515010753442, 0.2591230500062855, 0.0004698817506366963, 0.0, 0.0, 0.26231189113741965, 0.10497499538897201, 0.19525503523058818, 0.050598223579393996, 0.0952894612032761, 0.4785489783787476, 0.06537658669739209, 0.1511001564554623, 0.03194500562985803, 0.014181826029303358, 0.014206630663732588], "count": [1707]}, "action": {"min": [-1.0, -1.0, -0.5828571428571429, 0.0, -1.0, -1.0, -0.7142857142857143, -0.8785714285714286, -0.06857142857142857, -0.2571428571428571, -0.14, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.7214285714285715, 0.9928571428571428, 0.09142857142857143, 0.19714285714285715, 0.16857142857142857, 1.0], "mean": [0.10777470918068459, -0.04558958908695289, 0.05138840070298778, 0.0, -0.17984768599882836, -0.004561051133986113, 0.001870449409992468, 0.002016905180349821, 0.0010410913047116924, 0.0015700058582308134, 0.0009657711942421961, -0.06619800820152313], "std": [0.34464593389917025, 0.35146993380937175, 0.24142574789898077, 0.0, 0.98369446976228, 0.3917783933778667, 0.12449771725395756, 0.24361493985657212, 0.009332761435395971, 0.046106701739806744, 0.031164446991288428, 0.9978065061474243], "count": [1707]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009373169392347336], "std": [0.09636032581329346], "count": [1707]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005858230814294083], "std": [0.024196691772774906], "count": [1707]}, "timestamp": {"min": [0.0], "max": [85.3], "mean": [42.65000000000001], "std": [24.638418509852997], "count": [1707]}, "frame_index": {"min": [0], "max": [1706], "mean": [853.0], "std": [492.7683701970599], "count": [1707]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1707]}, "index": {"min": [44798], "max": [46504], "mean": [45651.0], "std": [492.7683701970599], "count": [1707]}, "task_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1707]}}} +{"episode_index": 30, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5798515223856991]], [[0.5511209844263933]], [[0.5311410317542682]]], "std": [[[0.21397421757597365]], [[0.22277851294144635]], [[0.2297111615794273]]], "count": [212]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.0196078431372549]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5832534341251149]], [[0.5411091840139284]], [[0.512388777935721]]], "std": [[[0.20102237840643564]], [[0.2253868113003312]], [[0.2432079146714793]]], "count": [212]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5347509013693552]], [[0.46910490402238614]], [[0.43194462490046504]]], "std": [[[0.21393712046229163]], [[0.24474141540164107]], [[0.27051150896891685]]], "count": [212]}, "annotation.human.task_description": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1271]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1271]}, "observation.state": {"min": [-1.2201831191402943, -3.996796918910192, 0.6999974622149993, 0.0, 0.0, -0.03772488236427307, 0.9992882609367371, -0.08551908829208266, -0.15923483759084212, 0.31939813299219444, -0.9920539259910583, -0.2636769115924835, -0.5048521757125854, 5.085895463707857e-05, 0.02052548760986971, -0.04010516599721697], "max": [-0.7704864639898616, -2.95641003242552, 0.7003584468505885, 0.0, 0.0, 0.004113495349884033, 1.0, 0.552898108171838, 0.013019912792844313, 0.7679516473137599, 0.9800374507904053, 0.14922863245010376, 0.5338367819786072, 0.14244714379310608, 0.04013740516871941, -0.020541071712945603], "mean": [-0.9393500024033786, -3.607975734668678, 0.7002031370559826, 0.0, 0.0, -0.0075781565362736504, 0.9998997117852152, 0.15359036572538248, -0.05564906226860669, 0.5965741708805022, -0.44083613626230994, -0.011276944991080992, -0.12604020113883105, 0.02334158069290788, 0.03679433045133644, -0.03615015553971513], "std": [0.10596174510249097, 0.4530323042398501, 9.160850339217909e-05, 0.0, 0.0, 0.011964049300530768, 0.00022015424158871848, 0.17405524406359657, 0.04830621623629835, 0.12306802232749318, 0.8232853861374395, 0.08198521769225722, 0.32198746530332134, 0.030150300553274056, 0.0038448600565292508, 0.004921830484425232], "count": [1271]}, "action": {"min": [-1.0, -1.0, -0.15714285714285714, 0.0, -1.0, -1.0, -0.4285714285714286, -1.0, -0.15428571428571428, -0.29428571428571426, -0.2914285714285714, -1.0], "max": [0.8642857142857142, 1.0, 0.06285714285714286, 0.0, 1.0, 1.0, 0.5928571428571429, 0.8642857142857142, 0.06571428571428571, 0.22, 0.20857142857142857, 1.0], "mean": [0.047999325615375975, 0.0007024839833651808, -0.0034033944026076197, 0.0, -0.4492525570416995, -0.013588850174216027, 0.0013600089917949851, -0.0021636506687647493, -0.00027424974710576577, -0.004349780824997195, -0.00033944026076205506, -0.11723052714398112], "std": [0.24219245086405755, 0.32440232092071863, 0.019279486263255374, 0.0, 0.8934048018627962, 0.4559403749674063, 0.12035654674824564, 0.2795139279250936, 0.01614540170698616, 0.055309066728280745, 0.046734640895106296, 0.9931047293742612], "count": [1271]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01180173084139824], "std": [0.10799282789230347], "count": [1271]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007867820613690008], "std": [0.028038599026287116], "count": [1271]}, "timestamp": {"min": [0.0], "max": [63.5], "mean": [31.75], "std": [18.345299125389044], "count": [1271]}, "frame_index": {"min": [0], "max": [1270], "mean": [635.0], "std": [366.9059825077809], "count": [1271]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1271]}, "index": {"min": [46505], "max": [47775], "mean": [47140.0], "std": [366.9059825077809], "count": [1271]}, "task_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1271]}}} +{"episode_index": 31, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.566438667500965]], [[0.5499034052873321]], [[0.5380656693521272]]], "std": [[[0.2347854605293511]], [[0.24493805834044138]], [[0.2528046838125495]]], "count": [277]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5999848187632171]], [[0.5614457404848926]], [[0.5245118120719632]]], "std": [[[0.2401633580301861]], [[0.2676950400301732]], [[0.2922371918145101]]], "count": [277]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5759810218640917]], [[0.5330920962743245]], [[0.49966701535381325]]], "std": [[[0.21059898502653354]], [[0.2464372677220563]], [[0.2814558530672518]]], "count": [277]}, "annotation.human.task_description": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [1806]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1806]}, "observation.state": {"min": [0.7615785300069997, -6.72898425383816, 0.6999707068029715, 0.0, 0.0, -1.0, 2.637603938637767e-05, -0.10070696316941014, -0.1793259743621105, 0.28834197252754545, -0.9890059232711792, -0.6831246614456177, -0.41369062662124634, 0.0002617384016048163, 0.01630768812837399, -0.04044680668076269], "max": [1.3729892737775167, -5.475505720643919, 0.703472007827186, 0.0, 0.0, 1.0, 0.24251247942447662, 0.579030334963295, 0.15230111610348462, 0.8203823124425315, 0.9862698316574097, 0.9038588404655457, 0.5272431373596191, 0.36812877655029297, 0.04035433460411228, -0.02050542799136824], "mean": [0.9551971579268054, -6.257850631392602, 0.7019395926023692, 0.0, 0.0, -0.4708630587835513, 0.061233357408238424, 0.14160377643765373, 0.006409275918014416, 0.6325813503401179, 0.566381330406943, 0.48501376731781204, 0.1764372409031812, 0.12729268440860902, 0.033111584792293855, -0.037116996079998466], "std": [0.1341019418026322, 0.5079019322378476, 0.0010201422903249285, 0.0, 0.0, 0.8783226896830523, 0.055567057776572275, 0.19386162938604679, 0.08156838473135777, 0.12999704250055968, 0.45741107258552804, 0.3900117094108698, 0.1561927985201783, 0.1044514059196858, 0.008207484367328873, 0.004302597647481063], "count": [1806]}, "action": {"min": [-1.0, -1.0, -0.6228571428571429, 0.0, -1.0, -1.0, -0.46428571428571436, -0.6785714285714286, -0.4257142857142857, -0.45999999999999996, -0.48571428571428577, -1.0], "max": [1.0, 1.0, 0.45999999999999996, 0.0, 1.0, 0.807142857142857, 0.8214285714285715, 0.9285714285714287, 0.58, 0.24571428571428575, 0.5542857142857143, 1.0], "mean": [0.06011311501344721, -0.011916627115962662, 0.00683119759531719, 0.0, -0.5116279069767442, -0.0025707957601645184, -0.003144280968201237, -0.011145388387913301, -0.002578705900965031, -0.005934187628539785, 0.005639930390760955, -0.1450719822812846], "std": [0.2781261123641799, 0.30728145239429394, 0.10074893034782959, 0.0, 0.8592071256702958, 0.3556590779228884, 0.12880182927114123, 0.25088374779576905, 0.07865570111470241, 0.0729411838909892, 0.08283967806747239, 0.9894211034524114], "count": [1806]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008859357796609402], "std": [0.09370630234479904], "count": [1806]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005537098560354374], "std": [0.023524524680230346], "count": [1806]}, "timestamp": {"min": [0.0], "max": [90.25], "mean": [45.125], "std": [26.067360657854614], "count": [1806]}, "frame_index": {"min": [0], "max": [1805], "mean": [902.5], "std": [521.3472131570924], "count": [1806]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [1806]}, "index": {"min": [47776], "max": [49581], "mean": [48678.5], "std": [521.3472131570924], "count": [1806]}, "task_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [1806]}}} +{"episode_index": 32, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.509750623414587]], [[0.47188055847918486]], [[0.431391641319531]]], "std": [[[0.22349604132767978]], [[0.2055605622203136]], [[0.2115660626195763]]], "count": [295]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5046894618877742]], [[0.4629572705629855]], [[0.44405627701044004]]], "std": [[[0.22075284618284094]], [[0.2013599839882354]], [[0.1940762255368456]]], "count": [295]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4316178927004793]], [[0.4191542872197211]], [[0.41796805688890365]]], "std": [[[0.22571705617128662]], [[0.2013035949006703]], [[0.19023237271321816]]], "count": [295]}, "annotation.human.task_description": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1969]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1969]}, "observation.state": {"min": [-1.6355144828387354, -3.8477205259449425, 0.6999960491218462, 0.0, 0.0, -0.25913572311401367, 0.9658408761024475, -0.12338887488666095, -0.17188689771088228, 0.28497978766021825, -0.9893530011177063, -0.3513699173927307, -0.49246421456336975, 2.900676554418169e-05, 0.016590746013635534, -0.040734419401397014], "max": [-0.775628212251955, -2.6340487663368055, 0.7019823183793132, 0.0, 0.0, 0.23255595564842224, 1.0, 0.6252301409415522, 0.042013069570377315, 0.811843047192699, 0.9821128249168396, 0.3644142150878906, 0.5900825262069702, 0.22760576009750366, 0.040014326507107685, -0.020542827822570206], "mean": [-1.0281389317849852, -3.359599590383464, 0.7003609687916608, 0.0, 0.0, 0.03426528070905028, 0.9874718365117098, 0.1976277652328571, -0.056995009020168616, 0.6118474464015746, -0.18044131658233442, 0.0948577108965603, -0.005025594018933251, 0.04476187379705332, 0.03410669985370813, -0.03630723493454368], "std": [0.1928442382210343, 0.4612232141522402, 0.0005350571643324695, 0.0, 0.0, 0.15377142850523842, 0.008922727588885251, 0.2174717605316824, 0.0569025479126766, 0.14305788613576562, 0.8993023217827186, 0.1550837511897026, 0.34751393047686036, 0.053408733486828196, 0.00676585026731887, 0.005260153338858398], "count": [1969]}, "action": {"min": [-1.0, -1.0, -0.5914285714285714, 0.0, -1.0, -1.0, -0.39285714285714285, -0.7428571428571429, -0.3, -0.3457142857142857, -0.13142857142857142, -1.0], "max": [1.0, 1.0, 0.8485714285714285, 0.0, 1.0, 1.0, 0.6071428571428572, 1.0, 0.18285714285714286, 0.2857142857142857, 0.2571428571428571, 1.0], "mean": [0.0974388739751867, 0.04676412972502357, 0.007284335775955882, 0.0, -0.42407313357034027, 0.0037727635492998627, -0.0022672857868388627, -0.007647101501850115, -0.0014699267213233705, -0.003118334179786696, 0.0026438366103170574, -0.13357034027425088], "std": [0.35296023030855916, 0.32836600364436597, 0.14307961233818176, 0.0, 0.9056279464459167, 0.3838247093003942, 0.09573932038094589, 0.24304673064099414, 0.030342539730133483, 0.06558439904635799, 0.028473023994679582, 0.9910393353439746], "count": [1969]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008633824065327644], "std": [0.09251638501882553], "count": [1969]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005078720162519045], "std": [0.022530292547302017], "count": [1969]}, "timestamp": {"min": [0.0], "max": [98.4], "mean": [49.199999999999996], "std": [28.420063335608525], "count": [1969]}, "frame_index": {"min": [0], "max": [1968], "mean": [984.0], "std": [568.4012667121705], "count": [1969]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1969]}, "index": {"min": [49582], "max": [51550], "mean": [50566.0], "std": [568.4012667121705], "count": [1969]}, "task_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1969]}}} +{"episode_index": 33, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4939783481952271]], [[0.4781373498586166]], [[0.45215956057355705]]], "std": [[[0.23374468847720206]], [[0.2328342155553135]], [[0.24408387580782306]]], "count": [305]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5073673484946937]], [[0.4951528105679067]], [[0.4813350786131243]]], "std": [[[0.2592281614942282]], [[0.26133436650644326]], [[0.2647626283491223]]], "count": [305]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41682258098311686]], [[0.41815877827981857]], [[0.4162015083433156]]], "std": [[[0.2366781678212346]], [[0.23005205156049527]], [[0.22766412504131853]]], "count": [305]}, "annotation.human.task_description": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [2055]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [2055]}, "observation.state": {"min": [-1.5626116056855683, -3.989637388127277, 0.6999972650684352, 0.0, 0.0, -0.2535782754421234, 0.9673148989677429, -0.1632425240035839, -0.08903129226888717, 0.28743722702761654, -0.9966044425964355, -0.27614837884902954, -0.5118350982666016, 1.763236286933534e-05, 0.005988937427429392, -0.04007377553074916], "max": [-0.7910892851721423, -2.661143200302792, 0.7040254329396708, 0.0, 0.0, 0.16445544362068176, 1.0, 0.6193926288562821, 0.040830978329754686, 0.725180228739047, 0.9858102798461914, 0.2853551208972931, 0.2860223352909088, 0.09211377799510956, 0.04030064056462579, -0.007852280804445014], "mean": [-1.0164856778015272, -3.4190169622728743, 0.7015002344813709, 0.0, 0.0, -0.007033285487480314, 0.9895327452325473, 0.14806532133115669, -0.00870230779814798, 0.5489599912262559, -0.5620407670663801, 0.060204577939063676, -0.20444059053269087, 0.03650669797613514, 0.030396661850381604, -0.03041534417712111], "std": [0.18205147517713385, 0.4081303631696605, 0.0013173687351210933, 0.0, 0.0, 0.14385138453145285, 0.00907001488491291, 0.21442027760861984, 0.02639003591605138, 0.12384768867404429, 0.7612429117639553, 0.12504425171623373, 0.20408028417584703, 0.02411010975210445, 0.010966213766907715, 0.010971667056412273], "count": [2055]}, "action": {"min": [-1.0, -1.0, -0.6142857142857143, 0.0, -1.0, -1.0, -0.4, -1.0, -0.12857142857142856, -0.3857142857142858, -0.2257142857142857, -1.0], "max": [1.0, 1.0, 0.5457142857142857, 0.0, 1.0, 0.95, 0.8428571428571429, 0.9714285714285714, 0.13714285714285715, 0.21142857142857144, 0.3914285714285714, 1.0], "mean": [0.08241223496697944, 0.04179353493222106, 0.005589155370177274, 0.0, -0.4092457420924574, -0.011164407368786924, 0.006294751477233237, -0.019127563434132796, 0.00017240180743830405, -0.00257073340285019, -0.000846715328467155, -0.1464720194647202], "std": [0.3498052215373778, 0.34394575882696393, 0.12959418734070843, 0.0, 0.9124242010047623, 0.3592344588527024, 0.08134517384865433, 0.268855629078012, 0.014645387797163909, 0.05347733736372308, 0.02913142705425747, 0.9892148136344988], "count": [2055]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013625304214656353], "std": [0.11592952162027359], "count": [2055]}, "next.done": {"min": [false], "max": [true], "mean": [0.00048661800486618007], "std": [0.022054051958393498], "count": [2055]}, "timestamp": {"min": [0.0], "max": [102.7], "mean": [51.35], "std": [29.661366567753866], "count": [2055]}, "frame_index": {"min": [0], "max": [2054], "mean": [1027.0], "std": [593.2273313550774], "count": [2055]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [2055]}, "index": {"min": [51551], "max": [53605], "mean": [52578.0], "std": [593.2273313550774], "count": [2055]}, "task_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [2055]}}} +{"episode_index": 34, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5495190128595927]], [[0.5421422009151968]], [[0.5096453372540964]]], "std": [[[0.22642028129996677]], [[0.22145086402974104]], [[0.2392881831866479]]], "count": [252]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49065485531913505]], [[0.4867139484442323]], [[0.48177606230616166]]], "std": [[[0.280136091500311]], [[0.26866861862615876]], [[0.2545588505215186]]], "count": [252]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4386158788534402]], [[0.4381752947354072]], [[0.43834877999593935]]], "std": [[[0.25142349990724044]], [[0.24172482042757623]], [[0.2295779238884726]]], "count": [252]}, "annotation.human.task_description": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1597]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1597]}, "observation.state": {"min": [-1.8026694522209032, -3.9649415431233397, 0.6999969609316736, 0.0, 0.0, -0.198689803481102, 0.9654629230499268, -0.03751601776294011, -0.09831349584301297, 0.2625694431005646, -0.9914875030517578, -0.5888097882270813, -0.40649276971817017, 1.2072772733517922e-05, 0.014798982813122655, -0.04019224439387969], "max": [-0.7751698832491949, -2.695657983553698, 0.7028820470087233, 0.0, 0.0, 0.26054054498672485, 1.0, 0.6119611784295649, 0.07841746280001205, 0.7176667135263922, 0.9529524445533752, 0.5903224945068359, 0.40216630697250366, 0.16612757742404938, 0.04006716701483426, -0.013294496824718643], "mean": [-1.1049615926792018, -3.4296801929418472, 0.7009772186495135, 0.0, 0.0, 0.044933285878389836, 0.9861804582435187, 0.20649191719708804, -0.016275967930992626, 0.5671337160398704, -0.3135189546520589, 0.17070745909557392, -0.052223488411153346, 0.0631807009273803, 0.031911361230193294, -0.03249108744697166], "std": [0.2402368097668469, 0.45114529354566535, 0.0008725137409488732, 0.0, 0.0, 0.1592376718068299, 0.008512985622433177, 0.1756023806734042, 0.04071508230430626, 0.10703845387717388, 0.8480109855361336, 0.27597414487444133, 0.2618291871517641, 0.04479791585994347, 0.009870708760336628, 0.010020697673608102], "count": [1597]}, "action": {"min": [-1.0, -1.0, -0.6428571428571429, 0.0, -1.0, -1.0, -0.4928571428571429, -1.0, -0.3342857142857143, -0.3742857142857143, -0.4028571428571428, -1.0], "max": [1.0, 1.0, 0.4657142857142857, 0.0, 1.0, 0.8857142857142857, 0.6285714285714287, 0.9357142857142857, 0.3342857142857143, 0.18857142857142858, 0.3628571428571429, 1.0], "mean": [0.08635387780660164, 0.039663655067537336, 0.000261204043295466, 0.0, -0.29618033813400124, -0.013127292244386789, 0.004177475623937741, -0.019232489489220878, -0.0009804096967528386, -0.006170498255657931, 0.004701672779318364, -0.21728240450845335], "std": [0.38070551084191706, 0.38191880376686205, 0.13354458678057643, 0.0, 0.9551320365807162, 0.34609022358188135, 0.11122048867877359, 0.24596250553650262, 0.04919803128989511, 0.0661552229937333, 0.06343042177328022, 0.9761087832260411], "count": [1597]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010018785484135151], "std": [0.0995912104845047], "count": [1597]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006261740763932373], "std": [0.025015634759471734], "count": [1597]}, "timestamp": {"min": [0.0], "max": [79.8], "mean": [39.9], "std": [23.050704978373222], "count": [1597]}, "frame_index": {"min": [0], "max": [1596], "mean": [798.0], "std": [461.0140995674644], "count": [1597]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1597]}, "index": {"min": [53606], "max": [55202], "mean": [54404.0], "std": [461.0140995674644], "count": [1597]}, "task_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1597]}}} +{"episode_index": 35, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47919240825489634]], [[0.45129517070665914]], [[0.4394795203780297]]], "std": [[[0.19354867095894449]], [[0.20471559287956165]], [[0.21391206220573541]]], "count": [324]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5127672672387158]], [[0.47327531211112434]], [[0.45624566245558074]]], "std": [[[0.17454324226111453]], [[0.1674836415135123]], [[0.16868072307702148]]], "count": [324]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5359818092185514]], [[0.4956322497531999]], [[0.4602932300442964]]], "std": [[[0.1900254748831421]], [[0.17429524820625036]], [[0.1685043526543077]]], "count": [324]}, "annotation.human.task_description": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [2226]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [2226]}, "observation.state": {"min": [-1.330617461443476, -3.996322758540541, 0.6999948134337167, 0.0, 0.0, -0.08177196979522705, 0.9966511130332947, -0.13350138205828044, -0.12824827851452536, 0.3309000766269834, -0.9951158165931702, -0.2936965525150299, -0.49346357583999634, 1.960436520676012e-06, 0.018930183330665675, -0.04008397981903309], "max": [-0.7576297740090131, -2.8687202586356575, 0.7009716508977542, 0.0, 0.0, 0.002094121417030692, 1.0, 0.8022656349767991, 0.017395901279948944, 0.7665834471787867, 0.9652571082115173, 0.10515844821929932, 0.3728385865688324, 0.17622774839401245, 0.04007020168485474, -0.01725225014640493], "mean": [-0.9916574572856471, -3.690803214893597, 0.7003494492714439, 0.0, 0.0, -0.030676034052903676, 0.9993502933595594, 0.20303918045103936, -0.039201768896065164, 0.6018041348104815, -0.7043844829886643, -0.027873768639371722, -0.21561697008622088, 0.04723374753507343, 0.0344904805400252, -0.034135002612301665], "std": [0.1382170999774196, 0.41655166446003533, 0.00026193840592192506, 0.0, 0.0, 0.018910957092494546, 0.0005992872334795005, 0.27409026524485325, 0.037372575499103874, 0.12470003060052756, 0.6326535708244714, 0.07620851426288029, 0.21583946376610566, 0.041217670587828284, 0.0068145333344781, 0.007677545695690384], "count": [2226]}, "action": {"min": [-1.0, -1.0, -0.38, 0.0, -1.0, -1.0, -0.6285714285714287, -0.9571428571428572, -0.07428571428571429, -0.19428571428571428, -0.18571428571428572, -1.0], "max": [0.8214285714285715, 1.0, 0.40857142857142864, 0.0, 1.0, 1.0, 0.5428571428571429, 0.8928571428571429, 0.09142857142857143, 0.2057142857142857, 0.2257142857142857, 1.0], "mean": [0.023405211141060193, -0.010723912206391987, -0.0030163008599666313, 0.0, -0.5633423180592992, -0.004174688743421913, -0.0020151456809138807, 0.00025028879476317843, 0.0006045437042741625, -0.000274675908099091, 0.00046720575022461707, -0.215633423180593], "std": [0.1852840220955037, 0.2573222437915868, 0.03674944902399256, 0.0, 0.8262235972686659, 0.36376546887970795, 0.08095146006818672, 0.23963004547668784, 0.013004734944495892, 0.03796486934687563, 0.04264218878655547, 0.9764743861501916], "count": [2226]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007187780924141407], "std": [0.08447553962469101], "count": [2226]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004492362982929021], "std": [0.021190433809650952], "count": [2226]}, "timestamp": {"min": [0.0], "max": [111.25], "mean": [55.625], "std": [32.12953923831879], "count": [2226]}, "frame_index": {"min": [0], "max": [2225], "mean": [1112.5], "std": [642.5907847663758], "count": [2226]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [2226]}, "index": {"min": [55203], "max": [57428], "mean": [56315.5], "std": [642.5907847663758], "count": [2226]}, "task_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [2226]}}} +{"episode_index": 36, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47502461988792966]], [[0.47629557049519106]], [[0.43832160854827096]]], "std": [[[0.22268094205793218]], [[0.22835111745278083]], [[0.2153421998914152]]], "count": [257]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44811742841819974]], [[0.4050256173961939]], [[0.373539556350644]]], "std": [[[0.24644312082960818]], [[0.2449673147654982]], [[0.256550441945435]]], "count": [257]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45936226909180805]], [[0.449134409072025]], [[0.4399287638188027]]], "std": [[[0.23543372829865927]], [[0.22508646563985937]], [[0.22657660503840277]]], "count": [257]}, "annotation.human.task_description": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1642]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1642]}, "observation.state": {"min": [3.1808063572613214, -3.5478431222901192, 0.6999960922808542, 0.0, 0.0, -0.030005764216184616, 0.999497652053833, -0.15677390371296163, -0.15262590818067157, 0.32881616880193254, -0.9987714886665344, -0.20025864243507385, -0.4735018014907837, 0.0001889906416181475, 0.020532378444458405, -0.04008148833862062], "max": [3.965834373444294, -2.6881809340357865, 0.701491494457236, 0.0, 0.0, 0.03169318661093712, 1.0, 0.5491184351008074, 0.14057850749459, 0.7854442641331261, 0.9758643507957458, 0.09627902507781982, 0.4642062187194824, 0.12731657922267914, 0.040326914836890174, -0.015934552796447215], "mean": [3.716196641339888, -3.1106803530258134, 0.7005729210663375, 0.0, 0.0, 0.003765077677371249, 0.9998697590958622, 0.11240296928004553, -0.009289120609194974, 0.6491248332588236, -0.678148484876182, -0.013237154140759908, -0.19066851679802885, 0.0348803981594027, 0.03586226882861305, -0.03318899357216112], "std": [0.20938866247953153, 0.31743363370350186, 0.0005170224643317057, 0.0, 0.0, 0.015693942127347524, 0.00014414790641968672, 0.20644250488686877, 0.04775839341828749, 0.12723086367394168, 0.6715481099001865, 0.06595755814610928, 0.21453758563678585, 0.03185355346315877, 0.0051348822503871315, 0.008588092803044551], "count": [1642]}, "action": {"min": [-1.0, -1.0, -0.21142857142857144, 0.0, -1.0, -1.0, -0.7214285714285715, -1.0, -0.14285714285714285, -0.35428571428571426, -0.2285714285714286, -1.0], "max": [1.0, 1.0, 0.14857142857142858, 0.0, 1.0, 1.0, 0.6428571428571428, 0.8214285714285715, 0.10285714285714286, 0.22, 0.36, 1.0], "mean": [0.052701409431007484, 0.005524621541673918, 0.0006438141639116063, 0.0, -0.3276492082825822, -0.008065077431703479, 0.0006655646424221326, -0.0017574386636506085, 0.000809117800591613, -0.0002488254741604346, 0.0005463720201844436, -0.2143727161997564], "std": [0.3400170078759825, 0.28499876268890173, 0.02673371506859879, 0.0, 0.9447994476669678, 0.45157641428553513, 0.11602619463734055, 0.2548315468711261, 0.014272713081285799, 0.06209587520113752, 0.04314259980742445, 0.9767519329641222], "count": [1642]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009744214825332165], "std": [0.09823066741228104], "count": [1642]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006090133982947625], "std": [0.024670680999426424], "count": [1642]}, "timestamp": {"min": [0.0], "max": [82.05], "mean": [41.025], "std": [23.700224155058113], "count": [1642]}, "frame_index": {"min": [0], "max": [1641], "mean": [820.5], "std": [474.00448310116224], "count": [1642]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1642]}, "index": {"min": [57429], "max": [59070], "mean": [58249.5], "std": [474.00448310116224], "count": [1642]}, "task_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1642]}}} +{"episode_index": 37, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.023529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5607750972689813]], [[0.54637116928532]], [[0.5028858385116175]]], "std": [[[0.253245244111988]], [[0.24704181655355117]], [[0.24250470919749217]]], "count": [267]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5033941900501642]], [[0.49551487948091366]], [[0.49309023268607827]]], "std": [[[0.2753328266079548]], [[0.2692349660376116]], [[0.2532307049656133]]], "count": [267]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45258970280930433]], [[0.4493162729022804]], [[0.4491086448999441]]], "std": [[[0.24505241875721281]], [[0.23884396117829912]], [[0.22698392908146522]]], "count": [267]}, "annotation.human.task_description": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1726]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1726]}, "observation.state": {"min": [4.30572238807403, -2.26616003053786, 0.6999625015110861, 0.0, 0.0, -0.06065724045038223, 0.9560523629188538, -0.020095119338201073, -0.1585259492074309, 0.3352782603384983, -0.9914520978927612, -0.6770728826522827, -0.323989599943161, 2.7887605028809048e-05, 0.011895910650481848, -0.04007370600690893], "max": [5.280181202263419, -1.150427507677082, 0.7002950699670568, 0.0, 0.0, 0.2931958734989166, 1.0, 0.6004526058719644, 0.010489786603044782, 0.6611448122682405, 0.9994364380836487, 0.6860491633415222, 0.32216566801071167, 0.10738466680049896, 0.04026765715429073, -0.011158596908951322], "mean": [4.904590670271015, -1.7725347813546517, 0.7000848176052693, 0.0, 0.0, 0.12879421459918478, 0.9839337481960637, 0.21995651205197517, -0.04611584598007279, 0.5531227049709198, 0.31655313072862107, -0.021119931846563536, 0.045057976240767565, 0.027498999693808913, 0.03226845387356571, -0.03139505210961126], "std": [0.2209815714600253, 0.42042846363268527, 9.196666411276395e-05, 0.0, 0.0, 0.12276120182583453, 0.014701278243847767, 0.1857611952513098, 0.03940585452202454, 0.072266949343281, 0.8871003913564246, 0.2908567597366944, 0.1568327490664328, 0.020503084335105483, 0.0099644318675703, 0.010730806709106786], "count": [1726]}, "action": {"min": [-1.0, -1.0, -0.6371428571428571, 0.0, -1.0, -1.0, -0.5928571428571429, -0.7214285714285715, -0.2857142857142857, -0.38285714285714284, -0.54, -1.0], "max": [1.0, 1.0, 0.62, 0.0, 1.0, 1.0, 0.8785714285714286, 1.0, 0.3914285714285714, 0.44285714285714284, 0.5942857142857143, 1.0], "mean": [0.04380069524913096, 0.01860205264029134, 0.0009584505876510553, 0.0, -0.2653534183082271, -0.0032982949842741225, -0.0005669591127296797, 0.0024706174474424755, 0.00030292997848038457, -0.003163383545770565, -0.0016487336533686494, -0.20162224797219003], "std": [0.298525964317691, 0.288703466621169, 0.11074700126955904, 0.0, 0.9641512139660042, 0.36019368094555254, 0.11949195798924517, 0.21104194598250467, 0.04710542610831137, 0.06262198759172326, 0.11245073914754072, 0.9794633577233108], "count": [1726]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009849363006651402], "std": [0.09875400364398956], "count": [1726]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005793742757821553], "std": [0.024063220923864644], "count": [1726]}, "timestamp": {"min": [0.0], "max": [86.25], "mean": [43.125], "std": [24.912659934258325], "count": [1726]}, "frame_index": {"min": [0], "max": [1725], "mean": [862.5], "std": [498.2531986851665], "count": [1726]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1726]}, "index": {"min": [59071], "max": [60796], "mean": [59933.5], "std": [498.2531986851665], "count": [1726]}, "task_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1726]}}} +{"episode_index": 38, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4986721417028863]], [[0.4794356668594101]], [[0.45845782588128925]]], "std": [[[0.22651354489888398]], [[0.22907251325917044]], [[0.24084276156625004]]], "count": [319]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.529412102914705]], [[0.5129430880726238]], [[0.4987101402050583]]], "std": [[[0.18706401453478638]], [[0.1861999337080632]], [[0.18616793024930822]]], "count": [319]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4845995419583328]], [[0.4675750516703546]], [[0.45394976357571337]]], "std": [[[0.21840003506457648]], [[0.21864714974373173]], [[0.21881503034725103]]], "count": [319]}, "annotation.human.task_description": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [2185]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [2185]}, "observation.state": {"min": [3.9457390612242365, -1.738602773075999, 0.6999981763647979, 0.0, 0.0, 0.6734268069267273, 0.6892642974853516, -0.13473045387244198, -0.12443003397799757, 0.2915895762221754, -0.9995040893554688, -0.3021690845489502, -0.4720737636089325, 3.765900601138128e-06, 0.015807352627006194, -0.04026009385354636], "max": [4.854771801599531, -0.8729603736592697, 0.7016777190729707, 0.0, 0.0, 0.7245099544525146, 0.7392538785934448, 0.5582566736825503, 0.15711349446307032, 0.7997395113785158, 0.999310314655304, 0.17529654502868652, 0.48795539140701294, 0.15841583907604218, 0.04008154262804285, -0.01755328077848662], "mean": [4.338217974618332, -1.0962435640592934, 0.7006962534960824, 0.0, 0.0, 0.6934411599106866, 0.7204354074235911, 0.08667492671636118, -0.017594804774920814, 0.6231042234980829, 0.1736791005123671, -0.0361806195612903, 0.05052897656758399, 0.028745507005450376, 0.031400412513274155, -0.034752170553036324], "std": [0.3155167642428583, 0.20421903549797757, 0.00040189439333273555, 0.0, 0.0, 0.007598463148421893, 0.007378613909026323, 0.19216257702003595, 0.04568943689977929, 0.13501992119485504, 0.9339403251319036, 0.0849511518959378, 0.2907440926516504, 0.03396608071591526, 0.009386784477960725, 0.007002237472641163], "count": [2185]}, "action": {"min": [-1.0, -0.9, -0.4714285714285714, 0.0, -1.0, -1.0, -0.4785714285714286, -0.8571428571428572, -0.08, -0.18, -0.2057142857142857, -1.0], "max": [0.942857142857143, 1.0, 0.18857142857142858, 0.0, 1.0, 0.8928571428571429, 0.5142857142857143, 0.6928571428571428, 0.13142857142857142, 0.2857142857142857, 0.19714285714285715, 1.0], "mean": [0.037293233082706774, -0.05086302713305003, -0.00956260215756783, 0.0, -0.26956521739130435, -0.006292906178489696, 0.0006440013076168701, -0.005590062111801231, 0.0011873161163779022, 5.491990846682024e-05, -0.0002066034651847009, -0.09473684210526316], "std": [0.29230587937731867, 0.25682338689307177, 0.04780254228769272, 0.0, 0.9629821356457322, 0.3132543875956007, 0.08496611998839201, 0.2150277953321074, 0.013198465433472915, 0.042674480198096935, 0.032310695426038184, 0.9955023509504748], "count": [2185]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007322654593735933], "std": [0.08525862544775009], "count": [2185]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004576659038901602], "std": [0.021388231479263928], "count": [2185]}, "timestamp": {"min": [0.0], "max": [109.2], "mean": [54.6], "std": [31.537755151563974], "count": [2185]}, "frame_index": {"min": [0], "max": [2184], "mean": [1092.0], "std": [630.7551030312795], "count": [2185]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [2185]}, "index": {"min": [60797], "max": [62981], "mean": [61889.0], "std": [630.7551030312795], "count": [2185]}, "task_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [2185]}}} +{"episode_index": 39, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5060165043985054]], [[0.4759760098416762]], [[0.4408489640800767]]], "std": [[[0.23801884129380482]], [[0.22268323204408463]], [[0.22188643560328325]]], "count": [212]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4468394497875986]], [[0.42484577332784895]], [[0.41992417510862134]]], "std": [[[0.22321337273820263]], [[0.21151184728374]], [[0.20694181146697735]]], "count": [212]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41698996218936424]], [[0.40855127631669746]], [[0.4107578595126509]]], "std": [[[0.2156536771298491]], [[0.20254408759772619]], [[0.19713682035436167]]], "count": [212]}, "annotation.human.task_description": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1269]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1269]}, "observation.state": {"min": [2.645847741904919, -3.2030372308947013, 0.6999241234564635, 0.0, 0.0, -0.39601221680641174, 0.9182451963424683, -0.0814969610821401, -0.028931281290178745, 0.31327355203262675, -0.9813020825386047, -0.32701945304870605, -0.6242507696151733, 5.737320316256955e-05, 0.00968864435689711, -0.04007011209584446], "max": [3.553285367325636, -2.263382959826341, 0.7002975257124286, 0.0, 0.0, 0.008773255161941051, 1.0, 0.6316495559267978, 0.32099865827333884, 0.8260345035593274, 0.99144047498703, 0.46340981125831604, 0.6646655201911926, 0.21745412051677704, 0.04004736053432403, -0.008629297914919745], "mean": [3.270630446973347, -2.795713309962374, 0.7000446683125254, 0.0, 0.0, -0.05492862774478544, 0.9962487338658296, 0.2085263451847706, 0.05932201004440512, 0.5537124691674843, -0.13001093298924823, 0.10395224460520266, -0.04469079488464187, 0.04667850369265655, 0.03437241716027936, -0.033613832745405914], "std": [0.2547596386849405, 0.3814291192583486, 6.593580503088584e-05, 0.0, 0.0, 0.06608244149668854, 0.010219136027423106, 0.17143604127616646, 0.0708058584794521, 0.12006005177982544, 0.9087666665632347, 0.24757421553637093, 0.2828441544125161, 0.031052831092852937, 0.00890076492216468, 0.009699890523350591], "count": [1269]}, "action": {"min": [-1.0, -1.0, -0.7114285714285714, 0.0, -1.0, -1.0, -0.9714285714285714, -1.0, -0.39714285714285713, -0.5742857142857143, -0.26571428571428574, -1.0], "max": [1.0, 1.0, 0.5514285714285714, 0.0, 1.0, 1.0, 0.6142857142857143, 1.0, 0.3342857142857143, 0.5685714285714286, 0.5571428571428572, 1.0], "mean": [0.01482607227288078, 0.02531239446133065, -0.00618034447821682, 0.0, -0.235618597320725, -0.010002251491613209, 0.008471237194641454, 0.012585838117753028, -0.0005020826297422047, -0.011869863784757404, 0.003469548575931555, -0.23877068557919623], "std": [0.41885322630258354, 0.33613078220749426, 0.11282493292588984, 0.0, 0.9718456032707116, 0.47323774853734285, 0.1600505840159445, 0.35368562666343384, 0.06339792814492205, 0.12524786643352956, 0.0877956496292763, 0.9710759803990763], "count": [1269]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012608353048563004], "std": [0.11157680302858353], "count": [1269]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007880220646178094], "std": [0.02806066795077203], "count": [1269]}, "timestamp": {"min": [0.0], "max": [63.4], "mean": [31.700000000000003], "std": [18.316431602980604], "count": [1269]}, "frame_index": {"min": [0], "max": [1268], "mean": [634.0], "std": [366.3286320596121], "count": [1269]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1269]}, "index": {"min": [62982], "max": [64250], "mean": [63616.0], "std": [366.3286320596121], "count": [1269]}, "task_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1269]}}} +{"episode_index": 40, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5205248706052934]], [[0.5112730445305625]], [[0.4903778144120228]]], "std": [[[0.22041781025020277]], [[0.22343950312277197]], [[0.2412822096170631]]], "count": [273]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.03137254901960784]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5239677972238074]], [[0.5061463307591165]], [[0.489210591682336]]], "std": [[[0.2129717188473908]], [[0.20429936588211223]], [[0.19614035294479923]]], "count": [273]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5023562426335217]], [[0.48402162560236434]], [[0.46857217521423633]]], "std": [[[0.20394033463672956]], [[0.2011117550536256]], [[0.1987344361859695]]], "count": [273]}, "annotation.human.task_description": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [1776]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1776]}, "observation.state": {"min": [3.093169333109571, -3.3543690102763146, 0.699997925171476, 0.0, 0.0, -0.02300865389406681, 0.9997352957725525, -0.1494634459762194, -0.15902475185527498, 0.263026229752375, -0.9983761310577393, -0.2640151381492615, -0.5386647582054138, 2.485609002178535e-06, 0.012128535251585798, -0.0400713694302444], "max": [3.5358689961591714, -2.1360103128825663, 0.7009036174441248, 0.0, 0.0, 0.02182399295270443, 1.0, 0.5422346697966587, 0.008368889326281437, 0.8277284484097004, 0.9986327886581421, 0.10204559564590454, 0.5312641263008118, 0.1410139501094818, 0.04025825006536561, -0.011545340035214832], "mean": [3.389346491444792, -2.9485566031935067, 0.7004816057212127, 0.0, 0.0, -0.0021598318084533876, 0.9999293356731132, 0.1340564388726033, -0.04996155376352319, 0.5855633699734972, 0.1311708955547294, -0.041180272238446516, -0.003259438920665432, 0.02104563852380194, 0.03379988353393031, -0.03214258346759357], "std": [0.10459802833930086, 0.4872619881864437, 0.00026967690793269474, 0.0, 0.0, 0.01169155815647331, 6.239274350500936e-05, 0.2007797927174307, 0.03665436628855008, 0.1465300078357002, 0.9485104868468935, 0.08403963739791062, 0.26972921585171794, 0.03400275514119486, 0.009609518815961818, 0.01046097978924243], "count": [1776]}, "action": {"min": [-1.0, -0.9785714285714284, -0.24285714285714288, 0.0, -1.0, -1.0, -0.4785714285714286, -0.9142857142857143, -0.09142857142857143, -0.34, -0.18285714285714286, -1.0], "max": [1.0, 1.0, 0.2, 0.0, 1.0, 0.9785714285714284, 0.6214285714285714, 1.0, 0.2142857142857143, 0.26, 0.2285714285714286, 1.0], "mean": [0.0382882882882883, -0.023121782496782498, -0.0030501930501930486, 0.0, -0.3975225225225225, -0.008023648648648657, -0.003169240669240681, 0.004359716859716845, 0.0004070141570141572, -0.0003700128700128721, -0.001206563706563706, -0.18468468468468469], "std": [0.22508612637895323, 0.30731786200822825, 0.03181911119081106, 0.0, 0.917592417191502, 0.4044353145381366, 0.10208998659930836, 0.28097513275696423, 0.015787381024012143, 0.05416739349070241, 0.03315774286733887, 0.9827978262302588], "count": [1776]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009009009227156639], "std": [0.09448728710412979], "count": [1776]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005630630630630631], "std": [0.023722268505564074], "count": [1776]}, "timestamp": {"min": [0.0], "max": [88.75], "mean": [44.375], "std": [25.634347888461424], "count": [1776]}, "frame_index": {"min": [0], "max": [1775], "mean": [887.5], "std": [512.6869577692285], "count": [1776]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [1776]}, "index": {"min": [64251], "max": [66026], "mean": [65138.5], "std": [512.6869577692285], "count": [1776]}, "task_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [1776]}}} +{"episode_index": 41, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5225284178490732]], [[0.4893805811264936]], [[0.45992142770804606]]], "std": [[[0.22781434906004164]], [[0.2236623300817278]], [[0.2123832919838262]]], "count": [200]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49266163964365045]], [[0.460016243130553]], [[0.44468337683584175]]], "std": [[[0.2184327144752841]], [[0.2082551441093538]], [[0.20318185080408396]]], "count": [200]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43333227239870553]], [[0.423898515289905]], [[0.42309025962679997]]], "std": [[[0.21862686640696458]], [[0.2046655226642438]], [[0.19712496010439595]]], "count": [200]}, "annotation.human.task_description": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1175]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1175]}, "observation.state": {"min": [3.097089932420202, -2.1043919522742423, 0.6999968743577877, 0.0, 0.0, 0.44280731678009033, 0.21279263496398926, -0.039669711009802766, -0.2873998638741284, 0.2914117393334952, -0.9955292344093323, -0.10919171571731567, -0.6613926291465759, 0.00021200382616370916, 0.015664009945334564, -0.04010587229972258], "max": [4.642602677229593, -0.7566308489373759, 0.7011880950621512, 0.0, 0.0, 0.9770973920822144, 0.8966168165206909, 0.6227441357539787, 0.10003409024471122, 0.8325002239144594, 0.9952325224876404, 0.3042012155056, 0.5735064148902893, 0.13871249556541443, 0.04026912637509777, -0.01491271615787931], "mean": [3.865995142340132, -1.129312282480114, 0.7009010887184776, 0.0, 0.0, 0.7374856534917303, 0.6573411345989146, 0.21644132695834112, -0.06876646180281881, 0.5801605512684366, 0.03462596594019139, 0.05744311179886473, -0.04780968135445716, 0.04128905180750038, 0.03442180575090792, -0.03196521377008983], "std": [0.4203530466977762, 0.2938316136972392, 0.0002675437346814075, 0.0, 0.0, 0.09633857498806386, 0.1213936663017425, 0.17529522442479167, 0.09482236972397853, 0.13257931643629584, 0.9306532137018959, 0.15636011432541372, 0.3160561426083935, 0.03248695693436799, 0.007227297445469543, 0.008938806626855963], "count": [1175]}, "action": {"min": [-1.0, -1.0, -0.8199999999999998, 0.0, -1.0, -1.0, -0.8571428571428572, -1.0, -0.23714285714285716, -0.6457142857142857, -0.2571428571428571, -1.0], "max": [1.0, 1.0, 0.8914285714285715, 0.0, 1.0, 1.0, 1.0, 1.0, 0.1742857142857143, 0.6, 0.29714285714285715, 1.0], "mean": [0.08606686930091181, -0.000158054711246202, -0.0030200607902735586, 0.0, -0.1778723404255319, -0.005641337386018265, -0.0011671732522796309, 0.00381762917933131, -0.0034285714285714284, -0.014200607902735569, -0.002596960486322188, -0.14553191489361703], "std": [0.47315797449075914, 0.3936056105656131, 0.20324822406992293, 0.0, 0.9840535709561437, 0.4822072152226698, 0.1983372727112775, 0.388373829721815, 0.03568161423537433, 0.143523405779607, 0.04608958831906972, 0.9893535575047976], "count": [1175]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01702127605676651], "std": [0.12935051321983337], "count": [1175]}, "next.done": {"min": [false], "max": [true], "mean": [0.000851063829787234], "std": [0.029160581615339257], "count": [1175]}, "timestamp": {"min": [0.0], "max": [58.7], "mean": [29.35], "std": [16.959658015420004], "count": [1175]}, "frame_index": {"min": [0], "max": [1174], "mean": [587.0], "std": [339.1931603084001], "count": [1175]}, "episode_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1175]}, "index": {"min": [66027], "max": [67201], "mean": [66614.0], "std": [339.1931603084001], "count": [1175]}, "task_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1175]}}} +{"episode_index": 42, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47962074781371644]], [[0.4574875699827553]], [[0.429901781093153]]], "std": [[[0.2517237342746996]], [[0.24617026835178116]], [[0.25307851825321276]]], "count": [340]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4048031904843164]], [[0.39593207829001315]], [[0.38335942304670606]]], "std": [[[0.24566602984089153]], [[0.24274792775814744]], [[0.24451759088762567]]], "count": [340]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3887265759108388]], [[0.38111965227842054]], [[0.3716858631736817]]], "std": [[[0.23247256379718897]], [[0.23013293805539004]], [[0.2321719657499269]]], "count": [340]}, "annotation.human.task_description": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2382]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [2382]}, "observation.state": {"min": [3.6082514316897383, -1.7796483399452139, 0.6999979548133346, 0.0, 0.0, 0.6666743159294128, 0.6782569885253906, -0.15091252332846516, -0.08894968031949979, 0.29934685243235937, -0.9946723580360413, -0.33020758628845215, -0.41580480337142944, 2.4360956558666658e-06, 0.010501386758041431, -0.04008321695352292], "max": [4.7895710883997715, -0.7528549395719124, 0.7007754481039153, 0.0, 0.0, 0.7348248362541199, 0.7453491687774658, 0.4925892730230924, 0.1707111283435383, 0.7340144973612369, 0.9878162145614624, 0.07276052236557007, 0.41447076201438904, 0.10291152447462082, 0.040151754407668376, -0.01775758454853447], "mean": [4.2686727491543754, -1.0353247536674295, 0.7005775265656605, 0.0, 0.0, 0.7053591770899587, 0.7086923258781033, 0.07147988301555912, 0.015884138241269115, 0.6198926834397894, -0.5651565106049192, -0.057032851278656774, -0.12131487549377229, 0.029999293610766385, 0.035000024589352884, -0.0332047171018058], "std": [0.3938585389280815, 0.24677513863770156, 0.00023748098576002302, 0.0, 0.0, 0.010626688027994035, 0.010520973301211206, 0.1642638658313286, 0.057495964134576305, 0.10667556686048695, 0.7745494487685128, 0.09517292154060362, 0.2281378906261719, 0.026391051843513216, 0.007583715189944762, 0.00818771014458744], "count": [2382]}, "action": {"min": [-1.0, -1.0, -0.16285714285714287, 0.0, -1.0, -1.0, -0.5, -0.7214285714285715, -0.05714285714285715, -0.21714285714285717, -0.17714285714285713, -1.0], "max": [0.7571428571428572, 1.0, 0.11142857142857143, 0.0, 1.0, 0.7142857142857143, 0.5214285714285715, 0.8214285714285715, 0.05142857142857143, 0.1657142857142857, 0.17714285714285713, 1.0], "mean": [0.04593978649394266, 0.026010555355643526, 0.0006717044500419817, 0.0, -0.21074727120067172, -0.008189396665467204, 0.002290991963536052, -0.007460717284394846, 0.0001847187237615449, -0.0017680220702890725, -0.00039102794770301026, -0.1570109151973132], "std": [0.28196701308285493, 0.2620587597509858, 0.020518338889171598, 0.0, 0.977540581091904, 0.26438821144096936, 0.09447649128458753, 0.18867547696721954, 0.005847682398785735, 0.029526665527196974, 0.030733555395346984, 0.9875968674053824], "count": [2382]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.006717044394463301], "std": [0.08168186247348785], "count": [2382]}, "next.done": {"min": [false], "max": [true], "mean": [0.00041981528127623844], "std": [0.02048509302897708], "count": [2382]}, "timestamp": {"min": [0.0], "max": [119.05], "mean": [59.525], "std": [34.38120550048626], "count": [2382]}, "frame_index": {"min": [0], "max": [2381], "mean": [1190.5], "std": [687.6241100097252], "count": [2382]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2382]}, "index": {"min": [67202], "max": [69583], "mean": [68392.5], "std": [687.6241100097252], "count": [2382]}, "task_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2382]}}} +{"episode_index": 43, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5406147688926789]], [[0.4986163830910351]], [[0.45631804177898183]]], "std": [[[0.2251498581090789]], [[0.2136200649898078]], [[0.20839511615823286]]], "count": [238]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5174940993314835]], [[0.45472511772976654]], [[0.4185825882800271]]], "std": [[[0.22487785806119373]], [[0.22094620449495067]], [[0.2189790928271014]]], "count": [238]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4764917861101242]], [[0.4382047305293326]], [[0.41793623437282773]]], "std": [[[0.22280952837152626]], [[0.20442075677477198]], [[0.19498171355818078]]], "count": [238]}, "annotation.human.task_description": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [1482]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1482]}, "observation.state": {"min": [4.46599151305277, -2.5807685916205187, 0.6999681322891941, 0.0, 0.0, -0.9999983310699463, 0.0018599467584863305, -0.051288785360616984, -0.17658203086636703, 0.28998359951942776, -0.9997730255126953, -0.26472726464271545, -0.5966992974281311, 7.002414349699393e-05, 0.020547553779063334, -0.040052612328413645], "max": [6.358283602677895, -1.2560689061267716, 0.7002436069485881, 0.0, 0.0, 0.9998708963394165, 1.0, 0.6036128172318946, 0.1390007885142035, 0.8525753490049969, 0.9998514652252197, 0.21161159873008728, 0.722684919834137, 0.19960060715675354, 0.04015849779532463, -0.02051900526209889], "mean": [5.648033188929916, -2.0223634963670367, 0.7000501304515464, 0.0, 0.0, -0.14539603098379958, 0.7972470512925509, 0.18109821064803544, 0.024079769191113758, 0.6205623047375204, 0.07226559604227784, -0.003722255373330895, 0.06499153203386707, 0.04228098757405893, 0.03700672994879014, -0.03475303852250128], "std": [0.6979561112007989, 0.28385949054889353, 5.0057993726450816e-05, 0.0, 0.0, 0.5341015497674262, 0.24081667644044352, 0.18534761678665745, 0.06260498372636603, 0.13754157922453442, 0.9225399333664447, 0.09038245839401152, 0.359008549994551, 0.02482308460598778, 0.0032921198676743014, 0.005952836843514812], "count": [1482]}, "action": {"min": [-1.0, -1.0, -0.23428571428571432, 0.0, -1.0, -1.0, -1.0, -1.0, -0.28, -0.8857142857142857, -0.2057142857142857, -1.0], "max": [1.0, 1.0, 0.9885714285714285, 0.0, 1.0, 1.0, 0.8857142857142857, 1.0, 0.21142857142857144, 0.8714285714285714, 0.6885714285714286, 1.0], "mean": [0.16982359745517642, 0.05613071139386927, 0.19664353190668993, 0.0, -0.09176788124156546, -0.008540582224792731, 0.005017351069982663, 0.0067620975515712495, -0.0009870830923462495, -0.009629843840370156, 0.00183342972816657, -0.010796221322537112], "std": [0.4364494337107611, 0.29000799656026643, 0.31743982032553913, 0.0, 0.9957804255820719, 0.45487349909062325, 0.1640965637344126, 0.3470989247382594, 0.040374265666382275, 0.1577765170037474, 0.07247199114663003, 0.9999417191042365], "count": [1482]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010121457278728485], "std": [0.10009501874446869], "count": [1482]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006747638326585695], "std": [0.025967451288655678], "count": [1482]}, "timestamp": {"min": [0.0], "max": [74.05], "mean": [37.025], "std": [21.390822603786578], "count": [1482]}, "frame_index": {"min": [0], "max": [1481], "mean": [740.5], "std": [427.8164520757315], "count": [1482]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [1482]}, "index": {"min": [69584], "max": [71065], "mean": [70324.5], "std": [427.8164520757315], "count": [1482]}, "task_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [1482]}}} +{"episode_index": 44, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5374443730280236]], [[0.5196987898339978]], [[0.4904504627854579]]], "std": [[[0.2160373348076526]], [[0.21533531194587735]], [[0.2174959457699872]]], "count": [258]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5544665578832596]], [[0.5209935622150764]], [[0.48354610263947967]]], "std": [[[0.224560696897636]], [[0.21896599399308642]], [[0.22603022558300168]]], "count": [258]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46942668334385745]], [[0.4529165302444182]], [[0.4319888642428947]]], "std": [[[0.22966495171319182]], [[0.2117533004998044]], [[0.21062886323269756]]], "count": [258]}, "annotation.human.task_description": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [1650]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1650]}, "observation.state": {"min": [3.301140673118165, -1.7307853484537896, 0.6999764721882459, 0.0, 0.0, 0.6947270035743713, 0.6617932915687561, -0.12425532715050025, -0.13748682569498794, 0.3102706768496255, -0.9994864463806152, -0.3589251637458801, -0.5235726237297058, 5.7888108131010085e-05, 0.020579896641868416, -0.04021240737127645], "max": [4.359967625234383, -0.7504336879462726, 0.7003725555866986, 0.0, 0.0, 0.7496864199638367, 0.7192734479904175, 0.6591294261481152, 0.10416758181165076, 0.7914558842729575, 0.9689825773239136, 0.11305585503578186, 0.522212028503418, 0.18046216666698456, 0.0400593296048396, -0.020486664617136215], "mean": [3.903700943494959, -1.0127631239493935, 0.7001027937130674, 0.0, 0.0, 0.7132428495811693, 0.7004449832078182, 0.08222695559523473, -0.013708774715469232, 0.6311200446558163, -0.7176792158141281, -0.03579834216246099, -0.16191640391452397, 0.03802443717054716, 0.03700296358013962, -0.036043203068729004], "std": [0.349482856969475, 0.22394393301668467, 0.00010344351148985681, 0.0, 0.0, 0.017748010795890036, 0.018613734480105636, 0.1964271442080206, 0.04161915428759225, 0.11613967467015154, 0.6198717421397402, 0.11319041317509698, 0.2385607694374978, 0.04503280581501283, 0.0037983886018136894, 0.005454902972111175], "count": [1650]}, "action": {"min": [-1.0, -1.0, -0.18857142857142858, 0.0, -1.0, -1.0, -0.6, -0.9357142857142857, -0.1, -0.40571428571428575, -0.21714285714285717, -1.0], "max": [1.0, 1.0, 0.23428571428571432, 0.0, 1.0, 0.9357142857142857, 0.5, 0.807142857142857, 0.13142857142857142, 0.26857142857142857, 0.36, 1.0], "mean": [0.04943290043290043, 0.04732467532467532, 0.0007670995670995682, 0.0, -0.26666666666666666, -0.011121212121212143, -0.002225108225108228, 0.002783549783549757, 0.0009038961038961037, -0.0027532467532467553, -0.0008069264069264055, -0.14545454545454545], "std": [0.33555566849674406, 0.30343551991605344, 0.0286048342556539, 0.0, 0.9637888196534029, 0.4155973841095252, 0.10964634795860341, 0.24814752285652675, 0.014085674452112694, 0.06862414345256249, 0.06176959163276709, 0.9893649353027474], "count": [1650]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009696969762444496], "std": [0.09799458831548691], "count": [1650]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006060606060606061], "std": [0.024610836974844792], "count": [1650]}, "timestamp": {"min": [0.0], "max": [82.45], "mean": [41.225], "std": [23.815694230205985], "count": [1650]}, "frame_index": {"min": [0], "max": [1649], "mean": [824.5], "std": [476.3138846041197], "count": [1650]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [1650]}, "index": {"min": [71066], "max": [72715], "mean": [71890.5], "std": [476.3138846041197], "count": [1650]}, "task_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [1650]}}} +{"episode_index": 45, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5603914349826118]], [[0.5291406265277886]], [[0.49720660779791476]]], "std": [[[0.20735770902104037]], [[0.22169727808602602]], [[0.23193691293137325]]], "count": [235]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5091014863651994]], [[0.4839837149953066]], [[0.4647736423255306]]], "std": [[[0.20756364154609686]], [[0.20788527617156044]], [[0.20940609879916286]]], "count": [235]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46117718406553115]], [[0.44478739242330906]], [[0.4273418766764934]]], "std": [[[0.2264050635007887]], [[0.22471934834534896]], [[0.22760846272396518]]], "count": [235]}, "annotation.human.task_description": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [1452]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1452]}, "observation.state": {"min": [3.2831597156319887, -1.3326981159875362, 0.6999945518523714, 0.0, 0.0, 0.6850622892379761, 0.6903756260871887, -0.07335806606443207, -0.13004724130764522, 0.307154877390756, -0.9906324148178101, -0.4159431457519531, -0.5973288416862488, 3.017358721990604e-05, 0.016927663361888248, -0.040662230740502445], "max": [4.443128016136666, -0.7433114887624461, 0.7033022400269259, 0.0, 0.0, 0.7234511971473694, 0.7284845113754272, 0.6625446668776092, 0.01192555523511274, 0.7817678292666671, 0.9766004681587219, 0.2652875781059265, 0.3928040564060211, 0.16612347960472107, 0.04009695075000348, -0.020499140967912072], "mean": [3.9838290609754123, -0.9566580372989614, 0.7011220770969327, 0.0, 0.0, 0.7023674954888578, 0.7116828775520824, 0.18702188636323608, -0.05500758144397023, 0.5586975581076611, -0.1261384387811025, -0.04311156166158103, -0.047517033103986875, 0.03269192740556521, 0.034139373476871945, -0.03531819386286499], "std": [0.5100569851140205, 0.16601703430594072, 0.0010367432805993696, 0.0, 0.0, 0.009703658869848577, 0.009654893081580799, 0.1906219731942083, 0.03962048829372045, 0.12530942802402043, 0.9179629874583454, 0.16044881977904996, 0.33083798823776944, 0.03240693404811437, 0.007156584198131322, 0.005373583577736371], "count": [1452]}, "action": {"min": [-1.0, -1.0, -0.6971428571428572, 0.0, -1.0, -1.0, -0.4, -0.7071428571428572, -0.12285714285714287, -0.32571428571428573, -0.31142857142857144, -1.0], "max": [1.0, 1.0, 0.13714285714285715, 0.0, 1.0, 0.9642857142857144, 0.5214285714285715, 1.0, 0.2285714285714286, 0.43428571428571433, 0.14, 1.0], "mean": [0.06122097599370326, 0.01601239669421488, -0.005411255411255411, 0.0, -0.5495867768595041, -0.015618850846123562, -0.000895316804407716, -0.020700511609602484, -0.0009189295552931911, -0.0055962219598583215, -0.0016725698543880376, -0.08539944903581267], "std": [0.33076580250182813, 0.3246647266033511, 0.04822163012942041, 0.0, 0.8354366371551947, 0.37906973530821825, 0.09866875234641795, 0.30362720941556626, 0.023802376057860643, 0.06321707974628941, 0.05588926047541796, 0.9963467940955006], "count": [1452]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011019283905625343], "std": [0.10439280420541763], "count": [1452]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006887052341597796], "std": [0.026234155585042575], "count": [1452]}, "timestamp": {"min": [0.0], "max": [72.55], "mean": [36.275], "std": [20.95780980128092], "count": [1452]}, "frame_index": {"min": [0], "max": [1451], "mean": [725.5], "std": [419.15619602561844], "count": [1452]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [1452]}, "index": {"min": [72716], "max": [74167], "mean": [73441.5], "std": [419.15619602561844], "count": [1452]}, "task_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [1452]}}} +{"episode_index": 46, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5575071433884551]], [[0.5522500533854868]], [[0.5173923864229686]]], "std": [[[0.21651478650111516]], [[0.23811477217023289]], [[0.23355940441512094]]], "count": [273]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5383674657200119]], [[0.507744381337521]], [[0.481902166759883]]], "std": [[[0.18287166576175648]], [[0.20371958393705863]], [[0.2213799771108321]]], "count": [273]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5207444573256986]], [[0.4918298080324878]], [[0.4700356709565837]]], "std": [[[0.18133118953626218]], [[0.2005564978526975]], [[0.21766050344464036]]], "count": [273]}, "annotation.human.task_description": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [1776]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1776]}, "observation.state": {"min": [3.7737997538065424, -1.1926319663194211, 0.6999964292148757, 0.0, 0.0, 0.6723499298095703, 0.6952068209648132, -0.08323357136250098, -0.16366639577013053, 0.34748018461631747, -0.9938791990280151, -0.10556703805923462, -0.43961039185523987, 2.831852725648787e-05, 0.01534183962297649, -0.040368306243608765], "max": [4.8220246117278585, -0.7484606685549229, 0.7008570300323479, 0.0, 0.0, 0.7188097238540649, 0.7402334213256836, 0.5148200849950142, 0.041612024657440294, 0.7858122567883705, 0.9733447432518005, 0.07981014251708984, 0.33607518672943115, 0.11810707300901413, 0.040134750718121656, -0.014777048529029346], "mean": [4.431906580632039, -0.930346855704187, 0.7003629316145009, 0.0, 0.0, 0.7038000971750096, 0.7101416543864452, 0.13134255343886556, -0.037917576948212496, 0.585534741370724, -0.7190589524201445, -0.02209575410915522, -0.20534817343797987, 0.041377326435987946, 0.034739150158513456, -0.03414866084947733], "std": [0.4464088599403783, 0.12070811298239205, 0.0002620827029892466, 0.0, 0.0, 0.013709686588829895, 0.013277537121438887, 0.18301145879957098, 0.04645394550731094, 0.11303395233082084, 0.6265517717338828, 0.04457037390752818, 0.2068665048411761, 0.03519451374856179, 0.008387480516192402, 0.008555171788565227], "count": [1776]}, "action": {"min": [-1.0, -1.0, -0.3057142857142857, 0.0, -1.0, -1.0, -0.6357142857142857, -0.7571428571428572, -0.09142857142857143, -0.26285714285714284, -0.10285714285714286, -1.0], "max": [0.8500000000000001, 1.0, 0.19142857142857142, 0.0, 1.0, 0.9857142857142858, 0.5642857142857142, 0.7714285714285714, 0.09428571428571429, 0.28, 0.13714285714285715, 1.0], "mean": [0.044284909909909936, -0.0264358108108108, -0.004132882882882884, 0.0, -0.3322072072072072, -0.0063384813384813376, -0.001970720720720725, 0.0024211711711711525, -8.043758043758063e-06, -0.00038931788931788943, 0.0004375804375804375, -0.18018018018018017], "std": [0.2304573275888581, 0.29651627603157765, 0.03552426400546966, 0.0, 0.9432064309998924, 0.35326081434541834, 0.10136144736082903, 0.22594627623988536, 0.010329421011050615, 0.04752966312226381, 0.018643107680178406, 0.983633622173539], "count": [1776]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009009009227156639], "std": [0.09448728710412979], "count": [1776]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005630630630630631], "std": [0.023722268505564074], "count": [1776]}, "timestamp": {"min": [0.0], "max": [88.75], "mean": [44.375], "std": [25.634347888461424], "count": [1776]}, "frame_index": {"min": [0], "max": [1775], "mean": [887.5], "std": [512.6869577692285], "count": [1776]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [1776]}, "index": {"min": [74168], "max": [75943], "mean": [75055.5], "std": [512.6869577692285], "count": [1776]}, "task_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [1776]}}} +{"episode_index": 47, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5687919879988128]], [[0.5216557219262216]], [[0.4739149519976448]]], "std": [[[0.2092020440799793]], [[0.2041094524206496]], [[0.22510328445110867]]], "count": [200]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6150184927547678]], [[0.5554686964446424]], [[0.49378771015242034]]], "std": [[[0.2225144487039747]], [[0.2093561157955758]], [[0.22765656265817308]]], "count": [200]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6027780818565218]], [[0.5182783274931066]], [[0.43023462033739274]]], "std": [[[0.22956264248648536]], [[0.2049680170774353]], [[0.23865715546422972]]], "count": [200]}, "annotation.human.task_description": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1170]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1170]}, "observation.state": {"min": [-1.1857419171920678, -3.997297902371273, 0.6999850776138196, 0.0, 0.0, -0.0028826072812080383, 0.9995194673538208, -0.11912357635116821, -0.1655579755935399, 0.31332623715228103, -0.9979384541511536, -0.12112948298454285, -0.538094699382782, 1.5098270523594692e-05, 0.011116654190283865, -0.04008298202686359], "max": [-0.750506768471475, -2.954062726740197, 0.7008320573033197, 0.0, 0.0, 0.03099736198782921, 1.0, 0.514393372190963, 0.0042119076582061155, 0.7984052482964493, 0.9629006385803223, 0.08187583088874817, 0.5134087204933167, 0.1117825135588646, 0.04012986412592092, -0.009553525612156893], "mean": [-0.9384844156955966, -3.5830486863762547, 0.7003413582745786, 0.0, 0.0, 0.010932276917802896, 0.9998808158768548, 0.13574774988386068, -0.055750790040448236, 0.6584555256702699, -0.6287327139805525, 0.0056278895045447554, -0.19174786968809418, 0.01942155707342902, 0.034660430915328305, -0.03156445425729042], "std": [0.12587341019416062, 0.4620818868815429, 0.0002989366737100939, 0.0, 0.0, 0.01090141178235024, 0.00016180110767712548, 0.19923490717850273, 0.047734555962456175, 0.12637695234751345, 0.6944214348079756, 0.05320103549709951, 0.28618355094076564, 0.02380246424539155, 0.008507236102063987, 0.009863465446257375], "count": [1170]}, "action": {"min": [-1.0, -1.0, -0.04285714285714286, 0.0, -1.0, -1.0, -0.5, -1.0, -0.09714285714285714, -0.3514285714285714, -0.12, -1.0], "max": [1.0, 1.0, 0.18285714285714286, 0.0, 1.0, 1.0, 0.6285714285714287, 1.0, 0.09428571428571429, 0.29714285714285715, 0.16857142857142857, 1.0], "mean": [0.037985347985348, 0.003327228327228337, 0.0016507936507936507, 0.0, -0.4888888888888889, -0.011849816849816855, -0.006971916971916965, 0.00894993894993894, -0.0001025641025641031, -0.0025103785103785157, -0.001387057387057385, -0.15213675213675212], "std": [0.2575774481011794, 0.3484950033112745, 0.015306946609075832, 0.0, 0.8723460633951444, 0.5468648625242343, 0.13445974517749057, 0.3622656477671463, 0.015212086849235515, 0.07751723770022434, 0.026075639413267675, 0.9883594531592673], "count": [1170]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01794871874153614], "std": [0.1327650547027588], "count": [1170]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008547008547008547], "std": [0.029222770935519244], "count": [1170]}, "timestamp": {"min": [0.0], "max": [58.45], "mean": [29.225], "std": [16.88748920552332], "count": [1170]}, "frame_index": {"min": [0], "max": [1169], "mean": [584.5], "std": [337.7497841104664], "count": [1170]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1170]}, "index": {"min": [75944], "max": [77113], "mean": [76528.5], "std": [337.7497841104664], "count": [1170]}, "task_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1170]}}} +{"episode_index": 48, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4997537246711998]], [[0.48370286345886293]], [[0.4669013370331637]]], "std": [[[0.18859822447406985]], [[0.19368586126261164]], [[0.20217857207056805]]], "count": [341]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5499102317130515]], [[0.5470463388901542]], [[0.5346236978183984]]], "std": [[[0.19335168447566684]], [[0.19259130452556203]], [[0.1861517965179372]]], "count": [341]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.513441229423175]], [[0.5133926125750659]], [[0.5050428050841109]]], "std": [[[0.1912526272668034]], [[0.1883587860842395]], [[0.18385756136902745]]], "count": [341]}, "annotation.human.task_description": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [2391]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [2391]}, "observation.state": {"min": [3.2396483942943286, -1.8380646075105478, 0.699995792893999, 0.0, 0.0, -0.10541044175624847, 0.642470121383667, -0.12601728312064253, -0.08101256356291442, 0.29867371257417175, -0.999559223651886, -0.2121654450893402, -0.5051425099372864, 4.056904072058387e-05, 0.011194628056088793, -0.04028004646579979], "max": [4.913913974951771, -0.7484116185000533, 0.7017554629054022, 0.0, 0.0, 0.7663108110427856, 0.9999979734420776, 0.5423701000772185, 0.15294194345521905, 0.7880470159275901, 0.9893383383750916, 0.07617412507534027, 0.3616991341114044, 0.15622884035110474, 0.04008132715605226, -0.010589000435600078], "mean": [4.266990635067535, -1.010208360998501, 0.7006515734473573, 0.0, 0.0, 0.6869930036217776, 0.7161235808827597, 0.07773825203702166, 0.01173922594219402, 0.6047162529591623, 0.028140250781947526, -0.036257033478990605, -0.030513218355130222, 0.029850182232159045, 0.03312032290670969, -0.03339140350708393], "std": [0.44506808383714785, 0.24805388298845796, 0.0004130487028815894, 0.0, 0.0, 0.11242279512187009, 0.050682748375647485, 0.18941507093782523, 0.043116381014246946, 0.12330802265281049, 0.9494479220763796, 0.06079258911574135, 0.29963582520788423, 0.03380443035404787, 0.009216168125924337, 0.00959335516144101], "count": [2391]}, "action": {"min": [-1.0, -1.0, -0.9142857142857144, 0.0, -1.0, -1.0, -0.4785714285714286, -0.9142857142857143, -0.06, -0.25142857142857145, -0.13428571428571429, -1.0], "max": [1.0, 1.0, 0.7457142857142857, 0.0, 1.0, 0.8142857142857143, 0.6428571428571428, 0.7857142857142857, 0.18571428571428572, 0.18285714285714286, 0.2885714285714286, 1.0], "mean": [0.06875784190715188, 0.050424209834498426, 0.0019406106231702174, 0.0, -0.2588874947720619, -0.014124395052876852, -0.0012278186054848626, -0.014904104678257764, 8.962179602079205e-05, -0.004430901595267969, -0.0010121288163948137, -0.15014638226683397], "std": [0.3245646645895373, 0.26443345072419727, 0.13187603502664597, 0.0, 0.9659074826558849, 0.2913199118511259, 0.08881300465315997, 0.23010539924184734, 0.010737396743428917, 0.0443810473585294, 0.03029609479231086, 0.9886637769697846], "count": [2391]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00669176084920764], "std": [0.08152901381254196], "count": [2391]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004182350480970305], "std": [0.020446518714479826], "count": [2391]}, "timestamp": {"min": [0.0], "max": [119.5], "mean": [59.75], "std": [34.511109322458275], "count": [2391]}, "frame_index": {"min": [0], "max": [2390], "mean": [1195.0], "std": [690.2221864491655], "count": [2391]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [2391]}, "index": {"min": [77114], "max": [79504], "mean": [78309.0], "std": [690.2221864491655], "count": [2391]}, "task_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [2391]}}} +{"episode_index": 49, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5194717832394059]], [[0.477427278441473]], [[0.442735647283116]]], "std": [[[0.23490796301662012]], [[0.21690302153554752]], [[0.2050805697263995]]], "count": [171]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5025999853280472]], [[0.46910678236709524]], [[0.4549914174254314]]], "std": [[[0.23172693568647665]], [[0.21447988442222563]], [[0.20517322552836925]]], "count": [171]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.023529411764705882]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43804296303910817]], [[0.4229094731125615]], [[0.42309687329793033]]], "std": [[[0.20765427684281526]], [[0.19076448507736063]], [[0.18257234698303995]]], "count": [171]}, "annotation.human.task_description": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [951]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [951]}, "observation.state": {"min": [4.277402216041056, -2.2690823198468895, 0.6999729713925023, 0.0, 0.0, -0.11913849413394928, 0.9928776621818542, -0.04560499872359447, -0.0566714556107657, 0.3186754631832389, -0.9926418662071228, -0.238896906375885, -0.4431207776069641, 5.2690953452838585e-05, 0.020519989807113902, -0.04007968902062348], "max": [5.282078963584487, -1.0605274797601734, 0.7002432585846496, 0.0, 0.0, 0.004919858183711767, 1.0, 0.5114383383484924, 0.16770270701357415, 0.8159326373866981, 0.976388156414032, 0.39739474654197693, 0.5503814220428467, 0.18851183354854584, 0.040156044245793006, -0.0205465696253936], "mean": [4.980710695117569, -1.7767024916973877, 0.7000608767791224, 0.0, 0.0, -0.025665339892407463, 0.999266465316937, 0.20041143330175384, 0.059599465701456134, 0.5537865483912101, -0.3673044670016733, 0.08814968925545268, -0.10407846226708495, 0.061136964115155325, 0.038796800647658426, -0.03533451038732001], "std": [0.2583709925086429, 0.45562104374164897, 7.417145438751183e-05, 0.0, 0.0, 0.028390745831450993, 0.0013475972989614778, 0.14156336576609202, 0.05001755410138097, 0.11118761781799466, 0.8563361508902342, 0.15371854069231847, 0.2889136211734144, 0.048321137949808315, 0.0020557219835130145, 0.005145969094973044], "count": [951]}, "action": {"min": [-1.0, -1.0, -0.21142857142857144, 0.0, -1.0, -1.0, -1.0, -1.0, -0.28, -0.43428571428571433, -0.24285714285714288, -1.0], "max": [1.0, 1.0, 0.3628571428571429, 0.0, 1.0, 1.0, 0.6071428571428572, 1.0, 0.3457142857142857, 0.5314285714285715, 0.3657142857142857, 1.0], "mean": [0.05217815832957789, 0.04423163587201441, -0.0012708427219468217, 0.0, -0.1861198738170347, -0.004318762205197544, -0.00021781583295779082, 0.01145410845726303, -0.00042962295328225945, -0.008337088778729155, -0.003043412948775722, -0.20084121976866456], "std": [0.4972680987863976, 0.39996900198894925, 0.06348457468439844, 0.0, 0.9825270441928529, 0.5253398518046423, 0.17040688039428592, 0.38103017277716733, 0.06750786891994495, 0.1007341706733996, 0.05870641102700469, 0.9796238076128194], "count": [951]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016824394464492798], "std": [0.12861314415931702], "count": [951]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010515247108307045], "std": [0.03241016825956349], "count": [951]}, "timestamp": {"min": [0.0], "max": [47.5], "mean": [23.75], "std": [13.726495061255319], "count": [951]}, "frame_index": {"min": [0], "max": [950], "mean": [475.0], "std": [274.5299012251064], "count": [951]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [951]}, "index": {"min": [79505], "max": [80455], "mean": [79980.0], "std": [274.5299012251064], "count": [951]}, "task_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [951]}}} +{"episode_index": 50, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5492977919495117]], [[0.5126681421149598]], [[0.4539424154633301]]], "std": [[[0.24156064327828647]], [[0.22238745503697496]], [[0.22402562178850574]]], "count": [223]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46088099672959326]], [[0.4211723980358154]], [[0.40640335559299917]]], "std": [[[0.22027563727955948]], [[0.2065140595514967]], [[0.20111938996739165]]], "count": [223]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4479047872707186]], [[0.4361775810062587]], [[0.4340137473304029]]], "std": [[[0.2184774620163317]], [[0.19678846390184992]], [[0.18360211780154229]]], "count": [223]}, "annotation.human.task_description": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [1353]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1353]}, "observation.state": {"min": [0.7420249528392346, -6.745692966168887, 0.6999968820235439, 0.0, 0.0, -0.9999997615814209, 0.00014791000285185874, -0.07898677791887843, -0.042453176823158856, 0.2965694479779535, -0.9944928884506226, -0.4665462076663971, -0.5069891810417175, 0.0007112951134331524, 0.003004571779458717, -0.040138507894545254], "max": [1.181000099836988, -5.211095449150493, 0.7013419127473693, 0.0, 0.0, 1.0, 0.040331386029720306, 0.46045037104433595, 0.15250693817322158, 0.750832807386337, 0.9615736603736877, 0.012219071388244629, 0.3028348982334137, 0.22225388884544373, 0.04008830192031777, -0.009106260655250381], "mean": [0.9245964035524727, -6.181154503256628, 0.7009598455148659, 0.0, 0.0, 0.9259332333418148, 0.013284567199934894, 0.13060367117202126, 0.03556226201007827, 0.5469847162822591, -0.8161308750433122, -0.12009662754850219, -0.19896323522669865, 0.07063828361571195, 0.030928223695322728, -0.03346131913901296], "std": [0.11873449900459214, 0.64667790370943, 0.000327949942636181, 0.0, 0.0, 0.3772667382063668, 0.011874682847417486, 0.17000817320969974, 0.05092137999841087, 0.11868627723360155, 0.4701208650018987, 0.13955231356774866, 0.1743923895755626, 0.06348129345163232, 0.011472140818479722, 0.010015457873362091], "count": [1353]}, "action": {"min": [-1.0, -1.0, -0.2485714285714286, 0.0, -1.0, -1.0, -0.7785714285714286, -1.0, -0.1142857142857143, -0.24571428571428575, -0.4228571428571429, -1.0], "max": [0.9142857142857143, 1.0, 0.14285714285714285, 0.0, 1.0, 1.0, 0.6500000000000001, 0.8642857142857142, 0.14857142857142858, 0.3057142857142857, 0.5685714285714286, 1.0], "mean": [0.06910041178333863, -0.0038855453489599857, -0.0010896420652518207, 0.0, -0.35994087213599407, -0.008262063140111903, 0.0011297645443987018, -0.006314011192059955, 0.0002027241051631289, 0.0011719987329743416, 0.00217717242107486, -0.1352549889135255], "std": [0.26283078386010983, 0.3911004307598751, 0.027001220980997914, 0.0, 0.9329751167989263, 0.4178189016577427, 0.12224429782422525, 0.2805597479869878, 0.024261471993773192, 0.04741258202733236, 0.08446445160342937, 0.9908108235046659], "count": [1353]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011825572699308395], "std": [0.10810054838657379], "count": [1353]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007390983000739098], "std": [0.027176313837176995], "count": [1353]}, "timestamp": {"min": [0.0], "max": [67.6], "mean": [33.8], "std": [19.52886752135583], "count": [1353]}, "frame_index": {"min": [0], "max": [1352], "mean": [676.0], "std": [390.57735042711664], "count": [1353]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [1353]}, "index": {"min": [80456], "max": [81808], "mean": [81132.0], "std": [390.57735042711664], "count": [1353]}, "task_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [1353]}}} +{"episode_index": 51, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46768884419182893]], [[0.44014761199618735]], [[0.41830994627487855]]], "std": [[[0.2606041468723009]], [[0.24994944968199762]], [[0.25283284633580366]]], "count": [270]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36868698995530647]], [[0.3551634795854467]], [[0.33995673817487065]]], "std": [[[0.23642570155150244]], [[0.23057529144061462]], [[0.23197171799734384]]], "count": [270]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36661717344905986]], [[0.3578694417672306]], [[0.3472633854929052]]], "std": [[[0.23473296967835847]], [[0.23102689532444834]], [[0.2334711346749173]]], "count": [270]}, "annotation.human.task_description": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [1751]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1751]}, "observation.state": {"min": [2.5902351688190226, -3.3636717039090085, 0.699995861368488, 0.0, 0.0, -0.31074047088623047, 0.8203069567680359, -0.16043378811205788, -0.24355751255206481, 0.3227557871957678, -0.9898500442504883, -0.7732630968093872, -0.4170396327972412, 0.00012764539860654622, 0.020534057186044126, -0.04081650990625631], "max": [3.5364158460757618, -2.0421779383277423, 0.7057843283567559, 0.0, 0.0, 0.5719236135482788, 1.0, 0.6130471182896859, 0.24550526185595967, 0.8011334428949168, 0.9799937009811401, 0.7789018750190735, 0.4686322808265686, 0.31935521960258484, 0.04071149938450537, -0.01988383987952965], "mean": [3.2744809480228017, -2.7608597176310186, 0.7021609370880708, 0.0, 0.0, 0.028257917785195364, 0.9886776563918366, 0.14951417040297385, -0.02701721922739008, 0.6241920337514811, 0.3777108465107014, 0.3452839461532339, 0.09113965129846364, 0.13581450751521457, 0.03746770414175653, -0.03747801493816305], "std": [0.20445798623881273, 0.4694021916796372, 0.0015057988185168173, 0.0, 0.0, 0.14561177767011643, 0.02269819877208701, 0.23500024509198247, 0.09713833902631895, 0.10472704442736419, 0.682108795995282, 0.42603430500858475, 0.23109937424121949, 0.10572104385819281, 0.0033768334315231064, 0.005812539576313019], "count": [1751]}, "action": {"min": [-1.0, -1.0, -0.7314285714285714, 0.0, -1.0, -1.0, -0.9285714285714287, -0.95, -0.5285714285714286, -0.4742857142857143, -0.46857142857142864, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 0.7642857142857143, 0.26, 0.29428571428571426, 0.6571428571428571, 1.0], "mean": [0.12671534633270778, 0.053842702129395424, -0.0010230888471893516, 0.0, -0.32267275842375787, 0.00021212368442521335, 0.005935383862282771, -0.03159419107448802, -0.006291914824182099, -0.003457616056131187, 0.0067194256343314, -0.20616790405482582], "std": [0.4376215572925126, 0.3987273905675517, 0.19466539602309724, 0.0, 0.9465105868246729, 0.431881186996977, 0.1771661242726341, 0.25943469683523307, 0.06924886441442174, 0.062168817518051804, 0.08570224526765587, 0.9785166300771935], "count": [1751]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009708737954497337], "std": [0.09805344045162201], "count": [1751]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005711022272986865], "std": [0.023890920232269432], "count": [1751]}, "timestamp": {"min": [0.0], "max": [87.5], "mean": [43.75], "std": [25.273503912200223], "count": [1751]}, "frame_index": {"min": [0], "max": [1750], "mean": [875.0], "std": [505.47007824400447], "count": [1751]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [1751]}, "index": {"min": [81809], "max": [83559], "mean": [82684.0], "std": [505.47007824400447], "count": [1751]}, "task_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [1751]}}} +{"episode_index": 52, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5540204356867197]], [[0.498174928935325]], [[0.4701611127655598]]], "std": [[[0.21444216079065392]], [[0.22976591715034828]], [[0.24225313339634494]]], "count": [277]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5452800563602443]], [[0.5050109774711794]], [[0.4772494399472475]]], "std": [[[0.17661498003165774]], [[0.19981427822609102]], [[0.219726644599049]]], "count": [277]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5114783999316883]], [[0.4614538642482038]], [[0.4246812396084266]]], "std": [[[0.18744338960022522]], [[0.2130601141584202]], [[0.24220363449171228]]], "count": [277]}, "annotation.human.task_description": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [1812]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1812]}, "observation.state": {"min": [-1.3541169307104508, -3.9965124879734146, 0.699994630398593, 0.0, 0.0, -0.00941717904061079, 0.9995773434638977, -0.09862357773927499, -0.17158070942142656, 0.28929327603428523, -0.9991194605827332, -0.2296040654182434, -0.5726525783538818, 6.126090011093765e-05, 0.013672216559266814, -0.040049045065771074], "max": [-0.7673889116092323, -2.984257204926144, 0.7002144433753245, 0.0, 0.0, 0.029070289805531502, 1.0, 0.6750764438097623, -0.0014174626359872988, 0.7928530130029242, 0.9992615580558777, 0.11544984579086304, 0.6160563826560974, 0.13448037207126617, 0.040074905640893416, -0.013276087744616803], "mean": [-0.9884600057295495, -3.6161630830825637, 0.7000606075317436, 0.0, 0.0, 0.004440425395269718, 0.9999599610403936, 0.11343868731873577, -0.05707801614032499, 0.6548228477751097, -0.07374863017342212, -0.03631875770080169, -0.0006072955641887309, 0.031120010271772386, 0.033999841661874156, -0.03434049995671941], "std": [0.14309736740365603, 0.44127968626908953, 5.209791889612206e-05, 0.0, 0.0, 0.0077722508602958455, 4.575017075540146e-05, 0.18800111492641877, 0.04145932850933617, 0.11231403167382946, 0.9342116107850459, 0.053558243668121716, 0.34038148704427784, 0.02817601449125669, 0.008410731919823609, 0.008694766121060654], "count": [1812]}, "action": {"min": [-1.0, -0.8642857142857142, -0.15428571428571428, 0.0, -1.0, -1.0, -0.5428571428571429, -1.0, -0.12571428571428572, -0.35428571428571426, -0.25142857142857145, -1.0], "max": [0.807142857142857, 1.0, 0.11142857142857143, 0.0, 1.0, 1.0, 0.5857142857142857, 0.7285714285714285, 0.18571428571428572, 0.26, 0.19428571428571428, 1.0], "mean": [0.04052743614001893, -0.02485414695679594, -0.0008987701040681174, 0.0, -0.3465783664459161, -0.006890570797855564, -0.0009657836644591607, 0.0023612425102491293, 0.00030432040365815216, -0.0012614317250078907, -0.0013560391043834757, -0.19315673289183222], "std": [0.22488767200462376, 0.28422151448771066, 0.01786564860362201, 0.0, 0.938021021039336, 0.3584147856727452, 0.09719188084713387, 0.22429446844872494, 0.021677877321586606, 0.06298826663112425, 0.04132910515341171, 0.9811679145480339], "count": [1812]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008830022066831589], "std": [0.09355241060256958], "count": [1812]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005518763796909492], "std": [0.023485566038579705], "count": [1812]}, "timestamp": {"min": [0.0], "max": [90.55], "mean": [45.275], "std": [26.153963211465037], "count": [1812]}, "frame_index": {"min": [0], "max": [1811], "mean": [905.5], "std": [523.0792642293007], "count": [1812]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [1812]}, "index": {"min": [83560], "max": [85371], "mean": [84465.5], "std": [523.0792642293007], "count": [1812]}, "task_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [1812]}}} +{"episode_index": 53, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5309250214262698]], [[0.49277201231465784]], [[0.4568833538517104]]], "std": [[[0.23805115906075142]], [[0.23815185472030476]], [[0.22889882507683773]]], "count": [290]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47290326740711097]], [[0.426046097596164]], [[0.40594987230900575]]], "std": [[[0.22726832512920545]], [[0.22530555390495394]], [[0.22514950139575637]]], "count": [290]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.027450980392156862]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42356456248481344]], [[0.40313085776555374]], [[0.3971228693819594]]], "std": [[[0.2230718844118108]], [[0.20768278340491708]], [[0.20092480288252845]]], "count": [290]}, "annotation.human.task_description": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [1928]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1928]}, "observation.state": {"min": [0.7642605388175429, -4.325418522754783, 0.6999965978029581, 0.0, 0.0, -1.0, 6.864946300311203e-08, -0.18257435140777667, -0.1194520959048937, 0.3036740901360985, -0.9902436137199402, -0.3132820427417755, -0.47055792808532715, 3.4688698633544846e-06, 0.020554247721735818, -0.04006472775490819], "max": [1.79344732336796, -3.4643732905687994, 0.700441558743634, 0.0, 0.0, 1.0, 0.47632598876953125, 0.655840369795473, 0.2114184505490888, 0.6771723405446363, 0.9874414205551147, 0.32455962896347046, 0.35164472460746765, 0.1712173968553543, 0.04016226053049076, -0.01859708419891263], "mean": [1.0841995405942093, -3.799727188990296, 0.7001230444204098, 0.0, 0.0, 0.0017732564839090055, 0.054254548230532856, 0.20285802588849755, 0.03572904002580398, 0.5463571229457418, -0.429130073435821, -0.04048621366225585, -0.15179561585365675, 0.042312572257153125, 0.03678328048472954, -0.034153942292988786], "std": [0.256524123782255, 0.368736908459265, 0.00011931087171196243, 0.0, 0.0, 0.9965647301619166, 0.06254641409787651, 0.21604123493478108, 0.08214562364293249, 0.1019155142431885, 0.8514578938350615, 0.1434836558011059, 0.2050262198995281, 0.042096666194143734, 0.004240140857788913, 0.007233466735582726], "count": [1928]}, "action": {"min": [-1.0, -1.0, -0.9000000000000001, 0.0, -1.0, -1.0, -0.5714285714285715, -0.5857142857142857, -0.14, -0.3742857142857143, -0.29714285714285715, -1.0], "max": [1.0, 1.0, 0.7771428571428571, 0.0, 1.0, 1.0, 0.8, 1.0, 0.15428571428571428, 0.32857142857142857, 0.4257142857142857, 1.0], "mean": [0.038270598695909874, 0.010540160047421459, 0.00021191464137522355, 0.0, -0.38070539419087135, -0.002593360995850598, 0.001674570243035012, 0.007376259632483683, 0.000831357439241257, 0.0015886188500296378, 0.0011736810906935367, -0.11721991701244813], "std": [0.3221774298814157, 0.24199122833290643, 0.10977012743730699, 0.0, 0.9246963841358815, 0.3518509785814975, 0.14231503108578566, 0.2572206946317438, 0.0226180218644609, 0.05258126431015859, 0.06998634853521526, 0.9931059817842236], "count": [1928]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008817427791655064], "std": [0.0934862568974495], "count": [1928]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005186721991701245], "std": [0.022768468949842288], "count": [1928]}, "timestamp": {"min": [0.0], "max": [96.35], "mean": [48.175], "std": [27.828279231745537], "count": [1928]}, "frame_index": {"min": [0], "max": [1927], "mean": [963.5], "std": [556.5655846349107], "count": [1928]}, "episode_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [1928]}, "index": {"min": [85372], "max": [87299], "mean": [86335.5], "std": [556.5655846349107], "count": [1928]}, "task_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [1928]}}} +{"episode_index": 54, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5212156034529388]], [[0.4605583620050937]], [[0.43159975276000856]]], "std": [[[0.19307622720278658]], [[0.20134780566017324]], [[0.21525670309896072]]], "count": [274]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5121596920962871]], [[0.4798893857688134]], [[0.4628305018332037]]], "std": [[[0.17030633153131197]], [[0.17527011351536875]], [[0.17590197890962778]]], "count": [274]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5120958349266942]], [[0.4676487150802383]], [[0.4484861794025819]]], "std": [[[0.17836710196001646]], [[0.18727701159018656]], [[0.18715710932380797]]], "count": [274]}, "annotation.human.task_description": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [1784]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1784]}, "observation.state": {"min": [3.6675083657811736, -1.2827877621430437, 0.6999934391325398, 0.0, 0.0, 0.7020419836044312, 0.7008702158927917, -0.13494765769512762, -0.16207816025877175, 0.26485265044480455, -0.9991934299468994, -0.25704604387283325, -0.4712476432323456, 3.2820767955854535e-05, 0.020570455396634494, -0.04007997106917098], "max": [4.8249921574380785, -0.7472100513539004, 0.701537834630331, 0.0, 0.0, 0.7132887244224548, 0.7121355533599854, 0.5941038318943431, 0.023052695010319812, 0.7657132875366068, 0.9999658465385437, 0.19177654385566711, 0.3268808424472809, 0.2355458289384842, 0.04069879602251371, -0.018293056195199338], "mean": [4.416624881706747, -0.941144836286698, 0.7007023003055413, 0.0, 0.0, 0.708413874421419, 0.7057906714656428, 0.13238184101412812, -0.042265810768105386, 0.6370878402334824, -0.5165944483649035, -0.03701857836121451, -0.1519670516420615, 0.04412767688882421, 0.037645081147078326, -0.03350036991566814], "std": [0.49074467920826953, 0.1326071476067185, 0.0005931112736231302, 0.0, 0.0, 0.002152743285879568, 0.0021602499653770126, 0.24101375027055227, 0.04458573276639423, 0.12491687977185079, 0.8043093122760433, 0.07626983092389726, 0.22444847263196377, 0.06009066885591846, 0.0034671853201358066, 0.007999650875077612], "count": [1784]}, "action": {"min": [-1.0, -1.0, -0.11714285714285716, 0.0, -1.0, -1.0, -0.5857142857142857, -1.0, -0.24285714285714288, -0.29428571428571426, -0.27714285714285714, -1.0], "max": [0.8357142857142857, 1.0, 0.03428571428571429, 0.0, 1.0, 1.0, 0.4857142857142857, 0.7785714285714286, 0.13428571428571429, 0.28, 0.2885714285714286, 1.0], "mean": [0.04325752722613708, -0.017829115951313264, -0.0016255605381165922, 0.0, -0.4316143497757848, -0.008396060217809106, -0.003179051889814225, 0.0011611146700832796, 0.00034112748238308767, -0.0013244714926329284, -0.0004788597053171051, -0.20179372197309417], "std": [0.23540398952227493, 0.3032530253805702, 0.011622615886691404, 0.0, 0.9020582315281269, 0.43108580981435934, 0.09985527308930309, 0.23333116613188018, 0.024243997873721466, 0.051594136644190824, 0.03694824634647969, 0.9794280442034943], "count": [1784]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008968610316514969], "std": [0.09427711367607117], "count": [1784]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005605381165919282], "std": [0.023669049698113693], "count": [1784]}, "timestamp": {"min": [0.0], "max": [89.15], "mean": [44.575], "std": [25.749817960521582], "count": [1784]}, "frame_index": {"min": [0], "max": [1783], "mean": [891.5], "std": [514.9963592104317], "count": [1784]}, "episode_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [1784]}, "index": {"min": [87300], "max": [89083], "mean": [88191.5], "std": [514.9963592104317], "count": [1784]}, "task_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [1784]}}} +{"episode_index": 55, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5432813138648969]], [[0.5013837411097678]], [[0.48386516518616424]]], "std": [[[0.212977621776497]], [[0.23696224661476287]], [[0.24575278793198943]]], "count": [321]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5314560166742782]], [[0.5163613473478492]], [[0.5034198082678116]]], "std": [[[0.19947549340104798]], [[0.19848627057989396]], [[0.1973142076873694]]], "count": [321]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5359038695207871]], [[0.5193599379133285]], [[0.504879146699659]]], "std": [[[0.197543782689891]], [[0.19427534367562527]], [[0.1911272819908784]]], "count": [321]}, "annotation.human.task_description": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [2198]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [2198]}, "observation.state": {"min": [3.6692675595481865, -1.2339001631825475, 0.6999980003250305, 0.0, 0.0, 0.6747819185256958, 0.687235951423645, -0.13376480485512543, -0.19441173038473636, 0.3101983818741346, -0.9924711585044861, -0.2886292338371277, -0.5362095236778259, 3.717471372510772e-06, 0.020381055696385587, -0.040228551144366916], "max": [4.829049675573756, -0.7580303361422291, 0.70054262177637, 0.0, 0.0, 0.7264342904090881, 0.738017201423645, 0.5183583242926192, 0.007934201480416903, 0.7813531985270296, 0.975681722164154, 0.10277092456817627, 0.4863976240158081, 0.126056969165802, 0.040158020889050336, -0.018043643528064965], "mean": [4.387472797132579, -0.9547939732351576, 0.7003012771438657, 0.0, 0.0, 0.7118701691840105, 0.7022136940643721, 0.11057035095046937, -0.06379345122793495, 0.6126222730380207, -0.1001126609735862, -0.027447916370722466, -0.0014626837188922025, 0.026560637961104132, 0.036217050965245905, -0.0337413514747642], "std": [0.48194121718066657, 0.12186568821452735, 0.00018018952333705095, 0.0, 0.0, 0.008296284299025111, 0.008243743008565063, 0.18879808676707518, 0.05198626240125476, 0.13614347656954184, 0.9392776170012199, 0.06493573773887236, 0.3186901584796095, 0.022225042858709847, 0.005344886746486853, 0.007791530250769687], "count": [2198]}, "action": {"min": [-1.0, -1.0, -0.19714285714285715, 0.0, -1.0, -1.0, -0.4714285714285715, -0.8428571428571429, -0.1, -0.21142857142857144, -0.1142857142857143, -1.0], "max": [0.9, 1.0, 0.20285714285714287, 0.0, 1.0, 0.942857142857143, 0.4928571428571429, 0.7642857142857143, 0.13142857142857142, 0.2485714285714286, 0.17714285714285713, 1.0], "mean": [0.05295073443390095, -0.02368711815936565, -0.0017275445209931108, 0.0, -0.4021838034576888, -0.006593656570908629, -0.00224229819316262, 0.0034576888080072726, 0.00011568958793708514, -0.0005706486416222541, -0.00025867671909528283, -0.14558689717925385], "std": [0.21092169138063438, 0.27461608688599537, 0.02655174221471846, 0.0, 0.9155589485316176, 0.3029224183814415, 0.10549750491178314, 0.20246864034004214, 0.013546094324299237, 0.03906672095689915, 0.024353784994821662, 0.9893454681605194], "count": [2198]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007279344834387302], "std": [0.08500798046588898], "count": [2198]}, "next.done": {"min": [false], "max": [true], "mean": [0.00045495905368516835], "std": [0.021324916551879826], "count": [2198]}, "timestamp": {"min": [0.0], "max": [109.85], "mean": [54.925], "std": [31.725394008585614], "count": [2198]}, "frame_index": {"min": [0], "max": [2197], "mean": [1098.5], "std": [634.5078801717123], "count": [2198]}, "episode_index": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [2198]}, "index": {"min": [89084], "max": [91281], "mean": [90182.5], "std": [634.5078801717123], "count": [2198]}, "task_index": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [2198]}}} +{"episode_index": 56, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4997847152612471]], [[0.4866626390724829]], [[0.4542408776981869]]], "std": [[[0.19890640377526628]], [[0.19893653564972796]], [[0.2121615815811996]]], "count": [178]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5285982534102234]], [[0.5173688264532903]], [[0.5046470126067786]]], "std": [[[0.24823355424363078]], [[0.24897090369729644]], [[0.2527494344800735]]], "count": [178]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4432352436248046]], [[0.43883564325649066]], [[0.4312909213896232]]], "std": [[[0.21310364625397255]], [[0.20786083839368963]], [[0.20717962076215896]]], "count": [178]}, "annotation.human.task_description": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [1007]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1007]}, "observation.state": {"min": [0.7532702036232708, -6.735555082367984, 0.6999643283048024, 0.0, 0.0, -1.0, 2.3088263333193026e-05, 0.06588081780367583, -0.050321120045138557, 0.2707012892669557, -0.9889125823974609, -0.28284430503845215, -0.5678664445877075, 1.0760097211459652e-05, 0.020559155982911352, -0.040199632903885264], "max": [1.7395760343198179, -5.364770747886057, 0.7009243246563251, 0.0, 0.0, 1.0, 0.1278560906648636, 0.5884583703996442, 0.11865304051369918, 0.8127762022526492, 0.9995386004447937, 0.3152077794075012, 0.6962171792984009, 0.09063640236854553, 0.040094191005185825, -0.020507403262134856], "mean": [1.045840116406254, -6.241519429753232, 0.7003323428517307, 0.0, 0.0, 0.07945044056069413, 0.03610958306312175, 0.2613017134841916, 0.0046356615455778434, 0.6201822749589337, -0.17383216130579596, 0.062297880098356864, -0.10479389147121088, 0.03333214247775789, 0.03745521355669348, -0.035409276299377034], "std": [0.20056581279205166, 0.5767618571610763, 0.00031921560005862125, 0.0, 0.0, 0.9955241529989438, 0.03626840293645611, 0.15500931955652197, 0.038830796999825036, 0.1474847456842525, 0.9028017628534073, 0.14789959600936217, 0.3410073874226371, 0.024437874773103788, 0.0029726569204572037, 0.0059631697729775465], "count": [1007]}, "action": {"min": [-1.0, -1.0, -0.37714285714285717, 0.0, -1.0, -1.0, -0.5142857142857143, -1.0, -0.26, -0.6171428571428571, -0.22285714285714286, -1.0], "max": [1.0, 1.0, 0.4285714285714286, 0.0, 1.0, 1.0, 0.55, 1.0, 0.33714285714285713, 0.6514285714285715, 0.32285714285714284, 1.0], "mean": [0.04343169243864377, -0.02764221875443323, -0.0011547737267697561, 0.0, -0.4001986097318769, 0.000815718541637099, 0.005348276351255493, 0.005185132642928044, 0.0031947794013335207, -0.014299900695134062, 0.003143708327422325, -0.24329692154915591], "std": [0.42267665923966524, 0.4004080285133817, 0.08693426506804428, 0.0, 0.9164284329769992, 0.5417330064255532, 0.10825507646566551, 0.43777327321494497, 0.05973323869794513, 0.15030226387550968, 0.06831434227066618, 0.9699518585809831], "count": [1007]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015888778492808342], "std": [0.1250452995300293], "count": [1007]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009930486593843098], "std": [0.03149702388709773], "count": [1007]}, "timestamp": {"min": [0.0], "max": [50.3], "mean": [25.15], "std": [14.534785860135678], "count": [1007]}, "frame_index": {"min": [0], "max": [1006], "mean": [503.0], "std": [290.6957172027135], "count": [1007]}, "episode_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [1007]}, "index": {"min": [91282], "max": [92288], "mean": [91785.0], "std": [290.6957172027135], "count": [1007]}, "task_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [1007]}}} +{"episode_index": 57, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.545210947955971]], [[0.539096005998228]], [[0.5321046850000851]]], "std": [[[0.20835529051275142]], [[0.2126293767330205]], [[0.21361369964387159]]], "count": [171]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4912580723035856]], [[0.4834286534366579]], [[0.47774702399548774]]], "std": [[[0.20703731681550272]], [[0.20775119011480966]], [[0.20739564176080122]]], "count": [171]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.529686661212765]], [[0.5119061298893072]], [[0.5055284004749447]]], "std": [[[0.21996365152712372]], [[0.22536621969729687]], [[0.2271096489869125]]], "count": [171]}, "annotation.human.task_description": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [956]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [956]}, "observation.state": {"min": [3.2247142039346284, -3.6499958699777957, 0.699978201093647, 0.0, 0.0, -0.14324043691158295, 0.989687979221344, 0.02800603118105993, -0.19512645828392428, 0.2911156720943252, -0.9870629906654358, -0.14398449659347534, -0.6317907571792603, 7.76244851294905e-05, 0.008498415757549926, -0.04029085589443674], "max": [3.879360829038653, -2.525468611901402, 0.7006780943131549, 0.0, 0.0, 0.0613759346306324, 1.0, 0.5718624877916287, 0.002020972223876427, 0.8244616025427703, 0.9854955077171326, 0.21057766675949097, 0.8273316621780396, 0.09414304792881012, 0.04001351873193274, -0.011958829784983827], "mean": [3.6676827189894863, -3.2426672521438293, 0.700128141243002, 0.0, 0.0, -0.027222529836508025, 0.9980679280962406, 0.2589976406904296, -0.1069764765426367, 0.6417159866737662, -0.1350401038280591, -0.0049039663972964345, -0.10252373971076191, 0.041204983652826294, 0.03006111973156473, -0.03041363318369214], "std": [0.16801069210422045, 0.47318724706545956, 0.00019319799636110935, 0.0, 0.0, 0.05582055175207099, 0.0018457454962903465, 0.15943359622601125, 0.03941831332190755, 0.11828748983593265, 0.9000847595590146, 0.09971694886611052, 0.3855035906187427, 0.028672182931832005, 0.011943619189864444, 0.011839034476392674], "count": [956]}, "action": {"min": [-1.0, -1.0, -0.35714285714285715, 0.0, -1.0, -1.0, -1.0, -1.0, -0.26, -0.6542857142857142, -0.21142857142857144, -1.0], "max": [1.0, 1.0, 0.3942857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.16285714285714287, 0.68, 0.3142857142857143, 1.0], "mean": [0.035079199043634185, 0.010467722653915115, -0.005304841601912737, 0.0, -0.34518828451882844, 0.007352062163777641, -0.01306784219964135, 0.015623132098027527, -0.00222056186491333, -0.017423789599521823, -0.0025612671846981456, -0.26359832635983266], "std": [0.40489170666839425, 0.4116255166626868, 0.08378967813942555, 0.0, 0.9385334561063577, 0.5710555781654838, 0.14527930313716939, 0.43787590340117793, 0.03752818004590798, 0.16154452503716535, 0.053486483593006874, 0.9646325322838147], "count": [956]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016736401244997978], "std": [0.1282820850610733], "count": [956]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010460251046025104], "std": [0.0323253915070344], "count": [956]}, "timestamp": {"min": [0.0], "max": [47.75], "mean": [23.875], "std": [13.798663884594045], "count": [956]}, "frame_index": {"min": [0], "max": [955], "mean": [477.5], "std": [275.97327769188087], "count": [956]}, "episode_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [956]}, "index": {"min": [92289], "max": [93244], "mean": [92766.5], "std": [275.97327769188087], "count": [956]}, "task_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [956]}}} +{"episode_index": 58, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5719872161519689]], [[0.5463654466242923]], [[0.5241937881212674]]], "std": [[[0.21995626736610513]], [[0.2323485601299998]], [[0.240498105536658]]], "count": [284]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5955594496580817]], [[0.5693576853830358]], [[0.5344915687626351]]], "std": [[[0.18822716610545084]], [[0.17876236527191805]], [[0.18026318226589114]]], "count": [284]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6048658236651353]], [[0.5694487642563697]], [[0.5202941702795568]]], "std": [[[0.20077306439881823]], [[0.19092601707944723]], [[0.19614899830471397]]], "count": [284]}, "annotation.human.task_description": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [1874]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1874]}, "observation.state": {"min": [0.7456024937718869, -6.62683146718439, 0.6999744156922528, 0.0, 0.0, -1.0, 4.481246833165642e-06, -0.1303989982482472, -0.2181379048432417, 0.29463158318896976, -0.9996985793113708, -0.481367826461792, -0.34079399704933167, 4.931471266900189e-05, 0.018633202356731576, -0.040182781861145926], "max": [1.6644172047445793, -5.330762337432929, 0.7012504196736515, 0.0, 0.0, 1.0, 0.18558350205421448, 0.5285728950630637, 0.04580832883818253, 0.761757165357717, 0.9950719475746155, 0.29376283288002014, 0.3445967137813568, 0.1835915744304657, 0.040086212550022524, -0.020499851629698553], "mean": [0.9854323031292095, -6.044844495480254, 0.700882650827091, 0.0, 0.0, -0.24430097517107188, 0.0068903425809503415, 0.08106736158863392, -0.05299952987229988, 0.6352184883050578, -0.6522216114952063, -0.02219143525966649, -0.09084349523672164, 0.03297585705955904, 0.03583094830743743, -0.03754058396441701], "std": [0.21545779035212034, 0.5147482000324219, 0.0003404637381150859, 0.0, 0.0, 0.9695747879924066, 0.013940407486271945, 0.20257742940194748, 0.06282330546958291, 0.11973296364941725, 0.7128312749459033, 0.13613969402938395, 0.19224006562833018, 0.03399819048080966, 0.006711469201031248, 0.0036894779448052605], "count": [1874]}, "action": {"min": [-1.0, -1.0, -0.5828571428571429, 0.0, -1.0, -1.0, -0.5571428571428572, -1.0, -0.2571428571428571, -0.31142857142857144, -0.18, -1.0], "max": [0.8928571428571429, 1.0, 0.8885714285714287, 0.0, 1.0, 1.0, 0.8428571428571429, 0.8285714285714285, 0.12285714285714287, 0.21714285714285717, 0.3342857142857143, 1.0], "mean": [0.052203079737764946, -0.030545814910809564, -0.0013142247293794773, 0.0, -0.33084311632870866, -0.01139655435279769, -0.007287696295166967, -0.005633480713523388, 0.000414697362402805, -0.0009300198200945271, -9.300198200945013e-05, -0.16862326574172892], "std": [0.32907903935981747, 0.2920935020521941, 0.060938203034798015, 0.0, 0.943685769935038, 0.39949721883339706, 0.13490192160256442, 0.2163809947124972, 0.02181778169853498, 0.047006225783657186, 0.04992582717012112, 0.9856805741469178], "count": [1874]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008537886664271355], "std": [0.09200538694858551], "count": [1874]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005336179295624333], "std": [0.023094007479597015], "count": [1874]}, "timestamp": {"min": [0.0], "max": [93.65], "mean": [46.825], "std": [27.048856260478], "count": [1874]}, "frame_index": {"min": [0], "max": [1873], "mean": [936.5], "std": [540.9771252095601], "count": [1874]}, "episode_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [1874]}, "index": {"min": [93245], "max": [95118], "mean": [94181.5], "std": [540.9771252095601], "count": [1874]}, "task_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [1874]}}} +{"episode_index": 59, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5407559326733322]], [[0.4979868799974658]], [[0.46810040738270375]]], "std": [[[0.19995893548691038]], [[0.2101872255731473]], [[0.23144617599658715]]], "count": [162]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.550663745873663]], [[0.5068140041450125]], [[0.479673635962511]]], "std": [[[0.17925767035793883]], [[0.20535300419436564]], [[0.22505050277499616]]], "count": [162]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5518764384114346]], [[0.5247978936266708]], [[0.5087292732380978]]], "std": [[[0.1873154875616721]], [[0.2022458014808888]], [[0.2146512508580257]]], "count": [162]}, "annotation.human.task_description": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [890]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [890]}, "observation.state": {"min": [3.853545348680151, -1.4707852033222275, 0.6996122841154316, 0.0, 0.0, 0.5501627326011658, 0.6862807869911194, 0.010534021000582316, -0.19384373412489797, 0.28555755105782443, -0.9942201375961304, -0.1581478714942932, -0.5896555185317993, 0.00023363906075246632, 0.016949667216810002, -0.0402410251251287], "max": [4.983902330159752, -0.7824619177594176, 0.700733764860228, 0.0, 0.0, 0.7273366451263428, 0.8350574374198914, 0.7458611227285403, 0.128120712026921, 0.815953440065477, 0.9883956909179688, 0.36941516399383545, 0.550029993057251, 0.2801079750061035, 0.04008613780645871, -0.01768552151214265], "mean": [4.471933213193897, -1.0886235697035656, 0.7002410664089926, 0.0, 0.0, 0.6494009152557073, 0.7565529637792138, 0.2992052409553505, -0.03311620400052049, 0.5891273004487687, -0.728776606950867, 0.08770146495505665, -0.27682478018314316, 0.06552488178657656, 0.03349300352744167, -0.03523351249659468], "std": [0.40983037051647403, 0.1905261680916857, 0.00018842426576355602, 0.0, 0.0, 0.05853239008441578, 0.04979974507971138, 0.1743354715380278, 0.08030795163082703, 0.14078727048177436, 0.5536605722172383, 0.11990433102568085, 0.23890493948417285, 0.04769688911030242, 0.007383993713259283, 0.007086642033796947], "count": [890]}, "action": {"min": [-1.0, -1.0, -0.30857142857142855, 0.0, -1.0, -1.0, -1.0, -1.0, -0.2257142857142857, -0.6085714285714285, -0.5114285714285715, -1.0], "max": [1.0, 1.0, 0.19142857142857142, 0.0, 1.0, 1.0, 1.0, 1.0, 0.3742857142857143, 0.4971428571428572, 0.13142857142857142, 1.0], "mean": [0.04355537720706261, 0.029735152487961478, -0.011878009630818618, 0.0, -0.39775280898876403, -0.017054574638844293, -0.01930176565008026, -0.009165329052969517, 0.009335473515248794, -0.016568218298555384, -0.0038009630818619583, -0.1752808988764045], "std": [0.41791324996170653, 0.41379955537073876, 0.05395438105747813, 0.0, 0.9174926173771415, 0.5470295252899243, 0.23465789052373645, 0.48642431386161444, 0.04987085868323367, 0.17010427488083504, 0.03485599567868302, 0.9845184642702681], "count": [890]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017977528274059296], "std": [0.1328696310520172], "count": [890]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011235955056179776], "std": [0.033501239361518144], "count": [890]}, "timestamp": {"min": [0.0], "max": [44.45], "mean": [22.225], "std": [12.84603538061452], "count": [890]}, "frame_index": {"min": [0], "max": [889], "mean": [444.5], "std": [256.92070761229036], "count": [890]}, "episode_index": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [890]}, "index": {"min": [95119], "max": [96008], "mean": [95563.5], "std": [256.92070761229036], "count": [890]}, "task_index": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [890]}}} +{"episode_index": 60, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5014876368911391]], [[0.46010424345074125]], [[0.4281001409853805]]], "std": [[[0.26156952622169116]], [[0.2552020243132213]], [[0.2589844049042769]]], "count": [351]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39946921542332653]], [[0.38127116898066316]], [[0.36076295500087724]]], "std": [[[0.24025433382515904]], [[0.23146000295152883]], [[0.23129024350349436]]], "count": [351]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3742384248962283]], [[0.3602589289240781]], [[0.34494715424717676]]], "std": [[[0.23451597513789105]], [[0.22638636904186746]], [[0.2268733336872132]]], "count": [351]}, "annotation.human.task_description": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [2485]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [2485]}, "observation.state": {"min": [-1.9200401538066652, -4.286821633357909, 0.699996792185904, 0.0, 0.0, -0.7843301892280579, 0.6203435063362122, -0.1894332523962916, -0.05392507801061308, 0.30943411971159673, -0.9995726943016052, -0.26777952909469604, -0.5151696801185608, 4.929816714138724e-05, 0.020526329391196963, -0.04007497270628899], "max": [-0.7494783311830473, -2.656538444293704, 0.7016353574336427, 0.0, 0.0, 0.7553076148033142, 1.0, 0.4257847608050419, 0.1695431507492744, 0.7974272778785261, 0.9894267916679382, 0.11128798127174377, 0.3370264172554016, 0.09640451520681381, 0.04022036908546894, -0.016589673065257198], "mean": [-1.0438860714239562, -3.453344563576335, 0.7007535556587503, 0.0, 0.0, 0.00814366074640311, 0.9699088092061355, 0.024588800828177534, 0.016730255307024763, 0.6540284910726127, -0.4923770746234917, -0.020972307608041245, -0.13971033242265965, 0.020200085720075523, 0.03581281360094603, -0.035778821352573764], "std": [0.2919132764566542, 0.4112148583781239, 0.0003926710334774631, 0.0, 0.0, 0.22892546989764298, 0.08248479202749043, 0.18794066632834033, 0.046686071921659356, 0.11221222976879291, 0.8229730121966737, 0.06735952686410149, 0.23455047379693789, 0.019030226308141548, 0.005514505967959787, 0.0048591147499994275], "count": [2485]}, "action": {"min": [-1.0, -1.0, -0.9400000000000001, 0.0, -1.0, -1.0, -0.46428571428571436, -1.0, -0.08571428571428572, -0.3314285714285714, -0.16, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 0.9142857142857143, 0.5642857142857142, 0.8785714285714286, 0.07428571428571429, 0.5771428571428572, 0.11142857142857143, 1.0], "mean": [0.11303822937625754, 0.010457027881575159, -0.00180051739005462, 0.0, -0.1573440643863179, -0.010419660822075297, 0.0007444668008048278, -0.009787295199770054, 0.00022765162402989364, -0.002944524288588678, -0.0006162690428283987, -0.07525150905432595], "std": [0.33617665843183037, 0.24234386125890314, 0.28739834324472513, 0.0, 0.9875438448000274, 0.31207139612460344, 0.08380429273025838, 0.20445613650807024, 0.006607962665659306, 0.06541794726673236, 0.019428739488948354, 0.9971645854045709], "count": [2485]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.006438631564378738], "std": [0.07998234778642654], "count": [2485]}, "next.done": {"min": [false], "max": [true], "mean": [0.00040241448692152917], "std": [0.020056234679077845], "count": [2485]}, "timestamp": {"min": [0.0], "max": [124.2], "mean": [62.1], "std": [35.867882569228975], "count": [2485]}, "frame_index": {"min": [0], "max": [2484], "mean": [1242.0], "std": [717.3576513845795], "count": [2485]}, "episode_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [2485]}, "index": {"min": [96009], "max": [98493], "mean": [97251.0], "std": [717.3576513845795], "count": [2485]}, "task_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [2485]}}} +{"episode_index": 61, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5759157481822869]], [[0.5397433964608475]], [[0.5098515158958238]]], "std": [[[0.20552014966607263]], [[0.21381304944721458]], [[0.2197398915704903]]], "count": [223]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5527237385251974]], [[0.4885181558149991]], [[0.4492195131407033]]], "std": [[[0.19633042535262055]], [[0.22660938638276543]], [[0.24997553938217468]]], "count": [223]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5991967589897331]], [[0.5108240112637421]], [[0.45634045873836676]]], "std": [[[0.19713801984277773]], [[0.24831793852535072]], [[0.2794366905364652]]], "count": [223]}, "annotation.human.task_description": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [1354]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1354]}, "observation.state": {"min": [1.1948649936605023, -1.7577243124950377, 0.6999772243813812, 0.0, 0.0, 0.5397760272026062, 0.5975590348243713, -0.14634723593877785, -0.10090707332032434, 0.2821501077365094, -0.9854806661605835, -0.252475768327713, -0.4625682532787323, 0.0008452744805254042, 0.020560271519439188, -0.041598339534447526], "max": [3.0931826075553577, -0.7635111472164537, 0.7023138463591938, 0.0, 0.0, 0.8018249273300171, 0.8418086171150208, 0.5550970918170526, 0.02849192931455158, 0.8012663784968973, 0.9440272450447083, 0.2922901511192322, 0.4104112982749939, 0.3179399371147156, 0.04012947206018862, -0.018694196675571862], "mean": [2.0113220502060978, -1.0488224747252788, 0.7010915010455361, 0.0, 0.0, 0.7058927549745343, 0.7047316908308111, 0.13582564039169515, -0.038528072320952046, 0.5985126840599965, -0.7188927363961979, 0.11979533441397781, -0.2577966960199298, 0.12780559850252918, 0.03655677496300167, -0.03477952951490246], "std": [0.7853362784053918, 0.2565079455015672, 0.0007168324471687617, 0.0, 0.0, 0.05084907386447363, 0.0498300515659555, 0.19221759504357036, 0.032210260845313525, 0.13531316511722147, 0.5577918337825934, 0.11024599776507868, 0.23684605561669655, 0.08165133968800564, 0.0041799773126138424, 0.0070111023083312875], "count": [1354]}, "action": {"min": [-1.0, -1.0, -0.5371428571428571, 0.0, -1.0, -1.0, -0.5857142857142857, -1.0, -0.2914285714285714, -0.32285714285714284, -0.3342857142857143, -1.0], "max": [1.0, 1.0, 0.38857142857142857, 0.0, 1.0, 0.8857142857142857, 0.7857142857142857, 1.0, 0.2914285714285714, 0.4571428571428572, 0.16, 1.0], "mean": [0.061890694239291, -0.0307237813884786, 0.004975733277062667, 0.0, -0.2658788774002954, -0.0130460012660899, 0.010345009495674191, -0.024862840261658574, 0.0036400084405992803, -0.004492508968136742, 0.0014686642751635354, -0.1240768094534712], "std": [0.36612670762230237, 0.4542958840989536, 0.11146599398989036, 0.0, 0.96400644321103, 0.45737096897567586, 0.12350557878747488, 0.3571029731231797, 0.048621261187713066, 0.07393571707776939, 0.04435656771917218, 0.9922726164496476], "count": [1354]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010339734144508839], "std": [0.10115741938352585], "count": [1354]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007385524372230429], "std": [0.02716628383714848], "count": [1354]}, "timestamp": {"min": [0.0], "max": [67.65], "mean": [33.825], "std": [19.543301282025], "count": [1354]}, "frame_index": {"min": [0], "max": [1353], "mean": [676.5], "std": [390.86602564049997], "count": [1354]}, "episode_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [1354]}, "index": {"min": [98494], "max": [99847], "mean": [99170.5], "std": [390.86602564049997], "count": [1354]}, "task_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [1354]}}} +{"episode_index": 62, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5781683917087719]], [[0.5364730772492291]], [[0.5173973216652947]]], "std": [[[0.20447841913984643]], [[0.22001290164303824]], [[0.23535450371403516]]], "count": [182]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5370902868828571]], [[0.5103211517761401]], [[0.4941967172423356]]], "std": [[[0.18667499869750454]], [[0.19630904651452047]], [[0.2077842206441817]]], "count": [182]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5081752666135565]], [[0.46429613668634523]], [[0.4395285969894268]]], "std": [[[0.22160677322861186]], [[0.22528221556682052]], [[0.23427875164551198]]], "count": [182]}, "annotation.human.task_description": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [1032]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1032]}, "observation.state": {"min": [3.183410709202339, -1.612219094490965, 0.6999493462070897, 0.0, 0.0, 0.630852997303009, 0.6762526631355286, 0.007780917388883868, -0.22308716132053874, 0.30673313068040975, -0.9934589266777039, -0.3518068194389343, -0.7006567120552063, 0.001417566672898829, 0.0076766940492055714, -0.04011323057985334], "max": [4.464399616517647, -0.7952984713926728, 0.7005342298221212, 0.0, 0.0, 0.7366698384284973, 0.7759023904800415, 0.7291218513012694, 0.02769443509406644, 0.8060538837256693, 0.9251021146774292, 0.3539876937866211, 0.19085542857646942, 0.19201664626598358, 0.04028817862463514, -0.00515141304455199], "mean": [4.040350736137232, -1.1347984586873143, 0.7000841755662354, 0.0, 0.0, 0.702384008571159, 0.7113678385467492, 0.32944433024637526, -0.09531266973332723, 0.5382446772931554, -0.8114825462301573, 0.15313552648493256, -0.3060203334677589, 0.06488807672520111, 0.034767485979965665, -0.032319627907644824], "std": [0.50705341651527, 0.18688650473589544, 8.98528834045383e-05, 0.0, 0.0, 0.017853958474571368, 0.017138896287256854, 0.1745978870060044, 0.046363525162826075, 0.11962075450928387, 0.41441816749208693, 0.1494630995099855, 0.15564827774434753, 0.043343499391503636, 0.008319674688873489, 0.009985242081724206], "count": [1032]}, "action": {"min": [-1.0, -1.0, -0.37714285714285717, 0.0, -1.0, -1.0, -0.6428571428571428, -1.0, -0.18857142857142858, -0.6171428571428571, -0.18, -1.0], "max": [1.0, 1.0, 0.2885714285714286, 0.0, 1.0, 1.0, 0.5857142857142857, 1.0, 0.2542857142857143, 0.6885714285714286, 0.3628571428571429, 1.0], "mean": [0.04017165005537097, 0.011427187153931333, -0.0012679955703211528, 0.0, -0.3372093023255814, -0.017864064230343306, -0.0023255813953488406, 0.011697120708748617, -0.0011655592469545944, -0.020836101882613513, -0.0021926910299003327, -0.24806201550387597], "std": [0.39018915126333176, 0.4063010838217685, 0.06890415884685094, 0.0, 0.9414297033900522, 0.5041221864582814, 0.131536990016806, 0.3975518877116884, 0.04504258517311564, 0.16287039308143525, 0.046147259701594424, 0.9687441542864478], "count": [1032]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01550387591123581], "std": [0.1235455647110939], "count": [1032]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009689922480620155], "std": [0.031113554957368842], "count": [1032]}, "timestamp": {"min": [0.0], "max": [51.55], "mean": [25.775], "std": [14.895629951991513], "count": [1032]}, "frame_index": {"min": [0], "max": [1031], "mean": [515.5], "std": [297.91259903983024], "count": [1032]}, "episode_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [1032]}, "index": {"min": [99848], "max": [100879], "mean": [100363.5], "std": [297.91259903983024], "count": [1032]}, "task_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [1032]}}} +{"episode_index": 63, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5494656602511766]], [[0.5224443110854714]], [[0.4969591205518943]]], "std": [[[0.20883228231980772]], [[0.20018229820599745]], [[0.2163034639260112]]], "count": [235]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5802988560835322]], [[0.5328666878621878]], [[0.48682539652226414]]], "std": [[[0.20090521449592025]], [[0.1880243039347312]], [[0.2121586567547745]]], "count": [235]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.572141095966312]], [[0.5226550636721194]], [[0.4718031137249198]]], "std": [[[0.2056603770975577]], [[0.19109157705503657]], [[0.2138292995357011]]], "count": [235]}, "annotation.human.task_description": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [1455]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1455]}, "observation.state": {"min": [3.690068921138491, -1.2276004111107974, 0.6999967503078115, 0.0, 0.0, 0.6838131546974182, 0.6974915266036987, -0.052694056687062174, -0.17343005694682123, 0.2835744860454522, -0.993699312210083, -0.23124009370803833, -0.4902685284614563, 2.895249053835869e-05, 0.020581403841234476, -0.040283715433119434], "max": [4.822768611074398, -0.7479927403808307, 0.7011762057756107, 0.0, 0.0, 0.7165930271148682, 0.7296571731567383, 0.5231168441790437, -0.003520315050071332, 0.7660549363822281, 0.9910194873809814, 0.2002931535243988, 0.47775018215179443, 0.09513745456933975, 0.040019816035255354, -0.020359514252768385], "mean": [4.399455972667168, -0.9516227538460996, 0.7005435099200007, 0.0, 0.0, 0.7059227337542269, 0.7082052568389787, 0.140898661402197, -0.05222415728258039, 0.5721285854380609, -0.10130762463992404, -0.028928590404618648, -0.005523608358660104, 0.022879209455817374, 0.03496410447521428, -0.035017851547531155], "std": [0.5030816664377793, 0.12862666785698595, 0.00040123564902920874, 0.0, 0.0, 0.0077272579267940135, 0.007661450042314175, 0.1738136380502708, 0.03843237400120587, 0.1251576442583692, 0.949529424501576, 0.0842343339493287, 0.28144480217091256, 0.020813631085923493, 0.0059249474187019445, 0.007038219446089041], "count": [1455]}, "action": {"min": [-1.0, -1.0, -0.18, 0.0, -1.0, -1.0, -0.5071428571428571, -0.9071428571428573, -0.1142857142857143, -0.32571428571428573, -0.19428571428571428, -1.0], "max": [0.9, 1.0, 0.15428571428571428, 0.0, 1.0, 1.0, 0.6857142857142858, 0.9, 0.08857142857142856, 0.23714285714285716, 0.1657142857142857, 1.0], "mean": [0.04788414334806085, -0.015537555228276876, -0.0020108001963672073, 0.0, -0.40756013745704467, -0.00649975454099163, -0.0030093274423171348, 0.007407952871870416, 3.730976926853196e-05, 0.00046931762395679706, -0.0003122238586156104, -0.16013745704467353], "std": [0.24641687301636211, 0.3430610335739048, 0.02518189155529065, 0.0, 0.9131783694087374, 0.41164475743323026, 0.10224781667649234, 0.3008265255838564, 0.012782086466128146, 0.050094391109693506, 0.03598283908423172, 0.9870947243559117], "count": [1455]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010996563360095024], "std": [0.104286327958107], "count": [1455]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006872852233676976], "std": [0.02620711472843659], "count": [1455]}, "timestamp": {"min": [0.0], "max": [72.7], "mean": [36.35], "std": [21.001111081718193], "count": [1455]}, "frame_index": {"min": [0], "max": [1454], "mean": [727.0], "std": [420.02222163436386], "count": [1455]}, "episode_index": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [1455]}, "index": {"min": [100880], "max": [102334], "mean": [101607.0], "std": [420.02222163436386], "count": [1455]}, "task_index": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [1455]}}} +{"episode_index": 64, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5145618769668983]], [[0.5163445721584617]], [[0.4763615731894458]]], "std": [[[0.21511597415566194]], [[0.2225498939692241]], [[0.20377135339167246]]], "count": [285]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4892703233422961]], [[0.47721409238979995]], [[0.46368712413093666]]], "std": [[[0.24763759927061987]], [[0.24844978157344627]], [[0.2507209608912074]]], "count": [285]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45087923399640145]], [[0.4508794004940929]], [[0.4460269151391711]]], "std": [[[0.23425123844648849]], [[0.2259124703236027]], [[0.22135133544529978]]], "count": [285]}, "annotation.human.task_description": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [1878]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1878]}, "observation.state": {"min": [2.5995393969096763, -3.440795862613767, 0.6999947469849847, 0.0, 0.0, -0.7670500874519348, 0.6415870785713196, -0.1421156904531935, -0.15529700389550438, 0.3189963017112647, -0.9943637847900391, -0.44820529222488403, -0.4257257580757141, 9.352550478070043e-06, 0.018284315308150795, -0.04028419175813663], "max": [3.58754162208682, -2.0988207427717143, 0.7005745732911857, 0.0, 0.0, 0.6460081934928894, 1.0, 0.500324409722078, 0.20922517856919853, 0.7714803932933021, 0.9918241500854492, 0.07725882530212402, 0.3537047505378723, 0.16343681514263153, 0.04012583411739471, -0.017142541699121574], "mean": [3.3431530616962783, -2.7920072647986736, 0.7001237142545084, 0.0, 0.0, -0.012432145918682897, 0.979492388435573, 0.08504261859159534, -0.012571171293076111, 0.5965648908690456, 0.20765904614084954, -0.043251122553318075, 0.033843932639613064, 0.032780489072457786, 0.031792752930984304, -0.03419912348016823], "std": [0.2383448307951749, 0.3414051424617086, 0.0001593609965521915, 0.0, 0.0, 0.19143308827172992, 0.06159137955638968, 0.19241763751631674, 0.06619037286669376, 0.12369203330955957, 0.9297715380484942, 0.10583830148983851, 0.2751818067511787, 0.03721826697327484, 0.008998892691843832, 0.007397867971930723], "count": [1878]}, "action": {"min": [-1.0, -0.9071428571428573, -1.0, 0.0, -1.0, -1.0, -0.6071428571428572, -0.8642857142857142, -0.08285714285714285, -0.19714285714285715, -0.41428571428571437, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.9142857142857143, 1.0, 0.15428571428571428, 0.26, 0.2857142857142857, 1.0], "mean": [0.10156701658299108, 0.03250798722044728, 0.0008169785486079533, 0.0, -0.2534611288604899, -0.005792636543435269, -0.0015137684466758037, 0.010174197474516969, 0.0012018865054008818, 0.001350981287083524, 4.868401034534993e-05, -0.10862619808306709], "std": [0.3569606112860413, 0.24138042008574798, 0.2743606115799159, 0.0, 0.9673455722526187, 0.3706840297047962, 0.1333301736732774, 0.26943156454475387, 0.014451747519711915, 0.03631418368360124, 0.05411904618625256, 0.9940826671308491], "count": [1878]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008519701659679413], "std": [0.09190819412469864], "count": [1878]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005324813631522897], "std": [0.02306941322942968], "count": [1878]}, "timestamp": {"min": [0.0], "max": [93.85], "mean": [46.925], "std": [27.106591295599426], "count": [1878]}, "frame_index": {"min": [0], "max": [1877], "mean": [938.5], "std": [542.1318259119886], "count": [1878]}, "episode_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [1878]}, "index": {"min": [102335], "max": [104212], "mean": [103273.5], "std": [542.1318259119886], "count": [1878]}, "task_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [1878]}}} +{"episode_index": 65, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5178360888085872]], [[0.49449638536929114]], [[0.4630049434040268]]], "std": [[[0.23779305049734994]], [[0.2520823016739978]], [[0.2615952982253393]]], "count": [232]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.027450980392156862]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4647589040656925]], [[0.4570286325863522]], [[0.4559570093264525]]], "std": [[[0.25329245326770866]], [[0.2495049418791007]], [[0.23554638320467167]]], "count": [232]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4175443457138546]], [[0.4172895698469986]], [[0.4253898656714841]]], "std": [[[0.24062794305281768]], [[0.23766970366210444]], [[0.22513372288191463]]], "count": [232]}, "annotation.human.task_description": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [1426]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1426]}, "observation.state": {"min": [0.7519144227292871, -6.695393256072147, 0.6999956388581677, 0.0, 0.0, -1.0, 2.016957660089247e-05, -0.10294370270808573, -0.0410881683334976, 0.26461867608856615, -0.9983614087104797, -0.35785600543022156, -0.32946518063545227, 1.2461894129955908e-06, 0.012273022519755039, -0.04052400813387594], "max": [1.2612983039417065, -5.397738886744805, 0.7014820490200999, 0.0, 0.0, 1.0, 0.038455698639154434, 0.444974825202211, 0.21601207328258631, 0.7003027621083547, 0.9907767176628113, 0.17181476950645447, 0.2917427718639374, 0.1308085024356842, 0.04042817849519413, -0.012475485400319107], "mean": [0.9297983408014984, -6.145967142240414, 0.7006797012090238, 0.0, 0.0, 0.8736351103551926, 0.014310382865770875, 0.08532181567207306, 0.043083673640528654, 0.57867355335662, -0.732328039357572, -0.05279315628508448, -0.17346639272092018, 0.033832104623483975, 0.03240846730657489, -0.03422305145253392], "std": [0.13027740829813947, 0.5869293450805871, 0.000333310216800432, 0.0, 0.0, 0.48629849776641276, 0.00840872492588124, 0.15973668145324085, 0.059106183596076035, 0.11092463318619164, 0.626963973810972, 0.08567651201772793, 0.16964990376544095, 0.021632093464927168, 0.009856005992896938, 0.008576063095831664], "count": [1426]}, "action": {"min": [-1.0, -1.0, -0.18, 0.0, -1.0, -1.0, -0.8214285714285715, -1.0, -0.12857142857142856, -0.23714285714285716, -0.2142857142857143, -1.0], "max": [1.0, 1.0, 0.13142857142857142, 0.0, 1.0, 0.8714285714285716, 0.6928571428571428, 0.8714285714285716, 0.06571428571428571, 0.32, 0.2057142857142857, 1.0], "mean": [0.04882789020236428, -0.0003305950711280208, 0.00015027048687637768, 0.0, -0.426367461430575, -0.017666800240432753, -0.008104588258865971, -0.02349228611500702, 0.0005870567020637148, -0.0053416149068323, 2.003606491684578e-06, -0.15427769985974754], "std": [0.25148566785037807, 0.3547815621278985, 0.021425439616157848, 0.0, 0.9045500471688978, 0.39778675623785265, 0.15585368405719996, 0.2790709168703303, 0.01170053029178549, 0.041699158427390144, 0.04220576244404354, 0.9880275255912649], "count": [1426]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018232818692922592], "std": [0.13379231095314026], "count": [1426]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007012622720897616], "std": [0.02647207024989744], "count": [1426]}, "timestamp": {"min": [0.0], "max": [71.25], "mean": [35.625], "std": [20.582532035685016], "count": [1426]}, "frame_index": {"min": [0], "max": [1425], "mean": [712.5], "std": [411.65064071370034], "count": [1426]}, "episode_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [1426]}, "index": {"min": [104213], "max": [105638], "mean": [104925.5], "std": [411.65064071370034], "count": [1426]}, "task_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [1426]}}} +{"episode_index": 66, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5610411585006599]], [[0.5058075914251264]], [[0.47298705502333144]]], "std": [[[0.2234667061087372]], [[0.2192757049183501]], [[0.22171532404169034]]], "count": [169]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5705290625634499]], [[0.5184073324587439]], [[0.4837766603743592]]], "std": [[[0.18913626677279174]], [[0.21534334664665525]], [[0.23490074362421884]]], "count": [169]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5794797740440134]], [[0.49807428452265706]], [[0.44846943705800324]]], "std": [[[0.1979569894078888]], [[0.23957746675706454]], [[0.2668980237465447]]], "count": [169]}, "annotation.human.task_description": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [940]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [940]}, "observation.state": {"min": [0.7795865455301697, -6.741336775887536, 0.6999894717263556, 0.0, 0.0, -1.0, 0.00010274445958202705, 0.11908489061263662, -0.15415579239143629, 0.32760723663487334, -0.9886654615402222, -0.27797508239746094, -0.5022531151771545, 6.395001400960609e-05, 0.020561406042211502, -0.04001043197811684], "max": [1.8140550042165926, -5.276547749520223, 0.7001691993283629, 0.0, 0.0, 1.0, 0.7010823488235474, 0.7337910979431097, 0.2947741476425385, 0.6307840251302648, 0.9751291871070862, 0.2948818802833557, 0.3561415672302246, 0.1536538302898407, 0.04010285350035316, -0.018648195853304284], "mean": [1.2459587188858325, -6.013624953784393, 0.7000166022439821, 0.0, 0.0, 0.6682536640699873, 0.19161722016021698, 0.3203703820074715, 0.0864181071746996, 0.51194753476377, -0.7926226717360476, 0.13553419707620398, -0.2183332754100891, 0.07174602488496717, 0.03307579523077595, -0.03198817166446483], "std": [0.2884958352740794, 0.48170911434864844, 3.432691011434482e-05, 0.0, 0.0, 0.6974662328483868, 0.17395615439355616, 0.15963356466969844, 0.09416711778673627, 0.06855429403969054, 0.49892922555568964, 0.152573022884323, 0.16168178992259735, 0.04704225287134797, 0.007140905657804134, 0.008056715357392823], "count": [940]}, "action": {"min": [-1.0, -1.0, -0.9914285714285714, 0.0, -1.0, -1.0, -0.8714285714285716, -1.0, -0.40857142857142864, -0.8199999999999998, -0.3485714285714286, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.6857142857142858, 1.0, 0.2914285714285714, 0.35714285714285715, 0.5571428571428572, 1.0], "mean": [0.16275075987841944, 0.006793313069908823, -0.006489361702127644, 0.0, -0.10425531914893617, 0.006770516717325225, 0.00791033434650457, 0.01108662613981764, -0.0007021276595744628, -0.010966565349544074, -0.003927051671732524, -0.10638297872340426], "std": [0.5407745100774725, 0.27511906285854437, 0.3666957032940442, 0.0, 0.994550566049384, 0.5119092151952903, 0.18432437388617282, 0.3890107674750168, 0.06729616030134707, 0.10534913611435046, 0.09212963488619878, 0.9943252294083369], "count": [940]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01702127605676651], "std": [0.12935051321983337], "count": [940]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010638297872340426], "std": [0.032599049885201195], "count": [940]}, "timestamp": {"min": [0.0], "max": [46.95], "mean": [23.475], "std": [13.56772364842386], "count": [940]}, "frame_index": {"min": [0], "max": [939], "mean": [469.5], "std": [271.3544729684772], "count": [940]}, "episode_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [940]}, "index": {"min": [105639], "max": [106578], "mean": [106108.5], "std": [271.3544729684772], "count": [940]}, "task_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [940]}}} +{"episode_index": 67, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5223985029090575]], [[0.4903325502055477]], [[0.45881543662590357]]], "std": [[[0.20339494305425454]], [[0.19776068388365772]], [[0.20367444171733545]]], "count": [168]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45474550263220526]], [[0.44292598478600426]], [[0.4299229070697289]]], "std": [[[0.24357768260494683]], [[0.24199347090892936]], [[0.24228889996925834]]], "count": [168]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4755761411009716]], [[0.4658875298878503]], [[0.4541216104972262]]], "std": [[[0.22430135070088658]], [[0.22040245811661796]], [[0.22101321130275708]]], "count": [168]}, "annotation.human.task_description": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [927]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [927]}, "observation.state": {"min": [1.0948651233858155, -1.6402366097959542, 0.6999231121135318, 0.0, 0.0, 0.39205074310302734, 0.38926753401756287, -0.02354179438832049, -0.28522524033659735, 0.2949039848709184, -0.9989534020423889, -0.2064308226108551, -0.6000779867172241, 7.77461173129268e-05, 0.008956109622978837, -0.04008869801536353], "max": [2.8927441653637973, -0.8463674506372035, 0.7004365663078921, 0.0, 0.0, 0.9211248159408569, 0.919943630695343, 0.5509348781917719, 0.18935495620792953, 0.8199658665977764, 0.9921836256980896, 0.19298633933067322, 0.3315889239311218, 0.21910783648490906, 0.040133671973002924, -0.008383002671442858], "mean": [1.8365184197070918, -1.0506028519412283, 0.7001511838991393, 0.0, 0.0, 0.6642817369749631, 0.7308976779477881, 0.22508450676396113, 0.022148762591127705, 0.5586473460261713, -0.36877967830357555, 0.006548319638836345, -0.15467379802582784, 0.048925123887914625, 0.03060346676446835, -0.030424999195937972], "std": [0.7632882852057188, 0.1779419496107323, 0.00011055271064248909, 0.0, 0.0, 0.11632096101763792, 0.10482266813156299, 0.13598240768455883, 0.06353455829165083, 0.12436015686350378, 0.8743107360388757, 0.09870514905873144, 0.24738378896362176, 0.04775258025383809, 0.01165311231935809, 0.011474298073518295], "count": [927]}, "action": {"min": [-1.0, -1.0, -0.8171428571428573, 0.0, -1.0, -1.0, -0.942857142857143, -1.0, -0.31142857142857144, -0.5485714285714286, -0.23142857142857146, -1.0], "max": [1.0, 1.0, 0.8942857142857144, 0.0, 1.0, 1.0, 1.0, 1.0, 0.2542857142857143, 0.5828571428571429, 0.4942857142857143, 1.0], "mean": [0.16464016027122827, 0.003744798890429952, -0.007625211897056566, 0.0, -0.18230852211434737, 0.0156726768377254, -0.018099861303744802, 0.0027353983664663386, 0.0025982431807674523, -0.008281707505008482, -0.0014701803051317623, -0.1499460625674218], "std": [0.4486038216010066, 0.4445310856245448, 0.2508872015479565, 0.0, 0.9832413756369809, 0.5642499197894992, 0.23110338177350392, 0.4007782432836972, 0.05524896575084476, 0.1277215612228979, 0.058623261001874094, 0.9886941783587725], "count": [927]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017259977757930756], "std": [0.13023853302001953], "count": [927]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010787486515641855], "std": [0.0328265891147852], "count": [927]}, "timestamp": {"min": [0.0], "max": [46.3], "mean": [23.15], "std": [13.380084703269508], "count": [927]}, "frame_index": {"min": [0], "max": [926], "mean": [463.0], "std": [267.6016940653902], "count": [927]}, "episode_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [927]}, "index": {"min": [106579], "max": [107505], "mean": [107042.0], "std": [267.6016940653902], "count": [927]}, "task_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [927]}}} +{"episode_index": 68, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49722207490924175]], [[0.4632909128183229]], [[0.4444471557963241]]], "std": [[[0.23213003063002696]], [[0.24168743098722395]], [[0.25390345132165376]]], "count": [166]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5249834467551963]], [[0.4657438595864386]], [[0.4250395924662575]]], "std": [[[0.22582686098027882]], [[0.22253336763858694]], [[0.22398280714686986]]], "count": [166]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48982396259844063]], [[0.4256775435842635]], [[0.3863932334923333]]], "std": [[[0.202321400158066]], [[0.195749498798804]], [[0.20037392825127656]]], "count": [166]}, "annotation.human.task_description": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [918]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [918]}, "observation.state": {"min": [0.7612644108684578, -6.689310502796796, 0.6999951935445897, 0.0, 0.0, -1.0, 1.994918602576945e-05, -0.04870110810203876, -0.00789837539203031, 0.3476601257208751, -0.9886313080787659, -0.26052871346473694, -0.4905034601688385, 9.632782166590914e-05, 0.01682300755256165, -0.040043299157971744], "max": [1.6934605833680103, -5.396702630599652, 0.7009884518568997, 0.0, 0.0, 1.0, 0.13026532530784607, 0.5786619599147788, 0.24895620190745404, 0.7780270244158981, 0.9891324043273926, 0.31917184591293335, 0.6348990201950073, 0.20220857858657837, 0.040368579595271695, -0.017853259304203152], "mean": [1.0450578792216862, -6.18190605816758, 0.7003827956245846, 0.0, 0.0, 0.8480251288621774, 0.04855400004283843, 0.22134048677471854, 0.1221551641806667, 0.5987976229862438, -0.21600375196253294, 0.08239836057481682, -0.051324876949540084, 0.07776423209985941, 0.03446969845622328, -0.0330546305586585], "std": [0.20745899278787736, 0.5395326017661707, 0.00033274350170647057, 0.0, 0.0, 0.5268422235463358, 0.030547737090936753, 0.14960858466780078, 0.045321505680459145, 0.09806602608975397, 0.9007487301721745, 0.13557883659395562, 0.32502230688521405, 0.05001970106559496, 0.007483647660259804, 0.008300652930596977], "count": [918]}, "action": {"min": [-1.0, -1.0, -0.2742857142857143, 0.0, -1.0, -1.0, -1.0, -0.9785714285714284, -0.32857142857142857, -0.6971428571428572, -0.23142857142857146, -1.0], "max": [1.0, 1.0, 0.15142857142857147, 0.0, 1.0, 1.0, 0.8428571428571429, 1.0, 0.28, 0.4542857142857143, 0.23428571428571432, 1.0], "mean": [0.03394802365390602, -0.02323373793962028, -0.005639589169000932, 0.0, -0.35947712418300654, -0.01560846560846562, 0.016479925303454726, -0.012052598817304704, -0.003003423591658891, -0.018378462496109558, -0.00040460628695922755, -0.20261437908496732], "std": [0.4232588342640009, 0.424456812749483, 0.053992473217942885, 0.0, 0.9331538979124061, 0.5047351766150778, 0.1801297354909338, 0.35332485133408886, 0.05902009792680514, 0.15210477168077233, 0.051991557511778176, 0.9792586039387243], "count": [918]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019607843831181526], "std": [0.1386483758687973], "count": [918]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010893246187363835], "std": [0.03298693666607129], "count": [918]}, "timestamp": {"min": [0.0], "max": [45.85], "mean": [22.925], "std": [13.250180816376306], "count": [918]}, "frame_index": {"min": [0], "max": [917], "mean": [458.5], "std": [265.0036163275261], "count": [918]}, "episode_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [918]}, "index": {"min": [107506], "max": [108423], "mean": [107964.5], "std": [265.0036163275261], "count": [918]}, "task_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [918]}}} +{"episode_index": 69, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5276197454610242]], [[0.509174614678936]], [[0.49313939911088134]]], "std": [[[0.24571664712607313]], [[0.25254605841194405]], [[0.26104356440145654]]], "count": [276]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48596564984247065]], [[0.4328814275361625]], [[0.42084624108078467]]], "std": [[[0.23304747319823227]], [[0.25267618806489606]], [[0.2637584693638736]]], "count": [276]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5050396944454157]], [[0.4134637824511386]], [[0.39265806019797383]]], "std": [[[0.2241174171578677]], [[0.2468727600535364]], [[0.2639630303435237]]], "count": [276]}, "annotation.human.task_description": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [1800]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1800]}, "observation.state": {"min": [-1.4027150649195081, -3.9844600723482415, 0.6999762482244105, 0.0, 0.0, -0.15502086281776428, 0.9879112243652344, -0.07200157581716438, -0.15459801843987986, 0.31277065152336003, -0.9980182647705078, -0.3013927936553955, -0.6314631700515747, 0.00021329715673346072, 0.010416039141725406, -0.040082799942354135], "max": [-0.7595323436787274, -2.976730082536202, 0.7035473530066091, 0.0, 0.0, 0.007463519927114248, 1.0, 0.6073229604857913, 0.060132691417477346, 0.8071406902888785, 0.8654490113258362, 0.14746874570846558, 0.5471929311752319, 0.1631302535533905, 0.04001050424495649, -0.00273005146140682], "mean": [-0.9634720617563701, -3.5826544974516747, 0.7014349718602856, 0.0, 0.0, -0.04644160754379451, 0.998300440079636, 0.19525109390636286, -0.014096104660324352, 0.6146382379930289, -0.8820142515500387, -0.09503601767950588, -0.34040995539578744, 0.056953284172705024, 0.03126526914034803, -0.03136112114200228], "std": [0.13564864282696862, 0.4445399360785927, 0.001151803557275726, 0.0, 0.0, 0.03513657222661932, 0.002199316668491915, 0.19701672961147731, 0.05678001652509425, 0.14326065902657545, 0.23174983469807386, 0.08528023072686142, 0.1770059090718325, 0.03980711680093788, 0.011293921980333167, 0.01053978921821541], "count": [1800]}, "action": {"min": [-1.0, -1.0, -0.31142857142857144, 0.0, -1.0, -1.0, -0.6214285714285714, -1.0, -0.13142857142857142, -0.4542857142857143, -0.2542857142857143, -1.0], "max": [1.0, 1.0, 0.3514285714285714, 0.0, 1.0, 0.5785714285714286, 0.6571428571428571, 0.9071428571428573, 0.17142857142857143, 0.40857142857142864, 0.16857142857142857, 1.0], "mean": [0.046293650793650824, -0.012246031746031727, -0.003977777777777778, 0.0, -0.5244444444444445, -0.00840079365079365, 0.001531746031746035, -0.025099206349206322, 7.777777777777809e-05, -0.0015047619047619041, 0.0006761904761904753, -0.09888888888888889], "std": [0.2683910740775374, 0.2958995673887591, 0.041672684795922135, 0.0, 0.8514446691895984, 0.36137999127595466, 0.10764607020152275, 0.26070241616695655, 0.01521898595122963, 0.07150131914486409, 0.030654772907996376, 0.9950984813847726], "count": [1800]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008888889104127884], "std": [0.09386094659566879], "count": [1800]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005555555555555556], "std": [0.023563677844942774], "count": [1800]}, "timestamp": {"min": [0.0], "max": [89.95], "mean": [44.975], "std": [25.98075810415598], "count": [1800]}, "frame_index": {"min": [0], "max": [1799], "mean": [899.5], "std": [519.6151620831197], "count": [1800]}, "episode_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [1800]}, "index": {"min": [108424], "max": [110223], "mean": [109323.5], "std": [519.6151620831197], "count": [1800]}, "task_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [1800]}}} +{"episode_index": 70, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5007655312318748]], [[0.4489296543011139]], [[0.4135466860111844]]], "std": [[[0.229679693424624]], [[0.22609329036360604]], [[0.22999925896879578]]], "count": [262]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4420806462242653]], [[0.3839122274895839]], [[0.36088249162006764]]], "std": [[[0.21712994763723625]], [[0.20912560522486268]], [[0.20839315051667687]]], "count": [262]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42792046736357653]], [[0.4050108808115774]], [[0.39815802937441824]]], "std": [[[0.218536283748902]], [[0.20534852896631584]], [[0.20114519877881876]]], "count": [262]}, "annotation.human.task_description": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [1681]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1681]}, "observation.state": {"min": [0.7518516669353186, -4.447632149247389, 0.69999606557189, 0.0, 0.0, -1.0, 9.894029062706977e-08, -0.13075560502693162, -0.15327514737126258, 0.2936033816136545, -0.9983593821525574, -0.1756080687046051, -0.49412187933921814, 6.1498358263634145e-06, 0.006228058723091686, -0.04089196721906887], "max": [1.7556560550011098, -3.0858876598810303, 0.7013529068622784, 0.0, 0.0, 1.0, 0.9999551773071289, 0.5126927922688126, 0.1148626442427596, 0.8060881168721064, 0.9985848665237427, 0.18171948194503784, 0.4038453698158264, 0.1394888013601303, 0.04015941904205948, -0.0025487242420231784], "mean": [1.0405750800380675, -3.8205472537242766, 0.7004982146094924, 0.0, 0.0, 0.4380873274473625, 0.07481653201697519, 0.0903582100795799, -0.014865371349716668, 0.6091074095809018, -0.0994650846007039, -0.011546704603457721, -0.05652780516393337, 0.026397858913415492, 0.028700708400811074, -0.02967944261729966], "std": [0.24427428086198374, 0.36919669328466453, 0.00041850915358536433, 0.0, 0.0, 0.8791810941454024, 0.1718214285302892, 0.1825989459070514, 0.0538574224601071, 0.13483984713505787, 0.9458127327548024, 0.059407583589461146, 0.2955210151944399, 0.025641373598307548, 0.01271054992240164, 0.012822013824026188], "count": [1681]}, "action": {"min": [-1.0, -1.0, -0.9971428571428572, 0.0, -1.0, -1.0, -0.7428571428571429, -0.8571428571428572, -0.1142857142857143, -0.41428571428571437, -0.16, -1.0], "max": [1.0, 1.0, 0.38, 0.0, 1.0, 1.0, 0.6642857142857144, 1.0, 0.11142857142857143, 0.31142857142857144, 0.15714285714285714, 1.0], "mean": [0.04168437154754821, 0.03879918415908898, -0.061769354975779796, 0.0, -0.27186198691255203, -0.013610096031273899, -0.006462989717005192, 0.01397977394408089, -0.0006645704087702898, 0.002005608906263276, -0.001284949434860203, -0.12433075550267698], "std": [0.3195960948723565, 0.3007764141386883, 0.21503433816357567, 0.0, 0.9623362510432506, 0.42300541153622334, 0.14588600633415694, 0.33391468083106396, 0.015791939215716568, 0.05841823457706778, 0.02613379809332684, 0.9922408292527316], "count": [1681]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014277216047048569], "std": [0.1186312735080719], "count": [1681]}, "next.done": {"min": [false], "max": [true], "mean": [0.000594883997620464], "std": [0.024382988140296488], "count": [1681]}, "timestamp": {"min": [0.0], "max": [84.0], "mean": [42.0], "std": [24.26314076948819], "count": [1681]}, "frame_index": {"min": [0], "max": [1680], "mean": [840.0], "std": [485.26281538976383], "count": [1681]}, "episode_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [1681]}, "index": {"min": [110224], "max": [111904], "mean": [111064.0], "std": [485.26281538976383], "count": [1681]}, "task_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [1681]}}} +{"episode_index": 71, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48900717952107364]], [[0.4588702903317679]], [[0.42471557701717566]]], "std": [[[0.2230846269895344]], [[0.2274109566374942]], [[0.23424032315398757]]], "count": [269]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49710200793785364]], [[0.4496806503063441]], [[0.4163967746245512]]], "std": [[[0.22566181869120056]], [[0.22685493952679403]], [[0.23976700082865]]], "count": [269]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46317425851650196]], [[0.417252033811172]], [[0.3856620332000641]]], "std": [[[0.2183138481889395]], [[0.21548438704077746]], [[0.23086165290798594]]], "count": [269]}, "annotation.human.task_description": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [1745]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1745]}, "observation.state": {"min": [5.596585062902291, -2.5864690833404222, 0.6999947836980733, 0.0, 0.0, -0.9999946355819702, 0.0026462955866008997, -0.10275241160945736, -0.039193487928968374, 0.2818240471319736, -0.9949156641960144, -0.14998078346252441, -0.42391732335090637, 4.267630174581427e-06, 0.020542196326207494, -0.03999880900209106], "max": [7.061631757163448, -0.7544862877469796, 0.7012437263461647, 0.0, 0.0, 0.999996542930603, 1.0, 0.5148053269755364, 0.09124149946659443, 0.7720333296972545, 0.9890251755714417, 0.0663703978061676, 0.3644182085990906, 0.07929198443889618, 0.040108275681505795, -0.02052436271261806], "mean": [6.435108880153895, -1.6390410556924693, 0.7006240331502762, 0.0, 0.0, 0.22770034902992256, 0.8410647888035436, 0.09010165165604558, 0.013158607896040151, 0.5929618870102096, -0.1401457631143936, -0.013345133284784661, -0.05907470095892007, 0.01826972968654466, 0.03604534969703124, -0.03501970000294729], "std": [0.40079079459865763, 0.6354653260937526, 0.0005020690429324976, 0.0, 0.0, 0.4480925553350267, 0.19993911384399765, 0.18810122438009041, 0.028597072560070564, 0.1141783596760956, 0.9428231038488142, 0.04119833713925553, 0.29239657883709236, 0.01577987177127619, 0.004245411173536926, 0.005501693820350801], "count": [1745]}, "action": {"min": [-1.0, -1.0, -0.6428571428571429, 0.0, -1.0, -1.0, -0.45, -0.9642857142857144, -0.13428571428571429, -0.29428571428571426, -0.14285714285714285, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.5785714285714286, 0.9285714285714287, 0.09142857142857143, 0.3742857142857143, 0.24285714285714288, 1.0], "mean": [0.18438395415472789, 0.0035734752353663466, 0.13487024150634477, 0.0, -0.1518624641833811, -0.01065902578796563, -0.0003274662300450309, -0.0017437576749897636, -3.274662300450251e-05, 0.0006287351616864514, -0.0008465002046663937, -0.09340974212034384], "std": [0.41737511932549515, 0.3137117638086087, 0.29828357165866615, 0.0, 0.9884016349501485, 0.4040252030537369, 0.08160900440497854, 0.2747129851426035, 0.012678989631543484, 0.04923295617784814, 0.022107627901966142, 0.9956277517611605], "count": [1745]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.029799427837133408], "std": [0.17003358900547028], "count": [1745]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005730659025787965], "std": [0.023931934690912437], "count": [1745]}, "timestamp": {"min": [0.0], "max": [87.2], "mean": [43.6], "std": [25.18690135765017], "count": [1745]}, "frame_index": {"min": [0], "max": [1744], "mean": [872.0], "std": [503.73802715300343], "count": [1745]}, "episode_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [1745]}, "index": {"min": [111905], "max": [113649], "mean": [112777.0], "std": [503.73802715300343], "count": [1745]}, "task_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [1745]}}} +{"episode_index": 72, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5298696007125161]], [[0.4954382983161968]], [[0.4702041999666097]]], "std": [[[0.21266959958964965]], [[0.2255452548699522]], [[0.23613647867216797]]], "count": [249]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5175628337684377]], [[0.4752467655837043]], [[0.44824813889634824]]], "std": [[[0.20283664838914078]], [[0.2198931689112166]], [[0.23559978477681126]]], "count": [249]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5939922596809573]], [[0.5534336444852633]], [[0.525301349008165]]], "std": [[[0.2113918653323585]], [[0.23535684530012277]], [[0.2514692352985538]]], "count": [249]}, "annotation.human.task_description": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [1567]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1567]}, "observation.state": {"min": [3.5427691527200778, -3.6586348526673627, 0.6999865942384055, 0.0, 0.0, -0.03356146439909935, 0.9994366765022278, -0.11031995812306095, -0.1548946752822591, 0.32592776599789963, -0.9996203184127808, -0.1659570336341858, -0.4251531958580017, 2.6521196559770033e-05, 0.009494502304793977, -0.04029718995912538], "max": [3.9268219379839318, -2.624793124673051, 0.7006493947376844, 0.0, 0.0, 0.017231756821274757, 1.0, 0.5201547231511099, 0.020582369247396315, 0.794544414863377, 0.9998899102210999, 0.06663328409194946, 0.42925944924354553, 0.16682638227939606, 0.04000956729736001, -0.011639951414500598], "mean": [3.759657823243832, -3.287534843183068, 0.7002063724113154, 0.0, 0.0, -0.001156328602463633, 0.9998912820408279, 0.12676171672646286, -0.05073319478806473, 0.5886851778329337, -0.5021506445607183, -0.03253200572297862, -0.11211150898996339, 0.03688527028229977, 0.03123747014953339, -0.03430635795319616], "std": [0.09978439949896162, 0.4493148832054887, 0.0002043779053085177, 0.0, 0.0, 0.014700402474865018, 9.855759690868575e-05, 0.18942793719099377, 0.039639548006784736, 0.126665244090182, 0.8182961872615264, 0.04740392349461776, 0.2436314607460218, 0.040556347339121196, 0.010214277036614046, 0.008755336159180723], "count": [1567]}, "action": {"min": [-1.0, -1.0, -0.32857142857142857, 0.0, -1.0, -1.0, -0.7428571428571429, -0.9357142857142857, -0.21142857142857144, -0.4571428571428572, -0.15142857142857147, -1.0], "max": [0.807142857142857, 1.0, 0.14, 0.0, 1.0, 1.0, 0.5785714285714286, 1.0, 0.15714285714285714, 0.3314285714285714, 0.12285714285714287, 1.0], "mean": [0.03268757407238581, -0.02450086607712647, -0.0033585559303491623, 0.0, -0.45373324824505423, -0.007876743550004554, -0.0037833895523748775, 0.007343422372139669, -0.00022973835354179981, 0.0005925790865165482, 0.00018050870635426958, -0.14741544352265476], "std": [0.2012724907424473, 0.31720696348479116, 0.03150999646164491, 0.0, 0.891137553600454, 0.39501225810241297, 0.10860301571923833, 0.31181027524986293, 0.01794255166713263, 0.0727779406842657, 0.019809170660212632, 0.9890746620003039], "count": [1567]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010210593231022358], "std": [0.10053028166294098], "count": [1567]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006381620931716656], "std": [0.025253808471486124], "count": [1567]}, "timestamp": {"min": [0.0], "max": [78.3], "mean": [39.15], "std": [22.617692189964917], "count": [1567]}, "frame_index": {"min": [0], "max": [1566], "mean": [783.0], "std": [452.3538437992983], "count": [1567]}, "episode_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [1567]}, "index": {"min": [113650], "max": [115216], "mean": [114433.0], "std": [452.3538437992983], "count": [1567]}, "task_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [1567]}}} +{"episode_index": 73, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5518483258540334]], [[0.5145997106639388]], [[0.494081198623757]]], "std": [[[0.1649902866840992]], [[0.17884322682149542]], [[0.18514737279757978]]], "count": [192]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5509537182602228]], [[0.5409459590911865]], [[0.5233037278543111]]], "std": [[[0.21022382633951076]], [[0.21336788975035517]], [[0.2128529955088171]]], "count": [192]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5299442774330089]], [[0.5258584287431506]], [[0.5124975322897917]]], "std": [[[0.19014220177680868]], [[0.19386649049112303]], [[0.19322000492453995]]], "count": [192]}, "annotation.human.task_description": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [1114]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1114]}, "observation.state": {"min": [2.9514185751455266, -3.6474009790178297, 0.6999754418629484, 0.0, 0.0, -0.6777018904685974, 0.7353367209434509, 0.02454839789254848, -0.13784616662695282, 0.3130766280787849, -0.995596170425415, -0.2020457684993744, -0.6784154772758484, 0.00014915554493200034, 0.007007916747144305, -0.040109625644909226], "max": [3.8783591287838224, -2.500138235002698, 0.7008074887890648, 0.0, 0.0, 0.41110366582870483, 1.0, 0.6593298025451184, 0.21840206985403743, 0.8552851802658124, 0.9836190342903137, 0.21097999811172485, 0.6579099893569946, 0.23619407415390015, 0.040529651404680206, -0.006777018676412973], "mean": [3.5406137120867354, -3.1350908215732813, 0.7001359716936305, 0.0, 0.0, -0.031507981440035804, 0.9700536466800546, 0.2595519089656091, 0.02176956433501573, 0.6050023968805036, -0.42376366493089834, -0.007635316204553874, -0.17946893745352793, 0.0381450471793402, 0.03314764427985537, -0.02979011676385136], "std": [0.2404401806362562, 0.37972709601142696, 0.00021602360972927724, 0.0, 0.0, 0.2321955849555836, 0.0639404571202559, 0.16878077917066758, 0.063923987824245, 0.12863285500159372, 0.8215378990214459, 0.1051608442794349, 0.31465680144990077, 0.04134834023128551, 0.00979996876085273, 0.011141089884109666], "count": [1114]}, "action": {"min": [-1.0, -1.0, -0.9342857142857143, 0.0, -1.0, -1.0, -0.7857142857142857, -1.0, -0.3171428571428571, -0.8285714285714287, -0.35714285714285715, -1.0], "max": [1.0, 1.0, 0.9057142857142857, 0.0, 1.0, 1.0, 0.9142857142857143, 1.0, 0.24, 0.8942857142857144, 0.37714285714285717, 1.0], "mean": [0.09791613234162609, 0.10297512182610918, 0.0003129007437804512, 0.0, -0.0843806104129264, -0.01311874839702486, -0.0076173377789176796, 0.003936906899204908, 0.0035521928699666565, -0.014385739933316233, -0.003990766863298281, -0.11490125673249552], "std": [0.49683884120937694, 0.33499693731823205, 0.3194738676531727, 0.0, 0.9964335966768361, 0.541929842444971, 0.17936028430090167, 0.41829955357258264, 0.0463963191788312, 0.18526003661996507, 0.055018783052663, 0.9933769179930139], "count": [1114]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014362657442688942], "std": [0.11898055672645569], "count": [1114]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008976660682226212], "std": [0.02994762534580301], "count": [1114]}, "timestamp": {"min": [0.0], "max": [55.65], "mean": [27.825], "std": [16.079198518582945], "count": [1114]}, "frame_index": {"min": [0], "max": [1113], "mean": [556.5], "std": [321.5839703716589], "count": [1114]}, "episode_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [1114]}, "index": {"min": [115217], "max": [116330], "mean": [115773.5], "std": [321.5839703716589], "count": [1114]}, "task_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [1114]}}} +{"episode_index": 74, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49325266051784417]], [[0.4691590668775703]], [[0.4362569513830082]]], "std": [[[0.23567143520958125]], [[0.2269242445704962]], [[0.22349585332550106]]], "count": [267]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45201343514805997]], [[0.42730844042029265]], [[0.4172797353850541]]], "std": [[[0.21743973571654643]], [[0.20087687318843878]], [[0.1924336606145181]]], "count": [267]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4178216903248381]], [[0.41197213330282517]], [[0.41395651680122103]]], "std": [[[0.21113146360483095]], [[0.19683406891646826]], [[0.18935781418081019]]], "count": [267]}, "annotation.human.task_description": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [1726]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1726]}, "observation.state": {"min": [3.1547874387388077, -1.825282368286301, 0.6999926257566953, 0.0, 0.0, -0.1482585072517395, 0.069076769053936, -0.14010729617726447, -0.10515561923852657, 0.32244092905262856, -0.9930616021156311, -0.21584442257881165, -0.45978036522865295, 0.00014700597967021167, 0.01311843401143767, -0.040438032395493345], "max": [4.590629545505526, -0.7487698056301448, 0.7003823586946121, 0.0, 0.0, 0.997611403465271, 0.999993085861206, 0.49119905841749933, 0.11644280651376437, 0.8124940651416328, 0.9915668368339539, 0.07033684849739075, 0.4348906874656677, 0.1010177880525589, 0.04008794351843818, -0.015048147634814374], "mean": [3.888120499822143, -1.0443041070309398, 0.7000922264530746, 0.0, 0.0, 0.6697051236596172, 0.716503161928365, 0.05491990873113912, -0.00898357134162205, 0.6433221667750962, -0.35368889204182186, -0.02627360156865689, -0.09606935896695973, 0.02769093990248801, 0.0343961798368861, -0.03258469460700296], "std": [0.3742860962990513, 0.2822164268105894, 0.00010706226874335701, 0.0, 0.0, 0.15927817042228867, 0.11291028640040907, 0.1921441951430396, 0.0388862637957288, 0.12483146998721985, 0.8936254479356801, 0.05194601771035902, 0.25032357935918614, 0.017059640128896575, 0.007888971639839523, 0.00898950977386467], "count": [1726]}, "action": {"min": [-1.0, -0.95, -0.9771428571428572, 0.0, -1.0, -1.0, -0.6500000000000001, -1.0, -0.1657142857142857, -0.5428571428571428, -0.26571428571428574, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.5714285714285715, 1.0, 0.12571428571428572, 0.29714285714285715, 0.2142857142857143, 1.0], "mean": [0.10769326270485029, 0.03201456712464824, 0.0009071345803674757, 0.0, -0.19003476245654694, -0.009878331402085766, -0.0021436848203939744, 0.0044115212713126935, 0.00010097665949346107, -0.0018175798708823059, -0.0006124813772554205, -0.1761297798377752], "std": [0.3765571069441371, 0.2911177376715445, 0.2560479181517527, 0.0, 0.9817773622660598, 0.4218130507343123, 0.10727968694555344, 0.30748622955826554, 0.018583310747919305, 0.06373658694361126, 0.0399096031819849, 0.9843669542677241], "count": [1726]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009269988164305687], "std": [0.09583348780870438], "count": [1726]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005793742757821553], "std": [0.024063220923864644], "count": [1726]}, "timestamp": {"min": [0.0], "max": [86.25], "mean": [43.125], "std": [24.912659934258325], "count": [1726]}, "frame_index": {"min": [0], "max": [1725], "mean": [862.5], "std": [498.2531986851665], "count": [1726]}, "episode_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [1726]}, "index": {"min": [116331], "max": [118056], "mean": [117193.5], "std": [498.2531986851665], "count": [1726]}, "task_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [1726]}}} +{"episode_index": 75, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5054796360337825]], [[0.4813027742065534]], [[0.46003992807529775]]], "std": [[[0.2657826508926644]], [[0.25962103925968233]], [[0.2643792088518676]]], "count": [276]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.504350655402064]], [[0.4878309598393181]], [[0.46305382271387524]]], "std": [[[0.22700012591204147]], [[0.2184253596760718]], [[0.21499651474814482]]], "count": [276]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45236967671625516]], [[0.44112365453817115]], [[0.4221596245468933]]], "std": [[[0.22241089111149284]], [[0.2151554578597735]], [[0.20961422122348103]]], "count": [276]}, "annotation.human.task_description": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [1798]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1798]}, "observation.state": {"min": [3.1879240931286548, -1.8790861692714693, 0.6999826198793198, 0.0, 0.0, -0.9999948740005493, 0.003196306526660919, -0.06321913537064638, -0.09012091841477288, 0.3021241964693797, -0.9958497881889343, -0.11125645041465759, -0.388260155916214, 6.014611244609114e-06, 0.0008205082827890395, -0.040068018010264855], "max": [4.413748797682273, -0.7620838437874803, 0.7010562556628055, 0.0, 0.0, 0.99998939037323, 0.9943346977233887, 0.47769460978085787, 0.24087364884681328, 0.6934628857923352, 0.9959107041358948, 0.10126936435699463, 0.41214826703071594, 0.31698885560035706, 0.04009744953507802, -0.0010814381892501708], "mean": [3.9243064537868, -1.0633805419041722, 0.7002314970949407, 0.0, 0.0, 0.6752887733438123, 0.7031104919905707, 0.11154883245270175, 0.014201697747003457, 0.5968894562004905, -0.6410785355212558, -0.020916440023795117, -0.1642995141653781, 0.022347809115719177, 0.03296234663946538, -0.03065781366133329], "std": [0.3635913241286557, 0.25648174008810326, 0.00035045963236446674, 0.0, 0.0, 0.18877241436278488, 0.11826108987344731, 0.14911662178396923, 0.05797507663614508, 0.09086048207044281, 0.7219283795952176, 0.0355782172072471, 0.19095219469706343, 0.04666824206958318, 0.011252026679039804, 0.012130414467845348], "count": [1798]}, "action": {"min": [-1.0, -1.0, -0.982857142857143, 0.0, -1.0, -1.0, -0.7428571428571429, -1.0, -0.2857142857142857, -0.24571428571428575, -0.3, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.9785714285714284, 1.0, 0.27714285714285714, 0.2885714285714286, 0.15428571428571428, 1.0], "mean": [0.09874463689814074, 0.02566740823136816, 0.0007071349118067616, 0.0, -0.18909899888765294, -0.008759733036707453, 0.002562370888288581, -0.0012990624503416324, -0.0008008898776418237, 0.0005625297950103274, 0.0008978229779119668, -0.18131256952169078], "std": [0.35125168435011395, 0.2941163779621403, 0.257468188215136, 0.0, 0.9819580279318043, 0.3559156920421987, 0.16726273592097013, 0.24169219907285464, 0.03751834571415908, 0.04971701730781678, 0.02592542302438875, 0.9834255193625123], "count": [1798]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008898776024580002], "std": [0.09391266107559204], "count": [1798]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005561735261401557], "std": [0.02357677240737113], "count": [1798]}, "timestamp": {"min": [0.0], "max": [89.85], "mean": [44.925], "std": [25.95189058623668], "count": [1798]}, "frame_index": {"min": [0], "max": [1797], "mean": [898.5], "std": [519.0378117247336], "count": [1798]}, "episode_index": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [1798]}, "index": {"min": [118057], "max": [119854], "mean": [118955.5], "std": [519.0378117247336], "count": [1798]}, "task_index": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [1798]}}} +{"episode_index": 76, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5392811664025243]], [[0.5063584424674212]], [[0.4732247049494307]]], "std": [[[0.2128595882072125]], [[0.2171410938901326]], [[0.241872733251851]]], "count": [258]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4810005884943155]], [[0.4701881829647511]], [[0.4621608244175062]]], "std": [[[0.19019216345846052]], [[0.18979606063990284]], [[0.19269326075345508]]], "count": [258]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.475029358383297]], [[0.46523504760204104]], [[0.45863352559732257]]], "std": [[[0.19928703015810895]], [[0.1989410826387633]], [[0.20224026981245713]]], "count": [258]}, "annotation.human.task_description": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [1647]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1647]}, "observation.state": {"min": [1.1210986062538293, -1.8227712300160357, 0.6999936371820572, 0.0, 0.0, -0.02430046536028385, 0.01816752180457115, -0.13698282384470373, -0.1546922237107775, 0.2722613227275603, -0.998735249042511, -0.15042760968208313, -0.41895774006843567, 6.389787813532166e-06, 0.009751279869054523, -0.04023231942847336], "max": [3.094735659680843, -0.7839272966950442, 0.7023171476281601, 0.0, 0.0, 0.9998348951339722, 0.9999990463256836, 0.5303881865587866, 0.029065746010163318, 0.7647749062948425, 0.9812840819358826, 0.11921527981758118, 0.4101107716560364, 0.1370939314365387, 0.040097743060424525, -0.020514866071230407], "mean": [2.0110904982826785, -1.0428198053745152, 0.7006784907019581, 0.0, 0.0, 0.6962460025913282, 0.6918976043770005, 0.08801665541045213, -0.03940788620585035, 0.5827253155114811, -0.6194805286476376, 2.7648701983360933e-05, -0.11526911905907325, 0.029857107632644746, 0.03427310933295839, -0.03545080083499046], "std": [0.7561450298701798, 0.2570255452581594, 0.000804340369015703, 0.0, 0.0, 0.12666483795184236, 0.14309166512468657, 0.20212567564871284, 0.04143110220114526, 0.12487311240824006, 0.7444993771301776, 0.05830713811012771, 0.2077229667719933, 0.035179286839350656, 0.00874635716806364, 0.005086159723877432], "count": [1647]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.6214285714285714, -1.0, -0.11142857142857143, -0.40571428571428575, -0.24285714285714288, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.807142857142857, 0.8857142857142857, 0.11714285714285716, 0.32857142857142857, 0.18857142857142858, 1.0], "mean": [0.1482305490502213, -0.051227339751929946, -0.004286581663630842, 0.0, -0.15361262902246509, -0.006062971636742147, 0.00027756093329863894, -0.003820799722439076, -2.9490849162980547e-05, 0.0008569693815595473, -0.00015092375748113342, -0.10746812386156648], "std": [0.39484840324387127, 0.3216691003940114, 0.2659159514954309, 0.0, 0.9881311452458268, 0.45273632436359873, 0.13090393836494246, 0.2950524114621895, 0.018621412286635438, 0.06479449326221114, 0.042313691118246254, 0.9942085306180322], "count": [1647]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009714632295072079], "std": [0.09808292239904404], "count": [1647]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006071645415907711], "std": [0.02463322741360145], "count": [1647]}, "timestamp": {"min": [0.0], "max": [82.3], "mean": [41.15], "std": [23.772392952049795], "count": [1647]}, "frame_index": {"min": [0], "max": [1646], "mean": [823.0], "std": [475.44785904099587], "count": [1647]}, "episode_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [1647]}, "index": {"min": [119855], "max": [121501], "mean": [120678.0], "std": [475.44785904099587], "count": [1647]}, "task_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [1647]}}} +{"episode_index": 77, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5467549557507779]], [[0.5110651665674293]], [[0.47488798030213614]]], "std": [[[0.22158952536663004]], [[0.23347895146669312]], [[0.25534379423760706]]], "count": [241]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5850328185503811]], [[0.5598662840942751]], [[0.5367743835623022]]], "std": [[[0.22273685324127795]], [[0.23300318359984779]], [[0.24552496440052057]]], "count": [241]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6135640564039331]], [[0.5897377769588774]], [[0.5685883889273179]]], "std": [[[0.1938139584886018]], [[0.20633122243665086]], [[0.2208672515453269]]], "count": [241]}, "annotation.human.task_description": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [1502]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1502]}, "observation.state": {"min": [0.7437114592110267, -4.48743296199564, 0.6999456506520148, 0.0, 0.0, -1.0, 7.633010312702027e-08, -0.1263212397482485, -0.2190453018446359, 0.2648994490886012, -0.9994457960128784, -0.22911930084228516, -0.4216969907283783, 2.4846376618370414e-06, 0.020559526188881603, -0.04008380175741606], "max": [1.6986316034660658, -3.326987885108006, 0.7009862812582712, 0.0, 0.0, 1.0, 0.024512197822332382, 0.49446154736615044, 0.24039177695993885, 0.7345257559769358, 0.999413788318634, 0.08730712532997131, 0.3783643841743469, 0.10127926617860794, 0.040050560780898886, -0.018230597469028303], "mean": [0.9747645900748331, -3.835718409695696, 0.7005327713537426, 0.0, 0.0, 0.6470672031058452, 0.012399537640716609, 0.10174752662196636, -0.00044651712006972473, 0.5856813953931448, -0.5045597794132131, -0.03941973985560963, -0.1258594674897629, 0.0343206087610553, 0.03534803571996155, -0.032964168902495726], "std": [0.1976118680353741, 0.4019129847529255, 0.0003320511894066848, 0.0, 0.0, 0.7623084693558279, 0.0060103099496984745, 0.18033316807768326, 0.08973036363027306, 0.1207926671248095, 0.8251822437924244, 0.05689862684552552, 0.20507870527871924, 0.02503072323432388, 0.005706460183244506, 0.007954362683785724], "count": [1502]}, "action": {"min": [-1.0, -1.0, -0.20285714285714287, 0.0, -1.0, -1.0, -0.8571428571428572, -1.0, -0.09714285714285714, -0.4571428571428572, -0.18571428571428572, -1.0], "max": [1.0, 1.0, 0.1457142857142857, 0.0, 1.0, 1.0, 0.6714285714285714, 0.9857142857142858, 0.12, 0.32571428571428573, 0.32285714285714284, 1.0], "mean": [0.03716948830131254, 0.03705059920106526, 0.00028723606619745145, 0.0, -0.35153129161118507, -0.0046176526536047275, 0.002777249381776675, 0.0021304926764314333, 0.000428000760890241, 0.0028742628875784654, 0.0011318242343541956, -0.15446071904127828], "std": [0.33494805178414366, 0.3118959516735533, 0.020240385256349018, 0.0, 0.9361761324762441, 0.4432229890121696, 0.19467078269889015, 0.26123537057505203, 0.015250527045945239, 0.07153019007324794, 0.046158160901822703, 0.9879989302996429], "count": [1502]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01065246295183897], "std": [0.10265957564115524], "count": [1502]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006657789613848203], "std": [0.025794102034368195], "count": [1502]}, "timestamp": {"min": [0.0], "max": [75.05], "mean": [37.525], "std": [21.67949780322413], "count": [1502]}, "frame_index": {"min": [0], "max": [1501], "mean": [750.5], "std": [433.58995606448264], "count": [1502]}, "episode_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [1502]}, "index": {"min": [121502], "max": [123003], "mean": [122252.5], "std": [433.58995606448264], "count": [1502]}, "task_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [1502]}}} +{"episode_index": 78, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5286569309834414]], [[0.4648628935424037]], [[0.424493467589903]]], "std": [[[0.2178030593541737]], [[0.21905052798339464]], [[0.22920703663391967]]], "count": [265]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4698633182820593]], [[0.46263587920611937]], [[0.44618132585249604]]], "std": [[[0.2123068039986523]], [[0.19887057748699427]], [[0.2037393181554489]]], "count": [265]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41722365141885176]], [[0.42995804764454426]], [[0.42801744377088247]]], "std": [[[0.21172520980265197]], [[0.1977559964531196]], [[0.19776333262822504]]], "count": [265]}, "annotation.human.task_description": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [1703]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1703]}, "observation.state": {"min": [-1.7554818066671967, -3.86596525186701, 0.6999957836235497, 0.0, 0.0, -0.6963921785354614, 0.7176614999771118, -0.07227938371907427, -0.14889687603286195, 0.2832872688334318, -0.9997085928916931, -0.23087823390960693, -0.4695345163345337, 7.411371370835695e-06, 0.019689615475265362, -0.04064232740580938], "max": [-0.7505924829403158, -2.6477788309684325, 0.7006873747239122, 0.0, 0.0, 0.5644457340240479, 1.0, 0.7022222292604492, 0.2850088944563365, 0.7949591855501, 0.9993147850036621, 0.1035585105419159, 0.44934824109077454, 0.16162733733654022, 0.04003482190394662, -0.020525709567733978], "mean": [-1.1084104587714227, -3.431516797044386, 0.7002365831178984, 0.0, 0.0, 0.014576640189380085, 0.9858346153761595, 0.13244905845922048, 0.0062315439451913375, 0.598468772258533, -0.4386706757531471, -0.04557582650156457, -0.11361649110006837, 0.03178764665796616, 0.035751734074762884, -0.034321868266167725], "std": [0.2754035133001674, 0.3943216683629872, 0.00022900077406101668, 0.0, 0.0, 0.1601189965182095, 0.047744760781192656, 0.19935844532617822, 0.08246860538136559, 0.12219067596393873, 0.8492145586704246, 0.06957968743846482, 0.25358363024389297, 0.03550161583723045, 0.00507243579560049, 0.006336640925698281], "count": [1703]}, "action": {"min": [-1.0, -0.9, -0.8457142857142858, 0.0, -1.0, -1.0, -0.7785714285714286, -1.0, -0.20285714285714287, -0.36, -0.3, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.9785714285714284, 1.0, 0.20285714285714287, 0.38285714285714284, 0.2857142857142857, 1.0], "mean": [0.08664541565304917, 0.0012121466319939616, 0.0015569163660766805, 0.0, -0.21080446271285966, -0.008304672426809816, -0.0002516567402063579, -0.00021390822917539552, 0.001207952352990521, 0.0012431842966194129, -0.0009932052680144275, -0.12742219612448621], "std": [0.36610289957350495, 0.28072055499998594, 0.23196813775433267, 0.0, 0.9775282494640921, 0.38086260189410137, 0.1623576961931812, 0.27345607815455075, 0.026407946436851747, 0.06705644687316084, 0.04288706322781114, 0.9918485690541637], "count": [1703]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009395184926688671], "std": [0.0964723527431488], "count": [1703]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005871990604815032], "std": [0.024225074979138304], "count": [1703]}, "timestamp": {"min": [0.0], "max": [85.1], "mean": [42.55], "std": [24.580683473003756], "count": [1703]}, "frame_index": {"min": [0], "max": [1702], "mean": [851.0], "std": [491.61366946007513], "count": [1703]}, "episode_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [1703]}, "index": {"min": [123004], "max": [124706], "mean": [123855.0], "std": [491.61366946007513], "count": [1703]}, "task_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [1703]}}} +{"episode_index": 79, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5356098397682832]], [[0.5091627053653492]], [[0.47225217720216534]]], "std": [[[0.22574302993830966]], [[0.22468038070099763]], [[0.23911805499072825]]], "count": [170]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4548716297611646]], [[0.4496704319796623]], [[0.4451895609748955]]], "std": [[[0.25967003660957416]], [[0.24808961613875466]], [[0.23494227568416431]]], "count": [170]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4743336094346976]], [[0.4668502124755578]], [[0.45852229592434396]]], "std": [[[0.23499486187776789]], [[0.22448094283072914]], [[0.21387652404047286]]], "count": [170]}, "annotation.human.task_description": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [948]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [948]}, "observation.state": {"min": [3.0696361864767976, -3.648311091319201, 0.6999838218380606, 0.0, 0.0, -0.5840728878974915, 0.8117012977600098, -0.028132891976799357, -0.09191326732477023, 0.2932618113074036, -0.9904631972312927, -0.2443440854549408, -0.48887571692466736, 0.000266887218458578, 0.02053908181394079, -0.04046583640818831], "max": [3.875642272317134, -2.37843079791842, 0.7002828348909691, 0.0, 0.0, 0.565143346786499, 1.0, 0.6736059081953987, 0.2587092433070044, 0.7497576798000006, 0.9945389628410339, 0.33792221546173096, 0.6076915264129639, 0.22586511075496674, 0.04060866433257059, -0.0205274774855589], "mean": [3.5502116476121417, -3.1155463146079896, 0.70008391695977, 0.0, 0.0, 0.03739352069378928, 0.9710607180364021, 0.23481396250578318, 0.015264122386841201, 0.5561448173327804, 0.47141344983617967, -0.0006780401815341998, 0.12061841436170576, 0.05262744068796231, 0.037385173281174924, -0.03508363240397745], "std": [0.22458421904109818, 0.3826400282834446, 7.393074191893973e-05, 0.0, 0.0, 0.2301460678429164, 0.05172631624705733, 0.18598402208095677, 0.07687757341857922, 0.10237855313050727, 0.8162765167317462, 0.15019682459972214, 0.2630655957085809, 0.048790439957177, 0.003683900499518903, 0.005593919011407266], "count": [948]}, "action": {"min": [-1.0, -1.0, -0.9885714285714285, 0.0, -1.0, -1.0, -1.0, -1.0, -0.2714285714285714, -0.5885714285714285, -0.7514285714285714, -1.0], "max": [1.0, 1.0, 0.9085714285714286, 0.0, 1.0, 1.0, 0.9642857142857144, 1.0, 0.3, 0.5028571428571429, 0.3742857142857143, 1.0], "mean": [0.12108197709463533, 0.023508137432188058, -0.0007263411693791386, 0.0, -0.19831223628691982, 0.005937311633514148, 0.007263411693791432, -0.0003842676311030792, -0.004249547920433996, -0.016283905967450274, -0.004638336347197106, -0.12025316455696203], "std": [0.4926436019086075, 0.2891084229617294, 0.35265517733197793, 0.0, 0.9801388967584533, 0.5614283277398295, 0.2057928365415736, 0.36554995321384254, 0.05654592127913669, 0.12605839937045377, 0.08248375472518205, 0.9927432580551919], "count": [948]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016877636313438416], "std": [0.1288129687309265], "count": [948]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010548523206751054], "std": [0.03246135559795173], "count": [948]}, "timestamp": {"min": [0.0], "max": [47.35], "mean": [23.674999999999997], "std": [13.68319376705112], "count": [948]}, "frame_index": {"min": [0], "max": [947], "mean": [473.5], "std": [273.66387534102245], "count": [948]}, "episode_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [948]}, "index": {"min": [124707], "max": [125654], "mean": [125180.5], "std": [273.66387534102245], "count": [948]}, "task_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [948]}}} +{"episode_index": 80, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5436125169630411]], [[0.4929283383042133]], [[0.4574440389563805]]], "std": [[[0.23239760954043462]], [[0.2185815812927169]], [[0.20869823376503724]]], "count": [262]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45449629533685193]], [[0.4290156395987397]], [[0.420830292538279]]], "std": [[[0.23921373349636446]], [[0.21808917538178652]], [[0.2063225705038539]]], "count": [262]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47880773111796454]], [[0.4539546138065123]], [[0.4452808167152536]]], "std": [[[0.21824104887203077]], [[0.1912285358720684]], [[0.17571306733835654]]], "count": [262]}, "annotation.human.task_description": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [1685]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1685]}, "observation.state": {"min": [1.0795032647427496, -1.2630838035910164, 0.6999959266378974, 0.0, 0.0, 0.5291659235954285, 0.6938623189926147, -0.07074025186875987, -0.01600991265778129, 0.2786675722381773, -0.9975298643112183, -0.2539293169975281, -0.45748382806777954, 0.014370533637702465, 0.018069709591910364, -0.03997921760771876], "max": [3.140945473336766, -0.7699088394826195, 0.7003073637701177, 0.0, 0.0, 0.7201076745986938, 0.8485183715820312, 0.5422850451916469, 0.1697873497066843, 0.7926704623411605, -0.8866233229637146, 0.01531781256198883, -0.0678458884358406, 0.09619072079658508, 0.04008603963497905, -0.018847950279220184], "mean": [1.9223615248576271, -0.966029969243011, 0.7001260897097349, 0.0, 0.0, 0.6919178692452632, 0.7212753826857321, 0.13489266918216583, 0.03709625417781756, 0.6038957398049883, -0.9528757251688564, -0.03944967711449377, -0.27267532987127674, 0.038662229772402905, 0.03305066383080151, -0.034332994621815785], "std": [0.9164418510732334, 0.12247316751959186, 8.767244376752725e-05, 0.0, 0.0, 0.024689493852610604, 0.02004765152368159, 0.1795089482840679, 0.043866936887141335, 0.1294064385976952, 0.030873528157430944, 0.07010198557976949, 0.09103189195931236, 0.02169562715580189, 0.007634212414992301, 0.006661220048554345], "count": [1685]}, "action": {"min": [-1.0, -1.0, -0.5028571428571429, 0.0, -1.0, -1.0, -0.5357142857142857, -0.9714285714285714, -0.06571428571428571, -0.2742857142857143, -0.23714285714285716, -1.0], "max": [0.9714285714285714, 1.0, 0.4942857142857143, 0.0, 1.0, 0.9642857142857144, 0.3, 0.7571428571428572, 0.05142857142857143, 0.24571428571428575, 0.19142857142857142, 1.0], "mean": [0.048194150063586266, -0.027274268757948316, -0.0011275964391691377, 0.0, -0.2818991097922849, -0.005659177617634598, 0.0025773632895294673, 0.00284018651971175, 0.0006375582874099193, 0.00028486646884273313, 0.0005392115303094529, -0.07299703264094956], "std": [0.22664982170647696, 0.3895384675450931, 0.06573770900272795, 0.0, 0.9594440535530689, 0.35884702779453137, 0.08435380219453065, 0.24345098520853925, 0.006086279800808615, 0.04700752601935659, 0.0346651314926068, 0.9973321579221209], "count": [1685]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009495548903942108], "std": [0.09698136150836945], "count": [1685]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005934718100890207], "std": [0.02435404691831833], "count": [1685]}, "timestamp": {"min": [0.0], "max": [84.2], "mean": [42.1], "std": [24.320875806598742], "count": [1685]}, "frame_index": {"min": [0], "max": [1684], "mean": [842.0], "std": [486.4175161319748], "count": [1685]}, "episode_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [1685]}, "index": {"min": [125655], "max": [127339], "mean": [126497.0], "std": [486.4175161319748], "count": [1685]}, "task_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [1685]}}} +{"episode_index": 81, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5481815677602546]], [[0.535110285602184]], [[0.503099837957644]]], "std": [[[0.20956980080595947]], [[0.21368214826136445]], [[0.23446505245003538]]], "count": [260]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5424605892866086]], [[0.518587947977794]], [[0.49995612925533794]]], "std": [[[0.1851332489391108]], [[0.19066645581973268]], [[0.1948175653996457]]], "count": [260]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5248030801488263]], [[0.5015246354185079]], [[0.4839160950259385]]], "std": [[[0.20156629257975267]], [[0.20620359699169466]], [[0.2094796990412205]]], "count": [260]}, "annotation.human.task_description": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [1664]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1664]}, "observation.state": {"min": [5.791127859611355, -2.4543751101738125, 0.6999945099082452, 0.0, 0.0, -0.9998816251754761, 0.009157328866422176, -0.1421262912910728, -0.17017183150715054, 0.3113081757570282, -0.9919071793556213, -0.20617198944091797, -0.4779951274394989, 0.0001939007343025878, 0.01324791922435027, -0.04018607252580477], "max": [6.742032924900615, -0.7729091912498129, 0.7003927067698027, 0.0, 0.0, 0.9999581575393677, 1.0, 0.5113000173148272, 0.008824419855903542, 0.7763233400084761, 0.9794875979423523, 0.15702006220817566, 0.4755063056945801, 0.1290391981601715, 0.04010970017088878, -0.014375743276294334], "mean": [6.416462001313125, -1.7771973748333143, 0.700062424682778, 0.0, 0.0, 0.20757186826932827, 0.8585042196366255, 0.07980599390023128, -0.05202725077641093, 0.6207798200875387, -0.22355060949205205, -0.03258078768312071, -0.011094187301261207, 0.026113598425800213, 0.034395011916646165, -0.03211713353606834], "std": [0.22285721649152837, 0.7472808440407193, 8.623846572766863e-05, 0.0, 0.0, 0.4288552567276113, 0.18965128855569838, 0.1884556935056472, 0.044174817081502366, 0.12092535088460771, 0.9206757518974061, 0.07454119137039336, 0.30722445559579403, 0.02390649077209088, 0.008514449603747124, 0.009784576363563472], "count": [1664]}, "action": {"min": [-1.0, -1.0, -0.2542857142857143, 0.0, -1.0, -1.0, -0.44285714285714284, -0.95, -0.13714285714285715, -0.28285714285714286, -0.20285714285714287, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.6, 1.0, 0.16285714285714287, 0.27714285714285714, 0.1657142857142857, 1.0], "mean": [0.12268629807692312, -0.04294728708791206, 0.139479739010989, 0.0, -0.2644230769230769, -0.008237465659340677, -0.001987465659340649, 0.004176682692307699, 0.0010885989010989004, -0.0006421703296703321, -0.0007417582417582406, -0.15985576923076922], "std": [0.3377253833488624, 0.3129072471482476, 0.27719351229962047, 0.0, 0.9644067795233151, 0.39700660150421235, 0.10685317014689649, 0.2570766744307334, 0.020008882434918218, 0.051839397142276304, 0.036226264772799215, 0.9871403816294898], "count": [1664]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009615384973585606], "std": [0.09758549183607101], "count": [1664]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006009615384615385], "std": [0.024507149644355387], "count": [1664]}, "timestamp": {"min": [0.0], "max": [83.15], "mean": [41.575], "std": [24.017766861221713], "count": [1664]}, "frame_index": {"min": [0], "max": [1663], "mean": [831.5], "std": [480.3553372244343], "count": [1664]}, "episode_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [1664]}, "index": {"min": [127340], "max": [129003], "mean": [128171.5], "std": [480.3553372244343], "count": [1664]}, "task_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [1664]}}} +{"episode_index": 82, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5574261280416869]], [[0.5565728220091103]], [[0.5422814173668435]]], "std": [[[0.231363385882381]], [[0.2336839045043224]], [[0.2387404092993643]]], "count": [265]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.513552852155013]], [[0.5033380183404436]], [[0.49729101860562913]]], "std": [[[0.21630465581477237]], [[0.2194561293633609]], [[0.22042451470080984]]], "count": [265]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5036881770092693]], [[0.49687705031157514]], [[0.49259512768292757]]], "std": [[[0.24044847100002661]], [[0.24280804837593334]], [[0.24349013769155567]]], "count": [265]}, "annotation.human.task_description": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [1707]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1707]}, "observation.state": {"min": [0.8613187467764191, -6.7174552930217954, 0.6999588833680703, 0.0, 0.0, -1.0, 2.2015106878825463e-05, 0.02247175748954855, -0.17109835608094937, 0.31082985436507193, -0.9993426203727722, -0.33403173089027405, -0.5317815542221069, 0.00016050890553742647, 0.0012620877973686271, -0.04080750754102379], "max": [1.7338713817293858, -5.317781068232111, 0.7005604421313759, 0.0, 0.0, 1.0, 0.1445508599281311, 0.6988877041938686, 0.05906459304442446, 0.8604468101272876, 0.9733471274375916, 0.3298018276691437, 0.5081754922866821, 0.2731478810310364, 0.04010460116677365, -0.001890155250824423], "mean": [1.179692192715155, -6.132194122980514, 0.700227238629075, 0.0, 0.0, 0.8467129609636487, 0.04700601016264884, 0.2798091429862809, -0.02989959954006787, 0.589996982737419, -0.0536748998753146, 0.00015406943879493442, 0.028332153847522915, 0.05519487823675906, 0.02878409994828683, -0.029444758810584996], "std": [0.20898533294173713, 0.4686300535756826, 0.00016509079033226042, 0.0, 0.0, 0.5279660217015232, 0.04603789372452311, 0.2012280517880936, 0.04517103622585892, 0.12748659980070243, 0.9310298232830545, 0.14958756259992953, 0.3135777576788652, 0.07580114952095843, 0.014078850851486434, 0.01378015875484801], "count": [1707]}, "action": {"min": [-1.0, -1.0, -0.3171428571428571, 0.0, -1.0, -1.0, -0.5214285714285715, -0.8642857142857142, -0.16857142857142857, -0.3742857142857143, -0.23714285714285716, -1.0], "max": [1.0, 1.0, 0.3914285714285714, 0.0, 1.0, 1.0, 0.5928571428571429, 1.0, 0.21142857142857144, 0.28285714285714286, 0.3057142857142857, 1.0], "mean": [0.042547493514101586, -0.02261695539375682, -0.0010143108209892046, 0.0, -0.3368482718219098, 0.002962591011800152, -0.0039291990961586795, 0.0070298769771528925, -0.001133149217507742, -0.00259603314084861, 0.0011314754372750858, -0.18570591681312243], "std": [0.33529610513142816, 0.2888289903277029, 0.06821772757860398, 0.0, 0.9415589422710675, 0.39030330178384187, 0.10627588356212365, 0.2849843473619274, 0.030830011062579713, 0.06574225166623601, 0.035048854319657895, 0.9826053696477699], "count": [1707]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008787346072494984], "std": [0.0933280810713768], "count": [1707]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005858230814294083], "std": [0.024196691772774906], "count": [1707]}, "timestamp": {"min": [0.0], "max": [85.3], "mean": [42.65000000000001], "std": [24.638418509852997], "count": [1707]}, "frame_index": {"min": [0], "max": [1706], "mean": [853.0], "std": [492.7683701970599], "count": [1707]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [1707]}, "index": {"min": [129004], "max": [130710], "mean": [129857.0], "std": [492.7683701970599], "count": [1707]}, "task_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [1707]}}} +{"episode_index": 83, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5027930619438465]], [[0.4820059949415352]], [[0.4662387783470443]]], "std": [[[0.238269723286461]], [[0.23829942070437127]], [[0.2399917461460101]]], "count": [202]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4511951228063839]], [[0.4472666037427502]], [[0.44463770930638846]]], "std": [[[0.26339696415746294]], [[0.2520079225775852]], [[0.23819628004219667]]], "count": [202]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4364503117307509]], [[0.434178086971223]], [[0.4333926260668059]]], "std": [[[0.23353093769231606]], [[0.2241205371530364]], [[0.21317501484634688]]], "count": [202]}, "annotation.human.task_description": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [1189]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1189]}, "observation.state": {"min": [2.569173741013145, -3.380857413243969, 0.6999925488120157, 0.0, 0.0, -0.49568822979927063, 0.8685005307197571, -0.04926260025420781, -0.2721802258610424, 0.35680740387241294, -0.9911317825317383, -0.4074607789516449, -0.47280916571617126, 3.7136323953745887e-06, 0.0050374461122706755, -0.04043690414288421], "max": [3.5637073795279046, -1.9969153612573762, 0.7014642811962827, 0.0, 0.0, 0.17812666296958923, 1.0, 0.66967416583256, 0.13805757000640417, 0.7736672782062796, 0.9836652874946594, 0.3792278468608856, 0.6455590724945068, 0.17708927392959595, 0.04007981725815061, -0.0042124328093631576], "mean": [3.1969113492153984, -2.8301959145870277, 0.7005269234416139, 0.0, 0.0, 0.013188027673898423, 0.9870472420555289, 0.24282817292652206, -0.06598016678270736, 0.5731496373225048, -0.299140438951295, -0.0021642815725857515, -0.07578257137958096, 0.04197866302734046, 0.03319685719193151, -0.032146860156738524], "std": [0.21790882692546082, 0.3672192118109753, 0.0005161312581626249, 0.0, 0.0, 0.15811925737368815, 0.023709352423765023, 0.20834411477895295, 0.07611135919646722, 0.08613225477772687, 0.876917623026697, 0.23594307604485565, 0.27660641854360873, 0.04289916365352774, 0.010840732280746128, 0.011447047439001072], "count": [1189]}, "action": {"min": [-1.0, -1.0, -0.8, 0.0, -1.0, -1.0, -0.6571428571428571, -0.9857142857142858, -0.32, -0.7657142857142857, -0.38285714285714284, -1.0], "max": [1.0, 1.0, 0.8514285714285714, 0.0, 1.0, 1.0, 1.0, 1.0, 0.24285714285714288, 0.3942857142857143, 0.3657142857142857, 1.0], "mean": [0.09063438663943289, 0.0649645560495014, -0.007112819896671871, 0.0, -0.3170731707317073, -0.006091553526372679, 0.0032019704433497546, -0.012579598702390993, -0.005584524810765349, -0.014838399615523246, -0.003599663582842731, -0.3103448275862069], "std": [0.4388651679120707, 0.31011980889998947, 0.205623204611849, 0.0, 0.9484010778157772, 0.5339283878120118, 0.18879619042117127, 0.31918000565222315, 0.052215109452772794, 0.13521573208214038, 0.05339613333090623, 0.9506240518682934], "count": [1189]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016820857301354408], "std": [0.12859982252120972], "count": [1189]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008410428931875525], "std": [0.028988541530048928], "count": [1189]}, "timestamp": {"min": [0.0], "max": [59.4], "mean": [29.700000000000003], "std": [17.161730681956293], "count": [1189]}, "frame_index": {"min": [0], "max": [1188], "mean": [594.0], "std": [343.2346136391259], "count": [1189]}, "episode_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [1189]}, "index": {"min": [130711], "max": [131899], "mean": [131305.0], "std": [343.2346136391259], "count": [1189]}, "task_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [1189]}}} +{"episode_index": 84, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5127760000677388]], [[0.5016500401880016]], [[0.4858778298788677]]], "std": [[[0.231850364648338]], [[0.22431322420880934]], [[0.2192016968295435]]], "count": [266]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41203182489844214]], [[0.4319825944165187]], [[0.43428483817072266]]], "std": [[[0.26650991499520166]], [[0.24014831853391408]], [[0.23150520505859984]]], "count": [266]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.043137254901960784]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4171519789427901]], [[0.43085414813926187]], [[0.43662666569377545]]], "std": [[[0.22795326805275118]], [[0.214449126448358]], [[0.20811965513052333]]], "count": [266]}, "annotation.human.task_description": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [1717]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1717]}, "observation.state": {"min": [0.738267719936083, -6.718366941362623, 0.6999968496364787, 0.0, 0.0, -1.0, 3.2338206779058964e-07, -0.09323974483699271, -0.13830461399170701, 0.30176944818222395, -0.9886451363563538, -0.27676907181739807, -0.5101682543754578, 8.02629001555033e-05, 0.007729603596499415, -0.04128112154750155], "max": [1.48473388210606, -5.4029079668332916, 0.7127412284603218, 0.0, 0.0, 1.0, 0.3616328537464142, 0.6297085590869425, 0.1427868845820175, 0.7628518853891563, 0.9706146717071533, 0.45514750480651855, 0.48348599672317505, 0.5180641412734985, 0.040793696954466274, -0.008351155022039492], "mean": [0.9898644745091418, -6.223714484436884, 0.7055487574720444, 0.0, 0.0, -0.7204014802298437, 0.08760614649680132, 0.21625463308612758, -0.023892049910671998, 0.5470120925484743, -0.4851484574685627, 0.1285636149038738, -0.13500387610484677, 0.09386722103029882, 0.031862202051748834, -0.03311190920374068], "std": [0.1676913366362108, 0.5657755548990897, 0.004911514453209318, 0.0, 0.0, 0.6850889010294854, 0.06324617897766283, 0.20909753012887747, 0.05856331713949908, 0.1321009611478505, 0.7688144193108783, 0.18319708203199087, 0.29737825669536644, 0.08941286607384925, 0.010141584382947167, 0.010027253017944597], "count": [1717]}, "action": {"min": [-1.0, -1.0, -0.5428571428571428, 0.0, -1.0, -1.0, -0.9785714285714284, -1.0, -0.2257142857142857, -0.38857142857142857, -0.34, -1.0], "max": [1.0, 1.0, 0.6314285714285715, 0.0, 1.0, 1.0, 0.7357142857142858, 0.8642857142857142, 0.3, 0.3657142857142857, 0.15714285714285714, 1.0], "mean": [0.05683085115234219, -0.02598801896996423, 0.005890673100923533, 0.0, -0.5107746068724519, -0.032789749563191646, 0.006273400449288629, -0.08201597470671439, 0.007181961893668361, -0.003466178550628172, -0.003599301106581251, -0.1916132789749563], "std": [0.2818152567616054, 0.31804336398704075, 0.09604300598989116, 0.0, 0.8597146625330411, 0.4054862627047579, 0.1311592513302078, 0.3377459448055878, 0.041913675851974926, 0.0859873616201682, 0.03819082318642036, 0.9814705045596005], "count": [1717]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009318578988313675], "std": [0.09608196467161179], "count": [1717]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005824111822947001], "std": [0.02412616794083632], "count": [1717]}, "timestamp": {"min": [0.0], "max": [85.8], "mean": [42.9], "std": [24.78275610177367], "count": [1717]}, "frame_index": {"min": [0], "max": [1716], "mean": [858.0], "std": [495.65512203547337], "count": [1717]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [1717]}, "index": {"min": [131900], "max": [133616], "mean": [132758.0], "std": [495.65512203547337], "count": [1717]}, "task_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [1717]}}} +{"episode_index": 85, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5133355467238293]], [[0.48767582660119974]], [[0.46435150839349926]]], "std": [[[0.21810699108289983]], [[0.2234599262770728]], [[0.22664178663828913]]], "count": [190]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5246230074446514]], [[0.478865099140242]], [[0.45034741569967834]]], "std": [[[0.21892123294806176]], [[0.2196687912835791]], [[0.232256461729944]]], "count": [190]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46412028971102215]], [[0.43645742410476734]], [[0.4202019268464993]]], "std": [[[0.224245351543189]], [[0.21287014412041588]], [[0.21784969819006875]]], "count": [190]}, "annotation.human.task_description": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [1097]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1097]}, "observation.state": {"min": [3.235942661468007, -1.8769426776544433, 0.6999984886332572, 0.0, 0.0, 0.5724754333496094, 0.6528961658477783, 0.00732684728549815, -0.21628619777488156, 0.3244030919952936, -0.9965027570724487, -0.1304781138896942, -0.6194490790367126, 2.8763617592630908e-05, 0.0013633077800052791, -0.040243553852812725], "max": [4.459329493752404, -0.763783059084961, 0.7016119655553569, 0.0, 0.0, 0.7574474215507507, 0.8199218511581421, 0.6368856909861476, 0.11100312400479462, 0.8606922894161146, 0.9963905811309814, 0.2317519187927246, 0.606019139289856, 0.11762170493602753, 0.04007198320157213, 4.3872260606454815e-05], "mean": [3.896477520813189, -1.1415118215149067, 0.7009939999210046, 0.0, 0.0, 0.7068992641261196, 0.7047353915007634, 0.2510063626080172, -0.03286775793987373, 0.5953647506983313, -0.2975317210420871, 0.031492538125328075, -0.09520134800635856, 0.03224530081398481, 0.03311291873692352, -0.033861861730983094], "std": [0.3677843110021801, 0.2311063809516367, 0.0003266940407517523, 0.0, 0.0, 0.043409561734325114, 0.041917270734670636, 0.19777437707072013, 0.0682004935173481, 0.13869725233762842, 0.8897379142587657, 0.10608209844682114, 0.31135971711543536, 0.02341360802220696, 0.011526500709650963, 0.011776878617122117], "count": [1097]}, "action": {"min": [-1.0, -1.0, -0.41714285714285715, 0.0, -1.0, -1.0, -1.0, -1.0, -0.34, -0.54, -0.20857142857142857, -1.0], "max": [1.0, 1.0, 0.3657142857142857, 0.0, 1.0, 1.0, 1.0, 1.0, 0.22, 0.7485714285714286, 0.32857142857142857, 1.0], "mean": [0.04824846985284542, 0.03825367886443547, -0.0007943742674827417, 0.0, -0.2725615314494075, -0.004010938924339102, -0.0018687329079307168, 0.004538351347831741, -0.0017293918478968613, -0.0102773798671702, -0.0014741502799843708, -0.2506836827711942], "std": [0.4497064858930265, 0.38153378755538586, 0.09021719145137758, 0.0, 0.9621383536550067, 0.5252136255252771, 0.18321059619055077, 0.4160837570447401, 0.058817250645739304, 0.1538185088125173, 0.048507420563419945, 0.9680690529049418], "count": [1097]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014585232362151146], "std": [0.11988537758588791], "count": [1097]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009115770282588879], "std": [0.030178569475381677], "count": [1097]}, "timestamp": {"min": [0.0], "max": [54.8], "mean": [27.4], "std": [15.833824553783588], "count": [1097]}, "frame_index": {"min": [0], "max": [1096], "mean": [548.0], "std": [316.6764910756717], "count": [1097]}, "episode_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [1097]}, "index": {"min": [133617], "max": [134713], "mean": [134165.0], "std": [316.6764910756717], "count": [1097]}, "task_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [1097]}}} +{"episode_index": 86, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6031431983767059]], [[0.5917748911481806]], [[0.5433046801392348]]], "std": [[[0.23965377924737583]], [[0.23852639169824716]], [[0.2536948243805667]]], "count": [279]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5338090015518346]], [[0.5206892049608332]], [[0.5121687664236001]]], "std": [[[0.22158388878411725]], [[0.22087463481915826]], [[0.22013356636924564]]], "count": [279]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4685773315043633]], [[0.4600640960935716]], [[0.4541035167917414]]], "std": [[[0.2305859769868966]], [[0.22796203383751265]], [[0.22721380746308772]]], "count": [279]}, "annotation.human.task_description": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [1827]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1827]}, "observation.state": {"min": [-1.2833468804080241, -3.998021610572706, 0.6999959653599229, 0.0, 0.0, -0.036996763199567795, 0.9993153810501099, -0.11729288522328285, -0.12363172674056155, 0.29893298387584644, -0.9994143843650818, -0.13683506846427917, -0.4589102268218994, 1.9210483515053056e-05, 0.014646641546857598, -0.04044963782093923], "max": [-0.7514855242231453, -2.849893893997073, 0.7028274450442752, 0.0, 0.0, 0.022017842158675194, 1.0, 0.49960994056714514, 0.030976998104045972, 0.7853602367065046, 0.9911592602729797, 0.07540354132652283, 0.38046950101852417, 0.260658323764801, 0.04004893174015129, -0.01733567339772696], "mean": [-0.9678453701352363, -3.5629170715010017, 0.7014550312651848, 0.0, 0.0, -0.011895132904028367, 0.9999043438430686, 0.13585626873007997, -0.026009896088344277, 0.6427746443834247, -0.7864201576186454, -0.0258390164837755, -0.16385805146338858, 0.054497399203134435, 0.034469976920686755, -0.032856267699813375], "std": [0.1331803647480882, 0.4864666965666845, 0.0011426114318073075, 0.0, 0.0, 0.007058985537697603, 9.422201808594798e-05, 0.191931776001427, 0.03751293180309674, 0.12363282283813445, 0.559750917601822, 0.049646687261621025, 0.1752545873428856, 0.06749962561494896, 0.008087173851405276, 0.008569537247902458], "count": [1827]}, "action": {"min": [-1.0, -0.9928571428571428, -0.35714285714285715, 0.0, -1.0, -1.0, -0.942857142857143, -1.0, -0.19142857142857142, -0.3857142857142858, -0.21714285714285717, -1.0], "max": [0.9071428571428573, 1.0, 0.13428571428571429, 0.0, 1.0, 0.9285714285714287, 0.6857142857142858, 0.75, 0.18857142857142858, 0.2542857142857143, 0.20857142857142857, 1.0], "mean": [0.03812260536398467, -0.015110641957932608, -0.0023692235514895616, 0.0, -0.46360153256704983, -0.007631558370474622, 0.0013097192900148557, -0.011212760966455557, -0.00021111893033075375, -0.0009930408945187314, 0.0006255375713503797, -0.20744389709906952], "std": [0.21877158219252882, 0.28669969601343287, 0.03408657464540854, 0.0, 0.8860438019655165, 0.3714097163953203, 0.12543497747741622, 0.23120887330623455, 0.024290706540333294, 0.06999583643409876, 0.03507512668357077, 0.9782469164563441], "count": [1827]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00875752605497837], "std": [0.09317098557949066], "count": [1827]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005473453749315818], "std": [0.02338900998272742], "count": [1827]}, "timestamp": {"min": [0.0], "max": [91.3], "mean": [45.65], "std": [26.370469595110865], "count": [1827]}, "frame_index": {"min": [0], "max": [1826], "mean": [913.0], "std": [527.4093919022173], "count": [1827]}, "episode_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [1827]}, "index": {"min": [134714], "max": [136540], "mean": [135627.0], "std": [527.4093919022173], "count": [1827]}, "task_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [1827]}}} +{"episode_index": 87, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5872503640989943]], [[0.5602918637344261]], [[0.5312971240215603]]], "std": [[[0.21996734296137863]], [[0.22846638150074364]], [[0.24731421429676417]]], "count": [255]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5741177873857111]], [[0.5461229832820459]], [[0.5241388589462286]]], "std": [[[0.18735181925346714]], [[0.19850526346959096]], [[0.20735366678284117]]], "count": [255]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5524160878065227]], [[0.5266829692249526]], [[0.5065085414958339]]], "std": [[[0.20506202969525913]], [[0.21295348088257368]], [[0.2197178827270745]]], "count": [255]}, "annotation.human.task_description": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [1620]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1620]}, "observation.state": {"min": [4.393868147299353, -2.4530298307449367, 0.6999868758404003, 0.0, 0.0, -0.9999998807907104, 0.0006096973665989935, -0.13813635453618733, -0.132850282857639, 0.28926211746481323, -0.9959222674369812, -0.32333773374557495, -0.45017868280410767, 3.190958159393631e-05, 0.01997867784351221, -0.040066318632187764], "max": [6.37881285949146, -1.1605614276556686, 0.7006481797462581, 0.0, 0.0, 0.9999984502792358, 1.0, 0.5697758646882187, 0.04590682645386046, 0.7842849083925443, 0.9716118574142456, 0.11620011925697327, 0.46234220266342163, 0.18868663907051086, 0.040205280177868744, -0.01730677090542211], "mean": [5.701760425144224, -2.0481739835462554, 0.7002738372419579, 0.0, 0.0, -0.2222532755287598, 0.8216347372918577, 0.10283830667216297, -0.029370351024236373, 0.6149968532799474, -0.3975495959505623, -0.047475706997476975, -0.08581128077190599, 0.03527879697333974, 0.034928645773375136, -0.0341457488728362], "std": [0.7350858621183176, 0.3955225391726071, 0.00023711595385800602, 0.0, 0.0, 0.4707520545240022, 0.23219031252223996, 0.19807251117767247, 0.034913642997536985, 0.11922254290012851, 0.8647323146647424, 0.08421814285713344, 0.27322553762051766, 0.03981634748823691, 0.006344257689655283, 0.006865416898629849], "count": [1620]}, "action": {"min": [-1.0, -1.0, -0.28285714285714286, 0.0, -1.0, -1.0, -0.6357142857142857, -1.0, -0.13142857142857142, -0.39714285714285713, -0.23142857142857146, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.5928571428571429, 1.0, 0.07428571428571429, 0.37142857142857144, 0.26571428571428574, 1.0], "mean": [0.10396384479717811, -0.06110670194003525, 0.176125220458554, 0.0, -0.145679012345679, -0.003443562610229287, -0.00099647266313934, 0.0030952380952380984, -0.00035273368606701937, 0.0014656084656084647, 0.0006807760141093478, -0.0012345679012345679], "std": [0.33203754709552064, 0.39934446908854904, 0.3098082656136477, 0.0, 0.9893319085938639, 0.4352332210336965, 0.09789361175082668, 0.28962544555864334, 0.01169041070294386, 0.053961284693693025, 0.042606440579312566, 0.9999992379207687], "count": [1620]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009876543655991554], "std": [0.0988888144493103], "count": [1620]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006172839506172839], "std": [0.02483753029472927], "count": [1620]}, "timestamp": {"min": [0.0], "max": [80.95], "mean": [40.475], "std": [23.382681447316234], "count": [1620]}, "frame_index": {"min": [0], "max": [1619], "mean": [809.5], "std": [467.6536289463246], "count": [1620]}, "episode_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [1620]}, "index": {"min": [136541], "max": [138160], "mean": [137350.5], "std": [467.6536289463246], "count": [1620]}, "task_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [1620]}}} +{"episode_index": 88, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5134721915435728]], [[0.5030516847045107]], [[0.4742783162364792]]], "std": [[[0.23568696388860721]], [[0.23768792468596164]], [[0.24362172797168852]]], "count": [239]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4134489084015781]], [[0.4126033812064477]], [[0.41704760160328025]]], "std": [[[0.23558855961160458]], [[0.23340206058100846]], [[0.22385808949933775]]], "count": [239]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4670215068081364]], [[0.4632119203417753]], [[0.4642294025350726]]], "std": [[[0.2520180095673103]], [[0.25098912322590977]], [[0.23844040133957062]]], "count": [239]}, "annotation.human.task_description": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [1488]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1488]}, "observation.state": {"min": [1.1431979827238046, -1.1624510808216897, 0.6999971114126861, 0.0, 0.0, 0.6720969676971436, 0.7068678140640259, -0.18491451970334616, -0.023708973197908545, 0.3011654471526368, -0.9987329244613647, -0.4752267003059387, -0.34680095314979553, 4.8264038923662156e-05, 0.007038130598198005, -0.04014781198939069], "max": [2.1201780559684007, -0.752601938391651, 0.7015147328165553, 0.0, 0.0, 0.7073456645011902, 0.7404630780220032, 0.42221638612712253, 0.22563484272272782, 0.743999921280879, 0.9835367202758789, 0.18606388568878174, 0.34553262591362, 0.12400224804878235, 0.04008447317578487, -0.013415326941720268], "mean": [1.53248506466392, -0.9227339554465016, 0.7009598643015102, 0.0, 0.0, 0.6979237342633868, 0.7160704772799246, 0.04904692632356453, 0.053281730895372324, 0.6236529504010577, -0.5125269921877051, -0.07875374203637964, -0.12575859162864628, 0.026505018110691052, 0.033375636396854196, -0.03517128286039521], "std": [0.4127072012794582, 0.12209760705187948, 0.0004932945795050286, 0.0, 0.0, 0.008696291740869257, 0.008360585680527388, 0.17795216557977794, 0.0649127329177782, 0.11642537468865599, 0.8082948439824331, 0.12042176190309774, 0.21407828419036332, 0.030409259206203444, 0.008989281694760261, 0.008353877603384657], "count": [1488]}, "action": {"min": [-1.0, -1.0, -0.13428571428571429, 0.0, -1.0, -1.0, -0.6642857142857144, -0.75, -0.12857142857142856, -0.2485714285714286, -0.29428571428571426, -1.0], "max": [0.7000000000000001, 1.0, 0.22, 0.0, 1.0, 0.7428571428571429, 0.6071428571428572, 1.0, 0.08571428571428572, 0.2714285714285714, 0.26285714285714284, 1.0], "mean": [0.033798963133640565, 0.023771121351766487, 0.0014727342549923192, 0.0, -0.41263440860215056, -0.012783218125960052, 0.000499231950844853, 0.002395353302611362, -0.0008659754224270356, -0.000952380952380953, -0.0006816436251920106, -0.14381720430107528], "std": [0.1820067043759945, 0.3135264553788379, 0.030778577773063556, 0.0, 0.9108967256706819, 0.3956534142034664, 0.1556931024975385, 0.2948298445800989, 0.010683341330379726, 0.049876887420565764, 0.05582614640905747, 0.9896042702752607], "count": [1488]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01075268816202879], "std": [0.10313616693019867], "count": [1488]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006720430107526882], "std": [0.025915079952498442], "count": [1488]}, "timestamp": {"min": [0.0], "max": [74.35], "mean": [37.175], "std": [21.477425163800866], "count": [1488]}, "frame_index": {"min": [0], "max": [1487], "mean": [743.5], "std": [429.5485032760173], "count": [1488]}, "episode_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [1488]}, "index": {"min": [138161], "max": [139648], "mean": [138904.5], "std": [429.5485032760173], "count": [1488]}, "task_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [1488]}}} +{"episode_index": 89, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5344673904718137]], [[0.5187232299804688]], [[0.49677265816482846]]], "std": [[[0.19970200309918676]], [[0.19344844084448817]], [[0.18861554067564062]]], "count": [250]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5639903870825673]], [[0.5322239147709865]], [[0.4965429649203431]]], "std": [[[0.22280049108577848]], [[0.21759341919103484]], [[0.2247549979159787]]], "count": [250]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.481462060546875]], [[0.46353993829465384]], [[0.4417231909658395]]], "std": [[[0.22795622208624142]], [[0.21264585313887427]], [[0.21290776939401296]]], "count": [250]}, "annotation.human.task_description": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [1583]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1583]}, "observation.state": {"min": [3.049890852758225, -1.7872449398635932, 0.6999886610966284, 0.0, 0.0, -0.06957884132862091, 0.11391682177782059, -0.01249231405343909, -0.05526111365474318, 0.33515823921926735, -0.9997217655181885, -0.34582433104515076, -0.3996501564979553, 3.4671725757107197e-07, 0.020559202797589913, -0.04006619882294576], "max": [4.424406850646539, -0.7491313982999902, 0.7004942995376102, 0.0, 0.0, 0.9934903383255005, 1.0, 0.5709707488928004, 0.11627400129556786, 0.7452835058377304, 0.9927416443824768, 0.07063993811607361, 0.298615962266922, 0.16238519549369812, 0.040057414623667346, -0.019353654121078867], "mean": [3.8650874576729675, -1.078662011703676, 0.7002348641509056, 0.0, 0.0, 0.7087499609198883, 0.672856381105345, 0.1718846412017398, 0.008571961121061235, 0.5403664630757381, -0.6198930861598995, -0.06108946152224393, -0.09997784011127735, 0.030915571178955374, 0.03678175858587752, -0.03398759488168648], "std": [0.396238254674289, 0.24704652581278305, 0.00016166415355881294, 0.0, 0.0, 0.1539744002835451, 0.1457040490844974, 0.16274846399078766, 0.040085057908604206, 0.10632137374683745, 0.7464911684917462, 0.09287216299162729, 0.18312679526010978, 0.04049159851699084, 0.0037880424277734717, 0.007182336805447245], "count": [1583]}, "action": {"min": [-1.0, -1.0, -0.96, 0.0, -1.0, -1.0, -0.5714285714285715, -0.8428571428571429, -0.10285714285714286, -0.4114285714285714, -0.20285714285714287, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.37142857142857144, 0.8857142857142857, 0.10857142857142858, 0.2914285714285714, 0.22285714285714286, 1.0], "mean": [0.12314773034924648, 0.019167945131305875, 0.0006569804169298643, 0.0, -0.11054958938723942, -0.010400685858677003, -0.0007219565021207466, 0.003081851818427934, -3.0683151340131505e-05, 0.0019528923382366203, 0.0006335168306109543, -0.16614024005053696], "std": [0.34873975414299585, 0.2808967116031944, 0.3136234442918694, 0.0, 0.9938706094287811, 0.3642164183917162, 0.07889744330428573, 0.2126908972173812, 0.011107022745100706, 0.07147503009181704, 0.03295958123075748, 0.9861021349920828], "count": [1583]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010107390582561493], "std": [0.10002614557743073], "count": [1583]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006317119393556538], "std": [0.02512594036810024], "count": [1583]}, "timestamp": {"min": [0.0], "max": [79.1], "mean": [39.550000000000004], "std": [22.848632344190754], "count": [1583]}, "frame_index": {"min": [0], "max": [1582], "mean": [791.0], "std": [456.9726468838151], "count": [1583]}, "episode_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [1583]}, "index": {"min": [139649], "max": [141231], "mean": [140440.0], "std": [456.9726468838151], "count": [1583]}, "task_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [1583]}}} +{"episode_index": 90, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.548562493376792]], [[0.5335292313068809]], [[0.5087822831384667]]], "std": [[[0.20854185680566176]], [[0.20652447039157013]], [[0.21180150850760562]]], "count": [292]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48842999573327694]], [[0.48357889901365353]], [[0.4784597000831114]]], "std": [[[0.18635871157097877]], [[0.18457184996052076]], [[0.18357670640192966]]], "count": [292]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46509662395582835]], [[0.46181102120488876]], [[0.4582782219726169]]], "std": [[[0.20412190827791246]], [[0.20264587199669687]], [[0.20179996461319283]]], "count": [292]}, "annotation.human.task_description": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [1946]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1946]}, "observation.state": {"min": [-1.1466874653270502, -3.9938285944402354, 0.6999960812224976, 0.0, 0.0, -0.02676338329911232, 0.9996417760848999, -0.11864414588241545, -0.09981873835244226, 0.33704584298473106, -0.9980306625366211, -0.14410549402236938, -0.411145955324173, 4.3558138713706285e-06, 0.020539433189085757, -0.040045262692864424], "max": [-0.7491550331487875, -2.93657134056894, 0.7005113850972015, 0.0, 0.0, 0.0009327683364972472, 1.0, 0.529978403492363, 0.020903147817491696, 0.7876038117820656, 0.9967368245124817, 0.04818566143512726, 0.40025657415390015, 0.12914159893989563, 0.04000778200855803, -0.02052712593171936], "mean": [-0.9092068094748996, -3.549304685467971, 0.7002321254400767, 0.0, 0.0, -0.005881328922730819, 0.999964137698494, 0.11726941283484271, -0.02186170815807345, 0.6122497422626624, -0.7555555538307849, -0.018517470506057218, -0.2079305643558441, 0.0313707694191682, 0.034484441072261986, -0.03597078797558672], "std": [0.11522425730041387, 0.47491840551172926, 0.00012074607024190333, 0.0, 0.0, 0.006098279800997318, 6.077749570131236e-05, 0.19751107017508643, 0.029270768176154153, 0.1318981442623469, 0.5955532468054089, 0.04459673440630364, 0.16261071789386083, 0.03819533545950013, 0.006202684446197285, 0.005443298998705286], "count": [1946]}, "action": {"min": [-1.0, -0.807142857142857, -0.13428571428571429, 0.0, -1.0, -1.0, -0.3357142857142857, -0.6714285714285714, -0.08571428571428572, -0.29714285714285715, -0.18, -1.0], "max": [0.9, 1.0, 0.05714285714285715, 0.0, 1.0, 0.8428571428571429, 0.6285714285714287, 0.7428571428571429, 0.08857142857142856, 0.26, 0.15428571428571428, 1.0], "mean": [0.047694905300249606, -0.009231390397885779, -0.0021289091176038776, 0.0, -0.46659815005138744, -0.00483409191014535, -0.0011562178828365864, 0.0004478050212890722, -0.0001306709734253408, -0.00037292614887681765, 9.837028336514508e-05, -0.06063720452209661], "std": [0.18946630396555778, 0.26887016034659167, 0.013034242298424877, 0.0, 0.8844694264747702, 0.3342395412091661, 0.0744582144829679, 0.21319882627635606, 0.013029309377850986, 0.04213948369424805, 0.026045654681026077, 0.9981598716777436], "count": [1946]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008221994154155254], "std": [0.09030167758464813], "count": [1946]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005138746145940391], "std": [0.02266297746269265], "count": [1946]}, "timestamp": {"min": [0.0], "max": [97.25], "mean": [48.625], "std": [28.08808688750446], "count": [1946]}, "frame_index": {"min": [0], "max": [1945], "mean": [972.5], "std": [561.7617377500892], "count": [1946]}, "episode_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [1946]}, "index": {"min": [141232], "max": [143177], "mean": [142204.5], "std": [561.7617377500892], "count": [1946]}, "task_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [1946]}}} +{"episode_index": 91, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5497140250027819]], [[0.5452218002449174]], [[0.521288777232714]]], "std": [[[0.20605753103855728]], [[0.1895515144070303]], [[0.1987583663510436]]], "count": [318]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48882959318566754]], [[0.5168148033715071]], [[0.5186689148438464]]], "std": [[[0.22394315048023813]], [[0.2025196510150044]], [[0.20086200204032187]]], "count": [318]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4296358005732081]], [[0.4565381604155948]], [[0.4613481565591424]]], "std": [[[0.21561853273522158]], [[0.20318345871414617]], [[0.19811379442290095]]], "count": [318]}, "annotation.human.task_description": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [2178]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [2178]}, "observation.state": {"min": [-1.9740324842927714, -3.8974457837597076, 0.6999976128929181, 0.0, 0.0, -0.20279385149478912, 0.7390547394752502, -0.1538380703831012, -0.11056612668469246, 0.24866399282352447, -0.989641010761261, -0.4942958950996399, -0.6214325428009033, 3.4537984902272e-05, 0.006911249614362389, -0.04040801119162981], "max": [-0.7477530922766323, -2.3890057506719256, 0.7047610499929742, 0.0, 0.0, 0.6736454963684082, 1.0, 0.6744520089108059, 0.15704866058328948, 0.7325340069991755, 0.953136146068573, 0.6113940477371216, 0.3972119688987732, 0.3111153841018677, 0.04053857483582133, -0.009575422770675208], "mean": [-1.0288230203836313, -3.3923811159185213, 0.7022720452735616, 0.0, 0.0, -0.009518615173112753, 0.9879483362476797, 0.1669738712556626, 0.0016482245313895667, 0.553949724367199, -0.451685538934501, 0.06582504249527654, -0.20932219774933503, 0.12637440358483099, 0.03130598434961625, -0.030871839052064493], "std": [0.20354847265674625, 0.4565325548369338, 0.0013075870991131565, 0.0, 0.0, 0.150457295585766, 0.03507250461695145, 0.24123438718659515, 0.060416945839249635, 0.13548529816789207, 0.7421125761961646, 0.30798469897091707, 0.28297629015165277, 0.07873839973523365, 0.010466443367527242, 0.010694054197183396], "count": [2178]}, "action": {"min": [-1.0, -1.0, -0.7371428571428571, 0.0, -1.0, -1.0, -0.6214285714285714, -1.0, -0.23714285714285716, -0.37714285714285717, -0.21142857142857144, -1.0], "max": [1.0, 1.0, 0.9171428571428571, 0.0, 1.0, 0.7071428571428572, 0.4857142857142857, 1.0, 0.32857142857142857, 0.4628571428571429, 0.36, 1.0], "mean": [0.07001180637544278, 0.04273579955398135, 0.0018365472910927526, 0.0, -0.44168962350780533, -0.005995015085924176, -0.0010953692771874554, -0.020129870129870164, -0.000978617342253711, 0.0001075691984782839, 0.002521317066771616, -0.11202938475665748], "std": [0.324213174475325, 0.3380601210152632, 0.16542067666773855, 0.0, 0.8971679198932122, 0.33549894413094594, 0.10563621920003036, 0.3064546775120517, 0.046046464768142586, 0.0758080453472784, 0.051277779356722855, 0.993704894297605], "count": [2178]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0073461891151964664], "std": [0.08539450913667679], "count": [2178]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004591368227731864], "std": [0.021422558580878246], "count": [2178]}, "timestamp": {"min": [0.0], "max": [108.85], "mean": [54.425], "std": [31.436718843840346], "count": [2178]}, "frame_index": {"min": [0], "max": [2177], "mean": [1088.5], "std": [628.7343768768069], "count": [2178]}, "episode_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [2178]}, "index": {"min": [143178], "max": [145355], "mean": [144266.5], "std": [628.7343768768069], "count": [2178]}, "task_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [2178]}}} +{"episode_index": 92, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.516049813827199]], [[0.5091181676937886]], [[0.486323160053164]]], "std": [[[0.22543551851267654]], [[0.2200406191573959]], [[0.23279162109528043]]], "count": [292]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5239107048450667]], [[0.5058269821441593]], [[0.4880753194648605]]], "std": [[[0.2160308672630035]], [[0.206555029550863]], [[0.1978955131314423]]], "count": [292]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.504636478757077]], [[0.4859744184413585]], [[0.4699303894698732]]], "std": [[[0.20819460714710475]], [[0.205140354203795]], [[0.20262209711737061]]], "count": [292]}, "annotation.human.task_description": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [1938]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1938]}, "observation.state": {"min": [3.1191286477373876, -3.3567008709060016, 0.6999986143309527, 0.0, 0.0, -0.034452665597200394, 0.9994063377380371, -0.10036223194179561, -0.1405069598499984, 0.3310671938245321, -0.9934594035148621, -0.18058836460113525, -0.5032357573509216, 1.5947587598930113e-05, 0.009188760694268076, -0.040304673353280425], "max": [3.5306899066194477, -2.2247385536023514, 0.7037739448037319, 0.0, 0.0, 0.007557894103229046, 1.0, 0.5684079584285935, 0.00695860594291231, 0.7854826388937864, 0.9719163775444031, 0.0746602714061737, 0.48173150420188904, 0.1386001706123352, 0.04002241675276283, -0.009375328233682886], "mean": [3.38572887466475, -2.9157167157420814, 0.7018617052767167, 0.0, 0.0, -0.0077451180519071015, 0.9998760033933248, 0.16041727905790085, -0.054738377181433415, 0.6125146155419277, -0.16079634913965152, -0.006666643493131218, -0.03284581413086969, 0.03442473850754412, 0.032126287450976086, -0.03228915665896762], "std": [0.11363965510870358, 0.5017831548015004, 0.0016329137732619924, 0.0, 0.0, 0.013711055340457488, 0.0001673561686419823, 0.21023549515724008, 0.03906963886943631, 0.13116399996535016, 0.9293244267021715, 0.05034138958553474, 0.32362248458903925, 0.03043884166013362, 0.009625159788884424, 0.009887888280794642], "count": [1938]}, "action": {"min": [-1.0, -0.9857142857142858, -0.15428571428571428, 0.0, -1.0, -1.0, -0.5714285714285715, -0.8500000000000001, -0.1142857142857143, -0.3857142857142858, -0.1457142857142857, -1.0], "max": [0.942857142857143, 1.0, 0.09428571428571429, 0.0, 1.0, 0.8857142857142857, 0.4928571428571429, 0.7428571428571429, 0.14, 0.28, 0.1657142857142857, 1.0], "mean": [0.04821981424148605, -0.013662833554474422, -0.00223499926286304, 0.0, -0.46439628482972134, -0.007024915229249594, -0.015122364735367837, -0.017558602388323758, 0.0010231461005454823, -0.00023440955329499875, -0.00016659295297066245, -0.13519091847265222], "std": [0.21815518483325663, 0.2855518050569691, 0.020663180705851575, 0.0, 0.8856275123528923, 0.35429884398317896, 0.10826387980510971, 0.24576278596201984, 0.018273385869202748, 0.04929356919410902, 0.02807518415483783, 0.9908195676118364], "count": [1938]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008771929889917374], "std": [0.09324688464403152], "count": [1938]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005159958720330237], "std": [0.022709681201925066], "count": [1938]}, "timestamp": {"min": [0.0], "max": [96.85], "mean": [48.425], "std": [27.972616818357675], "count": [1938]}, "frame_index": {"min": [0], "max": [1937], "mean": [968.5], "std": [559.4523363671535], "count": [1938]}, "episode_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [1938]}, "index": {"min": [145356], "max": [147293], "mean": [146324.5], "std": [559.4523363671535], "count": [1938]}, "task_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [1938]}}} +{"episode_index": 93, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.03137254901960784]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5726755575464861]], [[0.54619400714857]], [[0.5225943317672247]]], "std": [[[0.2191919315465242]], [[0.22469109946298102]], [[0.23344015183910194]]], "count": [260]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.03529411764705882]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.519233591991672]], [[0.47500384162454046]], [[0.4471979392671657]]], "std": [[[0.2113250451519349]], [[0.2295960551246556]], [[0.24597691125109508]]], "count": [260]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5973190438801347]], [[0.5552552236151372]], [[0.5264246747001085]]], "std": [[[0.20969069615372143]], [[0.23488537571685686]], [[0.25210965336790697]]], "count": [260]}, "annotation.human.task_description": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [1665]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1665]}, "observation.state": {"min": [3.4148285800510063, -3.6567233724735146, 0.6999960167788489, 0.0, 0.0, -0.025365514680743217, 0.9996782541275024, -0.0931949235389582, -0.16333351641868576, 0.3297945425433447, -0.9974707365036011, -0.10741809010505676, -0.41069287061691284, 0.0001603653799975291, 0.007477390361499364, -0.04015696504210656], "max": [3.961602657020409, -2.6120563827162004, 0.7002610710765953, 0.0, 0.0, 0.006617305800318718, 1.0, 0.5236665069702546, 0.026330825045602246, 0.7961090845723533, 0.9853700995445251, 0.06347405910491943, 0.42070841789245605, 0.11792130023241043, 0.04004173871430142, -0.007457234535060087], "mean": [3.7529278032510462, -3.2403216319277597, 0.700065255724332, 0.0, 0.0, -0.009260035215914753, 0.999907202620406, 0.15299116153010045, -0.04732722765250981, 0.6039699706959868, -0.29529727425303187, -0.01595963305897183, -0.03247252644092829, 0.020745953025440363, 0.030269352168376625, -0.031132518287667523], "std": [0.12917174778308707, 0.4542319425219371, 6.48786073487405e-05, 0.0, 0.0, 0.009992989167159506, 9.94668967048231e-05, 0.1821893257613008, 0.0532165203946432, 0.12261635798708063, 0.91103395978207, 0.038561897279545475, 0.28114786880103815, 0.023365099459613622, 0.01159249565912867, 0.011302803646422456], "count": [1665]}, "action": {"min": [-1.0, -1.0, -0.27714285714285714, 0.0, -1.0, -1.0, -0.5071428571428571, -0.9357142857142857, -0.08857142857142856, -0.26571428571428574, -0.09714285714285714, -1.0], "max": [0.8714285714285716, 1.0, 0.09428571428571429, 0.0, 1.0, 0.8714285714285716, 0.44285714285714284, 0.7071428571428572, 0.07428571428571429, 0.21714285714285717, 0.09714285714285714, 1.0], "mean": [0.041930501930501976, -0.010750750750750743, -0.004416988416988417, 0.0, -0.38738738738738737, -0.0014500214500214451, -0.004470184470184476, 0.0033676533676533587, 0.00028657228657228654, -2.7456027456027272e-05, -0.0004907764907764912, -0.1039039039039039], "std": [0.24094345179445892, 0.289080142444079, 0.02529674205255368, 0.0, 0.9219170310245807, 0.3751310116178865, 0.10377797707783636, 0.21796462278970022, 0.010925039982551064, 0.04374422116621205, 0.01310652342050344, 0.9945873409377084], "count": [1665]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009609609842300415], "std": [0.097556471824646], "count": [1665]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006006006006006006], "std": [0.02449979345870407], "count": [1665]}, "timestamp": {"min": [0.0], "max": [83.2], "mean": [41.6], "std": [24.0322006205563], "count": [1665]}, "frame_index": {"min": [0], "max": [1664], "mean": [832.0], "std": [480.644012411126], "count": [1665]}, "episode_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [1665]}, "index": {"min": [147294], "max": [148958], "mean": [148126.0], "std": [480.644012411126], "count": [1665]}, "task_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [1665]}}} +{"episode_index": 94, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5625991648541334]], [[0.5485959215992305]], [[0.5357149971856011]]], "std": [[[0.21732772793080438]], [[0.21613080356008815]], [[0.2255857328733592]]], "count": [336]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5818451068425825]], [[0.5605885944669208]], [[0.5323429641937342]]], "std": [[[0.22798782181629293]], [[0.2210195718080911]], [[0.21949358452274148]]], "count": [336]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5773041767009945]], [[0.5481572310575028]], [[0.5076677210190716]]], "std": [[[0.23661426289346088]], [[0.227023660273479]], [[0.22682046968994715]]], "count": [336]}, "annotation.human.task_description": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [2340]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [2340]}, "observation.state": {"min": [-1.2920569895037424, -3.9935551353168997, 0.6999723993746576, 0.0, 0.0, -0.2684773802757263, 0.9632859230041504, -0.028391799778339277, -0.15233338595159207, 0.31138908285730604, -0.9967629909515381, -0.1237080991268158, -0.5515252351760864, 4.958992576575838e-06, 0.020551235496024674, -0.04006845522801302], "max": [-0.8588838561501553, -2.7446903650032723, 0.7006219921793453, 0.0, 0.0, 0.03574351221323013, 1.0, 0.6158621354933012, -0.006402444340725122, 0.7876446220860456, 0.9975591897964478, 0.17102330923080444, 0.5360366106033325, 0.2269512414932251, 0.04012000240659842, -0.01781448844759023], "mean": [-1.0506225042689898, -3.558795201737712, 0.7002304640759172, 0.0, 0.0, -0.044894520636792466, 0.9971954776181116, 0.23665404680718669, -0.06283637384544666, 0.5363128261514173, -0.2885598665119236, 0.03502213950467925, -0.09079807120112654, 0.03435200495704653, 0.03751039077695385, -0.034738699627254684], "std": [0.1077308331942776, 0.524051471557304, 0.00022352959627014015, 0.0, 0.0, 0.05966356987329925, 0.005092114265896046, 0.20667581083589495, 0.03589218004120379, 0.0994653373817974, 0.9204195576890065, 0.07639411273001329, 0.22634391037457058, 0.042924519344229396, 0.004246087696590298, 0.007550595243815185], "count": [2340]}, "action": {"min": [-0.7642857142857143, -1.0, -0.37142857142857144, 0.0, -1.0, -1.0, -0.4714285714285715, -0.7285714285714285, -0.2542857142857143, -0.5485714285714286, -0.18857142857142858, -1.0], "max": [0.4857142857142857, 1.0, 0.4371428571428572, 0.0, 1.0, 1.0, 0.3357142857142857, 1.0, 0.22285714285714286, 0.44571428571428573, 0.11142857142857143, 1.0], "mean": [0.03488095238095238, -0.022371794871794873, -0.004285714285714286, 0.0, -0.2564102564102564, 0.000866910866910871, -0.0025793650793650828, 0.0034829059829059763, 0.0006336996336996332, -0.0022393162393162364, -0.0007753357753357754, -0.3247863247863248], "std": [0.14987691545797174, 0.2685328553208179, 0.06586670755501325, 0.0, 0.9665680423062006, 0.33503957384053457, 0.06964624003416492, 0.18544727215809176, 0.02860327214863202, 0.08472729636525976, 0.023133153547161278, 0.9457874196836294], "count": [2340]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.006837606895714998], "std": [0.08240664750337601], "count": [2340]}, "next.done": {"min": [false], "max": [true], "mean": [0.00042735042735042735], "std": [0.020668038101442306], "count": [2340]}, "timestamp": {"min": [0.0], "max": [116.95], "mean": [58.475], "std": [33.77498766345692], "count": [2340]}, "frame_index": {"min": [0], "max": [2339], "mean": [1169.5], "std": [675.4997532691383], "count": [2340]}, "episode_index": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [2340]}, "index": {"min": [148959], "max": [151298], "mean": [150128.5], "std": [675.4997532691383], "count": [2340]}, "task_index": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [2340]}}} +{"episode_index": 95, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5603362348646196]], [[0.5687744563139786]], [[0.5397973437211746]]], "std": [[[0.19829055800183695]], [[0.20055584172653124]], [[0.17483794464335387]]], "count": [279]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5411365021907971]], [[0.5365139699516749]], [[0.5233325087217346]]], "std": [[[0.2287757243472704]], [[0.20785802636276804]], [[0.19183570762373728]]], "count": [279]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4850150674349041]], [[0.49023225127339526]], [[0.48980583583942505]]], "std": [[[0.2166649013953486]], [[0.1986558652083108]], [[0.18437359047647195]]], "count": [279]}, "annotation.human.task_description": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [1827]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1827]}, "observation.state": {"min": [0.7397395030909192, -6.71091903834164, 0.6999859878329694, 0.0, 0.0, -1.0, 5.336284630175214e-06, -0.16702402155354834, -0.1274351648131189, 0.3013910947491898, -0.9851129651069641, -0.9254038333892822, -0.6064349412918091, 4.2573992686811835e-05, 0.010970776517492007, -0.04008231158784179], "max": [1.457271222923089, -5.230495816266523, 0.705502710267399, 0.0, 0.0, 1.0, 0.20733822882175446, 0.4702828746283065, 0.2732729964115723, 0.8389432535020074, 0.984366774559021, 0.9539495706558228, 0.572832465171814, 0.559664785861969, 0.040763239678616156, -0.009380544521216895], "mean": [0.9330888104346191, -6.089873078672273, 0.7031860601469095, 0.0, 0.0, -0.6582034528092341, 0.034157704822285785, 0.11960803470873899, 0.04816570569858114, 0.6624316902684597, -0.6126005815915033, 0.2034888047710689, -0.20704196381255716, 0.15226571379698736, 0.03518968160752146, -0.03469454324692218], "std": [0.14878249090715467, 0.6398525717340006, 0.0013488477224365954, 0.0, 0.0, 0.7510363304994853, 0.039318404251302015, 0.20808841526458197, 0.07871127703183188, 0.1467649401105048, 0.5320769611793784, 0.364986356997001, 0.28467362520127454, 0.1410730473952782, 0.0070651121136538885, 0.007611368934175575], "count": [1827]}, "action": {"min": [-1.0, -1.0, -0.72, 0.0, -1.0, -1.0, -0.9285714285714287, -1.0, -0.30857142857142855, -0.4542857142857143, -0.5714285714285714, -1.0], "max": [1.0, 1.0, 0.48, 0.0, 1.0, 1.0, 1.0, 1.0, 0.7, 0.38285714285714284, 0.4028571428571428, 1.0], "mean": [0.07937680819454222, 0.019579325983266886, 0.01140980530143091, 0.0, -0.47783251231527096, -0.007991242474001096, 0.01041520056298382, -0.040570021111893, 0.01541637344593012, -0.009134412385643912, 0.005232621784345928, -0.3125342090859332], "std": [0.3267462135312732, 0.3738625441811289, 0.09016227431733088, 0.0, 0.8784509605973808, 0.4024424451294208, 0.17084468248266158, 0.3243220683783373, 0.10480584425392121, 0.09489059436427438, 0.09092853518260385, 0.9499065049524635], "count": [1827]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00875752605497837], "std": [0.09317098557949066], "count": [1827]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005473453749315818], "std": [0.02338900998272742], "count": [1827]}, "timestamp": {"min": [0.0], "max": [91.3], "mean": [45.65], "std": [26.370469595110865], "count": [1827]}, "frame_index": {"min": [0], "max": [1826], "mean": [913.0], "std": [527.4093919022173], "count": [1827]}, "episode_index": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [1827]}, "index": {"min": [151299], "max": [153125], "mean": [152212.0], "std": [527.4093919022173], "count": [1827]}, "task_index": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [1827]}}} +{"episode_index": 96, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5139827553742852]], [[0.5078921312584278]], [[0.46919265529291143]]], "std": [[[0.19854977908629384]], [[0.21048698180483474]], [[0.19163790826782298]]], "count": [294]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5259737346273144]], [[0.4769100063528015]], [[0.4571787481675613]]], "std": [[[0.2086829123993476]], [[0.22158634418773057]], [[0.21371979611555544]]], "count": [294]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5037695259988761]], [[0.40605011657983503]], [[0.3855785486395079]]], "std": [[[0.22210119445342164]], [[0.24147057141682252]], [[0.2408794415329574]]], "count": [294]}, "annotation.human.task_description": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [1958]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1958]}, "observation.state": {"min": [-1.3157030928203326, -3.994993513275471, 0.699996750114569, 0.0, 0.0, -0.029090754687786102, 0.99957674741745, -0.1566185050066904, -0.1726063841166523, 0.30442862146264416, -0.9975883960723877, -0.1519750952720642, -0.523815393447876, 2.902988671849016e-05, 0.018432347435173732, -0.040073531260194355], "max": [-0.7490249411556331, -2.799976528635844, 0.7010821618716314, 0.0, 0.0, 0.011590538546442986, 1.0, 0.6119527807365415, 0.015926304791629153, 0.8445806448096684, 0.9896194934844971, 0.2944285273551941, 0.5409723520278931, 0.2925501763820648, 0.04016436218633897, -0.017740149704652364], "mean": [-0.9498969999292242, -3.610603694407033, 0.7006689847134501, 0.0, 0.0, -0.005496266583268733, 0.9999264982491883, 0.11316350994379953, -0.050042963607980835, 0.6711079809488518, -0.013069365253487451, 0.009524325595691085, 0.03577119648167378, 0.041614587999028875, 0.03467586746857376, -0.034076358534492056], "std": [0.12900805365033285, 0.47952497408353917, 0.00032850556863354275, 0.0, 0.0, 0.010807998929337885, 9.630503710637545e-05, 0.23807028497323132, 0.04563171299769084, 0.1281316556508757, 0.9370252803041458, 0.08405107738180051, 0.3273951368569168, 0.06677269724512644, 0.007164428559514758, 0.007523709597099906], "count": [1958]}, "action": {"min": [-1.0, -1.0, -0.34, 0.0, -1.0, -1.0, -0.5071428571428571, -0.7000000000000001, -0.1742857142857143, -0.44285714285714284, -0.21714285714285717, -1.0], "max": [0.9, 1.0, 0.13142857142857142, 0.0, 1.0, 0.7785714285714286, 0.4857142857142857, 0.8714285714285716, 0.22, 0.2542857142857143, 0.14285714285714285, 1.0], "mean": [0.04094192324529408, -0.028969064643221916, -0.004857726543119802, 0.0, -0.39632277834525026, -0.00861301619728585, -0.00038669195972566026, -0.0034692835254632962, 0.00011527798044651727, -0.0014460820078797604, -0.0017671092951991824, -0.21348314606741572], "std": [0.22639149025605465, 0.30213980036848387, 0.031191083665502585, 0.0, 0.918111243458399, 0.3828885301287986, 0.0951868318886742, 0.2483327648283394, 0.0328993893172405, 0.05926222335474796, 0.03290586422729274, 0.9769467469341149], "count": [1958]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00817160401493311], "std": [0.09002681821584702], "count": [1958]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005107252298263534], "std": [0.02259345899958597], "count": [1958]}, "timestamp": {"min": [0.0], "max": [97.85], "mean": [48.925], "std": [28.261291990990077], "count": [1958]}, "frame_index": {"min": [0], "max": [1957], "mean": [978.5], "std": [565.2258398198015], "count": [1958]}, "episode_index": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [1958]}, "index": {"min": [153126], "max": [155083], "mean": [154104.5], "std": [565.2258398198015], "count": [1958]}, "task_index": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [1958]}}} +{"episode_index": 97, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.546728720550988]], [[0.5302520079795885]], [[0.49677534558500025]]], "std": [[[0.20322729613603555]], [[0.22146490925825735]], [[0.21952636247037421]]], "count": [219]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48289883750459905]], [[0.4781464800688219]], [[0.471291521065386]]], "std": [[[0.2411665909046257]], [[0.24075446486180463]], [[0.2377140494380735]]], "count": [219]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.528440410604792]], [[0.5234116183941917]], [[0.5153846354778712]]], "std": [[[0.20788973985248496]], [[0.20840581890178783]], [[0.20468797209910677]]], "count": [219]}, "annotation.human.task_description": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [1325]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1325]}, "observation.state": {"min": [1.1095328024648967, -1.2610031485587416, 0.6999838801665189, 0.0, 0.0, 0.5444209575653076, 0.6811285018920898, -0.06005152354168253, -0.05983502198861235, 0.27894279285537604, -0.9946465492248535, -0.323282927274704, -0.5656372308731079, 4.384387284517288e-05, 0.02056718682167333, -0.040332899841331336], "max": [3.1388434115241624, -0.748130689283695, 0.7015916185624622, 0.0, 0.0, 0.7321637868881226, 0.8388121724128723, 0.5170028709281503, 0.1171203873003187, 0.7902848422771283, 0.9638363122940063, 0.30931273102760315, 0.28679540753364563, 0.06814156472682953, 0.04019459041940047, -0.0204993741207877], "mean": [1.8896982716986044, -0.9572086697633008, 0.700646878857736, 0.0, 0.0, 0.7058851618137, 0.7076690615797943, 0.11243017253402873, 0.01238146555115206, 0.5692254940896849, -0.7817211059804232, -0.006948266158688743, -0.223844421573405, 0.01994556908478701, 0.03681074850150052, -0.03874211426203963], "std": [0.8689306342697929, 0.1435512503247511, 0.0005906950242629881, 0.0, 0.0, 0.022695789050263187, 0.020384713155326174, 0.16241654114998016, 0.03329974249780715, 0.11130582343509936, 0.5481579790156084, 0.07302799410574227, 0.17979307148831014, 0.014962455198089268, 0.004497549767783173, 0.00191845110840864], "count": [1325]}, "action": {"min": [-1.0, -1.0, -0.6228571428571429, 0.0, -1.0, -1.0, -0.5214285714285715, -1.0, -0.09428571428571429, -0.35714285714285715, -0.19428571428571428, -1.0], "max": [0.8714285714285716, 1.0, 0.48571428571428577, 0.0, 1.0, 1.0, 0.7714285714285714, 0.95, 0.09714285714285714, 0.24, 0.29428571428571426, 1.0], "mean": [0.07078706199460917, -0.011752021563342312, 0.0036765498652291096, 0.0, -0.249811320754717, -0.01497035040431266, -0.0004043126684636153, -0.025336927223719687, -0.0006037735849056603, -0.004252291105121298, 0.0004226415094339607, -0.11396226415094339], "std": [0.28949335747484106, 0.46114384926173574, 0.07940397993797989, 0.0, 0.9682945337152142, 0.45465998700141047, 0.1124082229017652, 0.2977986427899677, 0.014046039089381965, 0.06697563939363496, 0.038043082546523284, 0.9934850790774865], "count": [1325]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012075471691787243], "std": [0.10922296345233917], "count": [1325]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007547169811320754], "std": [0.02746174399797774], "count": [1325]}, "timestamp": {"min": [0.0], "max": [66.2], "mean": [33.1], "std": [19.124722220204927], "count": [1325]}, "frame_index": {"min": [0], "max": [1324], "mean": [662.0], "std": [382.4944444040985], "count": [1325]}, "episode_index": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [1325]}, "index": {"min": [155084], "max": [156408], "mean": [155746.0], "std": [382.4944444040985], "count": [1325]}, "task_index": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [1325]}}} +{"episode_index": 98, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5722829360587924]], [[0.5588576971315871]], [[0.5395931077938454]]], "std": [[[0.20644519316521023]], [[0.21199175210416354]], [[0.22707167692274444]]], "count": [256]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5940639587009654]], [[0.5658895532290141]], [[0.5280321915944417]]], "std": [[[0.2066957496440406]], [[0.19604814605121912]], [[0.19696938861522578]]], "count": [256]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6498678733320797]], [[0.6107059130481646]], [[0.5574216908099605]]], "std": [[[0.20334912255326393]], [[0.19444576320330595]], [[0.20340572512418884]]], "count": [256]}, "annotation.human.task_description": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [1629]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1629]}, "observation.state": {"min": [1.12748456573192, -1.9185976841555203, 0.6999908070070076, 0.0, 0.0, 0.07445148378610611, 0.18719743192195892, -0.09988654427485977, -0.1494288146096372, 0.2856768087198952, -0.9968459010124207, -0.16764655709266663, -0.4973725378513336, 0.00023363734362646937, 0.016971289780777762, -0.040155769297380524], "max": [3.1786782121687187, -0.7673418244948342, 0.7018380211517264, 0.0, 0.0, 0.9823222756385803, 0.9972246885299683, 0.6608099142707664, 0.03700865524163177, 0.7154462352974846, 0.9876689314842224, 0.1288825273513794, 0.36938536167144775, 0.1696271300315857, 0.040350082109847585, -0.01945456362426802], "mean": [2.0183194834610463, -1.0545737928426604, 0.7007546967547641, 0.0, 0.0, 0.693270770747139, 0.7053115992292881, 0.13639023035385478, -0.04565940681614045, 0.5410263133177015, -0.3702788580554332, -0.003701281920761474, -0.1048429484481702, 0.033054281041480844, 0.03126239974534631, -0.03403672600658816], "std": [0.7440435870149485, 0.2675264275796913, 0.0005944878542883303, 0.0, 0.0, 0.1162440521865328, 0.09164336949307694, 0.2032878217655048, 0.03561425062871196, 0.1148158230887589, 0.8938460892612096, 0.052031774921048914, 0.21853071212306852, 0.03703278839919063, 0.00928481874261536, 0.007966238413803168], "count": [1629]}, "action": {"min": [-1.0, -1.0, -0.9342857142857143, 0.0, -1.0, -1.0, -0.5714285714285715, -1.0, -0.28285714285714286, -1.0, -0.19428571428571428, -1.0], "max": [1.0, 1.0, 0.9628571428571429, 0.0, 1.0, 1.0, 0.9071428571428573, 0.9785714285714284, 0.1457142857142857, 0.44571428571428573, 0.3457142857142857, 1.0], "mean": [0.09018679294922391, -0.006467596246601764, -0.0018889765851091902, 0.0, -0.27071823204419887, -0.011019030079803559, 0.0004034026133473678, -0.002635271419801826, 0.0010032447601508372, 0.0011190037709374746, -0.00021222485310883055, -0.08287292817679558], "std": [0.3668325682915955, 0.34884059882495294, 0.19379772906670767, 0.0, 0.9626586304806505, 0.43867930182447246, 0.12483019927156352, 0.3092349485021648, 0.030587565367395143, 0.08654009296127367, 0.044542106592874504, 0.9965601225091342], "count": [1629]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009821976535022259], "std": [0.09861797839403152], "count": [1629]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006138735420503376], "std": [0.024768865563943542], "count": [1629]}, "timestamp": {"min": [0.0], "max": [81.4], "mean": [40.699999999999996], "std": [23.512585282496406], "count": [1629]}, "frame_index": {"min": [0], "max": [1628], "mean": [814.0], "std": [470.2517056499281], "count": [1629]}, "episode_index": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [1629]}, "index": {"min": [156409], "max": [158037], "mean": [157223.0], "std": [470.2517056499281], "count": [1629]}, "task_index": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [1629]}}} +{"episode_index": 99, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5631222544496651]], [[0.5244253108789987]], [[0.4961912215763528]]], "std": [[[0.23495516992576793]], [[0.27679632410945626]], [[0.27008630349484203]]], "count": [290]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4713915889758045]], [[0.44908229350721296]], [[0.4410918399173719]]], "std": [[[0.20588571242638085]], [[0.21562088896825315]], [[0.21776337984931451]]], "count": [290]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5132804894334485]], [[0.4977451801622454]], [[0.4911078700026279]]], "std": [[[0.22082302215697902]], [[0.22753331258391943]], [[0.2292341190719223]]], "count": [290]}, "annotation.human.task_description": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [1920]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1920]}, "observation.state": {"min": [0.8330948737605754, -4.446693057394028, 0.6999958776770191, 0.0, 0.0, -1.0, 9.011669277469991e-08, -0.04883708263464115, -0.09948504426149007, 0.2891050426329317, -0.9993218183517456, -0.30875977873802185, -0.42446160316467285, 3.717354775290005e-05, 0.013640442054379935, -0.04007768505766551], "max": [1.3515199825481166, -3.3171731620848606, 0.7005853364734875, 0.0, 0.0, 1.0, 0.5032197833061218, 0.7102973100752326, 0.09326390053839972, 0.758455853037082, 0.9987199306488037, 0.27876728773117065, 0.4252040982246399, 0.16601234674453735, 0.04014355087138693, -0.012615685357992209], "mean": [1.0838185274889682, -3.7308183624616347, 0.7002237040722865, 0.0, 0.0, 0.9937488196107248, 0.07209590147352256, 0.2553949552553487, -0.04193640529322527, 0.5367835975447898, -0.314268690533936, -0.042492969369050115, -0.06980982546338055, 0.03777055005313817, 0.0344411608894653, -0.03264699386969216], "std": [0.147692832889362, 0.46992424523213533, 0.0001782363636348675, 0.0, 0.0, 0.047616321006095585, 0.07069755706858437, 0.22708546087294593, 0.024415137444533552, 0.12066659187729038, 0.9159315578476063, 0.10987168068538637, 0.20007961512437838, 0.04577391939668547, 0.007831672561328936, 0.008921670131107064], "count": [1920]}, "action": {"min": [-0.8428571428571429, -1.0, -0.7085714285714285, 0.0, -1.0, -1.0, -0.35714285714285715, -0.6714285714285714, -0.1457142857142857, -0.2857142857142857, -0.44571428571428573, -1.0], "max": [0.7785714285714286, 1.0, 0.7057142857142857, 0.0, 1.0, 1.0, 0.7785714285714286, 1.0, 0.24571428571428575, 0.42, 0.19142857142857142, 1.0], "mean": [0.027563244047619017, -0.007046130952380948, -0.0003675595238095183, 0.0, -0.29270833333333335, -0.001432291666666688, 0.006268601190476191, 0.0037723214285714304, 0.001470238095238096, 0.0008571428571428588, -0.0028958333333333314, -0.071875], "std": [0.1917251243769765, 0.27193628345568527, 0.10898295333529401, 0.0, 0.9562017734752444, 0.38430642395706416, 0.09491204935941766, 0.215451225281716, 0.028685901013392086, 0.06107335001154392, 0.053816805024518986, 0.9974136475780793], "count": [1920]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008333333767950535], "std": [0.09090593457221985], "count": [1920]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005208333333333333], "std": [0.02281582928521824], "count": [1920]}, "timestamp": {"min": [0.0], "max": [95.95], "mean": [47.975], "std": [27.71280916231097], "count": [1920]}, "frame_index": {"min": [0], "max": [1919], "mean": [959.5], "std": [554.2561832462194], "count": [1920]}, "episode_index": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [1920]}, "index": {"min": [158038], "max": [159957], "mean": [158997.5], "std": [554.2561832462194], "count": [1920]}, "task_index": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [1920]}}} +{"episode_index": 100, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5567139210420496]], [[0.5363959278779871]], [[0.5173593379001991]]], "std": [[[0.21732154544487475]], [[0.22564723016893293]], [[0.23817724638206136]]], "count": [250]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4985357630112592]], [[0.4805752228381587]], [[0.4716753674077052]]], "std": [[[0.24007532485976407]], [[0.25466819230273186]], [[0.2620697081597283]]], "count": [250]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5659769521675857]], [[0.5509264873429841]], [[0.5443627625708486]]], "std": [[[0.24258073976101605]], [[0.259078149843352]], [[0.26777261210423786]]], "count": [250]}, "annotation.human.task_description": {"min": [100], "max": [100], "mean": [100.0], "std": [0.0], "count": [1580]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1580]}, "observation.state": {"min": [3.3611756745498362, -1.6493111075652256, 0.6997829987650438, 0.0, 0.0, 0.677587628364563, 0.6862744688987732, -0.08824672827855773, -0.03320711231228879, 0.2512946077911037, -0.9991631507873535, -0.4457349181175232, -0.4353412687778473, 4.470607382245362e-05, 0.0010928742124230297, -0.04024135560045893], "max": [4.420531316136967, -0.757775360210674, 0.7037821492592304, 0.0, 0.0, 0.7273426651954651, 0.7354419827461243, 0.5067942293568438, 0.17957272795699186, 0.7329668506536264, 0.9868782758712769, 0.1191948652267456, 0.4345700144767761, 0.14098496735095978, 0.040165381593569104, -0.0009356528672513971], "mean": [3.9219185281542783, -0.9858415466021783, 0.7025418603761903, 0.0, 0.0, 0.7014565288266049, 0.7125101099285899, 0.13341017412463985, 0.024897077374789814, 0.6043745475, -0.8786724508940419, -0.057521047872267195, -0.21350466505852486, 0.0303325067290344, 0.03637691409618786, -0.03591722150486815], "std": [0.34274081025711567, 0.2064803626719423, 0.001605775282782213, 0.0, 0.0, 0.012078020030901178, 0.011924576048653917, 0.17087718601157034, 0.050096793321472995, 0.12731019361400653, 0.3710804814762631, 0.11396332696692678, 0.16249667998901257, 0.03206579719597676, 0.005336462117451454, 0.006632648679108737], "count": [1580]}, "action": {"min": [-1.0, -1.0, -0.20857142857142857, 0.0, -1.0, -1.0, -0.6071428571428572, -0.942857142857143, -0.13714285714285715, -0.19428571428571428, -0.38285714285714284, -1.0], "max": [1.0, 1.0, 0.18571428571428572, 0.0, 1.0, 0.8500000000000001, 0.4785714285714286, 0.9071428571428573, 0.12571428571428572, 0.33714285714285713, 0.2, 1.0], "mean": [0.039891500904159174, 0.040203435804701634, 0.001790235081374321, 0.0, -0.2974683544303797, -0.009719710669077775, -0.0021835443037974663, -0.006039783001808329, 0.0019041591320072334, -0.0007269439421338153, -1.8083182640141976e-05, -0.0810126582278481], "std": [0.3447876273741305, 0.2852238624597031, 0.03372887810174061, 0.0, 0.9547316785948082, 0.3891141088279738, 0.11594653159778447, 0.2643688056045106, 0.015702152500157766, 0.048627864191820906, 0.05735475795369534, 0.9967130726577348], "count": [1580]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010126582346856594], "std": [0.10012008994817734], "count": [1580]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006329113924050633], "std": [0.02514976770418421], "count": [1580]}, "timestamp": {"min": [0.0], "max": [78.95], "mean": [39.475], "std": [22.80533106534523], "count": [1580]}, "frame_index": {"min": [0], "max": [1579], "mean": [789.5], "std": [456.1066213069045], "count": [1580]}, "episode_index": {"min": [100], "max": [100], "mean": [100.0], "std": [0.0], "count": [1580]}, "index": {"min": [159958], "max": [161537], "mean": [160747.5], "std": [456.1066213069045], "count": [1580]}, "task_index": {"min": [100], "max": [100], "mean": [100.0], "std": [0.0], "count": [1580]}}} +{"episode_index": 101, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5559195901690366]], [[0.5121867403635527]], [[0.48967712753688414]]], "std": [[[0.23699280801047498]], [[0.2419308416142525]], [[0.24896671441932028]]], "count": [327]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45635603819918763]], [[0.4596615664084166]], [[0.4592385549328557]]], "std": [[[0.2373436019339396]], [[0.2198898933562412]], [[0.2143086814209435]]], "count": [327]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4175728809978634]], [[0.42608107875460965]], [[0.4298017278237688]]], "std": [[[0.22956945922391916]], [[0.21422585412966663]], [[0.2070084462529471]]], "count": [327]}, "annotation.human.task_description": {"min": [101], "max": [101], "mean": [101.0], "std": [0.0], "count": [2259]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [2259]}, "observation.state": {"min": [2.9896016302873476, -2.139452751797365, 0.6999945110581258, 0.0, 0.0, -0.24010957777500153, 0.22364793717861176, -0.14539536862197378, -0.09336366216003888, 0.2995917611096097, -0.9982986450195312, -0.17010483145713806, -0.39961206912994385, 7.400851700367639e-07, 0.011590230329758821, -0.04018492576918244], "max": [4.672293876492878, -0.7503163321248197, 0.701871590586808, 0.0, 0.0, 0.9746699333190918, 0.9999955892562866, 0.5370957502838478, 0.11900584244966783, 0.7410012971686734, 0.9944611191749573, 0.07240085303783417, 0.35669249296188354, 0.1114659383893013, 0.040421478863729834, -0.008011472193833667], "mean": [3.872508452370856, -1.0556284077076898, 0.7013250642964949, 0.0, 0.0, 0.6671193398545765, 0.7093574362961578, 0.1045514693908862, -0.002002362318885724, 0.5874186550996378, -0.7548193340018662, -0.01207286215602903, -0.17828601908185876, 0.026204929360912864, 0.0327656765421916, -0.03151202224655142], "std": [0.43130960241286365, 0.30065160064077184, 0.0005311625348116379, 0.0, 0.0, 0.19968511656016058, 0.10903974459227525, 0.21061004308455833, 0.036436185351295496, 0.12342297072004912, 0.6018066336577009, 0.048993825579094166, 0.18038151210986395, 0.02281022426791001, 0.010204967787522033, 0.01066422612654332], "count": [2259]}, "action": {"min": [-1.0, -0.8571428571428572, -0.9199999999999999, 0.0, -1.0, -1.0, -0.5285714285714286, -1.0, -0.10571428571428572, -0.30285714285714294, -0.1457142857142857, -1.0], "max": [1.0, 1.0, 0.9000000000000001, 0.0, 1.0, 1.0, 0.6642857142857144, 0.8214285714285715, 0.10857142857142858, 0.2285714285714286, 0.21142857142857144, 1.0], "mean": [0.10391766268260297, 0.05187503952444195, 0.003011446278378528, 0.0, -0.2456839309428951, -0.007481186365648523, 0.0012742680073357378, -0.00718712451780181, -0.00028331119964586094, -0.0002516916461139566, -0.00019477644975653, -0.16511730854360337], "std": [0.3594663382417481, 0.25715064484273364, 0.24183387948675714, 0.0, 0.9693499915285602, 0.3293229746152572, 0.0862968861797691, 0.24793880276824262, 0.013560387311740224, 0.04319814043230425, 0.030339495038784442, 0.9862739347764029], "count": [2259]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0070827798917889595], "std": [0.08386068046092987], "count": [2259]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004426737494466578], "std": [0.02103515603455816], "count": [2259]}, "timestamp": {"min": [0.0], "max": [112.9], "mean": [56.449999999999996], "std": [32.60585325776135], "count": [2259]}, "frame_index": {"min": [0], "max": [2258], "mean": [1129.0], "std": [652.1170651552271], "count": [2259]}, "episode_index": {"min": [101], "max": [101], "mean": [101.0], "std": [0.0], "count": [2259]}, "index": {"min": [161538], "max": [163796], "mean": [162667.0], "std": [652.1170651552271], "count": [2259]}, "task_index": {"min": [101], "max": [101], "mean": [101.0], "std": [0.0], "count": [2259]}}} +{"episode_index": 102, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5116996153744489]], [[0.4884262204204103]], [[0.46547651364065495]]], "std": [[[0.17512797327502894]], [[0.19315719894809552]], [[0.20983541507552908]]], "count": [276]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4876591358580485]], [[0.4302722713018419]], [[0.40489320009735097]]], "std": [[[0.21948854509664253]], [[0.24885086432564893]], [[0.26497712042590466]]], "count": [276]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4623425287765412]], [[0.4160570652520802]], [[0.39724947145358513]]], "std": [[[0.1991469301800267]], [[0.22696949060065605]], [[0.2426554231150568]]], "count": [276]}, "annotation.human.task_description": {"min": [102], "max": [102], "mean": [102.0], "std": [0.0], "count": [1800]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1800]}, "observation.state": {"min": [-1.5464306394366873, -3.94513729954137, 0.6999695862431429, 0.0, 0.0, -0.26784083247184753, 0.9634631872177124, -0.11881925162174412, -0.2048753074470535, 0.3182962469651628, -0.9913350939750671, -0.2640691101551056, -0.42349541187286377, 4.875885133515112e-05, 0.01932487646118769, -0.040066898795882974], "max": [-0.8168236267518204, -2.725634491298221, 0.7034150832042774, 0.0, 0.0, 0.09372318536043167, 1.0, 0.5223465905471187, 0.07903473529089, 0.7946803761829465, 0.9816852807998657, 0.46611160039901733, 0.4957040548324585, 0.21433931589126587, 0.040475133821416945, -0.014184385807452604], "mean": [-1.0063828790772316, -3.3774223253900915, 0.7009889434921698, 0.0, 0.0, -0.043020564267325326, 0.9912075022856395, 0.1546301407402481, -0.006496624211816696, 0.6156699392793776, -0.07966489838229285, 0.07045515159765879, 0.0004159796651866701, 0.058480229834917234, 0.036856321485792515, -0.031538047099260225], "std": [0.18054660180245602, 0.4399647914143725, 0.0010382413063095937, 0.0, 0.0, 0.12477341233011192, 0.009408273885484007, 0.19639401933195424, 0.06251764747533764, 0.12618547333960817, 0.9270088230467728, 0.17673481361856974, 0.3049365444131023, 0.04126277282262949, 0.006483305106430926, 0.00952408074766355], "count": [1800]}, "action": {"min": [-1.0, -1.0, -0.6714285714285715, 0.0, -1.0, -1.0, -0.5, -1.0, -0.2285714285714286, -0.29428571428571426, -0.5371428571428571, -1.0], "max": [1.0, 1.0, 0.4971428571428572, 0.0, 1.0, 1.0, 1.0, 0.9, 0.4314285714285714, 0.18, 0.35714285714285715, 1.0], "mean": [0.08330158730158733, 0.06981746031746032, 0.005222222222222224, 0.0, -0.4266666666666667, -0.00424603174603173, 0.004630952380952376, -0.017273809523809507, 0.001474603174603174, -0.0019238095238095243, 0.0006333333333333325, -0.1322222222222222], "std": [0.3618617076172318, 0.345632386683623, 0.12198001046435873, 0.0, 0.9044089537126098, 0.3821632521053813, 0.11435171643233347, 0.25959795767979327, 0.0519017706773627, 0.0521873443620641, 0.07187001856936447, 0.9912200986413747], "count": [1800]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008888889104127884], "std": [0.09386094659566879], "count": [1800]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005555555555555556], "std": [0.023563677844942774], "count": [1800]}, "timestamp": {"min": [0.0], "max": [89.95], "mean": [44.975], "std": [25.98075810415598], "count": [1800]}, "frame_index": {"min": [0], "max": [1799], "mean": [899.5], "std": [519.6151620831197], "count": [1800]}, "episode_index": {"min": [102], "max": [102], "mean": [102.0], "std": [0.0], "count": [1800]}, "index": {"min": [163797], "max": [165596], "mean": [164696.5], "std": [519.6151620831197], "count": [1800]}, "task_index": {"min": [102], "max": [102], "mean": [102.0], "std": [0.0], "count": [1800]}}} +{"episode_index": 103, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4308584929547469]], [[0.38751297762179476]], [[0.3786796431647787]]], "std": [[[0.17598037194363625]], [[0.17350316172115068]], [[0.18272321137776382]]], "count": [262]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43905131136330816]], [[0.4263839340267058]], [[0.418049741487199]]], "std": [[[0.1836548501783994]], [[0.18599168971168029]], [[0.18900415808817844]]], "count": [262]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45932585852282826]], [[0.44302984248233973]], [[0.4340483139168269]]], "std": [[[0.19439278083295738]], [[0.20116642366064968]], [[0.20750809286428729]]], "count": [262]}, "annotation.human.task_description": {"min": [103], "max": [103], "mean": [103.0], "std": [0.0], "count": [1680]}, "annotation.human.task_name": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1680]}, "observation.state": {"min": [3.3198212556289612, -1.4795184409930826, 0.6999976546459129, 0.0, 0.0, 0.5937305092811584, 0.701712965965271, -0.12398939751102045, -0.19693739277608824, 0.3044895754175325, -0.9980034828186035, -0.17764857411384583, -0.4295923709869385, 2.2722941139363684e-05, 0.016074115425634396, -0.04008550236880493], "max": [4.394767296401193, -0.7479542968305142, 0.7035803497355486, 0.0, 0.0, 0.7124597430229187, 0.8046639561653137, 0.5893717977591288, 0.048053349068614803, 0.7243009759961639, 0.9967886209487915, 0.11110463738441467, 0.5075157880783081, 0.13096541166305542, 0.04019827771518308, -0.020505032894898478], "mean": [3.9978407235625597, -0.944171889672128, 0.7014662123278658, 0.0, 0.0, 0.6840832766677652, 0.7285489629421915, 0.14235410255449216, -0.03172654373130596, 0.5181767307871652, -0.07791745464007059, -0.014316929025309427, 0.0016336576115073902, 0.027520770130010013, 0.03361631810212102, -0.034575564252531284], "std": [0.458375013361538, 0.15279050481644438, 0.0008424846509911331, 0.0, 0.0, 0.026183143484716363, 0.023683738733120782, 0.19876613073305469, 0.05281907206308537, 0.12774968534441256, 0.9523543473297676, 0.058761181995627916, 0.2855876521403967, 0.031174453283724476, 0.007814503996128621, 0.006538943436617794], "count": [1680]}, "action": {"min": [-1.0, -1.0, -0.5257142857142857, 0.0, -1.0, -1.0, -1.0, -1.0, -0.14285714285714285, -0.4114285714285714, -0.21142857142857144, -1.0], "max": [1.0, 1.0, 0.26, 0.0, 1.0, 0.9285714285714287, 0.5928571428571429, 0.8857142857142857, 0.2057142857142857, 0.31142857142857144, 0.12857142857142856, 1.0], "mean": [0.07736819727891159, 0.02607142857142858, -0.0019370748299319725, 0.0, -0.5095238095238095, -0.02583758503401361, -0.01369472789115645, -0.03320153061224491, 0.0011309523809523814, -0.00501020408163265, 0.0009982993197278915, -0.15], "std": [0.3479669594348937, 0.29872492839973586, 0.05523000696350386, 0.0, 0.8604565576066819, 0.3732329967726342, 0.16677676448011258, 0.3057631512659716, 0.026475117205892504, 0.073173116965921, 0.024930603332659444, 0.9886859966642628], "count": [1680]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009523809887468815], "std": [0.09712417423725128], "count": [1680]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005952380952380953], "std": [0.024390239581604616], "count": [1680]}, "timestamp": {"min": [0.0], "max": [83.95], "mean": [41.975], "std": [24.24870701020297], "count": [1680]}, "frame_index": {"min": [0], "max": [1679], "mean": [839.5], "std": [484.9741402040594], "count": [1680]}, "episode_index": {"min": [103], "max": [103], "mean": [103.0], "std": [0.0], "count": [1680]}, "index": {"min": [165597], "max": [167276], "mean": [166436.5], "std": [484.9741402040594], "count": [1680]}, "task_index": {"min": [103], "max": [103], "mean": [103.0], "std": [0.0], "count": [1680]}}} diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/meta/info.json b/pretrain/composite/ClearFreezer/20250807/lerobot/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..0668d49b4c57818ed2ab9fc182cce4c67443d418 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/meta/info.json @@ -0,0 +1,179 @@ +{ + "codebase_version": "v2.1", + "robot_type": "PandaOmron", + "total_episodes": 104, + "total_frames": 167277, + "total_tasks": 104, + "total_videos": 312, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:104" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "observation.images.robot0_eye_in_hand": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_left": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_right": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "annotation.human.task_description": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "annotation.human.task_name": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "observation.state": { + "dtype": "float64", + "shape": [ + 16 + ] + }, + "action": { + "dtype": "float64", + "shape": [ + 12 + ] + }, + "next.reward": { + "dtype": "float32", + "shape": [ + 1 + ] + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + } + } +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/meta/modality.json b/pretrain/composite/ClearFreezer/20250807/lerobot/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..c5cf7a673c0f30723a873f2ae19bba98a2a97496 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/meta/modality.json @@ -0,0 +1,72 @@ +{ + "state": { + "base_position": { + "original_key": "observation.state", + "start": 0, + "end": 3 + }, + "base_rotation": { + "original_key": "observation.state", + "start": 3, + "end": 7 + }, + "end_effector_position_relative": { + "original_key": "observation.state", + "start": 7, + "end": 10 + }, + "end_effector_rotation_relative": { + "original_key": "observation.state", + "start": 10, + "end": 14 + }, + "gripper_qpos": { + "original_key": "observation.state", + "start": 14, + "end": 16 + } + }, + "action": { + "base_motion": { + "original_key": "action", + "start": 0, + "end": 4 + }, + "control_mode": { + "original_key": "action", + "start": 4, + "end": 5 + }, + "end_effector_position": { + "original_key": "action", + "start": 5, + "end": 8 + }, + "end_effector_rotation": { + "original_key": "action", + "start": 8, + "end": 11 + }, + "gripper_close": { + "original_key": "action", + "start": 11, + "end": 12 + } + }, + "video": { + "robot0_eye_in_hand": { + "original_key": "observation.images.robot0_eye_in_hand" + }, + "robot0_agentview_left": { + "original_key": "observation.images.robot0_agentview_left" + }, + "robot0_agentview_right": { + "original_key": "observation.images.robot0_agentview_right" + } + }, + "annotation": { + "human.task_description": { + "original_key": "annotation.human.task_description" + } + } +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/meta/stats.json b/pretrain/composite/ClearFreezer/20250807/lerobot/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..7356be8161ebfb45a0740ca90cc77a3875e3f3ce --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/meta/stats.json @@ -0,0 +1,378 @@ +{ + "annotation.human.task_description": { + "mean": [ + 52.2039909362793 + ], + "std": [ + 30.317066192626953 + ], + "min": [ + 0.0 + ], + "max": [ + 103.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 103.0 + ] + }, + "annotation.human.task_name": { + "mean": [ + 104.0 + ], + "std": [ + 0.0 + ], + "min": [ + 104.0 + ], + "max": [ + 104.0 + ], + "q01": [ + 104.0 + ], + "q99": [ + 104.0 + ] + }, + "observation.state": { + "mean": [ + 2.4229302406311035, + -2.5867960453033447, + 0.7016658186912537, + 0.0, + 0.0, + 0.3191623091697693, + 0.7333271503448486, + 0.1478380560874939, + -0.011079753749072552, + 0.5957670211791992, + -0.3547741770744324, + 0.02486104890704155, + -0.10048902034759521, + 0.04838497191667557, + 0.033866360783576965, + -0.03345480188727379 + ], + "std": [ + 2.242905855178833, + 1.6704649925231934, + 0.0018815976800397038, + 0.0, + 0.0, + 0.5089077353477478, + 0.3185882568359375, + 0.20158694684505463, + 0.07141988724470139, + 0.12842823565006256, + 0.8630898594856262, + 0.18909981846809387, + 0.27677252888679504, + 0.06167459115386009, + 0.008820630609989166, + 0.009025396779179573 + ], + "min": [ + -1.9740325212478638, + -6.74893856048584, + 0.6996122598648071, + 0.0, + 0.0, + -1.0, + 6.864946300311203e-08, + -0.24402369558811188, + -0.40065863728523254, + 0.24383941292762756, + -0.9999264478683472, + -0.9254038333892822, + -0.7761465907096863, + 3.4671725757107197e-07, + -0.0014297335874289274, + -0.04159833863377571 + ], + "max": [ + 7.061631679534912, + -0.7433114647865295, + 0.7191646099090576, + 0.0, + 0.0, + 1.0, + 1.0, + 0.8022656440734863, + 0.39444291591644287, + 0.8689427375793457, + 0.9999658465385437, + 0.9539495706558228, + 0.8273316621780396, + 0.559664785861969, + 0.04092858359217644, + 4.387225999380462e-05 + ], + "q01": [ + -1.4014793634414673, + -6.711392402648926, + 0.6999973654747009, + 0.0, + 0.0, + -0.9999827146530151, + 0.0006678571226075292, + -0.15237320959568024, + -0.17756541073322296, + 0.2999263107776642, + -0.9976224899291992, + -0.3922761380672455, + -0.5195150971412659, + 0.0004536254855338484, + 0.007502407301217318, + -0.04007667675614357 + ], + "q99": [ + 6.6800642013549805, + -0.7505923509597778, + 0.70920729637146, + 0.0, + 0.0, + 0.9999985694885254, + 1.0, + 0.6093648672103882, + 0.2080647200345993, + 0.7983533143997192, + 0.992755115032196, + 0.7953333854675293, + 0.4808138310909271, + 0.3046542704105377, + 0.04008196294307709, + -0.0071645453572273254 + ] + }, + "action": { + "mean": [ + 0.06733458489179611, + 0.008209552615880966, + 0.007179067004472017, + 0.0, + -0.32442596554756165, + -0.007724463939666748, + -0.0007284333696588874, + -0.005732715129852295, + 0.0005943106370978057, + -0.003239869372919202, + 7.896687020547688e-05, + -0.14565660059452057 + ], + "std": [ + 0.33612510561943054, + 0.32480359077453613, + 0.16263562440872192, + 0.0, + 0.9455204606056213, + 0.4060876667499542, + 0.13140374422073364, + 0.2877308130264282, + 0.037465211004018784, + 0.07855107635259628, + 0.05006980523467064, + 0.989240825176239 + ], + "min": [ + -1.0, + -1.0, + -1.0, + 0.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.8428571224212646, + -1.0, + -0.7514285445213318, + -1.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.8142856955528259, + 0.8942857384681702, + 0.6885714530944824, + 1.0 + ], + "q01": [ + -1.0, + -1.0, + -0.6200000047683716, + 0.0, + -1.0, + -1.0, + -0.44285714626312256, + -0.800000011920929, + -0.11999999731779099, + -0.3085714280605316, + -0.16571427881717682, + -1.0 + ], + "q99": [ + 1.0, + 1.0, + 0.7599999904632568, + 0.0, + 1.0, + 0.9285714030265808, + 0.44999998807907104, + 0.9714285731315613, + 0.1314285695552826, + 0.22285714745521545, + 0.17714285850524902, + 1.0 + ] + }, + "next.reward": { + "mean": [ + 0.01069483533501625 + ], + "std": [ + 0.10286133736371994 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 1.0 + ] + }, + "next.done": { + "mean": [ + 0.0006217232439666986 + ], + "std": [ + 0.024926623329520226 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "timestamp": { + "mean": [ + 42.392452239990234 + ], + "std": [ + 26.63191795349121 + ], + "min": [ + 0.0 + ], + "max": [ + 124.19999694824219 + ], + "q01": [ + 0.800000011920929 + ], + "q99": [ + 106.0 + ] + }, + "frame_index": { + "mean": [ + 847.8491821289062 + ], + "std": [ + 532.6383666992188 + ], + "min": [ + 0.0 + ], + "max": [ + 2484.0 + ], + "q01": [ + 16.0 + ], + "q99": [ + 2120.0 + ] + }, + "episode_index": { + "mean": [ + 52.2039909362793 + ], + "std": [ + 30.317066192626953 + ], + "min": [ + 0.0 + ], + "max": [ + 103.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 103.0 + ] + }, + "index": { + "mean": [ + 83638.0 + ], + "std": [ + 48288.71484375 + ], + "min": [ + 0.0 + ], + "max": [ + 167276.0 + ], + "q01": [ + 1672.760009765625 + ], + "q99": [ + 165603.234375 + ] + }, + "task_index": { + "mean": [ + 52.2039909362793 + ], + "std": [ + 30.317066192626953 + ], + "min": [ + 0.0 + ], + "max": [ + 103.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 103.0 + ] + } +} \ No newline at end of file diff --git a/pretrain/composite/ClearFreezer/20250807/lerobot/meta/tasks.jsonl b/pretrain/composite/ClearFreezer/20250807/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..92688031aa97116c13d5c173f54db1b00c715ad6 --- /dev/null +++ b/pretrain/composite/ClearFreezer/20250807/lerobot/meta/tasks.jsonl @@ -0,0 +1,105 @@ +{"task_index": 0, "task": "Take the steak, bell pepper, and garlic from the freezer and place them in the bowl on the counter."} +{"task_index": 1, "task": "Take the tangerine, steak, and potato from the freezer and place them in the bowl on the counter."} +{"task_index": 2, "task": "Take the bell pepper, peach, and chicken drumstick from the freezer and place them in the bowl on the counter."} +{"task_index": 3, "task": "Take the fish, lemon, and mango from the freezer and place them in the bowl on the counter."} +{"task_index": 4, "task": "Take the broccoli, fish, and peach from the freezer and place them in the bowl on the counter."} +{"task_index": 5, "task": "Take the potato, steak, and lime from the freezer and place them in the bowl on the counter."} +{"task_index": 6, "task": "Take the mango, lemon, and mushroom from the freezer and place them in the bowl on the counter."} +{"task_index": 7, "task": "Take the kiwi, sweet potato, and chicken drumstick from the freezer and place them in the bowl on the counter."} +{"task_index": 8, "task": "Take the lemon, broccoli, and fish from the freezer and place them in the bowl on the counter."} +{"task_index": 9, "task": "Take the fish, sweet potato, and pear from the freezer and place them in the bowl on the counter."} +{"task_index": 10, "task": "Take the peach, mango, and chicken drumstick from the freezer and place them in the bowl on the counter."} +{"task_index": 11, "task": "Take the squash, carrot, and bell pepper from the freezer and place them in the bowl on the counter."} +{"task_index": 12, "task": "Take the bell pepper, chicken drumstick, and orange from the freezer and place them in the bowl on the counter."} +{"task_index": 13, "task": "Take the peach, bell pepper, and peach from the freezer and place them in the bowl on the counter."} +{"task_index": 14, "task": "Take the lemon wedge, broccoli, and lemon from the freezer and place them in the bowl on the counter."} +{"task_index": 15, "task": "Take the tangerine, pear, and garlic from the freezer and place them in the bowl on the counter."} +{"task_index": 16, "task": "Take the mushroom, lime, and carrot from the freezer and place them in the bowl on the counter."} +{"task_index": 17, "task": "Take the steak, mango, and pear from the freezer and place them in the bowl on the counter."} +{"task_index": 18, "task": "Take the lime, peach, and bell pepper from the freezer and place them in the bowl on the counter."} +{"task_index": 19, "task": "Take the corn, cucumber, and mango from the freezer and place them in the bowl on the counter."} +{"task_index": 20, "task": "Take the mushroom, pear, and tangerine from the freezer and place them in the bowl on the counter."} +{"task_index": 21, "task": "Take the lemon, peach, and carrot from the freezer and place them in the bowl on the counter."} +{"task_index": 22, "task": "Take the squash, garlic, and chicken drumstick from the freezer and place them in the bowl on the counter."} +{"task_index": 23, "task": "Take the broccoli, potato, and mushroom from the freezer and place them in the bowl on the counter."} +{"task_index": 24, "task": "Take the cucumber, carrot, and orange from the freezer and place them in the bowl on the counter."} +{"task_index": 25, "task": "Take the tangerine, steak, and orange from the freezer and place them in the bowl on the counter."} +{"task_index": 26, "task": "Take the carrot, chicken drumstick, and garlic from the freezer and place them in the bowl on the counter."} +{"task_index": 27, "task": "Take the sweet potato, bell pepper, and mango from the freezer and place them in the bowl on the counter."} +{"task_index": 28, "task": "Take the squash, sweet potato, and squash from the freezer and place them in the bowl on the counter."} +{"task_index": 29, "task": "Take the mushroom, broccoli, and mushroom from the freezer and place them in the bowl on the counter."} +{"task_index": 30, "task": "Take the pear, tangerine, and lime from the freezer and place them in the bowl on the counter."} +{"task_index": 31, "task": "Take the pear, bell pepper, and mushroom from the freezer and place them in the bowl on the counter."} +{"task_index": 32, "task": "Take the sweet potato, peach, and lime from the freezer and place them in the bowl on the counter."} +{"task_index": 33, "task": "Take the garlic, mushroom, and cucumber from the freezer and place them in the bowl on the counter."} +{"task_index": 34, "task": "Take the squash, broccoli, and lemon from the freezer and place them in the bowl on the counter."} +{"task_index": 35, "task": "Take the eggplant, cucumber, and bell pepper from the freezer and place them in the bowl on the counter."} +{"task_index": 36, "task": "Take the mango, corn, and lemon wedge from the freezer and place them in the bowl on the counter."} +{"task_index": 37, "task": "Take the mushroom, corn, and mushroom from the freezer and place them in the bowl on the counter."} +{"task_index": 38, "task": "Take the cucumber, bell pepper, and tangerine from the freezer and place them in the bowl on the counter."} +{"task_index": 39, "task": "Take the lemon wedge, orange, and lemon from the freezer and place them in the bowl on the counter."} +{"task_index": 40, "task": "Take the lime, mushroom, and fish from the freezer and place them in the bowl on the counter."} +{"task_index": 41, "task": "Take the bell pepper, fish, and tangerine from the freezer and place them in the bowl on the counter."} +{"task_index": 42, "task": "Take the sweet potato, orange, and garlic from the freezer and place them in the bowl on the counter."} +{"task_index": 43, "task": "Take the mango, orange, and kiwi from the freezer and place them in the bowl on the counter."} +{"task_index": 44, "task": "Take the orange, potato, and peach from the freezer and place them in the bowl on the counter."} +{"task_index": 45, "task": "Take the eggplant, tangerine, and pear from the freezer and place them in the bowl on the counter."} +{"task_index": 46, "task": "Take the corn, carrot, and lemon from the freezer and place them in the bowl on the counter."} +{"task_index": 47, "task": "Take the tangerine, lemon wedge, and broccoli from the freezer and place them in the bowl on the counter."} +{"task_index": 48, "task": "Take the mushroom, peach, and broccoli from the freezer and place them in the bowl on the counter."} +{"task_index": 49, "task": "Take the orange, peach, and pear from the freezer and place them in the bowl on the counter."} +{"task_index": 50, "task": "Take the mango, corn, and chicken drumstick from the freezer and place them in the bowl on the counter."} +{"task_index": 51, "task": "Take the potato, mango, and squash from the freezer and place them in the bowl on the counter."} +{"task_index": 52, "task": "Take the carrot, peach, and bell pepper from the freezer and place them in the bowl on the counter."} +{"task_index": 53, "task": "Take the bell pepper, orange, and tangerine from the freezer and place them in the bowl on the counter."} +{"task_index": 54, "task": "Take the sweet potato, lemon, and tangerine from the freezer and place them in the bowl on the counter."} +{"task_index": 55, "task": "Take the steak, potato, and peach from the freezer and place them in the bowl on the counter."} +{"task_index": 56, "task": "Take the lime, broccoli, and pear from the freezer and place them in the bowl on the counter."} +{"task_index": 57, "task": "Take the chicken drumstick, mushroom, and fish from the freezer and place them in the bowl on the counter."} +{"task_index": 58, "task": "Take the squash, pear, and lemon from the freezer and place them in the bowl on the counter."} +{"task_index": 59, "task": "Take the lime, lime, and fish from the freezer and place them in the bowl on the counter."} +{"task_index": 60, "task": "Take the bell pepper, bell pepper, and orange from the freezer and place them in the bowl on the counter."} +{"task_index": 61, "task": "Take the peach, potato, and eggplant from the freezer and place them in the bowl on the counter."} +{"task_index": 62, "task": "Take the garlic, chicken drumstick, and steak from the freezer and place them in the bowl on the counter."} +{"task_index": 63, "task": "Take the garlic, cucumber, and tangerine from the freezer and place them in the bowl on the counter."} +{"task_index": 64, "task": "Take the mango, corn, and mango from the freezer and place them in the bowl on the counter."} +{"task_index": 65, "task": "Take the broccoli, pear, and lemon from the freezer and place them in the bowl on the counter."} +{"task_index": 66, "task": "Take the sweet potato, fish, and eggplant from the freezer and place them in the bowl on the counter."} +{"task_index": 67, "task": "Take the peach, carrot, and mushroom from the freezer and place them in the bowl on the counter."} +{"task_index": 68, "task": "Take the eggplant, kiwi, and kiwi from the freezer and place them in the bowl on the counter."} +{"task_index": 69, "task": "Take the fish, mushroom, and lime from the freezer and place them in the bowl on the counter."} +{"task_index": 70, "task": "Take the cucumber, mushroom, and lemon wedge from the freezer and place them in the bowl on the counter."} +{"task_index": 71, "task": "Take the kiwi, potato, and chicken drumstick from the freezer and place them in the bowl on the counter."} +{"task_index": 72, "task": "Take the bell pepper, eggplant, and broccoli from the freezer and place them in the bowl on the counter."} +{"task_index": 73, "task": "Take the squash, garlic, and steak from the freezer and place them in the bowl on the counter."} +{"task_index": 74, "task": "Take the broccoli, kiwi, and lemon from the freezer and place them in the bowl on the counter."} +{"task_index": 75, "task": "Take the shrimp, sweet potato, and mushroom from the freezer and place them in the bowl on the counter."} +{"task_index": 76, "task": "Take the orange, mushroom, and kiwi from the freezer and place them in the bowl on the counter."} +{"task_index": 77, "task": "Take the lemon, kiwi, and sweet potato from the freezer and place them in the bowl on the counter."} +{"task_index": 78, "task": "Take the steak, mango, and lime from the freezer and place them in the bowl on the counter."} +{"task_index": 79, "task": "Take the peach, pear, and potato from the freezer and place them in the bowl on the counter."} +{"task_index": 80, "task": "Take the tangerine, fish, and bell pepper from the freezer and place them in the bowl on the counter."} +{"task_index": 81, "task": "Take the broccoli, lime, and pear from the freezer and place them in the bowl on the counter."} +{"task_index": 82, "task": "Take the kiwi, cucumber, and lemon wedge from the freezer and place them in the bowl on the counter."} +{"task_index": 83, "task": "Take the kiwi, bell pepper, and shrimp from the freezer and place them in the bowl on the counter."} +{"task_index": 84, "task": "Take the steak, mushroom, and squash from the freezer and place them in the bowl on the counter."} +{"task_index": 85, "task": "Take the orange, eggplant, and lemon wedge from the freezer and place them in the bowl on the counter."} +{"task_index": 86, "task": "Take the lemon, garlic, and corn from the freezer and place them in the bowl on the counter."} +{"task_index": 87, "task": "Take the tangerine, orange, and fish from the freezer and place them in the bowl on the counter."} +{"task_index": 88, "task": "Take the pear, fish, and kiwi from the freezer and place them in the bowl on the counter."} +{"task_index": 89, "task": "Take the eggplant, chicken drumstick, and garlic from the freezer and place them in the bowl on the counter."} +{"task_index": 90, "task": "Take the peach, lime, and potato from the freezer and place them in the bowl on the counter."} +{"task_index": 91, "task": "Take the garlic, mango, and mushroom from the freezer and place them in the bowl on the counter."} +{"task_index": 92, "task": "Take the lemon, fish, and cucumber from the freezer and place them in the bowl on the counter."} +{"task_index": 93, "task": "Take the squash, bell pepper, and lemon wedge from the freezer and place them in the bowl on the counter."} +{"task_index": 94, "task": "Take the mango, mushroom, and squash from the freezer and place them in the bowl on the counter."} +{"task_index": 95, "task": "Take the corn, mushroom, and eggplant from the freezer and place them in the bowl on the counter."} +{"task_index": 96, "task": "Take the mango, sweet potato, and corn from the freezer and place them in the bowl on the counter."} +{"task_index": 97, "task": "Take the corn, pear, and orange from the freezer and place them in the bowl on the counter."} +{"task_index": 98, "task": "Take the fish, mushroom, and peach from the freezer and place them in the bowl on the counter."} +{"task_index": 99, "task": "Take the fish, corn, and steak from the freezer and place them in the bowl on the counter."} +{"task_index": 100, "task": "Take the garlic, peach, and pear from the freezer and place them in the bowl on the counter."} +{"task_index": 101, "task": "Take the potato, chicken drumstick, and lime from the freezer and place them in the bowl on the counter."} +{"task_index": 102, "task": "Take the lemon, peach, and fish from the freezer and place them in the bowl on the counter."} +{"task_index": 103, "task": "Take the bell pepper, eggplant, and eggplant from the freezer and place them in the bowl on the counter."} +{"task_index": 104, "task": "ClearFreezer"} diff --git a/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..34db63759c5f182801932a2785f79b2c433b1897 --- /dev/null +++ b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,513 @@ +{ + "layout_id": 45, + "style_id": 40, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.607, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "food", + "graspable": true, + "microwavable": true, + "freezable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.07435297426412427, + 0.012427838471776323, + -0.1942691873369768 + ], + "size": [ + 0.32309587278365887, + 0.3336744440562758 + ], + "height": 0.4134361472927588, + "name": "tray" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.088952637, + 0.1, + 0.028448250000000005 + ] + }, + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bagel", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bagel", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagel/bagel_5/model.xml" + }, + "reset_region": { + "size": [ + 1.045, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the steak from the counter and place it in the microwave. Then turn on the microwave.", + "fixture_refs": { + "microwave": "microwave_right_group_1", + "counter": "counter_2_right_group_1", + "distractor_counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.8210853643464495, + -2.0851427999394225, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..506735d0fd2f3856f2b5d6413ceec6ea5e92edcf --- /dev/null +++ b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 33, + "style_id": 26, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "food", + "graspable": true, + "microwavable": true, + "freezable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "food" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_0/model.xml" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.06393211027514205, + 0.015048659457003885, + -0.17062326591813842 + ], + "size": [ + 0.3919285992089001, + 0.340859750028603 + ], + "height": 0.3596307378002173, + "name": "tray" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.053551092, + 0.05354496, + 0.1061407725 + ] + }, + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "salt_and_pepper_shaker", + "spice" + ], + "groups": [ + "all" + ], + "cat": "salt_and_pepper_shaker", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/salt_and_pepper_shaker/PepperShaker010/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick the carrot from the counter and place it in the microwave. Then turn on the microwave.", + "fixture_refs": { + "microwave": "microwave_right_group_1", + "counter": "counter_2_right_group_1", + "distractor_counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.699157351818494, + -3.4843629960232962, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8f18808edb71b036a78e78facae64cc5efbc49c2 --- /dev/null +++ b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 40, + "style_id": 40, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.9796551243791431, + 0.65 + ], + "offset": [ + 0.7276724378104285, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "food", + "graspable": true, + "microwavable": true, + "freezable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.07435297426412427, + 0.012427838471776323, + -0.1942691873369768 + ], + "size": [ + 0.32309587278365887, + 0.3336744440562758 + ], + "height": 0.4134361472927588, + "name": "tray" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.09668329429999997, + 0.14338314849999997, + 0.04369916329999999 + ] + }, + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chips", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "chips", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/chips/chips_13/model.xml" + }, + "reset_region": { + "size": [ + 0.9796551243791431, + 0.65 + ], + "offset": [ + 0.7276724378104285, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the broccoli from the counter and place it in the microwave. Then turn on the microwave.", + "fixture_refs": { + "microwave": "microwave_right_group_1", + "counter": "counter_1_right_group_1", + "distractor_counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8955468977567684, + -3.512857622683066, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fdb1e2baa1fa331e575a7cab609b0d5dd4e2232a --- /dev/null +++ b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,518 @@ +{ + "layout_id": 54, + "style_id": 35, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.022279, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "food", + "graspable": true, + "microwavable": true, + "freezable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "food" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_2/model.xml" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.07763522066297633, + -0.0030152846172931402, + -0.16000867060571686 + ], + "size": [ + 0.4123646134194525, + 0.3359397698770551 + ], + "height": 0.30122056501164307, + "name": "tray" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.05202127119999997, + 0.05548913943999997, + 0.18551996327999987 + ] + }, + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "drink", + "alcohol" + ], + "groups": [ + "all" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_15/model.xml" + }, + "reset_region": { + "size": [ + 1.022279, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the cheese from the counter and place it in the microwave. Then turn on the microwave.", + "fixture_refs": { + "microwave": "microwave_main_group_1", + "counter": "counter_2_main_group_1", + "distractor_counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7708221077700659, + -1.2468715849301464, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..08a6da2684f2ef68b54951d5a30ac43e8b1aeb56 --- /dev/null +++ b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,489 @@ +{ + "layout_id": 58, + "style_id": 50, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "island_2_island_group_1", + "sample_region_kwargs": { + "ref": "microwave_left_group_1", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.911556, + 0.911783 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "food", + "graspable": true, + "microwavable": true, + "freezable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun006/model.xml" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "microwave_left_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.06311871883702735, + -0.004143536407979334, + -0.16217768356107554 + ], + "size": [ + 0.39650613433713966, + 0.3140232922187045 + ], + "height": 0.34059419153750087, + "name": "tray" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "island_2_island_group_1", + "sample_region_kwargs": { + "ref": "microwave_left_group_1", + "min_size": [ + 0.06839594549999997, + 0.06514787849999996, + 0.07482789599999996 + ] + }, + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_12/model.xml" + }, + "reset_region": { + "size": [ + 0.911556, + 0.911783 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_15_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_3": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_16_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the hotdog bun from the counter and place it in the microwave. Then turn on the microwave.", + "fixture_refs": { + "microwave": "microwave_left_group_1", + "counter": "island_2_island_group_1", + "distractor_counter": "island_2_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0908829965465376, + -2.77924515150687, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8ba88c731887d0f43830abf982c1396cc81bb833 --- /dev/null +++ b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,526 @@ +{ + "layout_id": 53, + "style_id": 45, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.09786, + 0.650027 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "food", + "graspable": true, + "microwavable": true, + "freezable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.08676028507505917, + 0.036243879350144975, + -0.15422986393028643 + ], + "size": [ + 0.3981421722042219, + 0.3458521075362833 + ], + "height": 0.31614846526784846, + "name": "tray" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.06496394045000001, + 0.0656471152, + 0.11614790125000002 + ] + }, + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "coffee_cup", + "drink" + ], + "groups": [ + "all" + ], + "cat": "coffee_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/coffee_cup/coffee_cup_17/model.xml" + }, + "reset_region": { + "size": [ + 1.09786, + 0.650027 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Pick the corn from the counter and place it in the microwave. Then turn on the microwave.", + "fixture_refs": { + "microwave": "microwave_right_group_1", + "counter": "counter_4_right_group_1", + "distractor_counter": "counter_4_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.8543093839784195, + -3.6405793896353664, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0d824d0ec82db899f8a7b0b3dc3a205993842423 --- /dev/null +++ b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 34, + "style_id": 42, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "microwave_left_group_1", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.006516885844102, + 0.65 + ], + "offset": [ + 1.2187915570779488, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "food", + "graspable": true, + "microwavable": true, + "freezable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "food" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_0/model.xml" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "microwave_left_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.07439206483098801, + 0.008576269321973917, + -0.17083210617889427 + ], + "size": [ + 0.363122011943057, + 0.31286652443628504 + ], + "height": 0.3533102004597044, + "name": "tray" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "microwave_left_group_1", + "min_size": [ + 0.06792552134999998, + 0.06795752309999996, + 0.05594104889999998 + ] + }, + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jam", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "jam", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_3/model.xml" + }, + "reset_region": { + "size": [ + 1.006516885844102, + 0.65 + ], + "offset": [ + 1.2187915570779488, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the carrot from the counter and place it in the microwave. Then turn on the microwave.", + "fixture_refs": { + "microwave": "microwave_left_group_1", + "counter": "counter_1_left_group_1", + "distractor_counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9971226900769603, + -0.40076995182086156, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4f0060cbdb3ad96b67a84ed2b9fd31f2b4692333 --- /dev/null +++ b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,504 @@ +{ + "layout_id": 38, + "style_id": 37, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.6917975495183672, + 0.65 + ], + "offset": [ + 1.083101225240816, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "food", + "graspable": true, + "microwavable": true, + "freezable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.03556052273556939, + 0.02017039133809192, + -0.14025881374567925 + ], + "size": [ + 0.26835339407212955, + 0.2820908946581213 + ], + "height": 0.2482508353002551, + "name": "tray" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.04821573759999999, + 0.04821573759999999, + 0.16166757599999998 + ] + }, + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ketchup", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "ketchup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_10/model.xml" + }, + "reset_region": { + "size": [ + 1.6917975495183672, + 0.65 + ], + "offset": [ + 1.083101225240816, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the garlic from the counter and place it in the microwave. Then turn on the microwave.", + "fixture_refs": { + "microwave": "microwave_main_group_1", + "counter": "counter_1_main_group_1", + "distractor_counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.205749380735188, + -0.9892451188935679, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..91f93be02e923b92c68ef6a28eecaa29cec475fa --- /dev/null +++ b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,541 @@ +{ + "layout_id": 26, + "style_id": 47, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "microwave_main_group", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.78, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "food", + "graspable": true, + "microwavable": true, + "freezable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "microwave_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.054192247258878515, + 0.013145995615866483, + -0.20521640827615367 + ], + "size": [ + 0.312114953582436, + 0.25547897124496777 + ], + "height": 0.42371746357321477, + "name": "tray" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "microwave_main_group", + "min_size": [ + 0.05357008889999999, + 0.17118411799999997, + 0.049541658399999994 + ] + }, + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cucumber", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cucumber", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml" + }, + "reset_region": { + "size": [ + 1.78, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the corn from the counter and place it in the microwave. Then turn on the microwave.", + "fixture_refs": { + "microwave": "microwave_main_group", + "counter": "counter_2_main_group", + "distractor_counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.0272116833118052, + -0.841492478939027, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..236d149227123ebb8a925ba00a175d410fcc4d76 --- /dev/null +++ b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 38, + "style_id": 57, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.609376157066536, + 0.65 + ], + "offset": [ + 1.1243119214667316, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "food", + "graspable": true, + "microwavable": true, + "freezable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.07738100668293346, + 0.02204376277375779, + -0.16603893702054998 + ], + "size": [ + 0.36310314153429024, + 0.2977680461941824 + ], + "height": 0.34289615381645205, + "name": "tray" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.609376157066536, + 0.65 + ], + "offset": [ + 1.1243119214667316, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the corn from the counter and place it in the microwave. Then turn on the microwave.", + "fixture_refs": { + "microwave": "microwave_main_group_1", + "counter": "counter_1_main_group_1", + "distractor_counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.146854823334581, + -0.9333856239698284, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7a5b73806056844dd225fbbab1285f0a5f5663ce --- /dev/null +++ b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,465 @@ +{ + "layout_id": 55, + "style_id": 57, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.072301, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "food", + "graspable": true, + "microwavable": true, + "freezable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "food" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_0/model.xml" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.0784127534387059, + 0.019839386496382012, + -0.1682527895141573 + ], + "size": [ + 0.3679445167547475, + 0.26799124157476417 + ], + "height": 0.34746810253400473, + "name": "tray" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.050305143999999996, + 0.051413191999999996, + 0.051573088 + ] + }, + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall003/model.xml" + }, + "reset_region": { + "size": [ + 1.269636157066536, + 0.65 + ], + "offset": [ + 0.4651819214667321, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the cheese from the counter and place it in the microwave. Then turn on the microwave.", + "fixture_refs": { + "microwave": "microwave_main_group_1", + "counter": "counter_2_main_group_1", + "distractor_counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.199566318708659, + -1.02053485617178, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce19b919b204cc94359947360b8d8abb62206459 --- /dev/null +++ b/pretrain/composite/MicrowaveThawing/20250715/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,576 @@ +{ + "layout_id": 24, + "style_id": 28, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ], + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.561185166500994, + 1.95 + ], + "offset": [ + -1.119407416749503, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj", + "obj_groups": "food", + "graspable": true, + "microwavable": true, + "freezable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + }, + { + "name": "container", + "obj_groups": "plate", + "placement": { + "fixture": "microwave_right_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.08010752580350822, + 0.017139431042797207, + -0.152609920992332 + ], + "size": [ + 0.40342725847059824, + 0.3381378343549407 + ], + "height": 0.31623474311388466, + "name": "tray" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group", + "min_size": [ + 0.12077701349999999, + 0.08510664699999998, + 0.014602170000000001 + ] + }, + "size": [ + 0.5, + 0.2 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "turkey_slice" + ], + "groups": [ + "all" + ], + "cat": "turkey_slice", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turkey_slice/TurkeySlice005/model.xml" + }, + "reset_region": { + "size": [ + 1.561185166500994, + 1.95 + ], + "offset": [ + -1.119407416749503, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the steak from the counter and place it in the microwave. Then turn on the microwave.", + "fixture_refs": { + "microwave": "microwave_right_group", + "counter": "island_island_group_1", + "distractor_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.34966661256159, + -3.255970057659523, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetupFruitBowl/20250801/lerobot/extras/dataset_meta.json b/pretrain/composite/SetupFruitBowl/20250801/lerobot/extras/dataset_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d668a5bfabe4a149c58eb3108c9e9d37cf0ca5a --- /dev/null +++ b/pretrain/composite/SetupFruitBowl/20250801/lerobot/extras/dataset_meta.json @@ -0,0 +1,390 @@ +{ + "date": "8-1-2025", + "env": "SetupFruitBowl", + "env_args": { + "type": 1, + "env_name": "SetupFruitBowl", + "env_version": "0.5.1", + "robosuite_version": "1.5.2", + "mujoco_version": "3.3.1", + "env_kwargs": { + "env_name": "SetupFruitBowl", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": false, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + } + }, + "env_info": { + "env_name": "SetupFruitBowl", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": true, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + }, + "mujoco_version": "3.3.1", + "robocasa_version": "0.5.1", + "robosuite_version": "1.5.2", + "time": "12:4:38", + "total": 186419 +} \ No newline at end of file diff --git a/pretrain/composite/SetupFruitBowl/20250801/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/SetupFruitBowl/20250801/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c324e0b7c1c524af33edbc54d736ddfbfe53a845 --- /dev/null +++ b/pretrain/composite/SetupFruitBowl/20250801/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,475 @@ +{ + "layout_id": 14, + "style_id": 60, + "object_cfgs": [ + { + "name": "fruit1", + "obj_groups": "tangerine", + "graspable": true, + "placement": { + "fixture": "fridge_left_group_1", + "sample_region_kwargs": { + "rack_index": -1, + "min_size": [ + 0.05896086600000001, + 0.05867315640000001, + 0.05089237920000002 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "tangerine" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.5197937040973775 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf1" + } + }, + { + "name": "fruit2", + "obj_groups": "pear", + "graspable": true, + "placement": { + "fixture": "fridge_left_group_1", + "sample_region_kwargs": { + "rack_index": -2, + "min_size": [ + 0.06875434881227208, + 0.10047349900000001, + 0.06839816487910581 + ] + }, + "size": [ + 0.4, + 0.2 + ], + "pos": [ + 0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "pear" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0010474518042981606, + 0.08943692616965102, + 0.1791587392302239 + ], + "size": [ + 0.6495885849638475, + 0.4706756190544467 + ], + "name": "fridge_shelf0" + } + }, + { + "name": "bowl", + "obj_groups": "bowl", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.2599998751999999, + 0.2599926783999999, + 0.07361765839999998 + ] + }, + "size": [ + 0.4, + 0.35 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Retrieve the tangerine and pear from the fridge and place them into the bowl on the dining table.", + "fixture_refs": { + "fridge": "fridge_left_group_1", + "dining_counter": "island_island_group_1", + "stool": "stool_1_room" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.1236229658635335, + -2.8058899273426894, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/embodiment.json b/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/episodes.jsonl b/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..11f7eb2608a8647678a82d6e5194f5ea02fa6b32 --- /dev/null +++ b/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/episodes.jsonl @@ -0,0 +1,102 @@ +{"episode_index": 0, "tasks": ["Retrieve the peach and pear from the fridge and place them into the bowl on the dining table."], "length": 1504} +{"episode_index": 1, "tasks": ["Retrieve the kiwi and banana from the fridge and place them into the bowl on the dining table."], "length": 1900} +{"episode_index": 2, "tasks": ["Retrieve the mango and peach from the fridge and place them into the bowl on the dining table."], "length": 2120} +{"episode_index": 3, "tasks": ["Retrieve the tangerine and kiwi from the fridge and place them into the bowl on the dining table."], "length": 1513} +{"episode_index": 4, "tasks": ["Retrieve the mango and peach from the fridge and place them into the bowl on the dining table."], "length": 1569} +{"episode_index": 5, "tasks": ["Retrieve the banana and kiwi from the fridge and place them into the bowl on the dining table."], "length": 1843} +{"episode_index": 6, "tasks": ["Retrieve the orange and tangerine from the fridge and place them into the bowl on the dining table."], "length": 1666} +{"episode_index": 7, "tasks": ["Retrieve the banana and kiwi from the fridge and place them into the bowl on the dining table."], "length": 1713} +{"episode_index": 8, "tasks": ["Retrieve the kiwi and apple from the fridge and place them into the bowl on the dining table."], "length": 1663} +{"episode_index": 9, "tasks": ["Retrieve the tangerine and pear from the fridge and place them into the bowl on the dining table."], "length": 2131} +{"episode_index": 10, "tasks": ["Retrieve the apple and kiwi from the fridge and place them into the bowl on the dining table."], "length": 1625} +{"episode_index": 11, "tasks": ["Retrieve the tangerine and apple from the fridge and place them into the bowl on the dining table."], "length": 1869} +{"episode_index": 12, "tasks": ["Retrieve the apple and peach from the fridge and place them into the bowl on the dining table."], "length": 1838} +{"episode_index": 13, "tasks": ["Retrieve the apple and pear from the fridge and place them into the bowl on the dining table."], "length": 1832} +{"episode_index": 14, "tasks": ["Retrieve the kiwi and mango from the fridge and place them into the bowl on the dining table."], "length": 2518} +{"episode_index": 15, "tasks": ["Retrieve the peach and banana from the fridge and place them into the bowl on the dining table."], "length": 2176} +{"episode_index": 16, "tasks": ["Retrieve the banana and tangerine from the fridge and place them into the bowl on the dining table."], "length": 1506} +{"episode_index": 17, "tasks": ["Retrieve the peach and apple from the fridge and place them into the bowl on the dining table."], "length": 1747} +{"episode_index": 18, "tasks": ["Retrieve the kiwi and tangerine from the fridge and place them into the bowl on the dining table."], "length": 1805} +{"episode_index": 19, "tasks": ["Retrieve the mango and peach from the fridge and place them into the bowl on the dining table."], "length": 2152} +{"episode_index": 20, "tasks": ["Retrieve the pear and peach from the fridge and place them into the bowl on the dining table."], "length": 1125} +{"episode_index": 21, "tasks": ["Retrieve the tangerine and mango from the fridge and place them into the bowl on the dining table."], "length": 1767} +{"episode_index": 22, "tasks": ["Retrieve the pear and banana from the fridge and place them into the bowl on the dining table."], "length": 1980} +{"episode_index": 23, "tasks": ["Retrieve the apple and peach from the fridge and place them into the bowl on the dining table."], "length": 2143} +{"episode_index": 24, "tasks": ["Retrieve the peach and kiwi from the fridge and place them into the bowl on the dining table."], "length": 2211} +{"episode_index": 25, "tasks": ["Retrieve the kiwi and peach from the fridge and place them into the bowl on the dining table."], "length": 1900} +{"episode_index": 26, "tasks": ["Retrieve the tangerine and peach from the fridge and place them into the bowl on the dining table."], "length": 1837} +{"episode_index": 27, "tasks": ["Retrieve the banana and mango from the fridge and place them into the bowl on the dining table."], "length": 1573} +{"episode_index": 28, "tasks": ["Retrieve the peach and mango from the fridge and place them into the bowl on the dining table."], "length": 2194} +{"episode_index": 29, "tasks": ["Retrieve the pear and peach from the fridge and place them into the bowl on the dining table."], "length": 1460} +{"episode_index": 30, "tasks": ["Retrieve the tangerine and orange from the fridge and place them into the bowl on the dining table."], "length": 2131} +{"episode_index": 31, "tasks": ["Retrieve the peach and tangerine from the fridge and place them into the bowl on the dining table."], "length": 1722} +{"episode_index": 32, "tasks": ["Retrieve the banana and orange from the fridge and place them into the bowl on the dining table."], "length": 1559} +{"episode_index": 33, "tasks": ["Retrieve the orange and tangerine from the fridge and place them into the bowl on the dining table."], "length": 1395} +{"episode_index": 34, "tasks": ["Retrieve the apple and mango from the fridge and place them into the bowl on the dining table."], "length": 1908} +{"episode_index": 35, "tasks": ["Retrieve the pear and banana from the fridge and place them into the bowl on the dining table."], "length": 1779} +{"episode_index": 36, "tasks": ["Retrieve the kiwi and pear from the fridge and place them into the bowl on the dining table."], "length": 2796} +{"episode_index": 37, "tasks": ["Retrieve the apple and peach from the fridge and place them into the bowl on the dining table."], "length": 1752} +{"episode_index": 38, "tasks": ["Retrieve the orange and peach from the fridge and place them into the bowl on the dining table."], "length": 1924} +{"episode_index": 39, "tasks": ["Retrieve the peach and banana from the fridge and place them into the bowl on the dining table."], "length": 1579} +{"episode_index": 40, "tasks": ["Retrieve the orange and pear from the fridge and place them into the bowl on the dining table."], "length": 1649} +{"episode_index": 41, "tasks": ["Retrieve the mango and banana from the fridge and place them into the bowl on the dining table."], "length": 1472} +{"episode_index": 42, "tasks": ["Retrieve the orange and peach from the fridge and place them into the bowl on the dining table."], "length": 1289} +{"episode_index": 43, "tasks": ["Retrieve the apple and orange from the fridge and place them into the bowl on the dining table."], "length": 1505} +{"episode_index": 44, "tasks": ["Retrieve the tangerine and apple from the fridge and place them into the bowl on the dining table."], "length": 1631} +{"episode_index": 45, "tasks": ["Retrieve the tangerine and mango from the fridge and place them into the bowl on the dining table."], "length": 1975} +{"episode_index": 46, "tasks": ["Retrieve the kiwi and pear from the fridge and place them into the bowl on the dining table."], "length": 1615} +{"episode_index": 47, "tasks": ["Retrieve the mango and peach from the fridge and place them into the bowl on the dining table."], "length": 1605} +{"episode_index": 48, "tasks": ["Retrieve the banana and orange from the fridge and place them into the bowl on the dining table."], "length": 2130} +{"episode_index": 49, "tasks": ["Retrieve the tangerine and pear from the fridge and place them into the bowl on the dining table."], "length": 1855} +{"episode_index": 50, "tasks": ["Retrieve the tangerine and banana from the fridge and place them into the bowl on the dining table."], "length": 2480} +{"episode_index": 51, "tasks": ["Retrieve the apple and banana from the fridge and place them into the bowl on the dining table."], "length": 1731} +{"episode_index": 52, "tasks": ["Retrieve the apple and pear from the fridge and place them into the bowl on the dining table."], "length": 1765} +{"episode_index": 53, "tasks": ["Retrieve the banana and tangerine from the fridge and place them into the bowl on the dining table."], "length": 1747} +{"episode_index": 54, "tasks": ["Retrieve the kiwi and orange from the fridge and place them into the bowl on the dining table."], "length": 1703} +{"episode_index": 55, "tasks": ["Retrieve the orange and pear from the fridge and place them into the bowl on the dining table."], "length": 2084} +{"episode_index": 56, "tasks": ["Retrieve the orange and apple from the fridge and place them into the bowl on the dining table."], "length": 1077} +{"episode_index": 57, "tasks": ["Retrieve the kiwi and peach from the fridge and place them into the bowl on the dining table."], "length": 1545} +{"episode_index": 58, "tasks": ["Retrieve the kiwi and mango from the fridge and place them into the bowl on the dining table."], "length": 1794} +{"episode_index": 59, "tasks": ["Retrieve the banana and peach from the fridge and place them into the bowl on the dining table."], "length": 1567} +{"episode_index": 60, "tasks": ["Retrieve the apple and banana from the fridge and place them into the bowl on the dining table."], "length": 1716} +{"episode_index": 61, "tasks": ["Retrieve the apple and kiwi from the fridge and place them into the bowl on the dining table."], "length": 1914} +{"episode_index": 62, "tasks": ["Retrieve the peach and apple from the fridge and place them into the bowl on the dining table."], "length": 1363} +{"episode_index": 63, "tasks": ["Retrieve the orange and peach from the fridge and place them into the bowl on the dining table."], "length": 2264} +{"episode_index": 64, "tasks": ["Retrieve the tangerine and banana from the fridge and place them into the bowl on the dining table."], "length": 1824} +{"episode_index": 65, "tasks": ["Retrieve the kiwi and apple from the fridge and place them into the bowl on the dining table."], "length": 2060} +{"episode_index": 66, "tasks": ["Retrieve the kiwi and banana from the fridge and place them into the bowl on the dining table."], "length": 1888} +{"episode_index": 67, "tasks": ["Retrieve the pear and banana from the fridge and place them into the bowl on the dining table."], "length": 1757} +{"episode_index": 68, "tasks": ["Retrieve the banana and pear from the fridge and place them into the bowl on the dining table."], "length": 1940} +{"episode_index": 69, "tasks": ["Retrieve the kiwi and tangerine from the fridge and place them into the bowl on the dining table."], "length": 2279} +{"episode_index": 70, "tasks": ["Retrieve the orange and banana from the fridge and place them into the bowl on the dining table."], "length": 1536} +{"episode_index": 71, "tasks": ["Retrieve the orange and apple from the fridge and place them into the bowl on the dining table."], "length": 1722} +{"episode_index": 72, "tasks": ["Retrieve the tangerine and peach from the fridge and place them into the bowl on the dining table."], "length": 1620} +{"episode_index": 73, "tasks": ["Retrieve the peach and orange from the fridge and place them into the bowl on the dining table."], "length": 2202} +{"episode_index": 74, "tasks": ["Retrieve the peach and pear from the fridge and place them into the bowl on the dining table."], "length": 1694} +{"episode_index": 75, "tasks": ["Retrieve the banana and peach from the fridge and place them into the bowl on the dining table."], "length": 1716} +{"episode_index": 76, "tasks": ["Retrieve the mango and kiwi from the fridge and place them into the bowl on the dining table."], "length": 1951} +{"episode_index": 77, "tasks": ["Retrieve the banana and mango from the fridge and place them into the bowl on the dining table."], "length": 1768} +{"episode_index": 78, "tasks": ["Retrieve the pear and banana from the fridge and place them into the bowl on the dining table."], "length": 1671} +{"episode_index": 79, "tasks": ["Retrieve the peach and banana from the fridge and place them into the bowl on the dining table."], "length": 1908} +{"episode_index": 80, "tasks": ["Retrieve the orange and peach from the fridge and place them into the bowl on the dining table."], "length": 1881} +{"episode_index": 81, "tasks": ["Retrieve the kiwi and tangerine from the fridge and place them into the bowl on the dining table."], "length": 2380} +{"episode_index": 82, "tasks": ["Retrieve the mango and banana from the fridge and place them into the bowl on the dining table."], "length": 1814} +{"episode_index": 83, "tasks": ["Retrieve the peach and mango from the fridge and place them into the bowl on the dining table."], "length": 1798} +{"episode_index": 84, "tasks": ["Retrieve the mango and orange from the fridge and place them into the bowl on the dining table."], "length": 1734} +{"episode_index": 85, "tasks": ["Retrieve the orange and mango from the fridge and place them into the bowl on the dining table."], "length": 2258} +{"episode_index": 86, "tasks": ["Retrieve the apple and banana from the fridge and place them into the bowl on the dining table."], "length": 1503} +{"episode_index": 87, "tasks": ["Retrieve the apple and banana from the fridge and place them into the bowl on the dining table."], "length": 2076} +{"episode_index": 88, "tasks": ["Retrieve the banana and peach from the fridge and place them into the bowl on the dining table."], "length": 2064} +{"episode_index": 89, "tasks": ["Retrieve the pear and orange from the fridge and place them into the bowl on the dining table."], "length": 1658} +{"episode_index": 90, "tasks": ["Retrieve the kiwi and pear from the fridge and place them into the bowl on the dining table."], "length": 1907} +{"episode_index": 91, "tasks": ["Retrieve the orange and apple from the fridge and place them into the bowl on the dining table."], "length": 1833} +{"episode_index": 92, "tasks": ["Retrieve the kiwi and orange from the fridge and place them into the bowl on the dining table."], "length": 2120} +{"episode_index": 93, "tasks": ["Retrieve the tangerine and mango from the fridge and place them into the bowl on the dining table."], "length": 1403} +{"episode_index": 94, "tasks": ["Retrieve the kiwi and orange from the fridge and place them into the bowl on the dining table."], "length": 1802} +{"episode_index": 95, "tasks": ["Retrieve the mango and pear from the fridge and place them into the bowl on the dining table."], "length": 2082} +{"episode_index": 96, "tasks": ["Retrieve the pear and banana from the fridge and place them into the bowl on the dining table."], "length": 2032} +{"episode_index": 97, "tasks": ["Retrieve the peach and orange from the fridge and place them into the bowl on the dining table."], "length": 1867} +{"episode_index": 98, "tasks": ["Retrieve the banana and peach from the fridge and place them into the bowl on the dining table."], "length": 2218} +{"episode_index": 99, "tasks": ["Retrieve the apple and kiwi from the fridge and place them into the bowl on the dining table."], "length": 1603} +{"episode_index": 100, "tasks": ["Retrieve the tangerine and mango from the fridge and place them into the bowl on the dining table."], "length": 2252} +{"episode_index": 101, "tasks": ["Retrieve the banana and peach from the fridge and place them into the bowl on the dining table."], "length": 1697} diff --git a/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/episodes_stats.jsonl b/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..98d71fab90f62bb42754e634a08b61fa43a470a1 --- /dev/null +++ b/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/episodes_stats.jsonl @@ -0,0 +1,102 @@ +{"episode_index": 0, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6007600217730295]], [[0.5778377864118531]], [[0.5476528046992591]]], "std": [[[0.18887876565021222]], [[0.19447737422969916]], [[0.21848235790477596]]], "count": [241]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5539978777185797]], [[0.5142027281597529]], [[0.4878787000285397]]], "std": [[[0.21047283351659868]], [[0.2214517460943821]], [[0.23202574287820385]]], "count": [241]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.573881804255432]], [[0.5208881919760903]], [[0.4870914033717983]]], "std": [[[0.21069121806422034]], [[0.23582732604535514]], [[0.25211659942593095]]], "count": [241]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1504]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1504]}, "observation.state": {"min": [1.0004139339433773, -2.713697102730385, 0.6999952917605751, 0.0, 0.0, -0.9999945163726807, 0.0018737678183242679, -0.07238272007707747, -0.36148810289244415, 0.21258122488866082, -0.9779415130615234, -0.32500067353248596, -0.5372965931892395, 0.00025725323939695954, 0.001021641505126091, -0.040718799789972615], "max": [3.53880996789225, -0.9633816673309308, 0.7016434055753836, 0.0, 0.0, 0.9999983310699463, 0.9999992847442627, 0.5688163404894488, 0.3661781208032595, 0.7527996928247713, 0.9891617298126221, 0.22750619053840637, 0.49101078510284424, 0.6061118245124817, 0.040058303184917904, -0.009747028183990593], "mean": [1.9490728124197707, -1.6659425081639296, 0.700944538914405, 0.0, 0.0, 0.16200285215110968, 0.6161694000909343, 0.18265480304366424, -0.027249565284103668, 0.6051751036740421, -0.4186756354459423, -0.0002523509963871317, -0.24251213287495008, 0.06729333248518317, 0.03433955372134144, -0.03643295286236221], "std": [0.953473417275175, 0.5940154998480636, 0.00036594638543340294, 0.0, 0.0, 0.7170725304846287, 0.28266113921804925, 0.1609163338583037, 0.10475337941531962, 0.11725518524059485, 0.800295928141785, 0.09465710128319861, 0.3157229978586369, 0.11070490390232557, 0.006811410138956418, 0.0047769231840049066], "count": [1504]}, "action": {"min": [-1.0, -0.9571428571428572, -0.7371428571428571, 0.0, -1.0, -1.0, -1.0, -0.7214285714285715, -0.30857142857142855, -0.48, -0.39714285714285713, -1.0], "max": [1.0, 1.0, 0.19714285714285715, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5085714285714286, 0.4371428571428572, 0.44, 1.0], "mean": [0.1419025455927053, 0.07519946808510647, -0.1281325987841944, 0.0, -0.09042553191489362, 0.0035951747720364513, -0.001439019756838893, 0.011868351063829783, -8.358662613981802e-05, -0.003647416413373864, -0.0007693768996960502, -0.1702127659574468], "std": [0.4123457807228958, 0.33165689577175667, 0.22771972207669053, 0.0, 0.9959032197848868, 0.4385671798906054, 0.27033805216901874, 0.30095842269837064, 0.06144830357278626, 0.09083168982172177, 0.06260483785701222, 0.9854073342050594], "count": [1504]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009973403997719288], "std": [0.09936767816543579], "count": [1504]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006648936170212766], "std": [0.025776957413537405], "count": [1504]}, "timestamp": {"min": [0.0], "max": [75.15], "mean": [37.575], "std": [21.70836532307304], "count": [1504]}, "frame_index": {"min": [0], "max": [1503], "mean": [751.5], "std": [434.1673064614608], "count": [1504]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1504]}, "index": {"min": [0], "max": [1503], "mean": [751.5], "std": [434.1673064614608], "count": [1504]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1504]}}} +{"episode_index": 1, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.584645277074006]], [[0.5651335377245887]], [[0.5330678262337233]]], "std": [[[0.22084222341088308]], [[0.21191755878369753]], [[0.2175916615459511]]], "count": [287]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6439480510966296]], [[0.6193772337024082]], [[0.5894991029829425]]], "std": [[[0.2561951521150882]], [[0.2345554912428762]], [[0.21505349885683683]]], "count": [287]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5938003983093333]], [[0.5790396356058144]], [[0.5586287681755249]]], "std": [[[0.23412867937260914]], [[0.21827494732474662]], [[0.20510403907295813]]], "count": [287]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1900]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1900]}, "observation.state": {"min": [0.6170861610532541, -2.3896140629544935, 0.6999899611405453, 0.0, 0.0, -0.1813313364982605, 0.6973350644111633, -0.2737889348114684, -0.6556133806977766, 0.33781634057428567, -0.9876132011413574, -0.7787167429924011, -0.8786894679069519, 0.0002287218376295641, 0.0005793710115199899, -0.04004180118673638], "max": [1.530044655063179, -1.0409510126326964, 0.7029511475567654, 0.0, 0.0, 0.7167453169822693, 0.9999992847442627, 0.6065883569134032, 0.03020070220832416, 0.7773667097740112, 0.9415149688720703, 0.9774507880210876, 0.92191481590271, 0.5642447471618652, 0.043338258259588494, 4.344869156737418e-05], "mean": [0.9832458351072295, -1.6223117600186479, 0.7019384346168226, 0.0, 0.0, 0.43228729603775334, 0.8218750898147884, 0.17030912240110468, -0.12411513335403682, 0.5601584413832348, -0.1878734826911731, 0.6058481484729993, -0.05813995004610134, 0.22328163327748035, 0.027477190004464986, -0.026360029841547134], "std": [0.3211407579771539, 0.4741935135424043, 0.0009962788849244724, 0.0, 0.0, 0.3511917762026287, 0.11963847569387258, 0.1933048228208234, 0.13833708054179647, 0.09338355437708007, 0.3684345206984537, 0.5159780956040203, 0.3444356768709257, 0.15428316515052026, 0.014208861525224062, 0.015008173779843226], "count": [1900]}, "action": {"min": [-1.0, -0.9142857142857143, -0.4742857142857143, 0.0, -1.0, -1.0, -1.0, -0.5714285714285715, -0.5, -0.45999999999999996, -0.4542857142857143, -1.0], "max": [0.7571428571428572, 0.9285714285714287, 0.5057142857142857, 0.0, 1.0, 0.8571428571428572, 1.0, 0.7071428571428572, 0.27714285714285714, 0.8199999999999998, 0.6742857142857143, 1.0], "mean": [-3.0075187969920407e-05, 0.013541353383458644, -0.0234015037593985, 0.0, -0.3705263157894737, -0.03427443609022556, -0.01777443609022557, -0.02174060150375941, -0.020544360902255632, -0.0031639097744361033, 0.00539548872180451, 0.10105263157894737], "std": [0.25440923577154145, 0.1582898473914626, 0.13146777822322137, 0.0, 0.9288219685749657, 0.41876916071920633, 0.29091538301864206, 0.1746330643048753, 0.09640469277108007, 0.1317417663639428, 0.11992035210789388, 0.9948810811604434], "count": [1900]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008421052247285843], "std": [0.0913790911436081], "count": [1900]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005263157894736842], "std": [0.022935535336316763], "count": [1900]}, "timestamp": {"min": [0.0], "max": [94.95], "mean": [47.475], "std": [27.424133988149926], "count": [1900]}, "frame_index": {"min": [0], "max": [1899], "mean": [949.5], "std": [548.4826797629985], "count": [1900]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1900]}, "index": {"min": [1504], "max": [3403], "mean": [2453.5], "std": [548.4826797629985], "count": [1900]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1900]}}} +{"episode_index": 2, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5923058877583423]], [[0.5505265243092993]], [[0.5352911959226675]]], "std": [[[0.1846214247706971]], [[0.20636094419982007]], [[0.21818649175778593]]], "count": [312]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5714264406997274]], [[0.5236936921147979]], [[0.5022130410955322]]], "std": [[[0.2204162828778841]], [[0.23068116286304605]], [[0.2404711892323525]]], "count": [312]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5414072459639467]], [[0.518334770682111]], [[0.5088828235010576]]], "std": [[[0.2177366292507358]], [[0.21848728994118308]], [[0.22237368389948176]]], "count": [312]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2120]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2120]}, "observation.state": {"min": [0.5919106300885164, -3.8471912640545467, 0.6999585903774665, 0.0, 0.0, -1.0, 9.413598149876634e-07, -0.002668578841171332, -0.33330035815782044, 0.303912087823732, -0.991657018661499, -0.24562877416610718, -0.6017848253250122, 7.658822869416326e-05, 0.0012197668949855383, -0.04085736648527031], "max": [2.7631936925435783, -1.4407906275948392, 0.7038950737920169, 0.0, 0.0, 1.0, 0.9999995231628418, 0.7651245228757795, 0.31847580099902717, 0.8211578271721244, 0.9781151413917542, 0.487959623336792, 0.6193017959594727, 0.6352797150611877, 0.04048761942051037, -0.006700159603936725], "mean": [1.365494194177201, -2.17155121531296, 0.7007228553525919, 0.0, 0.0, 0.3185123294339579, 0.2794888291428064, 0.2756353347000681, -0.043827578995855675, 0.5939746736319172, -0.43389080509824574, 0.023941051439856583, -0.16321933552659038, 0.11064727285526182, 0.036539376333345606, -0.03553304206642505], "std": [0.6713951000357739, 0.9017971055788029, 0.001356227693536507, 0.0, 0.0, 0.8404129306635885, 0.3378490829744862, 0.19454244488612552, 0.08438278323736179, 0.12330906874443633, 0.7924659525573062, 0.14845924298788443, 0.3142244216583933, 0.15330624397204645, 0.00685133508676369, 0.0070182203914011245], "count": [2120]}, "action": {"min": [-1.0, -0.8142857142857143, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5828571428571429, -0.6028571428571429, -0.23428571428571432, -1.0], "max": [1.0, 1.0, 0.74, 0.0, 1.0, 0.8285714285714285, 1.0, 1.0, 0.5485714285714286, 0.42, 0.3057142857142857, 1.0], "mean": [0.12181266846361191, -0.016805929919137465, 0.09319002695417783, 0.0, -0.3839622641509434, -0.011445417789757406, -0.013514150943396218, -0.014460916442048529, -0.0006873315363881399, -0.007463611859838272, 0.0024541778975741245, -0.2952830188679245], "std": [0.37140504635390587, 0.21653636591180925, 0.18817749858804814, 0.0, 0.9233487855128671, 0.3751380758574276, 0.24787100132920858, 0.27080785905863786, 0.09579184433232601, 0.08593913189105973, 0.052269363567938196, 0.9554098276489865], "count": [2120]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.006603773683309555], "std": [0.08099483698606491], "count": [2120]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004716981132075472], "std": [0.02171348921978095], "count": [2120]}, "timestamp": {"min": [0.0], "max": [105.95], "mean": [52.975], "std": [30.599560862862067], "count": [2120]}, "frame_index": {"min": [0], "max": [2119], "mean": [1059.5], "std": [611.9912172572414], "count": [2120]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2120]}, "index": {"min": [3404], "max": [5523], "mean": [4463.5], "std": [611.9912172572414], "count": [2120]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2120]}}} +{"episode_index": 3, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5729859580369305]], [[0.5324490136873045]], [[0.49360244249026447]]], "std": [[[0.22500227137012718]], [[0.2226844907988212]], [[0.22461027471571157]]], "count": [242]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5755943705092527]], [[0.5224497603319237]], [[0.4834085029598342]]], "std": [[[0.24744809301187748]], [[0.25715351743620285]], [[0.2643614040613499]]], "count": [242]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5414221178053882]], [[0.48325594573020164]], [[0.4434573334091352]]], "std": [[[0.2510827104358497]], [[0.2594945009580185]], [[0.2668028254038702]]], "count": [242]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1513]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1513]}, "observation.state": {"min": [1.2457551909059863, -5.928294755238797, 0.6999608671569688, 0.0, 0.0, -0.9999473094940186, 0.0044558425433933735, -0.05024043333790473, -0.19671418286250164, 0.25043843172835345, -0.9985748529434204, -0.22298592329025269, -0.613821268081665, 3.3202720715053147e-06, 0.0009356104431989553, -0.04101955774965431], "max": [4.237387648457705, -1.3214338780176627, 0.7005590202514976, 0.0, 0.0, 0.9999901056289673, 1.0, 0.6401743375777258, 0.3511921708258774, 0.8165901296027129, 0.9559380412101746, 0.4241468906402588, 0.5244408845901489, 0.527342677116394, 0.04069634060442092, -0.00043650303710113014], "mean": [3.385059111233207, -3.065548931617945, 0.7002482773196305, 0.0, 0.0, 0.10480504480022922, 0.8308233953707698, 0.253706705572326, -0.0012759337826053782, 0.6292539056640775, -0.4522359443672115, 0.0024754373924234254, -0.1513143717702195, 0.06753642693496541, 0.03379942825735414, -0.03297724618668115], "std": [0.8257608778561631, 1.698283719238665, 0.00017969098086361782, 0.0, 0.0, 0.5054543551659355, 0.20800069584023215, 0.14607632320066277, 0.08369630286848648, 0.12880573747590554, 0.8096860946784589, 0.1073149782997711, 0.29734295932156973, 0.11179625671374034, 0.006925065010923476, 0.008171458476384707], "count": [1513]}, "action": {"min": [-1.0, -1.0, -0.86, 0.0, -1.0, -1.0, -1.0, -0.7285714285714285, -0.6057142857142859, -0.48, -0.4285714285714286, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.7742857142857142, 0.4942857142857143, 0.24285714285714288, 1.0], "mean": [0.24213955245019378, -0.01853932584269661, 0.012642809932961933, 0.0, -0.0403172504957039, 0.006203380228495898, -0.0015201586252478589, 0.011410631668397704, 0.0016296855820980075, -0.007134359361722216, -0.0005004248890567462, 0.004626569729015202], "std": [0.5176464618105594, 0.32586151260131524, 0.3141846150782383, 0.0, 0.9991869291141128, 0.4812528312031784, 0.2873952927703061, 0.26772162375809466, 0.1228661399316, 0.10899242620831938, 0.056321381951159884, 0.9999892973689953], "count": [1513]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01057501696050167], "std": [0.10228971391916275], "count": [1513]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006609385327164573], "std": [0.025700227488729126], "count": [1513]}, "timestamp": {"min": [0.0], "max": [75.6], "mean": [37.8], "std": [21.838269162184076], "count": [1513]}, "frame_index": {"min": [0], "max": [1512], "mean": [756.0], "std": [436.7653832436815], "count": [1513]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1513]}, "index": {"min": [5524], "max": [7036], "mean": [6280.0], "std": [436.7653832436815], "count": [1513]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1513]}}} +{"episode_index": 4, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5879331890790798]], [[0.5455650756749424]], [[0.5085047236952559]]], "std": [[[0.20260383226472084]], [[0.2096698495707817]], [[0.2235894637676533]]], "count": [249]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6048099372732197]], [[0.552811031099736]], [[0.5151732413146766]]], "std": [[[0.21033266561957775]], [[0.22769933698202677]], [[0.24036589278817283]]], "count": [249]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6085830189823325]], [[0.56582700142251]], [[0.5337545893400502]]], "std": [[[0.20075210914264568]], [[0.21739208707020638]], [[0.22929225920365334]]], "count": [249]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1569]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1569]}, "observation.state": {"min": [1.2599477619029598, -4.876982143967139, 0.699988380395449, 0.0, 0.0, -0.009920241311192513, 0.3895464241504669, -0.004020000144902891, -0.20899786336134785, 0.32833123002493914, -0.987575113773346, -0.16313436627388, -0.493606835603714, 7.957655179779977e-05, 0.00046819850499489916, -0.04043002388967883], "max": [3.72523792817949, -3.282054070254683, 0.7021197554807777, 0.0, 0.0, 0.9210068583488464, 1.0, 0.6420082077859348, 0.45652535352036594, 0.6548273061486086, 0.986456573009491, 0.5071868300437927, 0.4729461669921875, 0.5728943943977356, 0.04084393887949007, 0.00212756401736053], "mean": [2.77040864188943, -3.8115271637259602, 0.7013582992979123, 0.0, 0.0, 0.25284824106649173, 0.9208619846250693, 0.23887417444343637, -0.06853577282222152, 0.5795323135497827, -0.09651049715155169, 0.04625889751051094, -0.05432103291087724, 0.09016869007433102, 0.0364326625020122, -0.03594563198388092], "std": [0.8606633553966504, 0.4298145274230537, 0.0007344841167355871, 0.0, 0.0, 0.26222786924383756, 0.13898751288158404, 0.17628838834471602, 0.10725211205362735, 0.07070406583262133, 0.8997681279759546, 0.14783951456430772, 0.34797289809074633, 0.1579250689026587, 0.006685306957581355, 0.0070075266805569355], "count": [1569]}, "action": {"min": [-1.0, -1.0, -0.5542857142857143, 0.0, -1.0, -1.0, -1.0, -0.7714285714285714, -0.4542857142857143, -0.7285714285714285, -0.4657142857142857, -1.0], "max": [1.0, 1.0, 0.9257142857142858, 0.0, 1.0, 0.942857142857143, 1.0, 1.0, 0.6828571428571428, 0.2285714285714286, 0.2914285714285714, 1.0], "mean": [0.007939542929982668, 0.10624146408085221, 0.005910953291450434, 0.0, -0.22115997450605482, 0.0047983246836019395, 0.008558681598834562, -0.008795411089866157, 0.000537193845033232, -0.005275425657834836, 0.0015951925703359762, -0.18164435946462715], "std": [0.4069919772794027, 0.3597206891101282, 0.21791281050269296, 0.0, 0.9752375432049737, 0.40026964250320607, 0.2703868889179547, 0.21651147752153282, 0.0833596124504752, 0.07553340389273958, 0.05398171101701341, 0.9833642899122811], "count": [1569]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010197577998042107], "std": [0.10046683996915817], "count": [1569]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006373486297004461], "std": [0.0252377181303038], "count": [1569]}, "timestamp": {"min": [0.0], "max": [78.4], "mean": [39.2], "std": [22.64655970929507], "count": [1569]}, "frame_index": {"min": [0], "max": [1568], "mean": [784.0], "std": [452.93119418590135], "count": [1569]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1569]}, "index": {"min": [7037], "max": [8605], "mean": [7821.0], "std": [452.93119418590135], "count": [1569]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1569]}}} +{"episode_index": 5, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5524901455756833]], [[0.5360601863710689]], [[0.5059071451993276]]], "std": [[[0.17058819067276368]], [[0.16844416159102063]], [[0.18186901242504158]]], "count": [281]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5719782821232572]], [[0.5621784421289785]], [[0.5417298766608581]]], "std": [[[0.17778501531559726]], [[0.18175432893042517]], [[0.18386467108685664]]], "count": [281]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5699697842543726]], [[0.5591290755095897]], [[0.5382744337474132]]], "std": [[[0.19126861348262697]], [[0.19287929091435035]], [[0.19520406637532534]]], "count": [281]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1843]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1843]}, "observation.state": {"min": [-3.3145365665342417, -5.662285973248138, 0.699967738812451, 0.0, 0.0, -0.999841570854187, 0.004522782284766436, -0.0568723234517281, -0.34582033500190024, 0.29884911485080357, -0.98885577917099, -0.6525955200195312, -0.5356671214103699, 9.672339365351945e-05, 0.000999424856651002, -0.04039183685405257], "max": [-0.9591986345252167, -3.4856203980939133, 0.7013373556374343, 0.0, 0.0, 0.9999897480010986, 1.0, 0.6379587455095049, 0.4887996100501797, 0.7517996528061148, 0.9879941940307617, 0.7081194519996643, 0.5613528490066528, 0.40097835659980774, 0.040089920929563906, -0.0008380084235433905], "mean": [-1.8469610311014066, -4.370483686956201, 0.7007510252453545, 0.0, 0.0, 0.14109304574659387, 0.8702634995410595, 0.1487022940697801, -0.042270690922663806, 0.6018279659050304, -0.035398156663612124, 0.2151240430655068, -0.06103633594642449, 0.1022729051220009, 0.029380455618312314, -0.030280477203358042], "std": [0.8081297383753148, 0.7086137192443908, 0.00042653207441682337, 0.0, 0.0, 0.4308578890043845, 0.19260236915797757, 0.1817100373876171, 0.1418061425184278, 0.10349673812464395, 0.8497239569676412, 0.32291092628516466, 0.31986847102162097, 0.0983124217389902, 0.012066384867345776, 0.01152607137974238], "count": [1843]}, "action": {"min": [-1.0, -1.0, -0.8371428571428572, 0.0, -1.0, -1.0, -1.0, -0.7571428571428572, -0.38, -0.6828571428571428, -0.3, -1.0], "max": [1.0, 1.0, 0.6285714285714286, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5314285714285715, 0.5971428571428572, 0.26285714285714284, 1.0], "mean": [0.12139369041159605, 0.046391752577319575, -0.10221688241221624, 0.0, -0.15680954964731417, -0.0006976203395085773, -0.009065188745058522, 0.007538175335245325, -0.006962250988295477, -0.002320750329431822, 0.000803038524145416, -0.16115029842647857], "std": [0.4136410818589825, 0.29950473757361945, 0.2459092937165377, 0.0, 0.9876288600174725, 0.41649378624425554, 0.29242556282331267, 0.28585485820125867, 0.0707526936754015, 0.11195098031400326, 0.062383101937781585, 0.9869298765956317], "count": [1843]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008681497536599636], "std": [0.09276922792196274], "count": [1843]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005425935973955507], "std": [0.02328731821364616], "count": [1843]}, "timestamp": {"min": [0.0], "max": [92.1], "mean": [46.05], "std": [26.601409737079727], "count": [1843]}, "frame_index": {"min": [0], "max": [1842], "mean": [921.0], "std": [532.0281947415945], "count": [1843]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1843]}, "index": {"min": [8606], "max": [10448], "mean": [9527.0], "std": [532.0281947415945], "count": [1843]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1843]}}} +{"episode_index": 6, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46889034909899957]], [[0.43984166647334266]], [[0.41925120749265]]], "std": [[[0.22470590358193812]], [[0.2206922850878028]], [[0.23250093845314973]]], "count": [260]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5119643085646594]], [[0.4623122101060226]], [[0.43337568303218976]]], "std": [[[0.2287259795412225]], [[0.2402067526349285]], [[0.24999588122360608]]], "count": [260]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49323524463590274]], [[0.4385537666792604]], [[0.409355275195828]]], "std": [[[0.22228080778747858]], [[0.23979813507477646]], [[0.2537526478308524]]], "count": [260]}, "annotation.human.task_description": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1666]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1666]}, "observation.state": {"min": [0.20739203666853354, -5.9881406887224635, 0.6999869283309983, 0.0, 0.0, -0.9999353885650635, 0.0037177742924541235, -0.09110525261711733, -0.33952427799199913, 0.32390138513981237, -0.986172616481781, -0.18595954775810242, -0.6157479882240295, 1.3837762708135415e-05, 0.004351775730709594, -0.040443112996159325], "max": [3.588784944305498, -4.446702726848554, 0.7023736657994797, 0.0, 0.0, 0.999993085861206, 1.0, 0.6231233964898457, 0.2607444117776261, 0.8216003195476196, 0.9790501594543457, 0.49074411392211914, 0.6234298944473267, 0.5555757284164429, 0.042065008081659465, -0.0014124374568228368], "mean": [2.3813423397869493, -4.79607882980931, 0.7007805158917744, 0.0, 0.0, 0.064102727626417, 0.9384649583156135, 0.19964397051515415, -0.010813559742141612, 0.6615920439633719, -0.6322221925564888, 0.0068364801133523325, -0.2936372032784829, 0.07618981770728599, 0.03558741524923636, -0.03687653107653536], "std": [1.2308574866444477, 0.4833606016854355, 0.000795880754437999, 0.0, 0.0, 0.2978768432000889, 0.162615384988996, 0.20318617424296376, 0.09126088705164352, 0.11271511232849207, 0.6265770376029357, 0.13127838312447554, 0.28174317162710827, 0.13787188743635337, 0.00617300963733703, 0.004999959494764783], "count": [1666]}, "action": {"min": [-1.0, -1.0, -0.6971428571428572, 0.0, -1.0, -1.0, -1.0, -0.9928571428571428, -0.5114285714285715, -0.3914285714285714, -0.2057142857142857, -1.0], "max": [1.0, 1.0, 0.6828571428571428, 0.0, 1.0, 1.0, 1.0, 1.0, 0.7, 0.4114285714285714, 0.2714285714285714, 1.0], "mean": [0.12621334247984906, 0.06695678271308522, -0.0635499914251415, 0.0, -0.2845138055222089, 0.004904819070485319, 0.003768650317269774, -0.00289401474875666, 0.0005385011147316047, -0.0029994855084891094, 0.0004167381238209561, -0.20408163265306123], "std": [0.4366148547650046, 0.3193859346919393, 0.2518051936643177, 0.0, 0.95867194308964, 0.5006523185631572, 0.29178453589059494, 0.2838244347062663, 0.11204497788608404, 0.07833504189049312, 0.04310382083378339, 0.9789538738948003], "count": [1666]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009603841230273247], "std": [0.09752747416496277], "count": [1666]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006002400960384153], "std": [0.02449244389328111], "count": [1666]}, "timestamp": {"min": [0.0], "max": [83.25], "mean": [41.625], "std": [24.04663437988776], "count": [1666]}, "frame_index": {"min": [0], "max": [1665], "mean": [832.5], "std": [480.9326875977552], "count": [1666]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1666]}, "index": {"min": [10449], "max": [12114], "mean": [11281.5], "std": [480.9326875977552], "count": [1666]}, "task_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1666]}}} +{"episode_index": 7, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6149127317392314]], [[0.6009565175396845]], [[0.5851299186345488]]], "std": [[[0.19763721996631384]], [[0.19927840157511068]], [[0.20998073834863396]]], "count": [266]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.589280108823443]], [[0.5778707874044458]], [[0.5627326593029276]]], "std": [[[0.26687564781315765]], [[0.2574081519859327]], [[0.25346421284815535]]], "count": [266]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6338467527803165]], [[0.6205367409864851]], [[0.604031180182548]]], "std": [[[0.226334663772812]], [[0.21690561483618648]], [[0.21478195960876237]]], "count": [266]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1713]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1713]}, "observation.state": {"min": [1.1047785649654374, -2.4600668203528016, 0.699958118504666, 0.0, 0.0, -0.9999988079071045, 1.191389310406521e-05, 0.05272699894047639, -0.365422392178143, 0.2582691145904612, -0.9929132461547852, -0.24654006958007812, -0.6154133081436157, 1.1923852980544325e-05, 0.0022391491209147046, -0.041393503240144805], "max": [3.8685310419139074, -0.5256139430133784, 0.7021625613697544, 0.0, 0.0, 1.0, 0.9999998807907104, 0.7174789472334031, 0.1904999757704886, 0.876435691822957, 0.9864964485168457, 0.4888160228729248, 0.5877351760864258, 0.6310105323791504, 0.040078492231920025, -0.01051925280040873], "mean": [1.917078532996171, -1.2426084481304005, 0.7009093785813609, 0.0, 0.0, 0.5753988402472783, 0.5668071061836626, 0.29912583426954337, -0.06920877769578869, 0.6171810320042912, -0.5453124270756483, 0.10394426815372702, -0.1836548946673719, 0.09361453256862487, 0.03123241528116204, -0.03235355731400747], "std": [1.0057154608313177, 0.6190288689828463, 0.0006152942856852153, 0.0, 0.0, 0.5073882738287835, 0.3003381366661491, 0.16224307318521633, 0.07756868602509258, 0.11648508389592667, 0.7073747533528214, 0.15239856775070876, 0.3206081734684267, 0.1514700581486091, 0.010747907327795809, 0.009774876892917754], "count": [1713]}, "action": {"min": [-1.0, -1.0, -0.8314285714285715, 0.0, -1.0, -1.0, -1.0, -0.8428571428571429, -0.88, -0.5857142857142857, -0.26571428571428574, -1.0], "max": [1.0, 1.0, 0.45999999999999996, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5085714285714286, 0.5685714285714286, 0.2914285714285714, 1.0], "mean": [0.153177383037278, 0.05007505629221915, -0.10751230089233578, 0.0, -0.28079392877991827, -0.001818030189308648, -0.015061295971978993, -0.006821783003919629, 0.0006388124426653285, -0.006524893670252689, -0.0005420732215828505, -0.23409223584354932], "std": [0.42200643509697405, 0.3044992155905157, 0.24940913875202728, 0.0, 0.9597680811322905, 0.4696311550944416, 0.321593875332825, 0.29143742284809165, 0.12259730067035171, 0.1092817472534544, 0.05624510951715425, 0.9722143925687322], "count": [1713]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009340338408946991], "std": [0.09619301557540894], "count": [1713]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005837711617046118], "std": [0.02415430340405978], "count": [1713]}, "timestamp": {"min": [0.0], "max": [85.6], "mean": [42.8], "std": [24.725021065039897], "count": [1713]}, "frame_index": {"min": [0], "max": [1712], "mean": [856.0], "std": [494.50042130079794], "count": [1713]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1713]}, "index": {"min": [12115], "max": [13827], "mean": [12971.0], "std": [494.50042130079794], "count": [1713]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1713]}}} +{"episode_index": 8, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5279037942785663]], [[0.5232623673060721]], [[0.5096749362398956]]], "std": [[[0.1725683833390664]], [[0.15369970597884647]], [[0.14456748041118395]]], "count": [260]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5337288022508808]], [[0.5340441500978772]], [[0.5189950340581696]]], "std": [[[0.20347694745257003]], [[0.17818618169673886]], [[0.16672697745606763]]], "count": [260]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5306017081374317]], [[0.5339752038463749]], [[0.5186848845560986]]], "std": [[[0.20319562268118782]], [[0.1768781103488509]], [[0.1667211470935087]]], "count": [260]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1663]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1663]}, "observation.state": {"min": [2.2119830321109997, -4.753649445516929, 0.6999783103319469, 0.0, 0.0, -0.9999809265136719, 0.0061765918508172035, -0.17393951028808896, -0.3130227354884654, 0.34318652416179785, -0.9894821643829346, -0.17825910449028015, -0.5648940205574036, 1.226776930707274e-05, 0.0006142612502667498, -0.04004544508116386], "max": [3.510781990685921, -0.965355005599146, 0.7018415451893042, 0.0, 0.0, 0.999980092048645, 0.9999728202819824, 0.7655575843661021, 0.32415359563384283, 0.7753680655858243, 0.9813967347145081, 0.4157673120498657, 0.5967121720314026, 0.6674176454544067, 0.04021894431256835, -0.0011952443361997272], "mean": [2.4907166708119397, -2.133638127232566, 0.7004911045044246, 0.0, 0.0, 0.5969412821746569, 0.7270828520946913, 0.24554247452853917, -0.004244863379418167, 0.619180085154669, -0.35999288758956305, 0.020652933009260042, -0.20123168277166117, 0.09131913057877689, 0.036107593815760126, -0.032343938084867595], "std": [0.45631761079579575, 1.3631092496598538, 0.0006000011675074056, 0.0, 0.0, 0.31756573613048167, 0.11901098451856924, 0.21305023902339523, 0.10890239079700263, 0.10670077778337614, 0.8090611430984048, 0.11141623358262599, 0.3588303977968344, 0.15935005021356646, 0.007464391751615541, 0.009711349972005357], "count": [1663]}, "action": {"min": [-1.0, -1.0, -0.08, 0.0, -1.0, -1.0, -1.0, -0.7214285714285715, -0.6742857142857143, -0.5857142857142857, -0.22, -1.0], "max": [1.0, 1.0, 0.8114285714285715, 0.0, 1.0, 1.0, 1.0, 1.0, 0.7485714285714286, 0.41428571428571437, 0.62, 1.0], "mean": [0.04959625461730094, 0.007812902671591767, 0.06142427626492565, 0.0, -0.36500300661455204, 0.006923803796924666, -0.013254875010737908, -0.0043252297912550666, -0.00029378919336826804, -0.006738252727428918, 0.0015239240615067455, -0.2339146121467228], "std": [0.458898445773447, 0.24948271776230008, 0.18722850469774763, 0.0, 0.9310063400226364, 0.5158390360860798, 0.3013813638732902, 0.2909919330302239, 0.12720406859945058, 0.10832561162346181, 0.06460714904678783, 0.9722571440849608], "count": [1663]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009019843302667141], "std": [0.09454355388879776], "count": [1663]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006013229104028864], "std": [0.024514512460179803], "count": [1663]}, "timestamp": {"min": [0.0], "max": [83.1], "mean": [41.550000000000004], "std": [24.003333101883996], "count": [1663]}, "frame_index": {"min": [0], "max": [1662], "mean": [831.0], "std": [480.0666620376799], "count": [1663]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1663]}, "index": {"min": [13828], "max": [15490], "mean": [14659.0], "std": [480.0666620376799], "count": [1663]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1663]}}} +{"episode_index": 9, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47577784857952765]], [[0.4367045918166962]], [[0.40984657353075765]]], "std": [[[0.20779422843865133]], [[0.19670927779668013]], [[0.19472000468427847]]], "count": [313]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5055459602564818]], [[0.45853301709452376]], [[0.4222284892578737]]], "std": [[[0.23596789979590801]], [[0.21429773645859285]], [[0.21090403350687079]]], "count": [313]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.516303967458745]], [[0.4725859133199381]], [[0.43466986446073536]]], "std": [[[0.2335019840293627]], [[0.21730019242024387]], [[0.2163035871627535]]], "count": [313]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [2131]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2131]}, "observation.state": {"min": [1.4901592837994748, -4.675518122672627, 0.6999813460792833, 0.0, 0.0, -0.999998927116394, 0.0015244067180901766, -0.020514511441332983, -0.42977442405043975, 0.33690249987855714, -0.9884384274482727, -0.43509194254875183, -0.6856668591499329, 0.00015021488070487976, 0.00045226683090700623, -0.04251383190540426], "max": [6.534393981871425, -0.9635806999777198, 0.7027959311641855, 0.0, 0.0, 0.9999954700469971, 1.0, 0.6614583151250742, 0.36943201699956596, 0.7713779224482495, 0.96918123960495, 0.4167620539665222, 0.7007309198379517, 0.5880294442176819, 0.04035393575519611, -0.001763025409495919], "mean": [3.981070296482651, -2.03823348684167, 0.7019313891789108, 0.0, 0.0, 0.3827422039202845, 0.6071377224906194, 0.2180253936894646, -0.06212036741930169, 0.5920351457861044, -0.30737351302751514, -0.01909134128965273, -0.1634101055434718, 0.07334135951746254, 0.032328745519534345, -0.03544773912493041], "std": [1.45695774560458, 1.0329202183594486, 0.0006671858051351242, 0.0, 0.0, 0.6318258280914951, 0.29272563204133223, 0.16331300326754603, 0.11022668752282902, 0.09022741654847204, 0.8445851661428263, 0.13283772458815676, 0.353800980664591, 0.13011583838534813, 0.00958560205472733, 0.005924176176495521], "count": [2131]}, "action": {"min": [-1.0, -1.0, -0.8028571428571428, 0.0, -1.0, -1.0, -1.0, -0.7142857142857143, -0.41428571428571437, -0.3914285714285714, -0.2257142857142857, -1.0], "max": [1.0, 1.0, 0.8, 0.0, 1.0, 1.0, 1.0, 1.0, 0.6171428571428571, 0.6085714285714285, 0.4628571428571429, 1.0], "mean": [0.28580813836562324, -0.04340685124354761, 0.06304752966414143, 0.0, -0.0323791647114031, 0.003935107595360977, -0.01478849634645035, 0.006244553194342035, 0.00035395857075819166, -0.0013273446403432346, 0.0037514245491720843, -0.05678085405912717], "std": [0.5074595023048697, 0.3425604211819023, 0.2783813742611517, 0.0, 0.9994756573787218, 0.40618144432270675, 0.29396421381037957, 0.2606995712620094, 0.08915932827040612, 0.09220924489272275, 0.05704114531492039, 0.9983866658826561], "count": [2131]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007508212234824896], "std": [0.08632402867078781], "count": [2131]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004692632566870014], "std": [0.021657401706643504], "count": [2131]}, "timestamp": {"min": [0.0], "max": [106.5], "mean": [53.25], "std": [30.75833220446128], "count": [2131]}, "frame_index": {"min": [0], "max": [2130], "mean": [1065.0], "std": [615.1666440892257], "count": [2131]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [2131]}, "index": {"min": [15491], "max": [17621], "mean": [16556.0], "std": [615.1666440892257], "count": [2131]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [2131]}}} +{"episode_index": 10, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5667858562887471]], [[0.555406252675128]], [[0.5327621688754776]]], "std": [[[0.17732954841452006]], [[0.16976665144168096]], [[0.16588162448403831]]], "count": [255]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5961842723407914]], [[0.5804069355367376]], [[0.5599138904470335]]], "std": [[[0.20257642557549624]], [[0.18434601889395705]], [[0.1736211469081119]]], "count": [255]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5513345349820381]], [[0.5400982126296827]], [[0.5241132983332732]]], "std": [[[0.2192621030986498]], [[0.1992516779559368]], [[0.1858888238238812]]], "count": [255]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1625]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1625]}, "observation.state": {"min": [0.9636279751874032, -3.72146878858268, 0.6999800741214838, 0.0, 0.0, -1.0, 8.308911247922879e-08, -0.005114248373653929, -0.34057509719124335, 0.33883599625866345, -0.9865814447402954, -0.2528965175151825, -0.6228998303413391, 3.0157896617311053e-05, 0.0002486952826226301, -0.04053706383974986], "max": [2.780795563810331, -1.5255529888465, 0.7027368560341447, 0.0, 0.0, 1.0, 0.9999861717224121, 0.7294808532871291, 0.01110604314786956, 0.7574776855778717, 0.9693800210952759, 0.43682336807250977, 0.6892154812812805, 0.7494933009147644, 0.04040152949501266, -0.0005681413663728174], "mean": [1.655763734519063, -3.1164227013294483, 0.7006814225146566, 0.0, 0.0, 0.04222426887458334, 0.29336332774012935, 0.2617119464588831, -0.10537147810400556, 0.5972666356211951, 0.3315349830480722, 0.020802458057036767, 0.19686762606839722, 0.11802203222123633, 0.035189406228674336, -0.03637818513904864], "std": [0.6106641507247074, 0.5812248764255705, 0.0008701715122274823, 0.0, 0.0, 0.8959068489831388, 0.3309169265483863, 0.18447877413041303, 0.07539752068918566, 0.11093448422274613, 0.7970433928869145, 0.10790705682883074, 0.3943351318644782, 0.18585867322688257, 0.007388299138223497, 0.007328257149604793], "count": [1625]}, "action": {"min": [-1.0, -1.0, -0.9657142857142857, 0.0, -1.0, -1.0, -1.0, -0.807142857142857, -0.48571428571428577, -0.4828571428571429, -0.2571428571428571, -1.0], "max": [1.0, 1.0, 0.22285714285714286, 0.0, 1.0, 1.0, 1.0, 1.0, 0.4314285714285714, 0.42, 0.44571428571428573, 1.0], "mean": [0.02592087912087914, 0.0002769230769230842, -0.09992263736263735, 0.0, -0.2356923076923077, 0.0010989010989010952, -0.009468131868131885, 0.00803076923076923, -0.0037081318681318693, -0.011310769230769223, -0.008467692307692317, -0.2763076923076923], "std": [0.37716929813304545, 0.2624271780600613, 0.22430728876276812, 0.0, 0.9718277296386746, 0.43042892478591593, 0.27962818945456885, 0.2821085047856714, 0.08185816404131498, 0.10932215265634748, 0.059910675858327954, 0.9610692270443255], "count": [1625]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016615385189652443], "std": [0.1278253197669983], "count": [1625]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006153846153846154], "std": [0.024799312836442936], "count": [1625]}, "timestamp": {"min": [0.0], "max": [81.2], "mean": [40.6], "std": [23.45485024467221], "count": [1625]}, "frame_index": {"min": [0], "max": [1624], "mean": [812.0], "std": [469.0970048934442], "count": [1625]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1625]}, "index": {"min": [17622], "max": [19246], "mean": [18434.0], "std": [469.0970048934442], "count": [1625]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1625]}}} +{"episode_index": 11, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5643517275865287]], [[0.5356492412054088]], [[0.5129822226131664]]], "std": [[[0.21294150769130885]], [[0.2225902840856004]], [[0.23983971106308102]]], "count": [284]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5610257763719071]], [[0.52813143431235]], [[0.5046425006890686]]], "std": [[[0.22376160145914295]], [[0.24752054927441894]], [[0.2635422170714312]]], "count": [284]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5309740677027373]], [[0.49607029187682583]], [[0.473511930316629]]], "std": [[[0.2240338990931079]], [[0.24373713869710226]], [[0.2586086552110823]]], "count": [284]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1869]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1869]}, "observation.state": {"min": [0.7366881327063006, -3.732817814338713, 0.6999353252574939, 0.0, 0.0, -0.9999271631240845, 0.007375951390713453, -0.04658028959429639, -0.3253194639919714, 0.3070931732737807, -0.992123544216156, -0.38394850492477417, -0.6039888858795166, 0.0003443567256908864, 0.000996672720351573, -0.041072846582002095], "max": [3.389205300870564, -1.8389295256147653, 0.7009850408395571, 0.0, 0.0, 0.9999728202819824, 1.0, 0.8745894103337934, 0.35754199683692134, 0.7927829475187652, 0.9421043992042542, 0.4880307912826538, 0.47977137565612793, 0.6109865307807922, 0.041176596222412445, -0.013220307048376722], "mean": [2.3530539628306206, -2.9447576206562704, 0.7002689644232254, 0.0, 0.0, -0.04746161587095651, 0.9271337238430415, 0.22178420189109696, -0.01390318550925204, 0.6170910805932774, -0.7873669850628539, -0.0243263870334166, -0.23949982567032618, 0.1108588515795348, 0.03821524390189877, -0.03165754086729155], "std": [0.9690051450564875, 0.3937868432489233, 0.00027087760141104785, 0.0, 0.0, 0.3260254014882987, 0.17854383865427031, 0.23299413609643393, 0.08770612660221742, 0.10099245480366378, 0.4757999613312943, 0.14081983160412934, 0.2258212877536726, 0.11225206529531209, 0.004660550975187092, 0.0094795678282686], "count": [1869]}, "action": {"min": [-1.0, -1.0, -0.6228571428571429, 0.0, -1.0, -1.0, -1.0, -1.0, -0.3657142857142857, -0.68, -0.28, -1.0], "max": [1.0, 1.0, 0.8342857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.54, 0.45999999999999996, 0.37714285714285717, 1.0], "mean": [0.08212183749904457, -0.018531682335855695, 0.05244057173431164, 0.0, -0.13215623327982878, -0.005392494076282191, -0.005965757089352593, 0.0002713444928533092, 0.0011694565466636104, -0.0090162806695712, 0.00611786287548728, -0.164258962011771], "std": [0.4290022177507494, 0.2973711532986385, 0.2685279182021774, 0.0, 0.9912288988953563, 0.45558707805093934, 0.22872253156831582, 0.26630165964571867, 0.08782336985097147, 0.09692359381055374, 0.05767840113909463, 0.9864172511664812], "count": [1869]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0085607273504138], "std": [0.09212732315063477], "count": [1869]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005350454788657035], "std": [0.023124861193123927], "count": [1869]}, "timestamp": {"min": [0.0], "max": [93.4], "mean": [46.699999999999996], "std": [26.976687466526844], "count": [1869]}, "frame_index": {"min": [0], "max": [1868], "mean": [934.0], "std": [539.5337493305369], "count": [1869]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1869]}, "index": {"min": [19247], "max": [21115], "mean": [20181.0], "std": [539.5337493305369], "count": [1869]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1869]}}} +{"episode_index": 12, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49590361651252296]], [[0.4638425958457113]], [[0.450597523494261]]], "std": [[[0.1620298794932127]], [[0.16740806049182672]], [[0.17816157947140684]]], "count": [280]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46304964017467337]], [[0.44327939458254006]], [[0.43194957807952283]]], "std": [[[0.1764738535652455]], [[0.1803431003464107]], [[0.18764139828174906]]], "count": [280]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45943737981032257]], [[0.4318540995194464]], [[0.4162484820283094]]], "std": [[[0.186924721657734]], [[0.19374032779346814]], [[0.20283177590692164]]], "count": [280]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1838]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1838]}, "observation.state": {"min": [-0.8982084946690073, -2.773657793841583, 0.6999595763856123, 0.0, 0.0, -0.9999988079071045, 0.0015451429644599557, -0.08911146979935358, -0.2620519415789395, 0.31005646638893236, -0.9888626337051392, -0.2679611146450043, -0.5912142395973206, 0.00020020386727992445, 0.0029604090760166524, -0.04129128721298045], "max": [0.6213666210761875, -0.9634536055031165, 0.7070244827827843, 0.0, 0.0, 0.9998452663421631, 0.9999973773956299, 0.5901650238640151, 0.28752498514792235, 0.755934455369546, 0.9671388268470764, 0.4095872640609741, 0.49478235840797424, 0.5318300127983093, 0.0405344914257713, -0.016827170587209356], "mean": [0.19012407280475718, -1.6182074386342626, 0.7015422847379419, 0.0, 0.0, 0.4145431015195864, 0.7375932415639875, 0.21967456806856867, 0.008522880552737241, 0.6053879136431796, -0.3950463094636068, 0.08210824785087262, -0.15753638458978364, 0.08738165438469946, 0.03479753774698931, -0.03745784692710225], "std": [0.506925671482965, 0.6168895570343678, 0.0025572901425842663, 0.0, 0.0, 0.5060890514334457, 0.1672844158211396, 0.19744357833658285, 0.07715048053853803, 0.12178052313563074, 0.8048569313150635, 0.1380083169976533, 0.3538299409029799, 0.11272435000494364, 0.007530625120269281, 0.00372543078877853], "count": [1838]}, "action": {"min": [-1.0, -1.0, -0.008571428571428572, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4542857142857143, -0.40571428571428575, -0.21142857142857144, -1.0], "max": [1.0, 1.0, 0.8085714285714286, 0.0, 1.0, 0.9, 1.0, 1.0, 0.4371428571428572, 0.6057142857142859, 0.32571428571428573, 1.0], "mean": [0.10141069485465565, 0.010516088916524164, 0.1017052697030934, 0.0, -0.4428726877040261, -0.014215762474739619, -0.006824187781750376, -0.0333631276231929, -0.0007041815638116003, -0.001621327529923841, -0.0006264573293953054, -0.33188248095756256], "std": [0.36386817619298323, 0.1817746347993723, 0.21413852929239396, 0.0, 0.8965845093943083, 0.4480967224160406, 0.2583608014506142, 0.30618408085858057, 0.08202856970171818, 0.08375264867268847, 0.041238657216639094, 0.9433207401692594], "count": [1838]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008161044679582119], "std": [0.08996911346912384], "count": [1838]}, "next.done": {"min": [false], "max": [true], "mean": [0.000544069640914037], "std": [0.023318954289158696], "count": [1838]}, "timestamp": {"min": [0.0], "max": [91.85], "mean": [45.925000000000004], "std": [26.529240942778593], "count": [1838]}, "frame_index": {"min": [0], "max": [1837], "mean": [918.5], "std": [530.5848188555718], "count": [1838]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1838]}, "index": {"min": [21116], "max": [22953], "mean": [22034.5], "std": [530.5848188555718], "count": [1838]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1838]}}} +{"episode_index": 13, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5562988943746443]], [[0.5317344475326752]], [[0.49333838497557225]]], "std": [[[0.1948786417829532]], [[0.20804099625327613]], [[0.2205500260658363]]], "count": [280]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5672249722948262]], [[0.508652949827392]], [[0.46458182049064745]]], "std": [[[0.18100624357435374]], [[0.1926162810675838]], [[0.19692940467027048]]], "count": [280]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5448408621566302]], [[0.5060599919594303]], [[0.47875574021112355]]], "std": [[[0.2035648759711374]], [[0.2164055023316671]], [[0.2213378401119109]]], "count": [280]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1832]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1832]}, "observation.state": {"min": [0.8801939678372678, -4.2225927860302885, 0.699984423538252, 0.0, 0.0, 0.38795772194862366, 0.689756453037262, -0.20460733288442823, -0.3467802749100246, 0.32943701165376704, -0.9935548901557922, -0.4224086403846741, -0.5624520182609558, 7.3690789577085525e-06, 0.003750568587450917, -0.04003196334719264], "max": [2.994373115468088, -1.130111086276798, 0.7014581764824814, 0.0, 0.0, 0.7240414619445801, 0.9216771721839905, 0.6880110601562934, 0.0572801157990277, 0.7588964584787496, 0.9919140934944153, 0.4200083017349243, 0.4997100830078125, 0.30775734782218933, 0.04009027054959625, -0.006584306066205064], "mean": [1.6980210889893919, -2.196920213798213, 0.7007419777259638, 0.0, 0.0, 0.6584571717250035, 0.748703129622093, 0.1710989803000142, -0.03498697068141943, 0.5928275608824363, -0.317210643312296, 0.010464085575079293, -0.0961068747443143, 0.053891456789144254, 0.03544084472162553, -0.036554555439554756], "std": [0.675335544597354, 1.169628522121449, 0.00047149783992079944, 0.0, 0.0, 0.06123295461836902, 0.0461335568877963, 0.23746290770970055, 0.05485714761979024, 0.1073836673831433, 0.878493206408526, 0.09802325796848713, 0.3186250910691008, 0.06516338846628407, 0.0060911564408778485, 0.004850069201069819], "count": [1832]}, "action": {"min": [-1.0, -1.0, -0.30285714285714294, 0.0, -1.0, -1.0, -1.0, -0.7928571428571428, -0.2914285714285714, -0.2885714285714286, -0.13714285714285715, -1.0], "max": [1.0, 1.0, 0.4371428571428572, 0.0, 1.0, 1.0, 0.8428571428571429, 1.0, 0.33714285714285713, 0.32571428571428573, 0.3142857142857143, 1.0], "mean": [0.02563162819713034, -0.02330786026200875, 0.0001918278228321922, 0.0, -0.2183406113537118, 0.005770430442919528, -0.012823611977542133, 0.008402214597629432, 0.0011088583905177788, -1.5595757953831933e-06, -0.0008515283842794758, -0.19759825327510916], "std": [0.4138618465729377, 0.3009602566161354, 0.086571116187634, 0.0, 0.975872623570154, 0.42272256478587816, 0.1677097679008362, 0.2574554515391406, 0.04395298205409619, 0.06240733258367509, 0.03865781740673677, 0.9802830868186185], "count": [1832]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008187772706151009], "std": [0.09011511504650116], "count": [1832]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005458515283842794], "std": [0.02335708831368414], "count": [1832]}, "timestamp": {"min": [0.0], "max": [91.55], "mean": [45.775], "std": [26.44263838954048], "count": [1832]}, "frame_index": {"min": [0], "max": [1831], "mean": [915.5], "std": [528.8527677908096], "count": [1832]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1832]}, "index": {"min": [22954], "max": [24785], "mean": [23869.5], "std": [528.8527677908096], "count": [1832]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1832]}}} +{"episode_index": 14, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4978238497409857]], [[0.487141046531949]], [[0.45518365648760056]]], "std": [[[0.2358543957833168]], [[0.23097706625001288]], [[0.24083084055689957]]], "count": [355]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4830590569159827]], [[0.45784672654685776]], [[0.4377754207633207]]], "std": [[[0.2509229685935637]], [[0.24478446459359698]], [[0.24783737620456278]]], "count": [355]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48400625326329916]], [[0.45683549503304294]], [[0.43638358220709056]]], "std": [[[0.25790287353696856]], [[0.2534694350822231]], [[0.25845280023079503]]], "count": [355]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [2518]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2518]}, "observation.state": {"min": [-4.774752406219322, -5.893313934705003, 0.6999856274561091, 0.0, 0.0, -0.0989392101764679, 0.10706228762865067, -0.08927405359773455, -0.3699697263194408, 0.33572185754239503, -0.9958252906799316, -0.3867192268371582, -0.7241523265838623, 9.49257955653593e-05, 0.00022873559524818997, -0.04135701001516481], "max": [-0.9342331995919844, -3.634979815408428, 0.7012143119561544, 0.0, 0.0, 0.9942522644996643, 1.0, 0.6974440913942139, 0.3392304889627664, 0.8354533510055541, 0.9923668503761292, 0.32951366901397705, 0.7213658690452576, 0.5220308899879456, 0.040004516267645, -6.564723995517234e-05], "mean": [-2.2513822855398584, -4.097104232054298, 0.7006490654106879, 0.0, 0.0, 0.1587349408015888, 0.907329542401104, 0.1177760775999148, -0.07032031159465281, 0.6525792427765771, 0.367202624832476, 0.057175096929239035, 0.19328495338658377, 0.07929710877158332, 0.03160854170521782, -0.03367399755775966], "std": [1.401330266414879, 0.604232555192556, 0.0002604584618644668, 0.0, 0.0, 0.323507564681926, 0.21656220749612215, 0.19929577676781535, 0.09841488880791567, 0.10538793340222914, 0.7938197574688864, 0.135185781153876, 0.40290662207998135, 0.0865296947556327, 0.011205071854813283, 0.0102933093815001], "count": [2518]}, "action": {"min": [-1.0, -1.0, -0.6342857142857142, 0.0, -1.0, -1.0, -1.0, -0.8142857142857143, -0.3, -0.7171428571428572, -0.3457142857142857, -1.0], "max": [1.0, 1.0, 0.6314285714285715, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5571428571428572, 0.6314285714285715, 0.32285714285714284, 1.0], "mean": [0.10888460229206841, 0.07302564393509584, -0.00133893112447522, 0.0, -0.12231930103256553, 0.008152728923181647, -0.0075655281969817445, 0.00925621241348007, 0.00066833087484398, -0.0033620787473051176, 0.002913877226824009, -0.05003971405877681], "std": [0.39794031213802283, 0.3182217427181211, 0.2039093776373594, 0.0, 0.9924908002570618, 0.4047192488695492, 0.2637972777074628, 0.23967208844350932, 0.06324635345816117, 0.09965908327463634, 0.051169240603710614, 0.9987472287905991], "count": [2518]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00635424954816699], "std": [0.07945986837148666], "count": [2518]}, "next.done": {"min": [false], "max": [true], "mean": [0.0003971405877680699], "std": [0.01992442890327392], "count": [2518]}, "timestamp": {"min": [0.0], "max": [125.85], "mean": [62.925], "std": [36.34419657937151], "count": [2518]}, "frame_index": {"min": [0], "max": [2517], "mean": [1258.5], "std": [726.8839315874303], "count": [2518]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [2518]}, "index": {"min": [24786], "max": [27303], "mean": [26044.5], "std": [726.8839315874303], "count": [2518]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [2518]}}} +{"episode_index": 15, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5096374920049892]], [[0.48504215456404776]], [[0.4543127553179844]]], "std": [[[0.2331088227684195]], [[0.22727734411817285]], [[0.23762901603854733]]], "count": [318]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5564221631350125]], [[0.5411971541600069]], [[0.5281160991337991]]], "std": [[[0.23100713592521577]], [[0.24061763316044277]], [[0.24638271714765894]]], "count": [318]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5570247313790763]], [[0.5279490523691727]], [[0.5089828639866053]]], "std": [[[0.23246996312828244]], [[0.2512279384654381]], [[0.26418429114266423]]], "count": [318]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [2176]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2176]}, "observation.state": {"min": [3.048051763482648, -4.275606570638047, 0.6999901361100891, 0.0, 0.0, -1.0, 0.0003848445776384324, -0.14029893655578807, -0.34092903910770866, 0.27794605043026244, -0.9894355535507202, -0.18366307020187378, -0.5284675359725952, 2.5705008738441393e-05, 0.0009696343852170174, -0.04014272743731343], "max": [6.742872455095997, -0.9645868931156987, 0.7032262904180566, 0.0, 0.0, 0.9999977350234985, 1.0, 0.5562013355974678, 0.299969780268563, 0.7985066436320281, 0.9855214953422546, 0.4904857277870178, 0.5132908821105957, 0.6418143510818481, 0.040562541722561254, -0.002009681465420871], "mean": [4.274931779263412, -1.8394612657315075, 0.7010534604386625, 0.0, 0.0, 0.6127711090630996, 0.5638950714290947, 0.17460704687942785, -0.021337840266335596, 0.6274679457415123, -0.6123584956204629, -0.03327464825911995, -0.2859281214841758, 0.08117630378847326, 0.03159890417556061, -0.030831657164689816], "std": [1.4015500300298116, 0.907047881752527, 0.0011658652137176912, 0.0, 0.0, 0.4676897269346341, 0.2963110223177684, 0.19567030418738654, 0.08486519373258225, 0.10512485178783891, 0.6539362684877451, 0.13719300713200602, 0.2609046508874961, 0.14505029533493935, 0.011742355267732478, 0.010611349778351691], "count": [2176]}, "action": {"min": [-0.8928571428571429, -1.0, -0.7428571428571429, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5257142857142857, -0.6371428571428571, -0.4257142857142857, -1.0], "max": [1.0, 1.0, 0.6628571428571428, 0.0, 1.0, 0.9642857142857144, 1.0, 1.0, 0.7657142857142857, 0.44, 0.19714285714285715, 1.0], "mean": [0.2666819852941176, 0.016780462184873925, 0.06411896008403375, 0.0, -0.08363970588235294, 0.007323398109243716, 0.0077173056722689036, -0.007743566176470607, -0.00020483193277311368, -0.0023450630252100824, -0.0031565126050420132, -0.06709558823529412], "std": [0.46432048545416027, 0.3425199179319352, 0.256500251765611, 0.0, 0.9964960610057199, 0.39725035981084544, 0.2667526653984516, 0.27031130666603725, 0.10393428931425681, 0.09476399614369807, 0.054088058948820246, 0.9977465520057525], "count": [2176]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007352941203862429], "std": [0.08543345332145691], "count": [2176]}, "next.done": {"min": [false], "max": [true], "mean": [0.00045955882352941176], "std": [0.02143239672125187], "count": [2176]}, "timestamp": {"min": [0.0], "max": [108.75], "mean": [54.375], "std": [31.407851327335337], "count": [2176]}, "frame_index": {"min": [0], "max": [2175], "mean": [1087.5], "std": [628.1570265467067], "count": [2176]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [2176]}, "index": {"min": [27304], "max": [29479], "mean": [28391.5], "std": [628.1570265467067], "count": [2176]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [2176]}}} +{"episode_index": 16, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5640766397367103]], [[0.5397574344902234]], [[0.5103125200619991]]], "std": [[[0.1790849087712182]], [[0.18065887999849967]], [[0.2051588220962523]]], "count": [241]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.485862656576951]], [[0.4495074940604564]], [[0.4153691114357844]]], "std": [[[0.2388889471914352]], [[0.2332597812568985]], [[0.24385576778514592]]], "count": [241]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5282447495265369]], [[0.5042063879351825]], [[0.4822633367899562]]], "std": [[[0.23343316201252523]], [[0.23322549157580016]], [[0.24333315117472257]]], "count": [241]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1506]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1506]}, "observation.state": {"min": [1.0776435590828877, -3.8934664028736767, 0.6999560784983206, 0.0, 0.0, -1.0, 0.0, -0.07725361253396668, -0.522282583374059, 0.3218373265380934, -0.9990662336349487, -0.3471410274505615, -0.5693734884262085, 0.000249152013566345, 0.0004191205303884944, -0.040792689990464884], "max": [2.8518441516627564, -2.7987300482302935, 0.7028008248524159, 0.0, 0.0, 1.0, 0.9999856948852539, 0.6410175573613914, 0.023901837857167152, 0.8085413522863593, 0.9986487627029419, 0.30430907011032104, 0.5851864814758301, 0.5117647051811218, 0.04023816168596341, -0.007788082952099133], "mean": [1.6400703731291804, -3.166617371211864, 0.7008850415023391, 0.0, 0.0, 0.7450675469613541, 0.278555237227621, 0.21271375899611905, -0.08222841737798393, 0.6270916017829029, -0.33468275858586527, -0.02596829687634787, -0.12383901694212708, 0.0651379493489561, 0.03024471118199202, -0.03381773917665041], "std": [0.6582420637367837, 0.32428130062435495, 0.0009400361308548507, 0.0, 0.0, 0.5283987615332632, 0.29677615003877555, 0.17704403911818195, 0.0891862104626931, 0.12327397862052339, 0.8413191187468859, 0.13626174037023348, 0.3649425037870968, 0.09036534047171452, 0.012037653161902946, 0.010329169243821528], "count": [1506]}, "action": {"min": [-1.0, -1.0, -0.5514285714285714, 0.0, -1.0, -1.0, -1.0, -1.0, -0.3514285714285714, -0.5057142857142857, -0.37142857142857144, -1.0], "max": [1.0, 1.0, 0.982857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.3742857142857143, 0.4914285714285715, 0.27714285714285714, 1.0], "mean": [0.05151773856953139, -0.01977328780117625, 0.04780117624739136, 0.0, -0.2961487383798141, -0.007152343008916697, -0.020574843483209964, -0.023695693416808987, -0.004661354581673306, -0.007127679757161824, -0.0027717700626067143, -0.23904382470119523], "std": [0.37583110264487823, 0.2873069182842529, 0.23917639426531842, 0.0, 0.9551418348894859, 0.4450778464703137, 0.3164082578572994, 0.277726286600205, 0.06530862509285124, 0.11904345560930399, 0.055145693755648276, 0.9710087795031532], "count": [1506]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010624170303344727], "std": [0.10252461582422256], "count": [1506]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006640106241699867], "std": [0.025759846933958597], "count": [1506]}, "timestamp": {"min": [0.0], "max": [75.25], "mean": [37.625], "std": [21.737232842904973], "count": [1506]}, "frame_index": {"min": [0], "max": [1505], "mean": [752.5], "std": [434.74465685809946], "count": [1506]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1506]}, "index": {"min": [29480], "max": [30985], "mean": [30232.5], "std": [434.74465685809946], "count": [1506]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1506]}}} +{"episode_index": 17, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5136176857986394]], [[0.48345078966283417]], [[0.45744151595371224]]], "std": [[[0.23660347939752294]], [[0.2260680042129273]], [[0.23016562144127892]]], "count": [270]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4356991521742522]], [[0.4278705066689219]], [[0.4109925475497997]]], "std": [[[0.22662712176382127]], [[0.21369992916635525]], [[0.21467865410300552]]], "count": [270]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4523171737770629]], [[0.44833752512325825]], [[0.4329472790997186]]], "std": [[[0.2353385744048816]], [[0.22736952939321917]], [[0.2333369685050875]]], "count": [270]}, "annotation.human.task_description": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1747]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1747]}, "observation.state": {"min": [0.6358537417415848, -3.4748875912865405, 0.6999892648805017, 0.0, 0.0, -0.8358848690986633, 0.5489047169685364, -0.09341206097143706, -0.4043401624575398, 0.33226619321863726, -0.9853216409683228, -0.2207803726196289, -0.5042257905006409, 2.5441700927331112e-05, 0.002326995371583092, -0.041355172681866566], "max": [3.379904593999639, -1.695451789446449, 0.7025914066081466, 0.0, 0.0, 0.0006204182282090187, 1.0, 0.5751908439107001, 0.04517092686666535, 0.7684424444098692, 0.9418048858642578, 0.35235124826431274, 0.5829849243164062, 0.6641916036605835, 0.040087715914292305, -0.020534660613964174], "mean": [2.3005339549872748, -3.053343685062272, 0.7013426111334897, 0.0, 0.0, -0.1581632389842909, 0.9517416157719744, 0.10787104815569401, -0.05242945918575696, 0.6056662006076108, -0.44372528266006017, -0.02816469963100479, -0.12383143062213928, 0.09759543208752135, 0.03412441633871241, -0.03880652719439486], "std": [1.0450056042070601, 0.4637174591228774, 0.0006745110688347077, 0.0, 0.0, 0.2397121281247415, 0.10821461594381163, 0.19191834361800755, 0.058036573249166584, 0.09673900985213185, 0.8004109629908299, 0.10596172353306398, 0.33214589090323526, 0.12348702468786707, 0.006865170716168464, 0.0016549231651161356], "count": [1747]}, "action": {"min": [-1.0, -1.0, -0.7885714285714286, 0.0, -1.0, -1.0, -1.0, -0.8, -0.5771428571428572, -0.6657142857142857, -0.2857142857142857, -1.0], "max": [1.0, 1.0, 0.6228571428571429, 0.0, 1.0, 0.9857142857142858, 1.0, 1.0, 0.4571428571428572, 0.35714285714285715, 0.2885714285714286, 1.0], "mean": [0.11152588110229772, -0.07577479761223324, -0.002956905715921169, 0.0, -0.13108185460789926, 0.0002739389974650505, -0.011227410254313517, -0.014580096491945365, 0.0005086270340992742, -0.004906370103851511, -0.0021440837353831023, -0.15855752718946767], "std": [0.45281615384422425, 0.37054256728816054, 0.19147921348221159, 0.0, 0.9913715486095849, 0.41859557983219386, 0.23265098997710199, 0.2275972160595588, 0.07621826953586164, 0.0934474918315996, 0.0535306574617462, 0.9873497407563068], "count": [1747]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009158557280898094], "std": [0.0952611044049263], "count": [1747]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005724098454493417], "std": [0.02391823974330415], "count": [1747]}, "timestamp": {"min": [0.0], "max": [87.3], "mean": [43.65], "std": [25.215768875844336], "count": [1747]}, "frame_index": {"min": [0], "max": [1746], "mean": [873.0], "std": [504.31537751688677], "count": [1747]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1747]}, "index": {"min": [30986], "max": [32732], "mean": [31859.0], "std": [504.31537751688677], "count": [1747]}, "task_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1747]}}} +{"episode_index": 18, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5984850069107268]], [[0.5641193135145817]], [[0.5241764479450423]]], "std": [[[0.17875448212267717]], [[0.1883966964948168]], [[0.2124478204852361]]], "count": [276]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5917689235347955]], [[0.5513324851371849]], [[0.517330368488612]]], "std": [[[0.20045010293283844]], [[0.20129552190626906]], [[0.21791027378341207]]], "count": [276]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6032469423971043]], [[0.5703679625979199]], [[0.5420651968381187]]], "std": [[[0.20409379715049283]], [[0.2052347470866005]], [[0.21708619527115675]]], "count": [276]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1805]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1805]}, "observation.state": {"min": [0.9627836727993195, -5.18666789791193, 0.6999599944437985, 0.0, 0.0, -1.0, 3.7182862797635607e-06, -0.022207118768536205, -0.32070659696640913, 0.32949066521174475, -0.9953495860099792, -0.20308458805084229, -0.5769035220146179, 0.00011854009062517434, 0.0018407698411939703, -0.0438665307758752], "max": [4.109191337176809, -3.853515945737864, 0.7021996637137421, 0.0, 0.0, 1.0, 0.6666685938835144, 0.5818663680124985, 0.36752732673604704, 0.8325495990987538, 0.971911609172821, 0.35664308071136475, 0.473873108625412, 0.6100789308547974, 0.04029701119777944, -0.0010629344547785312], "mean": [2.007316672361948, -4.562205682090712, 0.7006572724048031, 0.0, 0.0, 0.2345219103913558, 0.05100815864196475, 0.23183504986643194, -0.006617938235375903, 0.6331501799858282, -0.39325056660538565, 3.36293038238779e-05, -0.14716760925174668, 0.06979064043536956, 0.03482961757738425, -0.035324396335397676], "std": [1.150422368515173, 0.3200555403916796, 0.0007083414849098601, 0.0, 0.0, 0.9612849382276671, 0.13538441281753136, 0.17803040815119137, 0.09773925836160614, 0.11188541317732471, 0.8358100335278259, 0.10176139081587933, 0.3070150512636981, 0.12503165877070635, 0.007638763689068923, 0.006994169366999121], "count": [1805]}, "action": {"min": [-1.0, -1.0, -0.5742857142857143, 0.0, -1.0, -1.0, -1.0, -0.942857142857143, -0.42, -0.32857142857142857, -0.2485714285714286, -1.0], "max": [1.0, 1.0, 0.5942857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.6171428571428571, 0.5057142857142857, 0.29714285714285715, 1.0], "mean": [0.021812425801345462, -0.029525128611001154, -0.00243134151167392, 0.0, -0.39833795013850415, 0.008183616937079514, -0.002710724178868228, -0.006363276612584094, -0.0012045904234269874, 0.00039414325286901415, 0.0001297981796596796, -0.2598337950138504], "std": [0.3846878348263349, 0.25195469774253276, 0.11955386400517407, 0.0, 0.9172387243675826, 0.47495844482990246, 0.3272044930968509, 0.27326630383700307, 0.09336629235365916, 0.08764238619948257, 0.04578952429308073, 0.9656533534186663], "count": [1805]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008864265866577625], "std": [0.09373202174901962], "count": [1805]}, "next.done": {"min": [false], "max": [true], "mean": [0.000554016620498615], "std": [0.02353103665550726], "count": [1805]}, "timestamp": {"min": [0.0], "max": [90.2], "mean": [45.1], "std": [26.052926898910993], "count": [1805]}, "frame_index": {"min": [0], "max": [1804], "mean": [902.0], "std": [521.0585379782199], "count": [1805]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1805]}, "index": {"min": [32733], "max": [34537], "mean": [33635.0], "std": [521.0585379782199], "count": [1805]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1805]}}} +{"episode_index": 19, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4760119953743216]], [[0.46041949407801314]], [[0.4476135048746061]]], "std": [[[0.1632347996572124]], [[0.16763499909878204]], [[0.16749616331681216]]], "count": [315]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5264265705468385]], [[0.5244045730814026]], [[0.5063941552369645]]], "std": [[[0.18617923365447914]], [[0.19061519072826585]], [[0.18925278927157366]]], "count": [315]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5098444021434528]], [[0.5047212925426247]], [[0.4936451276202755]]], "std": [[[0.19199141613196302]], [[0.19093476893842187]], [[0.18655184984943038]]], "count": [315]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2152]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2152]}, "observation.state": {"min": [0.6457876438705795, -4.062564337989348, 0.6999627807608182, 0.0, 0.0, -1.0, 3.4108819818357006e-05, -0.1207889448746724, -0.32172967386079154, 0.3177187227415381, -0.9908770322799683, -0.3065583109855652, -0.6474795341491699, 2.0251000023563392e-05, 0.0005324965212385347, -0.04328268117818602], "max": [2.7686341639540855, -1.4612968404470956, 0.7013409242140802, 0.0, 0.0, 1.0, 0.9999821186065674, 0.5446309981980769, 0.35549637296887915, 0.8412247698232307, 0.9563423991203308, 0.5619820356369019, 0.6465338468551636, 0.6308397650718689, 0.04004140060681593, -0.0030268623397866337], "mean": [1.3305335019657052, -2.2001685254533947, 0.7007273680046114, 0.0, 0.0, -0.22241777383253242, 0.27282760118235827, 0.14855589325882887, -0.024348638159111903, 0.6582262112613957, -0.2778290166176828, 0.03902816268369611, -0.08343683279246666, 0.10030379639812513, 0.035743623198383485, -0.036523924196728313], "std": [0.7308983830322603, 0.91873888811653, 0.0005395682253361807, 0.0, 0.0, 0.8688273074091626, 0.3481875580985624, 0.17358593314159285, 0.10475848657270485, 0.10452918265435168, 0.8129758021695408, 0.187530123965583, 0.424559175599416, 0.16708557120017317, 0.007376349892693043, 0.004978084868323282], "count": [2152]}, "action": {"min": [-0.9785714285714284, -0.9714285714285714, -0.17142857142857143, 0.0, -1.0, -1.0, -1.0, -1.0, -0.6571428571428571, -0.5942857142857143, -0.2257142857142857, -1.0], "max": [1.0, 1.0, 0.7028571428571428, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5657142857142857, 0.3514285714285714, 0.4742857142857143, 1.0], "mean": [0.13556492299522027, 0.01838821030270842, 0.09377721720658518, 0.0, -0.2778810408921933, -0.018434678704195427, -0.011510886882634089, -0.001101964949548592, 0.002355284121083379, -0.009196760488582046, 0.005221720658523641, -0.25743494423791824], "std": [0.3678389049758273, 0.19956210740309996, 0.1826113468906738, 0.0, 0.9606154938958, 0.43930999837962414, 0.27165545702105554, 0.25297911927548433, 0.1070237894621832, 0.10411187968486668, 0.06185052625001386, 0.9662956325499953], "count": [2152]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0074349441565573215], "std": [0.08590497821569443], "count": [2152]}, "next.done": {"min": [false], "max": [true], "mean": [0.00046468401486988845], "std": [0.02155152160837403], "count": [2152]}, "timestamp": {"min": [0.0], "max": [107.55], "mean": [53.775], "std": [31.06144112883367], "count": [2152]}, "frame_index": {"min": [0], "max": [2151], "mean": [1075.5], "std": [621.2288225766735], "count": [2152]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [2152]}, "index": {"min": [34538], "max": [36689], "mean": [35613.5], "std": [621.2288225766735], "count": [2152]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [2152]}}} +{"episode_index": 20, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5656933172413718]], [[0.5396413303033641]], [[0.504208398082171]]], "std": [[[0.22422471579297557]], [[0.2220131055069579]], [[0.23689423234125223]]], "count": [194]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45689143667997967]], [[0.4152436983761268]], [[0.3790407219727352]]], "std": [[[0.2079839753727857]], [[0.21548516810330778]], [[0.23047007644431722]]], "count": [194]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5037984677991988]], [[0.4845943826459889]], [[0.46213236867188684]]], "std": [[[0.23636436345061274]], [[0.2389432470161436]], [[0.24885626106484163]]], "count": [194]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1125]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1125]}, "observation.state": {"min": [0.7236539441126586, -2.7979679429991675, 0.6999967826936843, 0.0, 0.0, 0.02444402500987053, 0.6960477828979492, 0.09020434863753413, -0.3060164264926737, 0.3184844463725064, -0.9895575642585754, -0.09746438264846802, -0.5783947706222534, 0.0001429039257345721, 0.0017284996594847315, -0.04029346809379274], "max": [1.413187318142153, -0.967251376395993, 0.7022398122644679, 0.0, 0.0, 0.7179954648017883, 0.999701201915741, 0.704868200633127, -0.004197353306130358, 0.7374380511375721, 0.993790328502655, 0.18182557821273804, 0.5755160450935364, 0.19312475621700287, 0.04011830759002936, -0.010736798739027862], "mean": [1.0074884969437412, -1.6979652419496984, 0.7013408011595407, 0.0, 0.0, 0.5152383713805013, 0.8003722862667507, 0.2935070101746593, -0.13254248992100964, 0.5570021085271321, -0.18240401283899943, 0.0007841290566656324, -0.08395450154940287, 0.03927871033498862, 0.03392246760986969, -0.03860735078739594], "std": [0.23233927613755467, 0.6853782769992119, 0.0006604926415316902, 0.0, 0.0, 0.2786925290240155, 0.12753076570552327, 0.16768314943600907, 0.05377252186645347, 0.10190583486022323, 0.9171486802023877, 0.055000140851360894, 0.3361703078606836, 0.030656123575303618, 0.007843071680548302, 0.0031674816509399528], "count": [1125]}, "action": {"min": [-1.0, -0.7142857142857143, -0.6085714285714285, 0.0, -1.0, -1.0, -0.9214285714285714, -0.6428571428571428, -0.18, -0.30285714285714294, -0.18571428571428572, -1.0], "max": [1.0, 1.0, 0.7342857142857143, 0.0, 1.0, 1.0, 0.6714285714285714, 1.0, 0.2285714285714286, 0.2857142857142857, 0.23428571428571432, 1.0], "mean": [-0.0027809523809523623, 0.00626031746031746, -0.017282539682539688, 0.0, -0.32266666666666666, -0.0011428571428571547, -0.025066666666666692, -0.004012698412698423, 1.0158730158730707e-05, 0.002732698412698412, 0.00016761904761904617, -0.22666666666666666], "std": [0.400020264339306, 0.21532486933701409, 0.1875908378330383, 0.0, 0.9465126635297662, 0.470531286536799, 0.1639015732514025, 0.2646271459419136, 0.028802870325317604, 0.07430040713195765, 0.03855231771122224, 0.9739723929466465], "count": [1125]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0142222223803401], "std": [0.11840587854385376], "count": [1125]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008888888888888889], "std": [0.029800985980871483], "count": [1125]}, "timestamp": {"min": [0.0], "max": [56.2], "mean": [28.1], "std": [16.237969905953967], "count": [1125]}, "frame_index": {"min": [0], "max": [1124], "mean": [562.0], "std": [324.7593981190793], "count": [1125]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1125]}, "index": {"min": [36690], "max": [37814], "mean": [37252.0], "std": [324.7593981190793], "count": [1125]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1125]}}} +{"episode_index": 21, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6324743528267092]], [[0.6303834299177722]], [[0.6182761846804151]]], "std": [[[0.2233558160839536]], [[0.2124659477147021]], [[0.2186691627676274]]], "count": [272]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5864678623767048]], [[0.5928052196040697]], [[0.5847344111406267]]], "std": [[[0.27457642620319067]], [[0.23357891622098964]], [[0.22495937175185976]]], "count": [272]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6006382501111586]], [[0.5999385162758305]], [[0.5935655367278173]]], "std": [[[0.26580851716164705]], [[0.2472406972124796]], [[0.2441847591952069]]], "count": [272]}, "annotation.human.task_description": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1767]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1767]}, "observation.state": {"min": [1.0318709832370256, -4.888310773688016, 0.6999476598113947, 0.0, 0.0, -1.0, 1.658527935433085e-06, -0.03835648383481205, -0.25810012201109345, 0.30652125229787175, -0.9906999468803406, -0.1549268215894699, -0.6160001158714294, 3.638067573774606e-05, 0.004855615589397723, -0.04075528248989101], "max": [4.063125349674001, -3.9815698767826433, 0.7020675746678372, 0.0, 0.0, 1.0, 0.7110204100608826, 0.6474679987723412, 0.3476237574245227, 0.8248715756193136, 0.9872080683708191, 0.49554377794265747, 0.5808067321777344, 0.5487539768218994, 0.040413245241972026, -0.014770569736889857], "mean": [2.077168607821584, -4.543497310967232, 0.7004070051584869, 0.0, 0.0, 0.32340302022756934, 0.05889620771194403, 0.286796547317367, -0.04453671029709031, 0.6612253926634619, -0.4401524012279025, 0.05932118428684455, -0.20000964236373453, 0.08393666662454696, 0.033241365138433655, -0.038463868769137696], "std": [1.0930374047254736, 0.29629568011837354, 0.0007232276142543817, 0.0, 0.0, 0.9365845861636845, 0.12145386874777521, 0.19506411394799658, 0.10734613761189721, 0.13264944925837727, 0.7644704118589907, 0.13175365008150355, 0.36649862548975093, 0.14000845887567964, 0.008790516995410577, 0.002987038931051624], "count": [1767]}, "action": {"min": [-1.0, -1.0, -0.7257142857142858, 0.0, -1.0, -1.0, -1.0, -0.8642857142857142, -0.47714285714285715, -0.4514285714285714, -0.3142857142857143, -1.0], "max": [1.0, 1.0, 0.66, 0.0, 1.0, 1.0, 1.0, 1.0, 0.6485714285714286, 0.4285714285714286, 0.33714285714285713, 1.0], "mean": [0.008735548548791314, -0.032399547255234834, 0.0018982941224027793, 0.0, -0.4646293152235427, -0.004115126525992372, -0.008149405772495755, 0.00580079230333901, -0.0009459131700218262, -0.007048265825854967, 0.0006483951815021426, -0.2699490662139219], "std": [0.38310645996823284, 0.24011337284205664, 0.13967803896173236, 0.0, 0.8855052791682836, 0.45923012628489845, 0.28737119168363884, 0.29543794307595617, 0.10326437570788105, 0.11193581801738496, 0.049615268962092764, 0.962874603284469], "count": [1767]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008488964289426804], "std": [0.09174367785453796], "count": [1767]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005659309564233164], "std": [0.02378257089920848], "count": [1767]}, "timestamp": {"min": [0.0], "max": [88.3], "mean": [44.14999999999999], "std": [25.504444057196515], "count": [1767]}, "frame_index": {"min": [0], "max": [1766], "mean": [883.0], "std": [510.0888811439303], "count": [1767]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1767]}, "index": {"min": [37815], "max": [39581], "mean": [38698.0], "std": [510.0888811439303], "count": [1767]}, "task_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1767]}}} +{"episode_index": 22, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.465908037194766]], [[0.4543619017406437]], [[0.4351855083439296]]], "std": [[[0.22952686545110298]], [[0.22971631087857744]], [[0.23466045188887738]]], "count": [296]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44773969058960156]], [[0.42911378853398147]], [[0.4180789818129466]]], "std": [[[0.23474441013546915]], [[0.23934257484881927]], [[0.2455452062914155]]], "count": [296]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45867356369592677]], [[0.4380172361566961]], [[0.42527999433184904]]], "std": [[[0.2266766987681734]], [[0.2342362162571641]], [[0.24226860674956552]]], "count": [296]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1980]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1980]}, "observation.state": {"min": [-3.473419615120727, -5.648157896844838, 0.6999323280303599, 0.0, 0.0, -0.9999426603317261, 0.0008289757533930242, -0.07282630064356521, -0.24610254762571682, 0.30310258402663004, -0.9887250065803528, -0.35407155752182007, -0.6083565354347229, 6.289120938163251e-05, 0.001916082585744394, -0.04295472310415625], "max": [-0.9929617751486491, -3.7084295943367223, 0.7021908341824225, 0.0, 0.0, 0.9999996423721313, 1.0, 0.5915200920516168, 0.37742573310378047, 0.7333058428823062, 0.9610171914100647, 0.4103800654411316, 0.6251721382141113, 0.6307461857795715, 0.04009895691152971, -0.0061156481456918835], "mean": [-1.9377269054335264, -4.399082573724095, 0.7013706608844712, 0.0, 0.0, 0.25203174217730834, 0.8572503948936678, 0.2143452449969886, -0.023612474172684417, 0.6007291158043959, -0.6370625035931365, 0.043479360850772475, -0.23194701872506435, 0.0702769503724002, 0.03376574304528906, -0.03371694024001022], "std": [0.8831943975642054, 0.739570673583623, 0.000902280357541042, 0.0, 0.0, 0.40474480314806094, 0.19437954323610057, 0.16953194812753697, 0.09450883185946707, 0.08239520305987431, 0.6545136513127827, 0.11220271953872896, 0.27632467139775396, 0.12723893786938117, 0.009586595034435026, 0.008581153449226987], "count": [1980]}, "action": {"min": [-0.942857142857143, -1.0, -0.44285714285714284, 0.0, -1.0, -1.0, -1.0, -0.942857142857143, -0.5028571428571429, -0.37142857142857144, -0.19142857142857142, -1.0], "max": [1.0, 1.0, 0.5457142857142857, 0.0, 1.0, 0.7357142857142858, 1.0, 1.0, 0.5085714285714286, 0.4514285714285714, 0.5514285714285714, 1.0], "mean": [0.04108946608946612, 0.05727272727272726, -0.0510476190476191, 0.0, -0.15858585858585858, -0.00250721500721501, -0.013917748917748928, -0.0008874458874458996, -0.0018253968253968231, -0.006001443001442996, 0.0023145743145743165, -0.12525252525252525], "std": [0.33799967924969254, 0.28973146965191976, 0.16781623092963893, 0.0, 0.9873451906281839, 0.33238583053686094, 0.21173340178785258, 0.25267071887326464, 0.07797538066544941, 0.07061957449733701, 0.05377892851149282, 0.9921248938101778], "count": [1980]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008080808445811272], "std": [0.0895293802022934], "count": [1980]}, "next.done": {"min": [false], "max": [true], "mean": [0.000505050505050505], "std": [0.022467652949025477], "count": [1980]}, "timestamp": {"min": [0.0], "max": [98.95], "mean": [49.475], "std": [28.57883467999818], "count": [1980]}, "frame_index": {"min": [0], "max": [1979], "mean": [989.5], "std": [571.5766935999636], "count": [1980]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1980]}, "index": {"min": [39582], "max": [41561], "mean": [40571.5], "std": [571.5766935999636], "count": [1980]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1980]}}} +{"episode_index": 23, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6170614256608109]], [[0.6150629641248356]], [[0.6109732930752853]]], "std": [[[0.22913545279749659]], [[0.21971341846167783]], [[0.2259212425202894]]], "count": [314]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5285015934696057]], [[0.5468823877541599]], [[0.545781104329732]]], "std": [[[0.3013815161406958]], [[0.26096961384837436]], [[0.25192246926322764]]], "count": [314]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5879618159122975]], [[0.5898972916367856]], [[0.583898571515122]]], "std": [[[0.27129982064560115]], [[0.24666838980550063]], [[0.24232758008996097]]], "count": [314]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [2143]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2143]}, "observation.state": {"min": [1.6509852109524041, -3.1695845454516935, 0.6999854598594603, 0.0, 0.0, -0.7570599913597107, 0.6533452868461609, -0.044706830079301874, -0.4207709633882688, 0.3474170645304395, -0.9908339381217957, -0.2820662558078766, -0.5536497235298157, 0.00011957540118601173, 0.0014540428232273461, -0.04063858830606988], "max": [3.083770893852271, -1.0258946276941714, 0.7032260263405842, 0.0, 0.0, 0.7193312644958496, 1.0, 0.6722986522690706, 0.19491791538213254, 0.7993420595314673, 0.9475191831588745, 0.46605342626571655, 0.521756112575531, 0.6439894437789917, 0.040168599532896136, -0.01834222374594349], "mean": [2.649026718048183, -1.8187814990429156, 0.7008043708246332, 0.0, 0.0, 0.42579764727240355, 0.7860629448421191, 0.2781070491658111, -0.038472920522601, 0.6158558406236266, -0.567622473876275, -0.004879258590438797, -0.26017247819755884, 0.09361798109768801, 0.032961905681283876, -0.03817162992133759], "std": [0.5127864950631555, 0.7423791184205732, 0.001001109716690714, 0.0, 0.0, 0.4317829898262995, 0.11985348264205102, 0.21495673733148787, 0.11551804069084755, 0.10379462730066566, 0.68880834638577, 0.13150279501115006, 0.3019065423731239, 0.1357548922725722, 0.009304048055383426, 0.002701578860788544], "count": [2143]}, "action": {"min": [-1.0, -1.0, -0.78, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4942857142857143, -0.36857142857142855, -0.44571428571428573, -1.0], "max": [1.0, 0.9071428571428573, 0.47714285714285715, 0.0, 1.0, 0.9642857142857144, 1.0, 1.0, 0.6628571428571428, 0.3314285714285714, 0.4371428571428572, 1.0], "mean": [0.0049663355776281845, -0.015332311179254718, -0.010993933737750832, 0.0, -0.3401773215118992, -0.0004333044463702479, -0.025191653889740692, -0.01523231784547696, 0.0011252583161122543, -0.005506299580028003, -0.0027424838344110385, -0.29444703686420903], "std": [0.30771031919358094, 0.1971425136630766, 0.1775330294500546, 0.0, 0.9403613081837121, 0.430846960796786, 0.2802299364764057, 0.24324760502564277, 0.08701831411881106, 0.07196914687334721, 0.07163209585262914, 0.9556677992283094], "count": [2143]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007466169074177742], "std": [0.08608382940292358], "count": [2143]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004666355576294914], "std": [0.02159670828820557], "count": [2143]}, "timestamp": {"min": [0.0], "max": [107.1], "mean": [53.550000000000004], "std": [30.93153730418196], "count": [2143]}, "frame_index": {"min": [0], "max": [2142], "mean": [1071.0], "std": [618.6307460836391], "count": [2143]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [2143]}, "index": {"min": [41562], "max": [43704], "mean": [42633.0], "std": [618.6307460836391], "count": [2143]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [2143]}}} +{"episode_index": 24, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6222605500728229]], [[0.6144134424850953]], [[0.605878534805991]]], "std": [[[0.19778061713089454]], [[0.2016052740859388]], [[0.20991934796146597]]], "count": [322]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.637082474671042]], [[0.6263770807182842]], [[0.6180983709136253]]], "std": [[[0.21835587674348644]], [[0.22120207102806752]], [[0.22515058692296755]]], "count": [322]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6100641877101554]], [[0.5980703667708167]], [[0.5903706431780847]]], "std": [[[0.2401450409587153]], [[0.242126391398657]], [[0.2443003345508793]]], "count": [322]}, "annotation.human.task_description": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [2211]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2211]}, "observation.state": {"min": [-0.9312228081122115, -2.844206911158167, 0.6999929771690656, 0.0, 0.0, -0.9999890327453613, 0.00016793589747976512, -0.09508787547126668, -0.49425413139865876, 0.2916847922184491, -0.9873388409614563, -0.3506506085395813, -0.5236659646034241, 0.00011206002091057599, 0.0006476830051644172, -0.041601235645774254], "max": [0.5017533355000094, -1.0256965548059715, 0.7055618714152414, 0.0, 0.0, 1.0, 0.9999873638153076, 0.6105052103123734, 0.4100539801769916, 0.7723434160332265, 0.9559860825538635, 0.5026391744613647, 0.5038344264030457, 0.6005379557609558, 0.040467444687682444, -0.0008430814168195837], "mean": [0.12379209398470994, -1.6625314069325157, 0.7028774202599788, 0.0, 0.0, 0.38155734063977437, 0.7371450188894895, 0.23624820407287636, -0.007436445798233125, 0.6048445615094847, -0.4646958658620816, -0.01806988972498248, -0.19483539359895735, 0.10600683994916552, 0.03715580667184531, -0.034703645201466016], "std": [0.5343161235840844, 0.6286904098194579, 0.0016307872334178845, 0.0, 0.0, 0.5283480145522397, 0.17854851087156068, 0.20492209546312834, 0.13209016764623027, 0.10645119874571556, 0.7597169213439158, 0.20841314736199992, 0.3022424143196668, 0.15025522562102375, 0.006158282552113616, 0.00693879541548601], "count": [2211]}, "action": {"min": [-0.9785714285714284, -0.4357142857142858, 0.0, 0.0, -1.0, -1.0, -1.0, -0.9857142857142858, -0.7428571428571429, -0.3457142857142857, -0.36, -1.0], "max": [1.0, 1.0, 0.6657142857142857, 0.0, 1.0, 0.8357142857142857, 1.0, 1.0, 0.5428571428571428, 0.4542857142857143, 0.29714285714285715, 1.0], "mean": [0.08059701492537319, 0.0192091490598953, 0.09383989145183186, 0.0, -0.378561736770692, 0.012395813142081824, -0.006987788331071919, -0.016518059055372472, 0.0012431349744782582, 0.0040395425470052355, 0.003175033921302574, -0.27544097693351427], "std": [0.32713535028551394, 0.1450940663662629, 0.18192190696016391, 0.0, 0.9255760430419424, 0.3945431645878491, 0.2924617955757476, 0.265039553743886, 0.09276562080223519, 0.07767303939901797, 0.06682265958241783, 0.9613179849695255], "count": [2211]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007236544508486986], "std": [0.08475952595472336], "count": [2211]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004522840343735866], "std": [0.021262160603424982], "count": [2211]}, "timestamp": {"min": [0.0], "max": [110.5], "mean": [55.25], "std": [31.913032865377534], "count": [2211]}, "frame_index": {"min": [0], "max": [2210], "mean": [1105.0], "std": [638.2606573075507], "count": [2211]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [2211]}, "index": {"min": [43705], "max": [45915], "mean": [44810.0], "std": [638.2606573075507], "count": [2211]}, "task_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [2211]}}} +{"episode_index": 25, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5713614229573785]], [[0.5293140384011837]], [[0.48647437481685696]]], "std": [[[0.1931383974799649]], [[0.21565821249724493]], [[0.21713039821902796]]], "count": [287]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6067002294558258]], [[0.5274822402164944]], [[0.4955702623024725]]], "std": [[[0.2103620398694272]], [[0.24314528900416485]], [[0.24256773488474798]]], "count": [287]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5804729603707909]], [[0.49336592886725955]], [[0.46317549576042305]]], "std": [[[0.22601895171467173]], [[0.2537027871826057]], [[0.25236733073322687]]], "count": [287]}, "annotation.human.task_description": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1900]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1900]}, "observation.state": {"min": [1.3046414797248265, -5.835120090484779, 0.6999807644813089, 0.0, 0.0, -0.999996542930603, 0.0003991813864558935, 0.001974784783194572, -0.31932394713865997, 0.3181861737531507, -0.999957263469696, -0.18048334121704102, -0.5319923758506775, 1.511894242867129e-05, 0.00058825295882869, -0.04037996430497564], "max": [4.180516202475697, -1.3311163132493788, 0.7014121749833323, 0.0, 0.0, 1.0, 1.0, 0.5952347163713716, 0.35608972931711413, 0.8061840287947794, 0.9799104332923889, 0.3980996608734131, 0.533405601978302, 0.5843212008476257, 0.040861859671041056, -0.00045242451151850956], "mean": [3.496610055312911, -2.8132261809103225, 0.7004190724083806, 0.0, 0.0, 0.10752535824357276, 0.8632998271273008, 0.1862988443214032, 0.008069924362946516, 0.656784574165033, -0.5817264384031295, 0.01516330120790946, -0.25112357230195287, 0.09297128928125954, 0.03321387993910832, -0.034423446538374716], "std": [0.7557231212176808, 1.6114417458875563, 0.0004828807407847981, 0.0, 0.0, 0.44773548509247807, 0.20660259641214296, 0.1642955275938348, 0.08362539045240933, 0.09827804654735495, 0.6709227370509344, 0.09604512552825822, 0.3294308575395616, 0.14755014135148514, 0.009283237373149206, 0.009046945001454297], "count": [1900]}, "action": {"min": [-1.0, -1.0, -0.8028571428571428, 0.0, -1.0, -1.0, -1.0, -0.9357142857142857, -0.5542857142857143, -0.7428571428571429, -0.2571428571428571, -1.0], "max": [1.0, 1.0, 0.842857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.6228571428571429, 0.5085714285714286, 0.32571428571428573, 1.0], "mean": [0.2076315789473684, 0.06282706766917288, 0.0002601503759398433, 0.0, -0.10105263157894737, 0.0026466165413533737, 0.0022293233082706946, -0.0005789473684210674, -0.0010631578947368386, -0.007672180451127821, 0.001592481203007519, -0.10736842105263159], "std": [0.48289576705374754, 0.2724546674576087, 0.27513298999237995, 0.0, 0.9948810811604493, 0.4539259211920083, 0.29245433152068795, 0.2732295571875651, 0.10534317958351772, 0.1186059336942763, 0.052405456658764775, 0.9942193028505742], "count": [1900]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008421052247285843], "std": [0.0913790911436081], "count": [1900]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005263157894736842], "std": [0.022935535336316763], "count": [1900]}, "timestamp": {"min": [0.0], "max": [94.95], "mean": [47.475], "std": [27.424133988149926], "count": [1900]}, "frame_index": {"min": [0], "max": [1899], "mean": [949.5], "std": [548.4826797629985], "count": [1900]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1900]}, "index": {"min": [45916], "max": [47815], "mean": [46865.5], "std": [548.4826797629985], "count": [1900]}, "task_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1900]}}} +{"episode_index": 26, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.03529411764705882]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.412616693405878]], [[0.38965089749889215]], [[0.3695705952363856]]], "std": [[[0.21456691519284876]], [[0.20596604779201513]], [[0.20851225548426797]]], "count": [280]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.03529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3993495126932609]], [[0.3747445383793166]], [[0.35092194137786953]]], "std": [[[0.2542701591779507]], [[0.24127318850462423]], [[0.24151300891692962]]], "count": [280]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.03529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38732575104016215]], [[0.36388159380573515]], [[0.3411298287015001]]], "std": [[[0.2606624865394387]], [[0.2471745459941896]], [[0.24692088577091192]]], "count": [280]}, "annotation.human.task_description": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1837]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1837]}, "observation.state": {"min": [3.9081978729764306, -4.583650595210461, 0.6999810902814565, 0.0, 0.0, -0.006412874907255173, 0.5521864891052246, -0.07897311507840676, -0.37022860578019623, 0.32414370438886453, -0.9899317026138306, -0.09886837005615234, -0.521899938583374, 1.7700118405628018e-05, 0.0006866170864517396, -0.04040575666264709], "max": [5.760944116891906, -2.500495734373522, 0.7039486876952283, 0.0, 0.0, 0.8337205648422241, 1.0, 0.5896159879010332, 0.31217887497638896, 0.7627538920206829, 0.9708883762359619, 0.4670097827911377, 0.5909505486488342, 0.5915488004684448, 0.04004317667718523, -0.006617753638644167], "mean": [5.072122901457627, -3.1315910810527203, 0.7021532538169027, 0.0, 0.0, 0.2668619374751762, 0.8746993355797761, 0.2021297823879336, -0.027669126414605897, 0.5925615627409564, -0.522734116521554, 0.01353642109235993, -0.22418395076687236, 0.07949727963343409, 0.03444918849971913, -0.03762834335493839], "std": [0.5963422669461383, 0.6703965607467033, 0.0010452999698267545, 0.0, 0.0, 0.36099615315914985, 0.18266792897370715, 0.16836255158742128, 0.08135398708164872, 0.10853511080637727, 0.73576397117134, 0.10542830058730125, 0.31384722220167144, 0.13792651158401548, 0.008028413823691053, 0.004136205112185155], "count": [1837]}, "action": {"min": [-1.0, -1.0, -0.5057142857142857, 0.0, -1.0, -1.0, -1.0, -0.8142857142857143, -0.5114285714285715, -0.3857142857142858, -0.2285714285714286, -1.0], "max": [1.0, 1.0, 0.58, 0.0, 1.0, 0.7642857142857143, 1.0, 1.0, 0.47714285714285715, 0.4028571428571428, 0.17142857142857143, 1.0], "mean": [-0.041830624465355036, 0.021603546154444358, 0.019688933820670336, 0.0, -0.35764833968426785, 0.0032428649195116407, -0.0038183373512714986, -0.0036550276071234122, 0.0011260595691733421, -0.0073800451045959985, -5.7547243175985834e-05, -0.2803483941208492], "std": [0.356774834096789, 0.20474197294173874, 0.15258256167477657, 0.0, 0.9338563407296988, 0.4134223220538716, 0.27488654878898966, 0.27145338387817847, 0.09358784344752547, 0.08205423060250017, 0.03665967066536688, 0.9598983164449615], "count": [1837]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008709852583706379], "std": [0.09291927516460419], "count": [1837]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005443658138268917], "std": [0.023325296990341374], "count": [1837]}, "timestamp": {"min": [0.0], "max": [91.8], "mean": [45.9], "std": [26.514807183911408], "count": [1837]}, "frame_index": {"min": [0], "max": [1836], "mean": [918.0], "std": [530.2961436782282], "count": [1837]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1837]}, "index": {"min": [47816], "max": [49652], "mean": [48734.0], "std": [530.2961436782282], "count": [1837]}, "task_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1837]}}} +{"episode_index": 27, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4854220232838523]], [[0.4389782461071307]], [[0.41863126982308835]]], "std": [[[0.22831587708291176]], [[0.23488072320900583]], [[0.24990195156389025]]], "count": [249]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47409157107520156]], [[0.4180878834251682]], [[0.3876437503133705]]], "std": [[[0.24076202222834453]], [[0.23633105316765288]], [[0.24441712480831448]]], "count": [249]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48034768900971536]], [[0.42381040106158396]], [[0.3918852349117672]]], "std": [[[0.2501893733842481]], [[0.24482938472158727]], [[0.24789960793260635]]], "count": [249]}, "annotation.human.task_description": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1573]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1573]}, "observation.state": {"min": [2.047801328138296, -3.6456721049842247, 0.69998315143551, 0.0, 0.0, -0.13919222354888916, 0.5289942622184753, -0.033862232344511245, -0.3587742009110624, 0.30446386815844806, -0.9951180219650269, -0.3675765097141266, -0.5723283886909485, 8.306472409458365e-06, 0.0006775717393648667, -0.04035336373934849], "max": [3.6769258267424805, -2.635170969048843, 0.7009393212489555, 0.0, 0.0, 0.8486254215240479, 1.0, 0.6521285682556717, 0.4534022833638076, 0.8183510475562455, 0.9948242902755737, 0.3687071204185486, 0.5526763200759888, 0.6391528844833374, 0.04056713785407191, -0.00010248690007253988], "mean": [3.0240501585619173, -2.9590811655118525, 0.7003907195268617, 0.0, 0.0, 0.21752516385848317, 0.9085749433590815, 0.218985798379395, 0.025188498842602883, 0.640532403883247, -0.18968949189856033, 0.025843974607845665, -0.08684476302678827, 0.10086141102247487, 0.030633107290116902, -0.03307951456157515], "std": [0.6035527482828922, 0.32043136353817164, 0.00023664274144076245, 0.0, 0.0, 0.33007015633207065, 0.13501145185908317, 0.189184336792838, 0.15840055374850645, 0.11791777371309542, 0.8804235685359525, 0.1524646978425386, 0.344510257900579, 0.1689866440778336, 0.011442139912325594, 0.010490118842747717], "count": [1573]}, "action": {"min": [-1.0, -0.6071428571428572, -0.6057142857142859, 0.0, -1.0, -1.0, -1.0, -0.95, -0.6371428571428571, -0.6285714285714286, -0.3914285714285714, -1.0], "max": [1.0, 1.0, 0.8628571428571428, 0.0, 1.0, 1.0, 1.0, 1.0, 0.9457142857142856, 0.5742857142857143, 0.7314285714285714, 1.0], "mean": [0.03556897647806737, 0.06212423939696667, 0.01386431750068116, 0.0, -0.45835982199618563, 0.004386522568340767, -0.0008219053673599226, 0.007156479883752607, -0.0013568249931886225, -0.008994641721914439, 0.0027790391426755065, -0.21424030514939607], "std": [0.3623827465701136, 0.27786500058773905, 0.19908241815182562, 0.0, 0.8887667149368453, 0.5371001287880248, 0.40317577018690554, 0.2912885415462862, 0.13936370200677356, 0.13396998123658108, 0.10790713574071699, 0.9767809844839754], "count": [1573]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010171646252274513], "std": [0.100340336561203], "count": [1573]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006357279084551812], "std": [0.02520562949980802], "count": [1573]}, "timestamp": {"min": [0.0], "max": [78.6], "mean": [39.300000000000004], "std": [22.70429474791058], "count": [1573]}, "frame_index": {"min": [0], "max": [1572], "mean": [786.0], "std": [454.0858949582116], "count": [1573]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1573]}, "index": {"min": [49653], "max": [51225], "mean": [50439.0], "std": [454.0858949582116], "count": [1573]}, "task_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1573]}}} +{"episode_index": 28, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.507566670810475]], [[0.4986731815338135]], [[0.4840512505699607]]], "std": [[[0.16955586352007382]], [[0.17230938753884634]], [[0.17721950972885925]]], "count": [320]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48628241333307004]], [[0.46462766666038363]], [[0.4429422399109485]]], "std": [[[0.17786479137520836]], [[0.17913739103943468]], [[0.19254929406399843]]], "count": [320]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45917966730454385]], [[0.4423119139203838]], [[0.4127343721950755]]], "std": [[[0.19856183337482283]], [[0.19046017623583436]], [[0.21066351105297618]]], "count": [320]}, "annotation.human.task_description": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [2194]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2194]}, "observation.state": {"min": [0.9623424851494222, -1.708457970405707, 0.6999686559293437, 0.0, 0.0, -1.0, 7.48344632484077e-07, -0.14746702362515896, -0.26926563652847413, 0.33502178311568254, -0.9900365471839905, -0.27282166481018066, -0.8340873122215271, 6.048227442079224e-05, 0.0003987959963111927, -0.04184149844807868], "max": [4.2565599773211, -0.38902821400662313, 0.7012479616189309, 0.0, 0.0, 1.0, 0.23127561807632446, 0.5678982943665958, 0.3961074797348245, 0.876978275053021, 0.9693986177444458, 0.5726394057273865, 0.8477364778518677, 0.7213312387466431, 0.04310340013370725, 3.5787427425161957e-05], "mean": [2.046510329888985, -0.766144065419661, 0.7005027497967855, 0.0, 0.0, 0.4211564856762221, 0.036805863772656836, 0.1781547304558318, -0.0022032762939211614, 0.6628537841376877, -0.09065814108444326, 0.05397634639480273, -0.047396222567321594, 0.1228443275534864, 0.033261134075849415, -0.034616302732216976], "std": [1.1933933396086274, 0.49272748294916263, 0.00027218648582821766, 0.0, 0.0, 0.9037868777280202, 0.06664706352446852, 0.19207271922866642, 0.12032547925463104, 0.13586596366311546, 0.8423215937245636, 0.1680382238371573, 0.45892731887337224, 0.1522291875445933, 0.010303178074769763, 0.009419149733065225], "count": [2194]}, "action": {"min": [-1.0, -1.0, -0.43428571428571433, 0.0, -1.0, -1.0, -1.0, -1.0, -0.9085714285714286, -0.6628571428571428, -0.45999999999999996, -1.0], "max": [1.0, 1.0, 0.4028571428571428, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.6457142857142857, 0.37142857142857144, 1.0], "mean": [-0.014396405782002878, 0.03317814819637974, 0.004596952728219817, 0.0, -0.4831358249772106, -0.008516733949733027, 0.011052871467639013, 0.011459825498111737, 0.0002917046490428474, 0.004499283760906375, -0.006308113035551505, -0.20875113947128532], "std": [0.3809644173025548, 0.23403900244582848, 0.06904243284514879, 0.0, 0.8755454155117202, 0.44017828879227655, 0.29325983268277156, 0.32071706488085056, 0.14515181588379805, 0.1292806795213048, 0.07301514992785338, 0.9779687938628102], "count": [2194]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007292616181075573], "std": [0.08508486300706863], "count": [2194]}, "next.done": {"min": [false], "max": [true], "mean": [0.00045578851412944393], "std": [0.021344338147617315], "count": [2194]}, "timestamp": {"min": [0.0], "max": [109.65], "mean": [54.825], "std": [31.66765897568054], "count": [2194]}, "frame_index": {"min": [0], "max": [2193], "mean": [1096.5], "std": [633.3531795136107], "count": [2194]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [2194]}, "index": {"min": [51226], "max": [53419], "mean": [52322.5], "std": [633.3531795136107], "count": [2194]}, "task_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [2194]}}} +{"episode_index": 29, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5464595750306048]], [[0.5309338015311974]], [[0.5208629145420997]]], "std": [[[0.20699958151965128]], [[0.2146623662041225]], [[0.22405118393321516]]], "count": [236]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5108526359804051]], [[0.48189183492207294]], [[0.4659522690777764]]], "std": [[[0.21127328143775362]], [[0.2312874755342497]], [[0.24480879645503184]]], "count": [236]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5442761883619974]], [[0.5253841152932803]], [[0.5132040825663472]]], "std": [[[0.22076984710656994]], [[0.2320195122764559]], [[0.24052031311963742]]], "count": [236]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1460]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1460]}, "observation.state": {"min": [4.00258329978139, -4.303661356967087, 0.6998332694771154, 0.0, 0.0, -0.16217152774333954, 0.7547346353530884, -0.11470448195101124, -0.533826736882161, 0.443824788715651, -0.9894723296165466, -0.4005848169326782, -0.8245177268981934, 0.0005448060110211372, -3.787938360757893e-05, -0.040501500479394666], "max": [4.93983015729527, -3.2889138153410657, 0.700561088717802, 0.0, 0.0, 0.6560302972793579, 1.0, 0.592246760194463, 0.046123299400530726, 0.8231765046480456, 0.9211580157279968, 0.9664536714553833, 0.8239330053329468, 0.5564374327659607, 0.04212669349989217, -6.530956793834188e-05], "mean": [4.522680104628945, -3.731339682676066, 0.700220716531938, 0.0, 0.0, 0.13728295865395887, 0.9406810792749876, 0.23100224757170287, -0.09058222271761877, 0.6021030432693705, -0.20641062460777554, 0.6913040229718979, -0.12194703682588912, 0.29124456884416, 0.032403472055957436, -0.02690798611432736], "std": [0.33702095575282287, 0.28675244598326893, 0.00017466174225293707, 0.0, 0.0, 0.29690285227173585, 0.09011762818230865, 0.18555487789259037, 0.10519255471699729, 0.0806199892511008, 0.3511322101157815, 0.3891704594363299, 0.2895811588981527, 0.14558228128217174, 0.013632304399606946, 0.013614232976850892], "count": [1460]}, "action": {"min": [-0.7785714285714286, -0.7428571428571429, -0.6085714285714285, 0.0, -1.0, -1.0, -1.0, -0.8357142857142857, -0.8142857142857143, -0.7342857142857143, -0.5342857142857143, -1.0], "max": [0.6071428571428572, 0.7000000000000001, 0.5285714285714286, 0.0, 1.0, 0.7785714285714286, 1.0, 0.9928571428571428, 0.37714285714285717, 0.29714285714285715, 0.30857142857142855, 1.0], "mean": [-0.0011350293542074315, 0.031193737769080212, 0.016906066536203534, 0.0, -0.3863013698630137, -0.011800391389432455, -0.018277886497064584, -0.016575342465753387, -0.032097847358121365, -0.02570645792563607, 0.00757729941291585, 0.08356164383561644], "std": [0.2001848752607165, 0.2088037555077802, 0.15844899227518222, 0.0, 0.9223726208219509, 0.4454213390377539, 0.260786718502026, 0.19413903029079072, 0.1556700216745279, 0.11125969412214605, 0.10365221207005303, 0.9965026099712401], "count": [1460]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01301369909197092], "std": [0.11333288252353668], "count": [1460]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006849315068493151], "std": [0.026162231855868873], "count": [1460]}, "timestamp": {"min": [0.0], "max": [72.95], "mean": [36.475], "std": [21.07327988235339], "count": [1460]}, "frame_index": {"min": [0], "max": [1459], "mean": [729.5], "std": [421.46559764706774], "count": [1460]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1460]}, "index": {"min": [53420], "max": [54879], "mean": [54149.5], "std": [421.46559764706774], "count": [1460]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1460]}}} +{"episode_index": 30, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5193470760432206]], [[0.4947856814895799]], [[0.46980138266212784]]], "std": [[[0.19016636520325272]], [[0.19908438176648105]], [[0.20563792285726362]]], "count": [313]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47799586780177455]], [[0.4395326563359532]], [[0.41604144593374864]]], "std": [[[0.19194201231758812]], [[0.20886859609462557]], [[0.2197320899861018]]], "count": [313]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49872327246687165]], [[0.45555114937270713]], [[0.42554458783532134]]], "std": [[[0.20070375288113457]], [[0.22193910196089947]], [[0.23879847684307154]]], "count": [313]}, "annotation.human.task_description": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [2131]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2131]}, "observation.state": {"min": [-0.8776808581407106, -2.9500023471447165, 0.6999820999317486, 0.0, 0.0, -1.0, 9.972487896448001e-05, -0.14487509038717739, -0.35671742022878267, 0.32387901649465967, -0.9892461895942688, -0.4116327464580536, -0.5631259083747864, 2.8706654120469466e-05, 0.0007988762406431803, -0.040851023974464384], "max": [1.1617351963175078, -0.9634669850794156, 0.7014787521672996, 0.0, 0.0, 0.9999948740005493, 1.0, 0.6852279875444224, 0.30019118900938446, 0.7501192860082546, 0.9243208765983582, 0.445162296295166, 0.5424780249595642, 0.5831937193870544, 0.04053743155610539, -0.0018963235478932866], "mean": [0.20540552408593124, -1.7383697151055424, 0.7006009875646028, 0.0, 0.0, 0.3359000774887858, 0.7375115392072441, 0.23577694723687204, -0.03397819360030279, 0.596162106551838, -0.767226595293463, -0.03649655264876136, -0.3016337581933356, 0.08967529366338707, 0.03272712774642932, -0.03735596627224191], "std": [0.5146413632595185, 0.6243225976856696, 0.00043732716784282, 0.0, 0.0, 0.5554091102174592, 0.18646333650179506, 0.22542123541741318, 0.09556765497703881, 0.08773909747255196, 0.4670356508538851, 0.1563041044245548, 0.2169082804940988, 0.14630207698390385, 0.009045690893519517, 0.0045068022548810415], "count": [2131]}, "action": {"min": [-1.0, -0.95, -0.5885714285714285, 0.0, -1.0, -1.0, -1.0, -0.5285714285714286, -0.46857142857142864, -0.5971428571428572, -0.4828571428571429, -1.0], "max": [1.0, 1.0, 0.9571428571428573, 0.0, 1.0, 1.0, 1.0, 1.0, 0.44, 0.3457142857142857, 0.41714285714285715, 1.0], "mean": [0.020131393711872312, -0.0023965944895086152, 0.034716095729704376, 0.0, -0.22102299389957766, 0.003633438358919359, -0.008828852986525445, -0.006640075082121083, -0.0016598511765100242, -0.0049071529127840754, 0.00010591942079506817, -0.18254340685124354], "std": [0.4473814719613689, 0.15097875618487827, 0.2756931794989658, 0.0, 0.9752685969350728, 0.4494270380151091, 0.27299047616874333, 0.23254435870757478, 0.08294447195493389, 0.07736730368593471, 0.05910430220441189, 0.9831977952656028], "count": [2131]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007508212234824896], "std": [0.08632402867078781], "count": [2131]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004692632566870014], "std": [0.021657401706643504], "count": [2131]}, "timestamp": {"min": [0.0], "max": [106.5], "mean": [53.25], "std": [30.75833220446128], "count": [2131]}, "frame_index": {"min": [0], "max": [2130], "mean": [1065.0], "std": [615.1666440892257], "count": [2131]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [2131]}, "index": {"min": [54880], "max": [57010], "mean": [55945.0], "std": [615.1666440892257], "count": [2131]}, "task_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [2131]}}} +{"episode_index": 31, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6056760109039081]], [[0.5828390666756886]], [[0.5579310216943607]]], "std": [[[0.1908768612434323]], [[0.19275933715780308]], [[0.1990722084390096]]], "count": [267]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.611767314791268]], [[0.5921412225143232]], [[0.5657162674374892]]], "std": [[[0.21591170002848145]], [[0.21105134829587435]], [[0.2149229055644096]]], "count": [267]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6194841887883138]], [[0.5969957576778883]], [[0.566245871689068]]], "std": [[[0.21515390860219707]], [[0.2093525570985159]], [[0.213966606152097]]], "count": [267]}, "annotation.human.task_description": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1722]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1722]}, "observation.state": {"min": [2.190056050583865, -4.9101344095772825, 0.6999729104305207, 0.0, 0.0, -0.9999456405639648, 0.010426051914691925, -0.041160012820400826, -0.37449049962492076, 0.2749998202268744, -0.9914483428001404, -0.14676469564437866, -0.5795372128486633, 1.355610311293276e-05, 0.0027551104092269543, -0.0405400242614754], "max": [3.855043909891842, -1.01537294658755, 0.7025241467688352, 0.0, 0.0, 0.999931812286377, 0.9999891519546509, 0.5988771467611225, 0.28352464826186674, 0.8187441056658742, 0.995152473449707, 0.48589688539505005, 0.6458253264427185, 0.5879624485969543, 0.04011224039342817, -0.0009439485005803763], "mean": [2.635264219893114, -2.348697556793631, 0.700584231229945, 0.0, 0.0, 0.6054146283110939, 0.7089387543389138, 0.26471389416348917, -0.011283216595724819, 0.6347902582446784, -0.3979646488418424, 0.02378658423769211, -0.17895136972979625, 0.08258807227828807, 0.0346908193339046, -0.0338655986005207], "std": [0.6329464282347017, 1.4342930094320685, 0.0009395209475014643, 0.0, 0.0, 0.3475406731818392, 0.10047107486562978, 0.17023010278255052, 0.09504232189581918, 0.13657087968459913, 0.797154056522869, 0.11115357600804007, 0.3687214451132445, 0.13582615658253547, 0.008020217493893677, 0.00750583609978056], "count": [1722]}, "action": {"min": [-1.0, -1.0, -0.32, 0.0, -1.0, -1.0, -1.0, -0.7071428571428572, -0.5114285714285715, -0.5171428571428571, -0.24, -1.0], "max": [1.0, 1.0, 0.7485714285714286, 0.0, 1.0, 1.0, 1.0, 1.0, 0.8685714285714287, 0.47714285714285715, 0.4628571428571429, 1.0], "mean": [0.07156130744980914, -0.03962999834079977, 0.05874896299983418, 0.0, -0.32868757259001163, 0.002414136386261796, 0.0060228969636635125, -0.004969304795088775, 0.0025219844035175034, -0.0034444997511199485, 0.0014335490293678494, -0.16492450638792103], "std": [0.450785242669512, 0.28307624104964757, 0.18135193613597675, 0.0, 0.9444387114180108, 0.4845141313211937, 0.29216379139806564, 0.2595432862171746, 0.13360591559744164, 0.10560412078948346, 0.0543275490812436, 0.986306193427126], "count": [1722]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009291521273553371], "std": [0.09594367444515228], "count": [1722]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005807200929152149], "std": [0.0240911364839623], "count": [1722]}, "timestamp": {"min": [0.0], "max": [86.05], "mean": [43.025], "std": [24.85492489762676], "count": [1722]}, "frame_index": {"min": [0], "max": [1721], "mean": [860.5], "std": [497.09849795253524], "count": [1722]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [1722]}, "index": {"min": [57011], "max": [58732], "mean": [57871.5], "std": [497.09849795253524], "count": [1722]}, "task_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1722]}}} +{"episode_index": 32, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5193404147626477]], [[0.4972828381880411]], [[0.4697885693062114]]], "std": [[[0.21442738131267358]], [[0.21138594409081074]], [[0.2193433936199893]]], "count": [248]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5358381764787725]], [[0.49227936302537334]], [[0.4623178459133701]]], "std": [[[0.2393394556319574]], [[0.2443613486519302]], [[0.2569341562878296]]], "count": [248]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5391646185530506]], [[0.49955816588621965]], [[0.4726602268399957]]], "std": [[[0.23724252711961508]], [[0.24319207463188774]], [[0.2552637834041888]]], "count": [248]}, "annotation.human.task_description": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1559]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1559]}, "observation.state": {"min": [3.533949408216328, -3.701390353012256, 0.6998701633972829, 0.0, 0.0, -1.0, 0.00020078646775800735, 0.036916261110828685, -0.41400664177397384, 0.31304016306113436, -0.9916357398033142, -0.32929158210754395, -0.5447339415550232, 8.660635648993775e-05, 0.0010144531827654334, -0.041971190435632064], "max": [5.66249021989861, -1.301867411910219, 0.7007838528822714, 0.0, 0.0, 0.9999593496322632, 1.0, 0.6865632604617717, 0.23439323627768016, 0.8147695784202894, 0.9548755288124084, 0.5690127611160278, 0.5265808701515198, 0.4975387752056122, 0.04153934906653659, -0.0021882520211254945], "mean": [4.893891030991399, -2.0391023853158257, 0.7001864646874546, 0.0, 0.0, 0.1805325331507347, 0.8371048783526982, 0.2619539760426787, -0.07554857009666932, 0.6107435532052619, -0.3073417435019654, 0.04980547688877529, -0.07498698059835061, 0.07124303203564616, 0.03247412256286726, -0.03335784919341086], "std": [0.7028852170531251, 0.8620775596200654, 0.00013715081691348299, 0.0, 0.0, 0.45320585363989463, 0.2475235387768925, 0.14631758896412028, 0.09326213311225286, 0.10616951454699781, 0.857773982771469, 0.1296891535325189, 0.3508020761594809, 0.12924501938579422, 0.009850562372810255, 0.009704907091076818], "count": [1559]}, "action": {"min": [-1.0, -1.0, -0.8942857142857144, 0.0, -1.0, -1.0, -1.0, -0.7142857142857143, -0.8457142857142858, -1.0, -0.26285714285714284, -1.0], "max": [1.0, 1.0, 0.8199999999999998, 0.0, 1.0, 1.0, 1.0, 1.0, 0.7171428571428572, 0.40571428571428575, 0.44571428571428573, 1.0], "mean": [0.11158709795656553, 0.08058737285805918, -0.051111518372583174, 0.0, -0.2520846696600385, 0.0023687345367910066, -0.005282690369284339, 0.003761568771190316, 0.001576101896820304, -0.009086410702831489, 0.004185833409694866, -0.1802437459910199], "std": [0.36843490404367907, 0.3468964414409883, 0.28581500838412827, 0.0, 0.9677051820272481, 0.4692068230947102, 0.31491269047476467, 0.25918130739239037, 0.12608518035044256, 0.11958979058148332, 0.06409802241858821, 0.9836219761834929], "count": [1559]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010262989439070225], "std": [0.10078521072864532], "count": [1559]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006414368184733803], "std": [0.025318478968557472], "count": [1559]}, "timestamp": {"min": [0.0], "max": [77.9], "mean": [38.95], "std": [22.50222211249369], "count": [1559]}, "frame_index": {"min": [0], "max": [1558], "mean": [779.0], "std": [450.0444422498738], "count": [1559]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1559]}, "index": {"min": [58733], "max": [60291], "mean": [59512.0], "std": [450.0444422498738], "count": [1559]}, "task_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1559]}}} +{"episode_index": 33, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5523866192188138]], [[0.5225189327086457]], [[0.4891897208755435]]], "std": [[[0.2422742416777957]], [[0.2317026331259787]], [[0.24901550274713108]]], "count": [228]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45297163893440806]], [[0.4324410828602531]], [[0.4120590866083618]]], "std": [[[0.2285631306765779]], [[0.21972512915659384]], [[0.22527119373599752]]], "count": [228]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4540472854073612]], [[0.45127726562416015]], [[0.43428423802467975]]], "std": [[[0.22860287436893126]], [[0.2146306911692464]], [[0.21793571220330862]]], "count": [228]}, "annotation.human.task_description": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1395]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1395]}, "observation.state": {"min": [0.970098891274535, -6.518784186843207, 0.6999879799937236, 0.0, 0.0, -1.0, 8.654602083879581e-07, -0.06208790424168509, -0.2713256530055457, 0.3284461860943588, -0.9923200607299805, -0.08091357350349426, -0.5568962097167969, 1.9323049116337643e-07, 0.0006978829050146105, -0.04127278229198997], "max": [3.7187914039258594, -5.589284857555212, 0.7039674236004171, 0.0, 0.0, 1.0, 0.5823293924331665, 0.6644962697151425, 0.04309530403846207, 0.7626639093755526, 0.9844392538070679, 0.22415053844451904, 0.5557563304901123, 0.4009757936000824, 0.04010288831371793, -0.0014397856147211608], "mean": [1.9839274218010057, -6.281783235656412, 0.7009860456527727, 0.0, 0.0, 0.1081728915587121, 0.06906371770418145, 0.21699053559126297, -0.04003915162174924, 0.5875103606251819, -0.5071901171865429, 0.05644239759252918, -0.18022772397138312, 0.05767604098708157, 0.033895495188498444, -0.03784899139420388], "std": [1.0358204913182398, 0.3380448479984924, 0.0013899471398655184, 0.0, 0.0, 0.9839899443997873, 0.12366340500189449, 0.18871682177574492, 0.06614751273288025, 0.10688360428235565, 0.7789278114576518, 0.10009100319147952, 0.2827250274983441, 0.0841647058814975, 0.00867030774548014, 0.004099812349563783], "count": [1395]}, "action": {"min": [-1.0, -1.0, -0.6457142857142857, 0.0, -1.0, -1.0, -1.0, -1.0, -0.3514285714285714, -0.3342857142857143, -0.17142857142857143, -1.0], "max": [1.0, 1.0, 0.52, 0.0, 1.0, 0.9928571428571428, 1.0, 1.0, 0.4914285714285715, 0.48571428571428577, 0.16857142857142857, 1.0], "mean": [-0.0046338965693804345, -0.04552483358934973, -0.0030455709165386558, 0.0, -0.374910394265233, -0.011623143881208399, -0.017357910906298013, -0.027931387608806965, -0.0008356374807987724, 0.00012288786482335035, -0.00014336917562724128, -0.25017921146953404], "std": [0.3866869591517801, 0.24730752726837174, 0.12480933732356878, 0.0, 0.9270610531523154, 0.45670054145861566, 0.2297277726280333, 0.2893920868752048, 0.056104788786748405, 0.07948195295914155, 0.03256911872364079, 0.9681995466578641], "count": [1395]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012903225608170033], "std": [0.11285713315010071], "count": [1395]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007168458781362007], "std": [0.026764379501927553], "count": [1395]}, "timestamp": {"min": [0.0], "max": [69.7], "mean": [34.85], "std": [20.135085464598028], "count": [1395]}, "frame_index": {"min": [0], "max": [1394], "mean": [697.0], "std": [402.70170929196047], "count": [1395]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1395]}, "index": {"min": [60292], "max": [61686], "mean": [60989.0], "std": [402.70170929196047], "count": [1395]}, "task_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1395]}}} +{"episode_index": 34, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4780661167402413]], [[0.42396376096604954]], [[0.40098897813452095]]], "std": [[[0.21787407965427488]], [[0.22438220236018566]], [[0.23369998329191444]]], "count": [288]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48536157857358847]], [[0.42239177491929797]], [[0.3988275091632519]]], "std": [[[0.23765207872571456]], [[0.2438163291816989]], [[0.2403618010168367]]], "count": [288]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4610529454964698]], [[0.39400022481781205]], [[0.380062240816669]]], "std": [[[0.2432913730120041]], [[0.25659367386322235]], [[0.25543465747617855]]], "count": [288]}, "annotation.human.task_description": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1908]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1908]}, "observation.state": {"min": [1.0300685172416761, -4.374299584343012, 0.6999482725127469, 0.0, 0.0, -1.0, 0.0, 0.0024144096627425338, -0.34913864269228834, 0.26938015093577805, -0.9939372539520264, -0.2532823085784912, -0.47735193371772766, 4.8803303798194975e-05, 0.00713132419155941, -0.040740027252460925], "max": [2.905753454579056, -0.7175187504729711, 0.701659826944462, 0.0, 0.0, 1.0, 1.0, 0.6144017787848409, 0.2853369422012636, 0.7686458432237909, 0.9935685396194458, 0.3771244287490845, 0.5054782032966614, 0.5735836625099182, 0.040050074390319046, -0.013847332707157052], "mean": [1.7885916306792924, -1.9437532972899572, 0.7004704909096667, 0.0, 0.0, -0.1799178055167675, 0.2752791728029096, 0.2547988031419786, -0.06141453999142701, 0.6110044618332785, -0.18603117951432113, 0.03521523620363177, -0.06991181968890943, 0.07022752036210331, 0.03429596476006198, -0.03537184726246749], "std": [0.6583631698187403, 1.4630999755006693, 0.0004793697462980461, 0.0, 0.0, 0.8891832443820777, 0.31812595644608316, 0.16071281003059157, 0.08144185607350787, 0.11218198825492075, 0.8973921426579755, 0.12380900577208365, 0.34461687513592215, 0.12219085191652355, 0.0073201008236055435, 0.005429406009943775], "count": [1908]}, "action": {"min": [-0.942857142857143, -1.0, -0.11142857142857143, 0.0, -1.0, -1.0, -1.0, -0.7571428571428572, -0.4714285714285714, -0.4285714285714286, -0.36, -1.0], "max": [1.0, 1.0, 0.7971428571428572, 0.0, 1.0, 0.8785714285714286, 1.0, 1.0, 0.44857142857142857, 0.35428571428571426, 0.3457142857142857, 1.0], "mean": [0.21264974543276421, -0.046690625935908975, 0.10579365079365073, 0.0, -0.19811320754716982, -0.0013177598083258437, -0.002897574123989218, 0.008101227912548662, -0.0003743635819107509, -0.007181790955375861, 0.002261156034740943, -0.1949685534591195], "std": [0.46138300899864404, 0.2886394894752431, 0.20310859654018762, 0.0, 0.9801791453583115, 0.40532573503589103, 0.2743082111943289, 0.24556791231571107, 0.08714664348891732, 0.08467000493951492, 0.05482109302008142, 0.9808094938172544], "count": [1908]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008385743945837021], "std": [0.0911889523267746], "count": [1908]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005241090146750524], "std": [0.02288742721268139], "count": [1908]}, "timestamp": {"min": [0.0], "max": [95.35], "mean": [47.675000000000004], "std": [27.53960405791388], "count": [1908]}, "frame_index": {"min": [0], "max": [1907], "mean": [953.5], "std": [550.7920811582776], "count": [1908]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1908]}, "index": {"min": [61687], "max": [63594], "mean": [62640.5], "std": [550.7920811582776], "count": [1908]}, "task_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1908]}}} +{"episode_index": 35, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5234610412549434]], [[0.4953402507650196]], [[0.45509742649689083]]], "std": [[[0.17622731186645293]], [[0.18747071063390996]], [[0.1991155308804597]]], "count": [273]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5094053705028184]], [[0.45614381667004744]], [[0.42565117602905544]]], "std": [[[0.19078153640883122]], [[0.2040033553242296]], [[0.22038845932338266]]], "count": [273]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4982014353655625]], [[0.46229638267691897]], [[0.4406820248882806]]], "std": [[[0.19366959854903312]], [[0.20537716822001184]], [[0.22085584476103845]]], "count": [273]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1779]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1779]}, "observation.state": {"min": [1.2149175774273757, -4.118185521241175, 0.6999727710803407, 0.0, 0.0, 0.01223349291831255, 0.6613124012947083, -0.06193255954797383, -0.4740249923556905, 0.27924122501282955, -0.9920608401298523, -0.18118959665298462, -0.5555861592292786, 1.0699443919293117e-05, 0.0008957695712230576, -0.04072886245619665], "max": [2.709043450862196, -0.9710251779106931, 0.7021852357159577, 0.0, 0.0, 0.7501105666160583, 0.9999251365661621, 0.6694130846794206, -0.020721163049219005, 0.7627546676119232, 0.979752779006958, 0.2980422377586365, 0.554985523223877, 0.3444182574748993, 0.040079179491489376, -0.01415066609527609], "mean": [2.132165987744161, -2.271433110728169, 0.7007774767925621, 0.0, 0.0, 0.6141808559890877, 0.7660466636614293, 0.2085513063027975, -0.12211838076476715, 0.5787915843754738, 0.21916601820699683, -0.0015376388708348353, 0.08583142226870774, 0.04474775273139652, 0.03280541265089658, -0.032610206320243085], "std": [0.37014920268150325, 1.2410473652776022, 0.0007440518450156114, 0.0, 0.0, 0.1682343984033255, 0.08747324754584011, 0.19215979417104231, 0.0725087878999316, 0.10993491092761128, 0.9146743398952177, 0.10804567812291618, 0.3037613557474238, 0.04495022368203391, 0.010655392795899306, 0.009522735418537579], "count": [1779]}, "action": {"min": [-1.0, -1.0, -0.5285714285714286, 0.0, -1.0, -1.0, -1.0, -0.942857142857143, -0.26857142857142857, -0.32285714285714284, -0.23714285714285716, -1.0], "max": [1.0, 1.0, 0.5428571428571428, 0.0, 1.0, 0.8428571428571429, 0.8785714285714286, 1.0, 0.21714285714285717, 0.39714285714285713, 0.38857142857142857, 1.0], "mean": [0.06645386653818347, -0.05929494900827111, -0.0017634304986750243, 0.0, -0.19168071950534007, 0.0051794748253432875, -0.01598008512005139, -0.0026740544447121303, -0.001846944511362724, -0.0021504858267084267, 0.0009218662169758306, -0.09274873524451939], "std": [0.41062298754793464, 0.34458507316426895, 0.14414860416631906, 0.0, 0.981457335685012, 0.3803042416675856, 0.2024525192121264, 0.25478841453167667, 0.03946171665855917, 0.06507110288297062, 0.04709056116811756, 0.9956895460486554], "count": [1779]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008993816561996937], "std": [0.0944083034992218], "count": [1779]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005621135469364812], "std": [0.023702269412375507], "count": [1779]}, "timestamp": {"min": [0.0], "max": [88.9], "mean": [44.449999999999996], "std": [25.67764916550319], "count": [1779]}, "frame_index": {"min": [0], "max": [1778], "mean": [889.0], "std": [513.5529833100638], "count": [1779]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1779]}, "index": {"min": [63595], "max": [65373], "mean": [64484.0], "std": [513.5529833100638], "count": [1779]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1779]}}} +{"episode_index": 36, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5223931845496682]], [[0.4956273301754122]], [[0.46606962197746327]]], "std": [[[0.20848957222197764]], [[0.2069630220024333]], [[0.2080011678678925]]], "count": [384]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49541128772536136]], [[0.4377478650971955]], [[0.4082339529897652]]], "std": [[[0.22874349775634098]], [[0.22654372183600005]], [[0.22727057117200905]]], "count": [384]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48785967842426176]], [[0.4509051647061616]], [[0.4319768858890907]]], "std": [[[0.23576320756753036]], [[0.23138985218308228]], [[0.22995515209891756]]], "count": [384]}, "annotation.human.task_description": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [2796]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2796]}, "observation.state": {"min": [0.5909350111596161, -4.0624766099600915, 0.6999747934536575, 0.0, 0.0, -1.0, 1.6454121123388177e-06, -0.08707157394475207, -0.3945769864409483, 0.2781821909891026, -0.9943061470985413, -0.31488895416259766, -0.6802641749382019, 0.0003315337817184627, 0.0004258060529494645, -0.04373429680481343], "max": [4.3743274267386125, -1.5036788530704197, 0.7019261871423564, 0.0, 0.0, 1.0, 0.9999911785125732, 0.6226614928538476, 0.35528010380304287, 0.8467879473998886, 0.9653849601745605, 0.4541829824447632, 0.6300621032714844, 0.6572732925415039, 0.04027454216400676, -0.0004732521011997501], "mean": [1.6493182107267168, -2.2149337610706756, 0.7006679271491506, 0.0, 0.0, 0.6058705533924279, 0.23011980117056152, 0.1468317211051697, -0.012644071760114742, 0.6881235682484154, -0.6391679879720289, -0.030984443014165194, -0.36981505968971695, 0.1052907693726472, 0.03465306297953341, -0.03637344449545071], "std": [1.0466344523850561, 0.9140803763945248, 0.0006662685999872317, 0.0, 0.0, 0.6890378702713941, 0.32433404079010436, 0.20215810140677878, 0.08359778235488109, 0.11487409097418558, 0.5450919886051877, 0.1584131303627645, 0.30769622623623283, 0.16049287862490658, 0.007843431788016417, 0.007267272732640383], "count": [2796]}, "action": {"min": [-1.0, -1.0, -0.5685714285714286, 0.0, -1.0, -1.0, -1.0, -0.7214285714285715, -0.58, -0.5657142857142857, -0.17714285714285713, -1.0], "max": [1.0, 1.0, 0.5857142857142857, 0.0, 1.0, 1.0, 1.0, 1.0, 0.58, 0.4571428571428572, 0.48571428571428577, 1.0], "mean": [0.11603055385244235, 0.052679848763539774, 0.034330676476599244, 0.0, -0.2374821173104435, -0.00613631718781933, -0.0026083180053137157, 0.00030145105252401297, -0.0009595340282035589, -0.0030492540363785004, 0.004507459636214998, -0.18240343347639484], "std": [0.31719870969279834, 0.2744165326651185, 0.1661814780121256, 0.0, 0.9713919105890013, 0.3660953477068419, 0.2553669832212622, 0.2455075400489623, 0.08577577413603102, 0.09839385396477908, 0.049250911345614004, 0.9832237728289416], "count": [2796]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.005722460802644491], "std": [0.07543019205331802], "count": [2796]}, "next.done": {"min": [false], "max": [true], "mean": [0.000357653791130186], "std": [0.018908354632169246], "count": [2796]}, "timestamp": {"min": [0.0], "max": [139.75], "mean": [69.875], "std": [40.35678123521085], "count": [2796]}, "frame_index": {"min": [0], "max": [2795], "mean": [1397.5], "std": [807.135624704217], "count": [2796]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [2796]}, "index": {"min": [65374], "max": [68169], "mean": [66771.5], "std": [807.135624704217], "count": [2796]}, "task_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [2796]}}} +{"episode_index": 37, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46351016397136835]], [[0.43904459546767205]], [[0.4229389187903532]]], "std": [[[0.2315065345898345]], [[0.2261161585599916]], [[0.22127483969797787]]], "count": [270]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43700604961675066]], [[0.40044368081795795]], [[0.37236128730192164]]], "std": [[[0.2475994875648249]], [[0.24162883420520373]], [[0.2426875789514015]]], "count": [270]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4520180995168249]], [[0.4336156619313669]], [[0.4131327927311695]]], "std": [[[0.25594368891982927]], [[0.24884670239177176]], [[0.2500980867383459]]], "count": [270]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1752]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1752]}, "observation.state": {"min": [1.0285732469704003, -6.0790012729928495, 0.6999919989182314, 0.0, 0.0, -1.0, 9.518299748378922e-08, -0.020709858093099998, -0.3002911031244415, 0.33211365528640147, -0.9914857745170593, -0.15702521800994873, -0.6762878894805908, 0.0004701946454588324, 0.00048365144816154356, -0.040135242517807375], "max": [2.5915744597302988, -3.4243287089239245, 0.7022470864661332, 0.0, 0.0, 1.0, 0.9999959468841553, 0.5700988664335265, 0.39186994758435967, 0.8238089600777032, 0.9493088126182556, 0.4051252007484436, 0.5250412821769714, 0.6379194855690002, 0.0409866471691519, -0.0003778462292935214], "mean": [1.5163743353528734, -4.249901065975846, 0.7006265628609978, 0.0, 0.0, -0.45021420035053566, 0.305984692661504, 0.19662430595081964, -0.011695334371968034, 0.6614169511678007, -0.33887078983870816, 0.016591673036484414, -0.1684356716963288, 0.08627588246927023, 0.03410425358327021, -0.03588267494032542], "std": [0.5118918399216752, 1.0312690136207012, 0.0008039708915307443, 0.0, 0.0, 0.757045229813016, 0.3613351493968221, 0.15414449736338726, 0.11621452058560777, 0.1122753481222893, 0.808221299754492, 0.11269633153641226, 0.4043266813352667, 0.1402676118302082, 0.007845453209846491, 0.00758605911433719], "count": [1752]}, "action": {"min": [-0.9357142857142857, -1.0, -0.2542857142857143, 0.0, -1.0, -1.0, -1.0, -1.0, -0.6342857142857142, -0.7314285714285714, -0.3171428571428571, -1.0], "max": [1.0, 1.0, 0.9428571428571428, 0.0, 1.0, 1.0, 1.0, 1.0, 0.7342857142857143, 0.5257142857142857, 0.34, 1.0], "mean": [0.14931914546640565, -0.022158349641226354, 0.11607958251793869, 0.0, -0.2146118721461187, 0.005145140247879949, -0.004814905414220473, -0.0005014677103718177, -0.0004924983692106978, -0.005753424657534243, 0.0017726679712981076, -0.1769406392694064], "std": [0.42001165532312057, 0.291596270231005, 0.23125321891118109, 0.0, 0.9766994135013711, 0.4452893800614726, 0.3203744812751762, 0.3057415604358288, 0.1076849937704432, 0.11413202466163401, 0.05106610090268253, 0.9842215249500027], "count": [1752]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008561643771827221], "std": [0.09213219583034515], "count": [1752]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005707762557077625], "std": [0.02388410496907269], "count": [1752]}, "timestamp": {"min": [0.0], "max": [87.55], "mean": [43.775], "std": [25.28793767128246], "count": [1752]}, "frame_index": {"min": [0], "max": [1751], "mean": [875.5], "std": [505.7587534256492], "count": [1752]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1752]}, "index": {"min": [68170], "max": [69921], "mean": [69045.5], "std": [505.7587534256492], "count": [1752]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1752]}}} +{"episode_index": 38, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5310565086504025]], [[0.5091558662502245]], [[0.47928994076247144]]], "std": [[[0.21982122145082253]], [[0.20581815257837957]], [[0.21756611636157622]]], "count": [290]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4779745087227038]], [[0.468689217196678]], [[0.4549139451754907]]], "std": [[[0.2294599087663431]], [[0.2186973393145388]], [[0.21408264807763253]]], "count": [290]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4980060633620029]], [[0.482551839852994]], [[0.4646109871287214]]], "std": [[[0.2309714544147755]], [[0.22528008921464446]], [[0.2240912012865731]]], "count": [290]}, "annotation.human.task_description": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1924]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1924]}, "observation.state": {"min": [3.040565168047265, -4.305709221544796, 0.6999844043164504, 0.0, 0.0, -0.9999991655349731, 0.0013031489215791225, -0.1302309436037552, -0.3220635404062975, 0.35890929292284734, -0.9947638511657715, -0.1381385624408722, -0.5431590676307678, 0.00014266939251683652, 0.00013497780854690306, -0.04139857325743038], "max": [4.445060201924205, -0.9669359863363163, 0.7034408345064151, 0.0, 0.0, 0.9999604225158691, 0.8026431202888489, 0.5821734657296137, 0.08521187066122504, 0.7872940692921556, 0.9704752564430237, 0.2656604051589966, 0.5298025608062744, 0.5179935693740845, 0.04012581161643422, -0.000717976353497914], "mean": [3.989950408481863, -2.2156667531078393, 0.7015065284788102, 0.0, 0.0, 0.6924438139505049, 0.6280478864034257, 0.15381037897166797, -0.060481089010886585, 0.6500389402031953, -0.42641478436156766, 0.0202143834342332, -0.2021712782616551, 0.07154911466463461, 0.03422202329538433, -0.03520075368079132], "std": [0.5281144141197912, 1.2989802612286798, 0.0009892327334033962, 0.0, 0.0, 0.31557288898631525, 0.16276103245420492, 0.2058372872906729, 0.051707863996127756, 0.11779061968819002, 0.7888259908308521, 0.09092258974568018, 0.3628113083528324, 0.0981014955933035, 0.00891612643901807, 0.00819905771976504], "count": [1924]}, "action": {"min": [-1.0, -1.0, -0.5914285714285714, 0.0, -1.0, -1.0, -1.0, -0.5857142857142857, -0.33714285714285713, -0.4314285714285714, -0.16857142857142857, -1.0], "max": [1.0, 1.0, 0.7628571428571429, 0.0, 1.0, 0.8642857142857142, 1.0, 1.0, 0.6342857142857142, 0.27714285714285714, 0.2057142857142857, 1.0], "mean": [0.047583160083160055, 0.05499702999703003, 0.005464805464805467, 0.0, -0.2203742203742204, -0.0012362637362637477, -0.013105138105138097, -0.004365904365904388, 0.0011389961389961425, -0.001820611820611823, -0.0011954261954261953, -0.18295218295218296], "std": [0.374365995271412, 0.28718493832112507, 0.1371557780667284, 0.0, 0.9754154002241748, 0.389444412431387, 0.1969791700534077, 0.2629246975827019, 0.06695961182339095, 0.08048346571502321, 0.03155845590789754, 0.9831218127744965], "count": [1924]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008316008374094963], "std": [0.09081219136714935], "count": [1924]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005197505197505198], "std": [0.022792112213389497], "count": [1924]}, "timestamp": {"min": [0.0], "max": [96.15], "mean": [48.075], "std": [27.770544197044465], "count": [1924]}, "frame_index": {"min": [0], "max": [1923], "mean": [961.5], "std": [555.4108839408893], "count": [1924]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1924]}, "index": {"min": [69922], "max": [71845], "mean": [70883.5], "std": [555.4108839408893], "count": [1924]}, "task_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1924]}}} +{"episode_index": 39, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44972084793390016]], [[0.41551477816712623]], [[0.3968340229109222]]], "std": [[[0.21448912460601735]], [[0.21801993801004999]], [[0.228431716715972]]], "count": [250]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48596105119293814]], [[0.42805537181181064]], [[0.3994008937461704]]], "std": [[[0.2131174825791647]], [[0.23386153099383655]], [[0.2497712633551346]]], "count": [250]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4999237455480239]], [[0.4486719515931373]], [[0.4228792157341452]]], "std": [[[0.23342221262776483]], [[0.25060902246085287]], [[0.26272555132010683]]], "count": [250]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1579]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1579]}, "observation.state": {"min": [1.4102122710321663, -5.07889416838344, 0.6999771697968494, 0.0, 0.0, 0.15511971712112427, 0.6920716762542725, -0.031088108598726905, -0.4555556095781568, 0.2649686737467073, -0.9915527105331421, -0.1759934425354004, -0.555060863494873, 2.947002212749794e-05, 0.001009153008555047, -0.041615092741805484], "max": [2.908383075030776, -1.0931906786714656, 0.7016587011717645, 0.0, 0.0, 0.721828818321228, 0.9878957271575928, 0.5576030373456043, 0.19863174766146074, 0.7641679581172993, 0.9869849681854248, 0.4096373915672302, 0.5601550936698914, 0.5401429533958435, 0.04019366019936392, -0.0012165586821276339], "mean": [1.8134216733424233, -2.5136173935423813, 0.700742076524962, 0.0, 0.0, 0.6711420435800516, 0.732081634210136, 0.23759765930040921, -0.032877680799567766, 0.6018225526800366, -0.6669721429373661, 0.03757100189464465, -0.2522642347166, 0.07561741526965442, 0.031372323675517746, -0.03371979689987083], "std": [0.5770071971747689, 1.4666676068205529, 0.000547910578761816, 0.0, 0.0, 0.10012648260026394, 0.05999604777581511, 0.15226361776902925, 0.09353306747440215, 0.11434502683861308, 0.6369190177232428, 0.11139815239166771, 0.2218933677372614, 0.1306494979684465, 0.011119857068396022, 0.01032078622001875], "count": [1579]}, "action": {"min": [-1.0, -1.0, -0.47714285714285715, 0.0, -1.0, -1.0, -1.0, -0.75, -0.47714285714285715, -0.5942857142857143, -0.3314285714285714, -1.0], "max": [1.0, 1.0, 0.4571428571428572, 0.0, 1.0, 1.0, 1.0, 1.0, 0.62, 0.30857142857142855, 0.3628571428571429, 1.0], "mean": [-0.0013525739618203048, -0.05317560843209987, -0.00274314665701619, 0.0, -0.3236225459151362, 0.006428119062697954, -0.010761784131005129, -0.008427576223649692, 0.0013190988871799522, -0.005593051660182755, -0.000946349407400705, -0.2045598480050665], "std": [0.4522558655708304, 0.306576188051814, 0.10589965399986566, 0.0, 0.9461862648418707, 0.46523899066986624, 0.3317932292529577, 0.25128580172227183, 0.0892956221964946, 0.10904979107634345, 0.06302920819659664, 0.9788540588791329], "count": [1579]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010132995434105396], "std": [0.10015147924423218], "count": [1579]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006333122229259025], "std": [0.025157725226144654], "count": [1579]}, "timestamp": {"min": [0.0], "max": [78.9], "mean": [39.45], "std": [22.790897305722737], "count": [1579]}, "frame_index": {"min": [0], "max": [1578], "mean": [789.0], "std": [455.8179461144548], "count": [1579]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1579]}, "index": {"min": [71846], "max": [73424], "mean": [72635.0], "std": [455.8179461144548], "count": [1579]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1579]}}} +{"episode_index": 40, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4522603886307582]], [[0.41808935172073314]], [[0.39916189100662974]]], "std": [[[0.23442389263575308]], [[0.23394976100320541]], [[0.24440234491523088]]], "count": [258]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42214343941742605]], [[0.39858974115267626]], [[0.38770728875917043]]], "std": [[[0.24067390297800678]], [[0.2391456371296211]], [[0.2443483803742467]]], "count": [258]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40170085887848056]], [[0.37966689680789195]], [[0.3693004442902933]]], "std": [[[0.2588290411915651]], [[0.25550279837838386]], [[0.25947898623345506]]], "count": [258]}, "annotation.human.task_description": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [1649]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1649]}, "observation.state": {"min": [1.0352832712262774, -4.36297561695866, 0.6999888212858049, 0.0, 0.0, -1.0, 2.7280428582798777e-08, -0.0725207033957469, -0.32074235150690494, 0.3365996626213221, -0.9905253648757935, -0.4569205641746521, -0.6166983246803284, 3.5926528653362766e-05, 0.001396290847624305, -0.04055909749018907], "max": [3.0706760198137664, -0.7393036766951387, 0.7015726381689417, 0.0, 0.0, 1.0, 0.9999879598617554, 0.5942539105042945, 0.28709570564112863, 0.8001076263922056, 0.9848437905311584, 0.5308130979537964, 0.618040919303894, 0.5715241432189941, 0.040200413305088126, -0.0003960428237343484], "mean": [1.75038453287992, -1.9732323194473946, 0.7005781377492127, 0.0, 0.0, 0.1862959830011899, 0.3050013563436511, 0.20069973958473541, -0.02409842762886428, 0.6296666846616418, -0.6609185496700974, -0.026011074254410134, -0.2869696856886962, 0.09976809915043222, 0.0355255665002223, -0.0370352479678584], "std": [0.6817971499985677, 1.4981638130536328, 0.0005082740374353368, 0.0, 0.0, 0.8629221498683013, 0.3572580989097011, 0.18142433207780612, 0.08492720183325257, 0.10869810362391456, 0.6073337839678602, 0.13437036848646944, 0.2630579468206401, 0.11872497567436266, 0.006591165345100825, 0.0058529152980619815], "count": [1649]}, "action": {"min": [-1.0, -1.0, -0.29714285714285715, 0.0, -1.0, -1.0, -1.0, -0.8857142857142857, -0.4914285714285715, -0.5142857142857142, -0.41428571428571437, -1.0], "max": [1.0, 1.0, 0.8114285714285715, 0.0, 1.0, 1.0, 1.0, 1.0, 0.48, 0.3914285714285714, 0.48571428571428577, 1.0], "mean": [0.22478991596638653, -0.023117906956597052, 0.1168950879320802, 0.0, -0.20557913887204365, -0.00693060729446417, -0.0030711253573594464, 0.0011522134627046756, 0.0004903404660833457, -0.0034167893961708435, -0.0032175344364549926, -0.20436628259551243], "std": [0.4585783261851868, 0.32295338279782476, 0.23286167480466158, 0.0, 0.9786404945947252, 0.48836240502270317, 0.31760716843250375, 0.2714969052017406, 0.09657165596317642, 0.09555152326178633, 0.07880632473867114, 0.9788944899927217], "count": [1649]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015767131000757217], "std": [0.12457338720560074], "count": [1649]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006064281382656155], "std": [0.024618293669113934], "count": [1649]}, "timestamp": {"min": [0.0], "max": [82.4], "mean": [41.2], "std": [23.80126047082381], "count": [1649]}, "frame_index": {"min": [0], "max": [1648], "mean": [824.0], "std": [476.0252094164762], "count": [1649]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [1649]}, "index": {"min": [73425], "max": [75073], "mean": [74249.0], "std": [476.0252094164762], "count": [1649]}, "task_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [1649]}}} +{"episode_index": 41, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5555994728929777]], [[0.5475204153432536]], [[0.520373126891802]]], "std": [[[0.25372622316573273]], [[0.23465174095897381]], [[0.2392735780065578]]], "count": [237]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4984501564503703]], [[0.5023672957746604]], [[0.5000486319459796]]], "std": [[[0.25488141446783447]], [[0.23128633661240147]], [[0.22028216168964343]]], "count": [237]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.482904001227914]], [[0.4829518633542882]], [[0.47739702712180765]]], "std": [[[0.26911069827704037]], [[0.24815668938166877]], [[0.2392458088064969]]], "count": [237]}, "annotation.human.task_description": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1472]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1472]}, "observation.state": {"min": [2.790384094116932, -4.527333556350887, 0.6999977088401726, 0.0, 0.0, 0.6242619752883911, 0.12015733867883682, 0.07270954108979266, -0.4555753967099454, 0.27270336998012246, -0.9917263984680176, -0.3544536232948303, -0.5827823281288147, 1.5934236216708086e-05, 0.0004861922407399495, -0.042315551416213515], "max": [4.4326277642799, -0.9626322447649919, 0.7029348786025573, 0.0, 0.0, 0.9927548766136169, 0.7812151908874512, 0.7145540376614701, 0.05144299874840019, 0.8289815638171384, 0.9884091019630432, 0.21536120772361755, 0.5695669651031494, 0.668071448802948, 0.04040068337124758, -0.0012772502497648424], "mean": [3.9105993819977307, -2.3042785768566323, 0.7010553783731133, 0.0, 0.0, 0.7094426913915769, 0.6875346390550713, 0.23934248512194964, -0.052780731063413404, 0.5870144074261586, -0.21448022815520348, 0.010009049549293906, -0.1614674310047754, 0.05827320592963326, 0.03303732772165965, -0.03235289775753464], "std": [0.6202609242460267, 1.2944436191927695, 0.001006949190952703, 0.0, 0.0, 0.08022885906277662, 0.13247835716712386, 0.1585833371540529, 0.08596889698695002, 0.12105046824154403, 0.8843734398295076, 0.1110192850366753, 0.3433436854893788, 0.11001820766227355, 0.009866752968637477, 0.010120208850029871], "count": [1472]}, "action": {"min": [-1.0, -1.0, -0.3857142857142858, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5228571428571429, -0.5942857142857143, -0.35714285714285715, -1.0], "max": [1.0, 1.0, 0.62, 0.0, 1.0, 1.0, 1.0, 1.0, 0.3514285714285714, 0.4114285714285714, 0.38, 1.0], "mean": [0.002862965838509309, 0.05035908385093169, -0.0038159937888198633, 0.0, -0.15760869565217392, -0.0058326863354037275, -0.017405861801242244, 0.00040760869565217275, -0.005892857142857145, -0.007954192546583846, 0.0017643633540372675, -0.20244565217391305], "std": [0.46550453371223294, 0.3186292375177048, 0.12018185843321832, 0.0, 0.9875016450896845, 0.4398480246442206, 0.2910133194387281, 0.2991726199840821, 0.07039564676145456, 0.11476049723659007, 0.060276447756684934, 0.9792934993738535], "count": [1472]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016983695328235626], "std": [0.12921009957790375], "count": [1472]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006793478260869565], "std": [0.026055446889626504], "count": [1472]}, "timestamp": {"min": [0.0], "max": [73.55], "mean": [36.775], "std": [21.246485003407038], "count": [1472]}, "frame_index": {"min": [0], "max": [1471], "mean": [735.5], "std": [424.9297000681407], "count": [1472]}, "episode_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1472]}, "index": {"min": [75074], "max": [76545], "mean": [75809.5], "std": [424.9297000681407], "count": [1472]}, "task_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1472]}}} +{"episode_index": 42, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5281722180548727]], [[0.4996789962692017]], [[0.4719594069175181]]], "std": [[[0.25309192035603584]], [[0.2431841633453663]], [[0.2542744416816927]]], "count": [215]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5098580377372607]], [[0.4814558215126076]], [[0.4540604329315756]]], "std": [[[0.2336630828383335]], [[0.21965563934845952]], [[0.2170572617932711]]], "count": [215]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5245624544671612]], [[0.4937960037530637]], [[0.4617419906734496]]], "std": [[[0.22597554930065525]], [[0.21480460123484232]], [[0.21478578464844217]]], "count": [215]}, "annotation.human.task_description": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1289]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1289]}, "observation.state": {"min": [1.074473821878959, -3.878822514108852, 0.699997198466744, 0.0, 0.0, -1.0, 9.855185112428444e-08, -0.06278170721889076, -0.3568798805807627, 0.24380791338020125, -0.9956153035163879, -0.39652517437934875, -0.5746691226959229, 0.000248931348323822, 0.0010780679095642638, -0.046790262685006065], "max": [2.893811342934675, -3.315798574488357, 0.7025951072532042, 0.0, 0.0, 1.0, 0.863350510597229, 0.7289540923903357, 0.3288375905225758, 0.6784877838020221, 0.9836415648460388, 0.26721522212028503, 0.5642313361167908, 0.2535858452320099, 0.040125076569742624, -0.006261710075993223], "mean": [1.741894662622033, -3.438945584156146, 0.7009549019537941, 0.0, 0.0, 0.5473183924787446, 0.26386855402391873, 0.26995538878352765, -0.0077321889559216605, 0.5361696042235, -0.6358513467250821, -0.014903806849354639, -0.19629959502279803, 0.0553925284998926, 0.03506031479992792, -0.03865092174815347], "std": [0.6449109139159408, 0.10792850120207018, 0.0008800766349048202, 0.0, 0.0, 0.7263431994221213, 0.3213121890671309, 0.19356838597775916, 0.10093661061232706, 0.11788412492909633, 0.6761148832730697, 0.12651592092815858, 0.2806451098352452, 0.044382370750197235, 0.006695150824894847, 0.0035299906732745787], "count": [1289]}, "action": {"min": [-1.0, -0.9857142857142858, -0.6228571428571429, 0.0, -1.0, -1.0, -1.0, -1.0, -0.3457142857142857, -0.44285714285714284, -0.16, -1.0], "max": [1.0, 1.0, 0.6057142857142859, 0.0, 1.0, 1.0, 0.95, 1.0, 0.36857142857142855, 0.64, 0.2285714285714286, 1.0], "mean": [-0.00273190734788872, 0.002815028261110493, -0.029684140529757305, 0.0, -0.3126454615981381, -0.025241050648343123, -0.00475451623628506, 0.0021278953784772386, 0.00021500609553363518, 0.00641028482766264, 0.002435996896819248, -0.20558572536850273], "std": [0.3778165991377107, 0.24808937220228625, 0.17248689713863347, 0.0, 0.9498698939023646, 0.4875074785717936, 0.25850205444266283, 0.31650736664476736, 0.05536750593417636, 0.12582867629972708, 0.04984814061595328, 0.9786391109723268], "count": [1289]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02172226458787918], "std": [0.1457751989364624], "count": [1289]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007757951900698216], "std": [0.027842293940925307], "count": [1289]}, "timestamp": {"min": [0.0], "max": [64.4], "mean": [32.2], "std": [18.605106825815323], "count": [1289]}, "frame_index": {"min": [0], "max": [1288], "mean": [644.0], "std": [372.1021365163065], "count": [1289]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1289]}, "index": {"min": [76546], "max": [77834], "mean": [77190.0], "std": [372.1021365163065], "count": [1289]}, "task_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1289]}}} +{"episode_index": 43, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5304890265234724]], [[0.5002958906510607]], [[0.47131429021560806]]], "std": [[[0.2295312604158707]], [[0.22864976327115377]], [[0.23196230379176475]]], "count": [241]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5100570049290544]], [[0.4644644957835637]], [[0.43450514179105904]]], "std": [[[0.2674028868695889]], [[0.2693402584580366]], [[0.27392020122782157]]], "count": [241]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5409636301579599]], [[0.4939071388359464]], [[0.4622056780582273]]], "std": [[[0.25056258622701844]], [[0.25852383479588953]], [[0.26615411130420236]]], "count": [241]}, "annotation.human.task_description": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1505]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1505]}, "observation.state": {"min": [1.1490518266722949, -2.2409167488566863, 0.6999721800176107, 0.0, 0.0, -0.9999949932098389, 0.0019126480910927057, -0.09922993813590253, -0.3727099945776211, 0.3147618014607818, -0.9981033802032471, -0.08411473035812378, -0.5311904549598694, 0.0025368917267769575, 0.0007724412510042416, -0.040504626219036576], "max": [3.6824039245324514, -0.4624639370333745, 0.7005536032102929, 0.0, 0.0, 0.9999982118606567, 0.7078331112861633, 0.5388097462673909, 0.3180683772200996, 0.8188023198814471, 0.9074302911758423, 0.45608896017074585, 0.45202741026878357, 0.5457080006599426, 0.04004051635819572, -0.0005065247325937436], "mean": [1.86188123671325, -1.124856034096029, 0.7001000199349214, 0.0, 0.0, 0.23274008301009372, 0.5037505799181995, 0.21364796638242614, -0.03777672677028011, 0.628878809329328, -0.7703028948204066, 0.05006768321278087, -0.29591115017922787, 0.09138978540857146, 0.034339604940486455, -0.03430633774155113], "std": [0.9192023874212673, 0.5606133931705467, 0.00017193418749086712, 0.0, 0.0, 0.7929590478722531, 0.25156181983632814, 0.15024944570197918, 0.07887922668409356, 0.11449336198353192, 0.4783850714897004, 0.11168522971748525, 0.22477317264253557, 0.12791532323962942, 0.008225888943867542, 0.009174067915541368], "count": [1505]}, "action": {"min": [-1.0, -1.0, -0.5342857142857143, 0.0, -1.0, -1.0, -1.0, -0.9285714285714287, -0.5828571428571429, -0.4285714285714286, -0.3171428571428571, -1.0], "max": [1.0, 1.0, 0.5942857142857143, 0.0, 1.0, 0.9857142857142858, 1.0, 0.9714285714285714, 0.6142857142857143, 0.44857142857142857, 0.40571428571428575, 1.0], "mean": [-0.02564309444708111, 0.05833887043189366, 0.028472710014238237, 0.0, -0.21196013289036544, -0.0002040816326530751, -0.013678215472235408, 0.007513051732320833, 0.0010878025628856204, -0.006824869482676797, 0.0009492168960607462, -0.16279069767441862], "std": [0.4290102977772975, 0.2990935865440808, 0.19045732833344034, 0.0, 0.9772783135141708, 0.4608493461568108, 0.3238969773499772, 0.2596524924279054, 0.10414916107246337, 0.09934764797844824, 0.054379200947217037, 0.9866606249114657], "count": [1505]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010631228797137737], "std": [0.10255830734968185], "count": [1505]}, "next.done": {"min": [false], "max": [true], "mean": [0.000664451827242525], "std": [0.025768397913176498], "count": [1505]}, "timestamp": {"min": [0.0], "max": [75.2], "mean": [37.6], "std": [21.722799082991123], "count": [1505]}, "frame_index": {"min": [0], "max": [1504], "mean": [752.0], "std": [434.4559816598225], "count": [1505]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [1505]}, "index": {"min": [77835], "max": [79339], "mean": [78587.0], "std": [434.4559816598225], "count": [1505]}, "task_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1505]}}} +{"episode_index": 44, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.529864920354357]], [[0.5072492419504652]], [[0.4868582421658086]]], "std": [[[0.20679983001200017]], [[0.20245171426073774]], [[0.19577891563926197]]], "count": [256]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5874901126412785]], [[0.5683150913201126]], [[0.5402498885697009]]], "std": [[[0.2497637800868768]], [[0.2343575620473485]], [[0.21486881866367943]]], "count": [256]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5464000171306087]], [[0.5302455168144375]], [[0.5087933442171882]]], "std": [[[0.2406999053682839]], [[0.2261869934829754]], [[0.21059316322399071]]], "count": [256]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1631]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1631]}, "observation.state": {"min": [1.0095924388679427, -3.838245117396657, 0.6999921420752093, 0.0, 0.0, -1.0, 8.705627152494344e-08, -0.052762709468193725, -0.44309239948742407, 0.3556207758010542, -0.9898778200149536, -0.2547556161880493, -0.6364586353302002, 3.236978955101222e-05, -0.00023899141760255394, -0.04044018735663136], "max": [3.4573803903776708, -2.7742877059402677, 0.7046816400916854, 0.0, 0.0, 1.0, 0.9999972581863403, 0.6259448191998935, 0.3782651368593388, 0.7934212953662357, 0.946327805519104, 0.27037322521209717, 0.602389395236969, 0.5869974493980408, 0.04169997832956315, -0.0004926554561987129], "mean": [1.679516549099902, -3.118048544379289, 0.7028442607868588, 0.0, 0.0, 0.6703533380380007, 0.3174993518923652, 0.16620351487177332, 0.028903497951960188, 0.6328125843759488, -0.37676262438918534, -0.03822330881999651, -0.15324554279348673, 0.07445337294403075, 0.0327482806113984, -0.03405010167876469], "std": [0.7692567526858548, 0.21892462503503204, 0.0017075172828209092, 0.0, 0.0, 0.5966224811534201, 0.30636934372304986, 0.19120911390815942, 0.10649513395637034, 0.11916788482865297, 0.7750204113131852, 0.15646985100141786, 0.43409832062627124, 0.11823958012846385, 0.009527547522107526, 0.008601124094757866], "count": [1631]}, "action": {"min": [-1.0, -0.9642857142857144, -0.4885714285714286, 0.0, -1.0, -1.0, -1.0, -0.9, -0.5228571428571429, -0.5485714285714286, -0.24571428571428575, -1.0], "max": [1.0, 1.0, 0.8885714285714287, 0.0, 1.0, 1.0, 1.0, 1.0, 0.46857142857142864, 0.5571428571428572, 0.3342857142857143, 1.0], "mean": [0.03212752912323726, 0.12195848296400111, 0.10643251291933091, 0.0, -0.16247700797057021, -0.01386090917053516, 0.0001313830253131472, -0.024047473066479818, -0.0018971708855215915, -0.008387492335990192, 0.002713497416133836, -0.19435928877988964], "std": [0.38296187473135596, 0.32940161652740124, 0.26570324680936547, 0.0, 0.9867123298514789, 0.4230681978204958, 0.2762812529440608, 0.2810375734537159, 0.0697583431651777, 0.1098853808912354, 0.04469162891801865, 0.9809304087777898], "count": [1631]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009809932671487331], "std": [0.09855809807777405], "count": [1631]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006131207847946045], "std": [0.02475368392174905], "count": [1631]}, "timestamp": {"min": [0.0], "max": [81.5], "mean": [40.75], "std": [23.541452801388445], "count": [1631]}, "frame_index": {"min": [0], "max": [1630], "mean": [815.0], "std": [470.82905602776896], "count": [1631]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [1631]}, "index": {"min": [79340], "max": [80970], "mean": [80155.0], "std": [470.82905602776896], "count": [1631]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1631]}}} +{"episode_index": 45, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5164096684700986]], [[0.4692588583779954]], [[0.4304707220387825]]], "std": [[[0.23610510852070474]], [[0.23660030450747563]], [[0.23231500566700664]]], "count": [296]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5127178867342109]], [[0.45512671276066247]], [[0.4179515846709316]]], "std": [[[0.2609157146116368]], [[0.26400069256272146]], [[0.25550970305561904]]], "count": [296]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5054293217580661]], [[0.44241676451860434]], [[0.40863347460368227]]], "std": [[[0.25650330341954486]], [[0.26557406686370794]], [[0.2598763249517738]]], "count": [296]}, "annotation.human.task_description": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1975]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1975]}, "observation.state": {"min": [2.0264916735276426, -3.874590347440998, 0.6999654539396686, 0.0, 0.0, -0.9999983310699463, 0.000688881438691169, -0.051875205595335094, -0.2678382346217165, 0.3027370065361139, -0.9895522594451904, -0.14664879441261292, -0.6168930530548096, 9.729471457831096e-06, 0.0007449493507813177, -0.040789739695798265], "max": [6.565487723354081, -0.9639811151614176, 0.7046101270674107, 0.0, 0.0, 0.9999997615814209, 0.9999951124191284, 0.5950183655312867, 0.293702591459017, 0.8574445979266455, 0.9592825174331665, 0.3500276207923889, 0.7115373015403748, 0.5031490921974182, 0.04008074067488721, -0.01480060578120742], "mean": [4.187579951702264, -1.8489013942868155, 0.7028472743566584, 0.0, 0.0, 0.30658804169184045, 0.5686648463238254, 0.1986413710890934, -0.08560968956549278, 0.6314261106014616, 0.15622024412396587, 0.034384566356864155, 0.10153389555885445, 0.04968260142058044, 0.031999266526651166, -0.03729854863842051], "std": [1.4543340658380457, 0.8260068095093724, 0.0017971124638734635, 0.0, 0.0, 0.7036686409416415, 0.2957608872087101, 0.15988750334960564, 0.07979536338789991, 0.11687674376192073, 0.9000005963903556, 0.08548342118654532, 0.3646748818342262, 0.10648562383040543, 0.008351998498033822, 0.0041544451180848445], "count": [1975]}, "action": {"min": [-1.0, -0.7285714285714285, -0.7314285714285714, 0.0, -1.0, -1.0, -1.0, -0.8357142857142857, -0.5257142857142857, -0.5, -0.23714285714285716, -1.0], "max": [1.0, 1.0, 0.7371428571428571, 0.0, 1.0, 1.0, 1.0, 1.0, 0.7371428571428571, 0.58, 0.2057142857142857, 1.0], "mean": [0.2886401446654613, 0.04587341772151912, 0.07277974683544315, 0.0, 0.027848101265822784, -0.006083182640144659, -0.01689692585895117, 0.002057866184448445, 0.0003515370705244156, 0.0034112115732368954, 0.0013251356238698007, -0.025822784810126582], "std": [0.4708726959263243, 0.34094932657180194, 0.29928315492703966, 0.0, 0.9996121664205133, 0.43715891696415365, 0.26316447845617613, 0.23417956568461498, 0.09385305083319048, 0.08616898627802143, 0.03363168607914194, 0.9996665362933107], "count": [1975]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008101265877485275], "std": [0.08964169770479202], "count": [1975]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005063291139240507], "std": [0.022496060649643608], "count": [1975]}, "timestamp": {"min": [0.0], "max": [98.7], "mean": [49.35], "std": [28.50666588712191], "count": [1975]}, "frame_index": {"min": [0], "max": [1974], "mean": [987.0], "std": [570.1333177424382], "count": [1975]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [1975]}, "index": {"min": [80971], "max": [82945], "mean": [81958.0], "std": [570.1333177424382], "count": [1975]}, "task_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1975]}}} +{"episode_index": 46, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4464060302941689]], [[0.4373460264030717]], [[0.40599632316190043]]], "std": [[[0.20765103713610747]], [[0.20159232471943517]], [[0.20385010167525228]]], "count": [254]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45508598785848003]], [[0.42944549376791197]], [[0.396590185997312]]], "std": [[[0.24699173505782232]], [[0.2322641570163849]], [[0.223015098015785]]], "count": [254]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47815536515514334]], [[0.4434868804757308]], [[0.413576598386071]]], "std": [[[0.2565865520782769]], [[0.235563862391484]], [[0.22864678851854936]]], "count": [254]}, "annotation.human.task_description": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1615]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1615]}, "observation.state": {"min": [1.9888569087733332, -3.309145353590805, 0.6999974681593788, 0.0, 0.0, -0.018051741644740105, 0.25899627804756165, 0.01197705935162341, -0.4184965451425353, 0.33188707733199774, -0.983433187007904, -0.27537474036216736, -0.6024736762046814, 8.321275527123362e-05, 6.38756420185961e-05, -0.04232341450713338], "max": [3.7405210274437164, -2.601720963175088, 0.7041089492021328, 0.0, 0.0, 0.9658783674240112, 1.0, 0.6140786993101952, 0.34595269777886406, 0.749370048884072, 0.9907747507095337, 0.33545514941215515, 0.6636518836021423, 0.6281018257141113, 0.04006014438219312, -0.0005568216872257139], "mean": [3.0581255219606547, -2.8089079450251613, 0.7015360637460054, 0.0, 0.0, 0.24436255320622105, 0.8421979007706184, 0.24484533900503805, -0.07208984150236042, 0.5776865184763343, 0.20669629614419613, 0.027688233937272346, 0.07392219121181536, 0.09576626818863374, 0.03189998295839292, -0.03611794899278026], "std": [0.5697232846429807, 0.2359727813220069, 0.0011840183249927666, 0.0, 0.0, 0.39486555483111857, 0.273990582031505, 0.17971474402954382, 0.10100625973022066, 0.1127768736685595, 0.8624427640623145, 0.11470285427296471, 0.4045473940450011, 0.14577886318178593, 0.010684242954349098, 0.007939387107825522], "count": [1615]}, "action": {"min": [-1.0, -0.6500000000000001, -0.8457142857142858, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5742857142857143, -1.0, -0.20285714285714287, -1.0], "max": [1.0, 1.0, 0.8142857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.6485714285714286, 0.8171428571428573, 0.5085714285714286, 1.0], "mean": [-0.010628040689960188, 0.024480318443166744, 0.02876426360017693, 0.0, -0.4278637770897833, 0.0029677134011499248, -0.019380804953560385, 0.009792127377266684, 0.0008686421937195921, -0.004534276868642195, 0.00010968597965501978, -0.2235294117647059], "std": [0.32983112919152846, 0.17766601078095873, 0.2106478724216729, 0.0, 0.9038432321229506, 0.49169253955400016, 0.3339702344725584, 0.35138430591247455, 0.10660027080624859, 0.17315786382645607, 0.06176787768462533, 0.9746971848097871], "count": [1615]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00990712083876133], "std": [0.09904024004936218], "count": [1615]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006191950464396285], "std": [0.024875924986502373], "count": [1615]}, "timestamp": {"min": [0.0], "max": [80.7], "mean": [40.35], "std": [23.310512649875378], "count": [1615]}, "frame_index": {"min": [0], "max": [1614], "mean": [807.0], "std": [466.21025299750755], "count": [1615]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [1615]}, "index": {"min": [82946], "max": [84560], "mean": [83753.0], "std": [466.21025299750755], "count": [1615]}, "task_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1615]}}} +{"episode_index": 47, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5510744436761165]], [[0.5289663253768806]], [[0.4949217763730909]]], "std": [[[0.1646632504842444]], [[0.1596253939571095]], [[0.18358955140557334]]], "count": [253]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5289454193103408]], [[0.4945878911737157]], [[0.45888186025127997]]], "std": [[[0.19598004522390114]], [[0.19582027947662078]], [[0.208469830010733]]], "count": [253]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5836480454142812]], [[0.5575812092550243]], [[0.5282500572651012]]], "std": [[[0.21386148839665078]], [[0.20562869266856804]], [[0.20230166913673822]]], "count": [253]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1605]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1605]}, "observation.state": {"min": [2.078453768159435, -3.49068242222778, 0.6999923459592505, 0.0, 0.0, -0.003621911397203803, 0.20723040401935577, -0.023016297657269202, -0.266093547645466, 0.3229364782255567, -0.9914516806602478, -0.5153007507324219, -0.6561662554740906, 6.587525422219187e-05, 0.00047758936715967023, -0.04085844104011394], "max": [3.745323475023725, -2.600202585527883, 0.7019530341062852, 0.0, 0.0, 0.9782921671867371, 1.0, 0.6875431631193605, 0.3574880712623001, 0.8114880626591475, 0.9154709577560425, 0.5278669595718384, 0.6964402198791504, 0.47464707493782043, 0.04034921872178144, -0.00048750690452858475], "mean": [3.105353250968806, -2.9157028629596233, 0.7011973057350583, 0.0, 0.0, 0.2966684788168424, 0.8095324695017478, 0.2142928788606814, -0.040273418598400716, 0.624905842467978, -0.04909510415662486, 0.01786540144143446, 0.016009850908401554, 0.07403536817049673, 0.031112087403077856, -0.035583734065232055], "std": [0.6142601352833937, 0.2558762073544398, 0.0005302435338421082, 0.0, 0.0, 0.4074347488204337, 0.30106798522530076, 0.19338386404474034, 0.10429111174201251, 0.10266939521517497, 0.8627366150067377, 0.17693357354750727, 0.45416385623712763, 0.09822515977316547, 0.010366008776152546, 0.008050117296310375], "count": [1605]}, "action": {"min": [-1.0, -0.7928571428571428, -0.7771428571428571, 0.0, -1.0, -1.0, -1.0, -1.0, -0.40571428571428575, -0.7914285714285716, -0.6171428571428571, -1.0], "max": [1.0, 1.0, 0.7371428571428571, 0.0, 1.0, 1.0, 1.0, 1.0, 0.40857142857142864, 0.56, 0.4742857142857143, 1.0], "mean": [0.043048509123275486, 0.00920338228749442, 0.03062750333778372, 0.0, -0.39065420560747666, 0.0059635068980863236, -0.016203827325322676, -0.0013306631063640163, -0.0027200712060525115, -0.008434356920338235, 0.0037881619937694716, -0.1426791277258567], "std": [0.34742588325679524, 0.19167386896496702, 0.21325402833012183, 0.0, 0.9205375014855088, 0.5231445159484271, 0.31460008052082655, 0.3216646662191491, 0.07374667686582176, 0.1456454422731846, 0.07625250846845147, 0.9897689965397921], "count": [1605]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009968847036361694], "std": [0.09934519976377487], "count": [1605]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006230529595015577], "std": [0.024953251581932442], "count": [1605]}, "timestamp": {"min": [0.0], "max": [80.2], "mean": [40.1], "std": [23.166175054735877], "count": [1605]}, "frame_index": {"min": [0], "max": [1604], "mean": [802.0], "std": [463.32350109471747], "count": [1605]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1605]}, "index": {"min": [84561], "max": [86165], "mean": [85363.0], "std": [463.32350109471747], "count": [1605]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1605]}}} +{"episode_index": 48, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.538419766501661]], [[0.5175691377711104]], [[0.4797032053784411]]], "std": [[[0.24604795254190456]], [[0.22931088992886647]], [[0.22943655949483022]]], "count": [313]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.51388605743066]], [[0.5097062599656725]], [[0.4674573774408862]]], "std": [[[0.24098347886934535]], [[0.22704441629560018]], [[0.21599790262275914]]], "count": [313]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5200912981248996]], [[0.5154880394876165]], [[0.4749402770824035]]], "std": [[[0.23738507381100943]], [[0.22337031167656904]], [[0.21661235871698126]]], "count": [313]}, "annotation.human.task_description": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [2130]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2130]}, "observation.state": {"min": [-4.691497009350379, -5.663530148309977, 0.6999605092587319, 0.0, 0.0, -0.9999972581863403, 0.002376339863985777, -0.11879846500594171, -0.36603075885111735, 0.23354747519085584, -0.9908958077430725, -0.19409900903701782, -0.5052832365036011, 0.0001471963623771444, 0.004335618320755937, -0.041862537457562514], "max": [-0.9714352107992732, -1.787866564746588, 0.7016568457558394, 0.0, 0.0, 0.9999452829360962, 1.0, 0.6657532035260133, 0.05528943616443627, 0.7420790079825454, 0.9656451344490051, 0.272588312625885, 0.567108690738678, 0.523885190486908, 0.040790974107083065, -0.0011350154315226356], "mean": [-2.036011608576803, -3.4594981807950527, 0.7006060971219974, 0.0, 0.0, -0.11408016192515912, 0.8677332921755968, 0.15594313126302783, -0.09426220158819744, 0.5947518989601578, -0.4567986403832413, 0.05236918144102947, -0.19349053400407978, 0.08185296204896067, 0.03316264578133242, -0.03357999875924416], "std": [1.081285429994626, 0.9038591579846658, 0.000498280870481871, 0.0, 0.0, 0.4469004637528848, 0.18521511461351958, 0.2181452559796096, 0.058109796531310175, 0.09287151545976736, 0.789165553265233, 0.09513449163784864, 0.3173935601872666, 0.10900669275730866, 0.009069108703016093, 0.010190685979058358], "count": [2130]}, "action": {"min": [-1.0, -0.6571428571428571, -0.7428571428571429, 0.0, -1.0, -1.0, -1.0, -0.7714285714285714, -0.23428571428571432, -0.3342857142857143, -0.23714285714285716, -1.0], "max": [1.0, 1.0, 0.9257142857142858, 0.0, 1.0, 0.8285714285714285, 0.8214285714285715, 1.0, 0.4114285714285714, 0.32571428571428573, 0.11714285714285716, 1.0], "mean": [0.11877934272300472, 0.12660965794768606, 0.04304761904761902, 0.0, -0.0676056338028169, 0.009436619718309842, -0.006576123407109331, 0.00026492287055667596, -0.0004091213950368868, -0.005310529845741112, -0.000533869885982564, -0.17183098591549295], "std": [0.3946748083580058, 0.33680809619370866, 0.215838279316202, 0.0, 0.9977121219460705, 0.3755920990459763, 0.16740782730475526, 0.24201277792377374, 0.047569954289257005, 0.06682582699715454, 0.026901972654444033, 0.9851264448177847], "count": [2130]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00798122026026249], "std": [0.08898045122623444], "count": [2130]}, "next.done": {"min": [false], "max": [true], "mean": [0.00046948356807511736], "std": [0.021662482619829723], "count": [2130]}, "timestamp": {"min": [0.0], "max": [106.45], "mean": [53.225], "std": [30.743898446141582], "count": [2130]}, "frame_index": {"min": [0], "max": [2129], "mean": [1064.5], "std": [614.8779689228317], "count": [2130]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [2130]}, "index": {"min": [86166], "max": [88295], "mean": [87230.5], "std": [614.8779689228317], "count": [2130]}, "task_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [2130]}}} +{"episode_index": 49, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5225950582454142]], [[0.4877751375468114]], [[0.45897400258827764]]], "std": [[[0.19599507537259428]], [[0.1920011720571868]], [[0.18770544407537784]]], "count": [282]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5431964724141125]], [[0.527660202983357]], [[0.5074769937947337]]], "std": [[[0.23340293084063057]], [[0.2115420128445015]], [[0.19432300909097644]]], "count": [282]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5143703833622323]], [[0.5030114831819669]], [[0.49005967703702435]]], "std": [[[0.23533552634309912]], [[0.21884517575448345]], [[0.20511377419243823]]], "count": [282]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1855]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1855]}, "observation.state": {"min": [0.9594592800911798, -3.5271608374341663, 0.6999862783779682, 0.0, 0.0, -1.0, 8.863262479508194e-08, -0.13846561140212943, -0.4934028773170205, 0.36187960758165594, -0.9883092641830444, -0.24002712965011597, -0.504457950592041, 0.00012908680946566164, 0.0072560246534712795, -0.04109039443767221], "max": [2.9852228028837824, -2.8055189783585828, 0.7025602015670245, 0.0, 0.0, 1.0, 0.7133604288101196, 0.588809970514877, 0.1404037483427012, 0.7980704235632993, 0.9952608942985535, 0.40958696603775024, 0.5606241822242737, 0.70722895860672, 0.04006864542043781, -0.017383310883453327], "mean": [1.6547204868928895, -3.0843857064907656, 0.7010211903830299, 0.0, 0.0, 0.6260086208983573, 0.28635313387301753, 0.13101696138507238, -0.03767057927965632, 0.6185537376253671, -0.4927625924429161, 0.012473117594288366, -0.2167203707474904, 0.06573337932162626, 0.03381907868396435, -0.03836975825750406], "std": [0.7518435836930923, 0.14416321672479113, 0.0005897612450736768, 0.0, 0.0, 0.6794783071843707, 0.25381949007205223, 0.19087372325164126, 0.10604322378794073, 0.10596775173824524, 0.7707865441548195, 0.11383398823187914, 0.2857681052796857, 0.1304122966686131, 0.007920690365711563, 0.003185267876269817], "count": [1855]}, "action": {"min": [-0.9642857142857144, -1.0, -0.4, 0.0, -1.0, -1.0, -1.0, -0.8428571428571429, -0.3657142857142857, -0.3742857142857143, -0.16285714285714287, -1.0], "max": [0.9714285714285714, 0.9071428571428573, 0.39714285714285713, 0.0, 1.0, 0.7428571428571429, 1.0, 1.0, 0.4628571428571429, 0.27714285714285714, 0.2857142857142857, 1.0], "mean": [0.010323450134770906, 0.00021178282633808182, -0.017919137466307272, 0.0, -0.2884097035040431, -0.007905275317674244, -0.008217173661917617, -0.015922217943781285, 0.00010319599537928243, -0.005127454755487104, -0.0035271467077397033, -0.2711590296495957], "std": [0.28012545990785237, 0.258569363349397, 0.12517388425692255, 0.0, 0.9575070981066919, 0.3578094997237072, 0.23734097789379066, 0.231831631548035, 0.06867392481116473, 0.06378282732372177, 0.045120761588263926, 0.9625345607506622], "count": [1855]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008625336922705173], "std": [0.09247128665447235], "count": [1855]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005390835579514825], "std": [0.023211913899311033], "count": [1855]}, "timestamp": {"min": [0.0], "max": [92.7], "mean": [46.35], "std": [26.774614843168145], "count": [1855]}, "frame_index": {"min": [0], "max": [1854], "mean": [927.0], "std": [535.4922968633629], "count": [1855]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [1855]}, "index": {"min": [88296], "max": [90150], "mean": [89223.0], "std": [535.4922968633629], "count": [1855]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1855]}}} +{"episode_index": 50, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4782913215679401]], [[0.4163230659455456]], [[0.38276653440030195]]], "std": [[[0.18931772587519938]], [[0.17726744892024043]], [[0.1725075492500624]]], "count": [351]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48188449234597797]], [[0.43211451503233056]], [[0.4134131569934553]]], "std": [[[0.20407277667069487]], [[0.2018760530573921]], [[0.2028911454267757]]], "count": [351]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45790416132996886]], [[0.4126394984562446]], [[0.39603987908431265]]], "std": [[[0.18831711528339798]], [[0.19028197338502664]], [[0.19649787182305228]]], "count": [351]}, "annotation.human.task_description": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [2480]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2480]}, "observation.state": {"min": [0.5760105799544386, -5.603987119482024, 0.6999956682441054, 0.0, 0.0, -0.11617297679185867, 0.5501604080200195, -0.1026580092435383, -0.2645360702617463, 0.35363787118754175, -0.9943792223930359, -0.8498556017875671, -0.5407131910324097, 1.2942419971295749e-06, -3.913024513568001e-05, -0.04031123168162295], "max": [3.7607096069120076, -1.690962533634389, 0.7054789944862689, 0.0, 0.0, 0.8350590467453003, 1.0, 0.6424582614640761, 0.42740545348739367, 0.8008401023334527, 0.995977520942688, 0.8741058111190796, 0.5462822914123535, 0.7384332418441772, 0.04179114121035031, 0.0007724958095733072], "mean": [2.5167911573313058, -2.907340224896107, 0.7035964531475024, 0.0, 0.0, 0.06559563368826478, 0.9733797561016775, 0.18067923331197192, 0.0456018117149522, 0.5821147651600987, 0.5680315194351058, 0.04777391840733828, 0.1731071014083095, 0.09049413334015934, 0.028415278726068777, -0.02624341333340409], "std": [1.2153889666801765, 1.1253900073349083, 0.0013874929281755106, 0.0, 0.0, 0.20093609953354685, 0.08862152512366543, 0.18980722803074151, 0.13468938556636698, 0.09880017241236046, 0.6806493146661281, 0.2860617367307505, 0.26295838873434524, 0.15046815836741542, 0.013859057497705012, 0.013660307290832742], "count": [2480]}, "action": {"min": [-1.0, -1.0, -0.3942857142857143, 0.0, -1.0, -1.0, -1.0, -0.8642857142857142, -0.38, -0.6228571428571429, -0.42, -1.0], "max": [1.0, 1.0, 0.45999999999999996, 0.0, 1.0, 0.7071428571428572, 1.0, 0.9928571428571428, 0.4914285714285715, 0.40857142857142864, 0.98, 1.0], "mean": [-0.06682603686635957, 0.06991647465437778, -0.0003133640552995642, 0.0, -0.10161290322580645, -0.008421658986175109, 0.007275345622119838, -0.021768433179723445, -0.006517281105990787, -0.01316244239631338, 0.010781105990783418, 0.20403225806451614], "std": [0.34960420113670226, 0.3589339265508014, 0.11592315119944423, 0.0, 0.9948240135310442, 0.35772534612049806, 0.2925247898732314, 0.20735084036065515, 0.07588735782242302, 0.10094291602590368, 0.10047970267799257, 0.9789641656715815], "count": [2480]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.005645161494612694], "std": [0.07492192089557648], "count": [2480]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004032258064516129], "std": [0.020076434329846134], "count": [2480]}, "timestamp": {"min": [0.0], "max": [123.95], "mean": [61.975], "std": [35.79571377972508], "count": [2480]}, "frame_index": {"min": [0], "max": [2479], "mean": [1239.5], "std": [715.9142755945016], "count": [2480]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [2480]}, "index": {"min": [90151], "max": [92630], "mean": [91390.5], "std": [715.9142755945016], "count": [2480]}, "task_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [2480]}}} +{"episode_index": 51, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43078818317041573]], [[0.40672166337037524]], [[0.38980362880707903]]], "std": [[[0.20765530015375724]], [[0.20336225721521595]], [[0.2012190216396212]]], "count": [268]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5023747072116582]], [[0.45218972018283465]], [[0.41330448270088266]]], "std": [[[0.2505548791449625]], [[0.22409406317088273]], [[0.21622397252557063]]], "count": [268]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4724307829712021]], [[0.44178984689196193]], [[0.41240123807947854]]], "std": [[[0.24785633692908227]], [[0.23236270389161848]], [[0.22691673859870773]]], "count": [268]}, "annotation.human.task_description": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1731]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1731]}, "observation.state": {"min": [0.9650966459283836, -5.054610802584453, 0.6999874461261792, 0.0, 0.0, -0.9999926090240479, 1.6503083770658122e-06, -0.09622193432782589, -0.35145731763464116, 0.31780109525187616, -0.9928984045982361, -0.1411082148551941, -0.6073324084281921, 2.7848904210259207e-05, 0.0005089801160003676, -0.040081122497608104], "max": [4.031356431568813, -4.084517376935314, 0.7030444100892045, 0.0, 0.0, 1.0, 0.7153798937797546, 0.653499166964151, 0.3517056091989037, 0.813223830326077, 0.9847911596298218, 0.37449944019317627, 0.6070446372032166, 0.6194825172424316, 0.040042717552914706, 3.192431011353806e-05], "mean": [1.9517564869778872, -4.6110184750019805, 0.701650926129798, 0.0, 0.0, 0.4325598787875757, 0.06903511217289593, 0.2212079388810536, -0.060598835932636916, 0.623862517668582, -0.2380036049533758, 0.07074578976713805, -0.07086821633016079, 0.12258164996457675, 0.03091482329757994, -0.032505629695199066], "std": [1.0327279822687265, 0.2103627943827716, 0.0007528444441789545, 0.0, 0.0, 0.8876845693574827, 0.14192328429068438, 0.17599711152198283, 0.10135219991066774, 0.12481425608456435, 0.8392604151409385, 0.12742846039881006, 0.41498450589068864, 0.15966388190780817, 0.011659695106398462, 0.011407203570482279], "count": [1731]}, "action": {"min": [-1.0, -1.0, -0.6371428571428571, 0.0, -1.0, -1.0, -1.0, -0.8785714285714286, -0.74, -0.6, -0.39714285714285713, -1.0], "max": [1.0, 1.0, 0.5514285714285714, 0.0, 1.0, 0.9642857142857144, 1.0, 1.0, 0.5085714285714286, 0.54, 0.23428571428571432, 1.0], "mean": [-0.000829413221094315, -0.04089296030370555, 6.272179582406245e-05, 0.0, -0.4604274985557481, 0.006519765618552471, -0.003313526450441521, -0.0010852521251134757, 0.0008665511265164689, -0.0055871915490632975, -0.0025369315837253446, -0.23974581166955516], "std": [0.38218369162886384, 0.21505961232280366, 0.1244568466212739, 0.0, 0.8876973124740805, 0.46941192843953605, 0.3070024060028445, 0.3222352417517308, 0.12296704438023, 0.1050765471982754, 0.05070419855137795, 0.9708356945368836], "count": [1731]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009243211708962917], "std": [0.09569626301527023], "count": [1731]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005777007510109763], "std": [0.02402846255700222], "count": [1731]}, "timestamp": {"min": [0.0], "max": [86.5], "mean": [43.25], "std": [24.984828729984656], "count": [1731]}, "frame_index": {"min": [0], "max": [1730], "mean": [865.0], "std": [499.6965745996931], "count": [1731]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [1731]}, "index": {"min": [92631], "max": [94361], "mean": [93496.0], "std": [499.6965745996931], "count": [1731]}, "task_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1731]}}} +{"episode_index": 52, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5867608331066514]], [[0.5746347843156966]], [[0.5588293018363064]]], "std": [[[0.21321051213957234]], [[0.2241564077002899]], [[0.24177250742556342]]], "count": [272]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5326761492120903]], [[0.5111481905258514]], [[0.49753397553299816]]], "std": [[[0.24345109075933458]], [[0.2530382504441536]], [[0.263692535618211]]], "count": [272]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.579081017033314]], [[0.5560448905038449]], [[0.541007999125374]]], "std": [[[0.22265617387891726]], [[0.2395221057092731]], [[0.25504270689049435]]], "count": [272]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1765]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1765]}, "observation.state": {"min": [1.2476375017213543, -2.1201274501638223, 0.6999789719156552, 0.0, 0.0, -0.9999980926513672, 0.0003628392587415874, -0.06520125399030141, -0.29057659938618396, 0.32924901056015354, -0.9879186749458313, -0.22184109687805176, -0.55242520570755, 0.0001534287293907255, 0.00038419142277678475, -0.04072331338842], "max": [3.7260277104036708, -0.4621217981767534, 0.7022502461114559, 0.0, 0.0, 1.0, 1.0, 0.5804454488524133, 0.4179609262346744, 0.8050003068483321, 0.9752036929130554, 0.5320619940757751, 0.6075942516326904, 0.6909578442573547, 0.041015708654331094, -0.0006229694972033695], "mean": [1.8631484726957648, -1.1108110120961845, 0.7006843302364884, 0.0, 0.0, 0.29807970362146374, 0.6160733837015312, 0.2218263756156183, -0.00711879926355129, 0.6498742318421198, -0.3366174132222832, 0.05454437388239096, -0.13200366674825656, 0.12305706071972593, 0.03264755717038753, -0.037525087409443866], "std": [0.9187806410927839, 0.5423728469907364, 0.0006509739100377528, 0.0, 0.0, 0.681540263457411, 0.25904616928053226, 0.1823713180004482, 0.11191706791476758, 0.09752801881847138, 0.8192353100803484, 0.11039091414493334, 0.36885838304408664, 0.17820343671523617, 0.009666717018670643, 0.0061487677366392525], "count": [1765]}, "action": {"min": [-1.0, -1.0, -0.8171428571428573, 0.0, -1.0, -1.0, -1.0, -0.8, -0.6771428571428572, -0.5428571428571428, -0.3, -1.0], "max": [1.0, 1.0, 0.11714285714285716, 0.0, 1.0, 1.0, 1.0, 1.0, 0.842857142857143, 0.6171428571428571, 0.6942857142857143, 1.0], "mean": [0.11303520841764464, 0.051343585592877335, -0.10143909348441932, 0.0, -0.34050991501416433, 0.008207203561311226, -0.004318089842169154, 0.004933225414811821, 0.001239983812221775, -0.008391744233104013, 0.002073654390934848, -0.24872521246458923], "std": [0.4010075369170531, 0.22005333634641042, 0.215210546836255, 0.0, 0.9402409253893643, 0.4995725701152988, 0.34957476971334844, 0.2983108046622864, 0.11541328739781974, 0.11798418683749627, 0.07836707989757552, 0.9685740904465958], "count": [1765]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009065155871212482], "std": [0.09477857500314713], "count": [1765]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005665722379603399], "std": [0.023796033994334276], "count": [1765]}, "timestamp": {"min": [0.0], "max": [88.2], "mean": [44.1], "std": [25.47557653910898], "count": [1765]}, "frame_index": {"min": [0], "max": [1764], "mean": [882.0], "std": [509.51153078217965], "count": [1765]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [1765]}, "index": {"min": [94362], "max": [96126], "mean": [95244.0], "std": [509.51153078217965], "count": [1765]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1765]}}} +{"episode_index": 53, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5331209061677333]], [[0.4965811695772059]], [[0.4619755453360453]]], "std": [[[0.19927681449234488]], [[0.1889091955131432]], [[0.19193694103329945]]], "count": [270]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5505487184656126]], [[0.5283596697594692]], [[0.5093456118160516]]], "std": [[[0.21060544236435066]], [[0.19931106080517388]], [[0.19354310047327444]]], "count": [270]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5154997655664914]], [[0.4987692059064656]], [[0.4841630327034966]]], "std": [[[0.2096217731228131]], [[0.19905747455422781]], [[0.193887373561268]]], "count": [270]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1747]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1747]}, "observation.state": {"min": [1.4214629649842971, -4.146483904404506, 0.699997813911522, 0.0, 0.0, 0.36907362937927246, 0.70274817943573, -0.11372781185816505, -0.46200818198215376, 0.22044060838649104, -0.9949475526809692, -0.43077486753463745, -0.6529390811920166, 4.647132664103992e-05, -0.0011908420842926483, -0.04264730738464071], "max": [2.525515339477053, -1.0127624332434917, 0.7057299562366319, 0.0, 0.0, 0.7114386558532715, 0.9294002056121826, 0.7107266408457695, 0.02463689846192496, 0.7624609301374347, 0.9964403510093689, 0.233129620552063, 0.4921661913394928, 0.5264803171157837, 0.04071606491824276, 6.2183738394814765e-06], "mean": [2.0897141950191607, -2.104198215348338, 0.7031260585545356, 0.0, 0.0, 0.5987981216492623, 0.7869753452390006, 0.24131938182621804, -0.07295528870389217, 0.49176796905234643, 0.25230690940967204, -0.06081966064234905, 0.018457374111621287, 0.07970018388541612, 0.025126486570120246, -0.025560779853772034], "std": [0.24958918997587773, 1.1469949533364319, 0.001596028138778398, 0.0, 0.0, 0.12227706340475349, 0.08461048992015953, 0.21493403533793565, 0.08178803052739742, 0.1350958766988762, 0.8981918923944461, 0.13461560812711793, 0.2950191623254992, 0.11850339455619738, 0.014762280382238464, 0.014937214304856672], "count": [1747]}, "action": {"min": [-1.0, -1.0, -0.22, 0.0, -1.0, -1.0, -1.0, -0.9285714285714287, -0.4571428571428572, -0.6228571428571429, -0.7685714285714286, -1.0], "max": [1.0, 1.0, 0.23428571428571432, 0.0, 1.0, 0.8928571428571429, 1.0, 1.0, 0.2485714285714286, 0.5742857142857143, 0.5428571428571428, 1.0], "mean": [-0.04257911521792459, -0.011206967045547458, -0.007074985689753849, 0.0, -0.3360045792787636, 0.002379589500367999, -0.007388175648049712, -0.02642898029274677, 0.00015046201651811025, -0.006376645678305665, 0.006468231253577563, 0.18603319977103605], "std": [0.37365443219197575, 0.2711324373291957, 0.060010386749647565, 0.0, 0.9418603520181245, 0.42096162238163953, 0.24655458725308235, 0.33566564605698096, 0.06221255872495365, 0.12450163936049868, 0.10996942334868622, 0.9825434588775088], "count": [1747]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009158557280898094], "std": [0.0952611044049263], "count": [1747]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005724098454493417], "std": [0.02391823974330415], "count": [1747]}, "timestamp": {"min": [0.0], "max": [87.3], "mean": [43.65], "std": [25.215768875844336], "count": [1747]}, "frame_index": {"min": [0], "max": [1746], "mean": [873.0], "std": [504.31537751688677], "count": [1747]}, "episode_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [1747]}, "index": {"min": [96127], "max": [97873], "mean": [97000.0], "std": [504.31537751688677], "count": [1747]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1747]}}} +{"episode_index": 54, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5644581317795766]], [[0.5266991575567801]], [[0.4996519359005763]]], "std": [[[0.16546344873390104]], [[0.17733780231604646]], [[0.1984015844499101]]], "count": [265]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5698007715855358]], [[0.5579095506403475]], [[0.5372670159602756]]], "std": [[[0.17654079983086327]], [[0.1787234368711961]], [[0.18206787474253147]]], "count": [265]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5653506739563824]], [[0.552464881414314]], [[0.5314951206197397]]], "std": [[[0.20308717867442913]], [[0.20255000187765862]], [[0.20313176551582077]]], "count": [265]}, "annotation.human.task_description": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1703]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1703]}, "observation.state": {"min": [0.8492462101853144, -3.3155779738889595, 0.699996653264629, 0.0, 0.0, -0.9999394416809082, 0.005058119539171457, -0.07525889211575643, -0.28604070041699403, 0.2708469708585096, -0.9921008944511414, -0.3459196090698242, -0.5440093874931335, 1.7480329915997572e-05, 0.00330621458152151, -0.040705405763533424], "max": [3.3956377079497004, -1.8542302818358207, 0.7045054560273751, 0.0, 0.0, 0.9999872446060181, 1.0, 0.5989942491152394, 0.036441769436918126, 0.748758610335217, 0.9552738070487976, 0.41007620096206665, 0.5232776403427124, 0.5482507944107056, 0.04020602672269107, -0.0038959324856721665], "mean": [2.3779778651732233, -2.9338490714953394, 0.7021673556829806, 0.0, 0.0, -0.08603996445265051, 0.9268793103337634, 0.18255845664179884, -0.0568094423497211, 0.602307291780743, 0.13417824663558708, 0.07988041419704311, 0.023810281815814033, 0.09341399799272888, 0.03470961106389453, -0.036757049459233235], "std": [1.01669147663622, 0.4062748928987529, 0.001287735019819915, 0.0, 0.0, 0.3138649738711127, 0.18703116086600535, 0.19946720026434947, 0.06443753397219747, 0.10790415745329798, 0.8931017089649009, 0.15297723642792602, 0.36733658393670104, 0.10175141745024421, 0.006345437700715488, 0.005847519047251879], "count": [1703]}, "action": {"min": [-1.0, -1.0, -0.74, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4885714285714286, -0.7514285714285714, -0.2857142857142857, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.44571428571428573, 0.4, 0.3314285714285714, 1.0], "mean": [0.16455834242093784, -0.07587870145122062, 0.05985236137907892, 0.0, -0.1086318261890781, -0.002831138327321501, -0.01296871067863433, -0.019318849089841467, -0.005759583927522859, -0.004011408438889364, 0.0034896401308615057, -0.19553728714034058], "std": [0.4510303972114515, 0.2826411767226329, 0.26669716239895336, 0.0, 0.9940820521158323, 0.45490824953578096, 0.2311821444333377, 0.28370246493769136, 0.07351221685198275, 0.09622715038558959, 0.054261008421619336, 0.9806962676271324], "count": [1703]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011743981391191483], "std": [0.10773143172264099], "count": [1703]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005871990604815032], "std": [0.024225074979138304], "count": [1703]}, "timestamp": {"min": [0.0], "max": [85.1], "mean": [42.55], "std": [24.580683473003756], "count": [1703]}, "frame_index": {"min": [0], "max": [1702], "mean": [851.0], "std": [491.61366946007513], "count": [1703]}, "episode_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [1703]}, "index": {"min": [97874], "max": [99576], "mean": [98725.0], "std": [491.61366946007513], "count": [1703]}, "task_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1703]}}} +{"episode_index": 55, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6086413951511447]], [[0.5731674308961422]], [[0.5310875714143967]]], "std": [[[0.16199448425216018]], [[0.16612144197986423]], [[0.19689662336104596]]], "count": [308]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.604942460493608]], [[0.5549875145259632]], [[0.5139059829809054]]], "std": [[[0.1840893966998127]], [[0.19426321520753287]], [[0.21691019616905802]]], "count": [308]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6049749302020169]], [[0.5564191508845636]], [[0.5181725210836288]]], "std": [[[0.19564278302476304]], [[0.20223849538853128]], [[0.22274315765098598]]], "count": [308]}, "annotation.human.task_description": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [2084]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2084]}, "observation.state": {"min": [-1.6028910874964715, -4.0561756326999765, 0.6999181181063767, 0.0, 0.0, -1.0, 0.0003605263482313603, -0.15609787110464168, -0.42958216124936366, 0.30138619997142846, -0.9858981966972351, -0.30190035700798035, -0.5258384346961975, 4.905046444036998e-05, -0.0029823683054103216, -0.04036025767120071], "max": [4.191282667917026, -0.8877469492453597, 0.701175441544126, 0.0, 0.0, 0.9999995231628418, 1.0, 0.5825422272548342, 0.10030872199864171, 0.8369638043446471, 0.9690259099006653, 0.29311835765838623, 0.5986647009849548, 0.5455787777900696, 0.040132749707610084, -0.0029534945451847364], "mean": [1.9221842550164259, -1.7546777258175799, 0.7003415692426763, 0.0, 0.0, 0.044624690236996396, 0.8780511621663416, 0.14147747408373834, -0.07090183649956315, 0.6683779062702042, 0.16175682064782176, 0.01580155306922955, 0.12953675207959026, 0.0782558888800944, 0.03440259971081862, -0.037466373018931916], "std": [2.241466608055708, 0.9672057515732014, 0.0003638518989553686, 0.0, 0.0, 0.3886207292489036, 0.2756968096023397, 0.17730638726702866, 0.0949662527906232, 0.12050324867934803, 0.8646672644272633, 0.11053636443935413, 0.4246399383694162, 0.10244239382119555, 0.008237083003987674, 0.004399914899751801], "count": [2084]}, "action": {"min": [-1.0, -1.0, -0.6771428571428572, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4314285714285714, -0.5914285714285714, -0.30285714285714294, -1.0], "max": [1.0, 1.0, 0.3742857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.6314285714285715, 0.3457142857142857, 0.4942857142857143, 1.0], "mean": [0.2503084727173019, 0.08685563476830273, -0.10611324376199611, 0.0, 0.0009596928982725527, 0.0027214148615300466, -0.006200301617768027, 0.007674115711543723, -0.00043734576364135155, -0.0025719769673704395, 0.00023718124485878612, -0.0710172744721689], "std": [0.49596209521437357, 0.40786684742624185, 0.22011944280841603, 0.0, 0.9999995394946755, 0.39038907061081085, 0.24467880353779967, 0.27873982801774083, 0.09129699390338387, 0.08317675278501381, 0.05953482303038731, 0.9974750857673127], "count": [2084]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007677542977035046], "std": [0.08728458732366562], "count": [2084]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004798464491362764], "std": [0.02190014147263729], "count": [2084]}, "timestamp": {"min": [0.0], "max": [104.15], "mean": [52.075], "std": [30.079945561785845], "count": [2084]}, "frame_index": {"min": [0], "max": [2083], "mean": [1041.5], "std": [601.598911235717], "count": [2084]}, "episode_index": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [2084]}, "index": {"min": [99577], "max": [101660], "mean": [100618.5], "std": [601.598911235717], "count": [2084]}, "task_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [2084]}}} +{"episode_index": 56, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.544448991949776]], [[0.5228638561059398]], [[0.49551693658108603]]], "std": [[[0.21166497632537007]], [[0.21683525138018023]], [[0.23982961447241838]]], "count": [188]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45131608456136985]], [[0.4375086603335753]], [[0.4231379003290042]]], "std": [[[0.26215384651292195]], [[0.256716772123138]], [[0.25809435264052294]]], "count": [188]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5147121179586258]], [[0.493496822186893]], [[0.47627717464926045]]], "std": [[[0.23984581698325003]], [[0.23769906794732998]], [[0.2418626342629205]]], "count": [188]}, "annotation.human.task_description": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1077]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1077]}, "observation.state": {"min": [2.9213543418005763, -4.419792786869442, 0.6999758237580626, 0.0, 0.0, -0.06658045947551727, 0.7510604858398438, 0.04035654987650705, -0.4494105046447099, 0.25914628678188256, -0.9893283247947693, -0.20943516492843628, -0.5844801664352417, 0.00010757023119367659, 0.0011142865320337152, -0.041191380085955756], "max": [4.694441172834971, -3.7559631907966695, 0.7050402063509875, 0.0, 0.0, 0.6602333784103394, 1.0, 0.596879640416927, 0.020279022972351957, 0.7505714897097963, 0.9946510195732117, 0.1758304238319397, 0.5844429135322571, 0.3775625228881836, 0.04024584532073379, -0.020538558476256057], "mean": [4.038972608510559, -4.046971557807166, 0.7012311738736872, 0.0, 0.0, 0.17420967936313025, 0.93740523675026, 0.265937506984634, -0.0768870997173758, 0.5532716094865019, -0.22893091037302185, -0.056016749070270704, -0.12657826197693148, 0.060105120528048284, 0.03537697192371325, -0.037085518931019516], "std": [0.6291517128462703, 0.21264394387430163, 0.0016720567668091514, 0.0, 0.0, 0.2845287313178403, 0.09982899977978163, 0.1306920059288024, 0.07746775656528587, 0.1216633691231262, 0.8927030864739179, 0.10028521476553191, 0.3359315995015919, 0.07065491489768255, 0.007178513958045666, 0.00438828043009161], "count": [1077]}, "action": {"min": [-1.0, -1.0, -0.5914285714285714, 0.0, -1.0, -1.0, -1.0, -0.95, -0.5942857142857143, -0.5571428571428572, -0.26, -1.0], "max": [1.0, 1.0, 0.8828571428571429, 0.0, 1.0, 1.0, 1.0, 1.0, 0.2285714285714286, 0.5971428571428572, 0.44857142857142857, 1.0], "mean": [-0.017986470354158398, 0.02556041915373391, 0.02230799840827695, 0.0, -0.4373259052924791, -0.021547950656585723, -0.04224698235840295, -0.0327894946279347, -0.002594508555511342, -0.0016500862183313428, 0.004260512004244594, -0.30919220055710306], "std": [0.35226614075370655, 0.26400590510741373, 0.1962973967002582, 0.0, 0.8993030927113098, 0.4797492548649292, 0.3197990515344944, 0.32541975529977774, 0.07623588809746555, 0.1244287506337429, 0.08165426082048044, 0.95099957051234], "count": [1077]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022284122183918953], "std": [0.1476060450077057], "count": [1077]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009285051067780873], "std": [0.030457232064729296], "count": [1077]}, "timestamp": {"min": [0.0], "max": [53.8], "mean": [26.9], "std": [15.545149297020814], "count": [1077]}, "frame_index": {"min": [0], "max": [1076], "mean": [538.0], "std": [310.9029859404163], "count": [1077]}, "episode_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [1077]}, "index": {"min": [101661], "max": [102737], "mean": [102199.0], "std": [310.9029859404163], "count": [1077]}, "task_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1077]}}} +{"episode_index": 57, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.473420394491241]], [[0.46505696998911195]], [[0.44948750877045907]]], "std": [[[0.22618456020854044]], [[0.2292154413724392]], [[0.22904207454281378]]], "count": [246]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43375557002963466]], [[0.41056967342601103]], [[0.40083217149561484]]], "std": [[[0.23448981024436838]], [[0.23449172146172864]], [[0.23994252071874533]]], "count": [246]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44104644104033097]], [[0.42123445826779327]], [[0.4133156293433913]]], "std": [[[0.25162395194198184]], [[0.25141498603884493]], [[0.2553662584317952]]], "count": [246]}, "annotation.human.task_description": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1545]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1545]}, "observation.state": {"min": [3.8479678339767935, -3.5592461920958343, 0.6999832760077951, 0.0, 0.0, -0.016517862677574158, 0.06246764585375786, -0.04117542790924933, -0.35328696994776565, 0.3239302676965756, -0.9972960948944092, -0.31387031078338623, -0.5459598302841187, 0.0003662395756691694, 0.0006281189662528945, -0.04061330108232839], "max": [5.643299871711367, -1.3107995754629456, 0.7025493744289318, 0.0, 0.0, 0.9980469942092896, 1.0, 0.5789114401089321, 0.32232615019344557, 0.771304075618894, 0.9315770268440247, 0.34820258617401123, 0.554254412651062, 0.6106604933738708, 0.040289086326281594, -0.00017780456701412664], "mean": [5.001242073560342, -2.0191557282901886, 0.7011455613451095, 0.0, 0.0, 0.3233227426104158, 0.808152296497791, 0.24264713467321014, -0.048268012484923094, 0.6368968429960157, -0.5167733860247343, 0.03048095140835228, -0.1753192935019276, 0.09526405364507055, 0.03458758139254117, -0.032682505912705724], "std": [0.6183172046098935, 0.8229338099462644, 0.0006931547502752568, 0.0, 0.0, 0.40890563005611213, 0.2741322344449175, 0.17521796366694173, 0.10787048839274342, 0.10486243090176157, 0.736389258800139, 0.09816251658492912, 0.34897814621654755, 0.13606366156468722, 0.009064534053696132, 0.009284111352609063], "count": [1545]}, "action": {"min": [-1.0, -1.0, -0.5628571428571428, 0.0, -1.0, -1.0, -1.0, -1.0, -0.58, -0.7571428571428571, -0.26285714285714284, -1.0], "max": [1.0, 1.0, 0.7142857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5857142857142857, 0.44, 0.17714285714285713, 1.0], "mean": [0.03233472029588533, 0.07017105871474805, 0.02173277854831256, 0.0, -0.27766990291262134, 0.0034766527970411295, -0.0018908922792418078, -0.001252889505316703, 0.00015903837263060914, -0.010145168747110512, -0.003430420711974105, -0.08090614886731391], "std": [0.3899023133952748, 0.29876261743350374, 0.21349547288458084, 0.0, 0.9606765454701544, 0.5114621718169461, 0.34143596691078243, 0.31154732417645653, 0.10109183259804143, 0.1434538487853548, 0.052171233988814646, 0.9967217239909171], "count": [1545]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010355986654758453], "std": [0.10123606026172638], "count": [1545]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006472491909385113], "std": [0.025432857869758574], "count": [1545]}, "timestamp": {"min": [0.0], "max": [77.2], "mean": [38.6], "std": [22.300149476330123], "count": [1545]}, "frame_index": {"min": [0], "max": [1544], "mean": [772.0], "std": [446.00298952660245], "count": [1545]}, "episode_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [1545]}, "index": {"min": [102738], "max": [104282], "mean": [103510.0], "std": [446.00298952660245], "count": [1545]}, "task_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1545]}}} +{"episode_index": 58, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44878214496469754]], [[0.426603717769956]], [[0.40582474423984793]]], "std": [[[0.20594916884838743]], [[0.19264885514668045]], [[0.18439397510169825]]], "count": [275]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5735514714586119]], [[0.5307725686465993]], [[0.4705624118743733]]], "std": [[[0.2449605963746618]], [[0.20212159201685634]], [[0.1827201488026332]]], "count": [275]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5222224993646252]], [[0.5000935933322193]], [[0.4685529465292864]]], "std": [[[0.23115657527548933]], [[0.20475778564041527]], [[0.19123585981652558]]], "count": [275]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1794]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1794]}, "observation.state": {"min": [0.5946348441315765, -3.8766091817395396, 0.6999952692518511, 0.0, 0.0, -1.0, 5.078803724245518e-07, -0.09025839072734332, -0.3397119372698363, 0.3107389731699187, -0.9890878796577454, -0.2687663435935974, -0.5103452801704407, 2.724552723520901e-05, 0.00039732326612643766, -0.040670811270147704], "max": [2.7605883159184925, -1.5513409924632802, 0.7017124167284363, 0.0, 0.0, 1.0, 0.9999860525131226, 0.5545970354242704, 0.32173566867271086, 0.7813988122955852, 0.9423988461494446, 0.4210039973258972, 0.4951978325843811, 0.5648959875106812, 0.04028002563359108, -0.0007746494111047306], "mean": [1.3648295986186074, -2.2151971222615443, 0.7006635374391844, 0.0, 0.0, 0.20908822979619196, 0.2952785115807575, 0.1464287446761787, -0.04768834111801801, 0.6390278730538302, -0.276318285078508, 0.04217804080433936, -0.08628739657164983, 0.09762503886522832, 0.0362268218522412, -0.03312384129228931], "std": [0.745874213063642, 0.9089595966243145, 0.0005389679360872487, 0.0, 0.0, 0.8666246956476656, 0.3435903814904573, 0.1667515683313544, 0.09455603453228426, 0.10007391136828227, 0.8667826173287694, 0.13257193994825414, 0.3425749963681057, 0.13655768055085266, 0.00645985712852712, 0.008737055705122867], "count": [1794]}, "action": {"min": [-1.0, -1.0, -0.025714285714285714, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5857142857142857, -0.4257142857142857, -0.30857142857142855, -1.0], "max": [1.0, 1.0, 0.7828571428571428, 0.0, 1.0, 0.9714285714285714, 1.0, 1.0, 0.7142857142857143, 0.4114285714285714, 0.3485714285714286, 1.0], "mean": [0.15590062111801248, -0.02209348622392102, 0.11125497690715086, 0.0, -0.29431438127090304, -0.0044553272814142186, -0.009913999044433837, -0.006147475712693113, 0.001202420767638157, -0.007913680522376175, 0.0017900939640070083, -0.22073578595317725], "std": [0.4002321316378117, 0.22367594109134928, 0.20918321044458682, 0.0, 0.95570866113953, 0.4491363502274147, 0.3082898938231033, 0.2512477203270636, 0.12274759762325674, 0.08374447090500967, 0.06371026896148169, 0.9753336417860424], "count": [1794]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02118171751499176], "std": [0.14398975670337677], "count": [1794]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005574136008918618], "std": [0.023603027156900925], "count": [1794]}, "timestamp": {"min": [0.0], "max": [89.65], "mean": [44.825], "std": [25.89415555036825], "count": [1794]}, "frame_index": {"min": [0], "max": [1793], "mean": [896.5], "std": [517.883111007365], "count": [1794]}, "episode_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [1794]}, "index": {"min": [104283], "max": [106076], "mean": [105179.5], "std": [517.883111007365], "count": [1794]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1794]}}} +{"episode_index": 59, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44322015462085784]], [[0.4173292535375879]], [[0.40036823607043065]]], "std": [[[0.21743111370938822]], [[0.2204099612085776]], [[0.23506533901637874]]], "count": [249]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4815406501926825]], [[0.43261827949051107]], [[0.40765802419620273]]], "std": [[[0.21451512797404165]], [[0.23003871814586807]], [[0.24299630110708287]]], "count": [249]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4864769361030211]], [[0.43627697615484917]], [[0.4023290696486928]]], "std": [[[0.21587286681831805]], [[0.2254945412105925]], [[0.23784138659274107]]], "count": [249]}, "annotation.human.task_description": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1567]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1567]}, "observation.state": {"min": [0.9633126023689998, -1.8066749565069884, 0.6999777514499012, 0.0, 0.0, -1.0, 5.631967724184506e-06, -0.017067340688992516, -0.30245080832122695, 0.3664273763544219, -0.9886350631713867, -0.3104676604270935, -0.5683585405349731, 0.00013889891852159053, 0.0013285676972595376, -0.04057473180293601], "max": [4.183257600781103, -0.4105622038767014, 0.7011393725793835, 0.0, 0.0, 1.0, 0.8530271649360657, 0.5267855246307817, 0.18889266067046084, 0.7661627923337794, 0.9632554054260254, 0.488680899143219, 0.5996447801589966, 0.5394007563591003, 0.040040289200371386, -0.016896228486558567], "mean": [2.1407836446590243, -0.8255396829776759, 0.7005508634923447, 0.0, 0.0, -0.306547364993847, 0.07979205175407249, 0.2085261718775934, -0.023686515031658466, 0.6226896382890771, -0.697468638153843, 0.05804191846412386, -0.2491439623614368, 0.09644141057446956, 0.03236387855326782, -0.03400029286230953], "std": [1.229802713030971, 0.5283805028487224, 0.0004089321588579124, 0.0, 0.0, 0.9299924805188978, 0.1864831069839335, 0.1685015851922693, 0.07881117925357879, 0.0959603470681049, 0.5844050120902726, 0.12885628704971314, 0.2588955955214323, 0.11676851991355124, 0.009781687625453766, 0.008582803577916163], "count": [1567]}, "action": {"min": [-1.0, -1.0, -0.6057142857142859, 0.0, -1.0, -1.0, -1.0, -0.5285714285714286, -0.44857142857142857, -0.2285714285714286, -0.3057142857142857, -1.0], "max": [1.0, 1.0, 0.5771428571428572, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5914285714285714, 0.35714285714285715, 0.3942857142857143, 1.0], "mean": [0.0370498678092807, 0.05832801531589025, 0.003440605342328385, 0.0, -0.35162731333758773, 0.0006153705898441166, -0.019386452730422117, 0.004211869814932978, 0.002970188713647558, -0.0019017230376515647, -0.0016811012854407877, -0.21378430121250797], "std": [0.39678512744704403, 0.2962131606979599, 0.152368818973691, 0.0, 0.9361400709909808, 0.44896502953583356, 0.26482347281786484, 0.21210126989362682, 0.0986883634411972, 0.06486249797688706, 0.06361732571148429, 0.9768808896457619], "count": [1567]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011486917734146118], "std": [0.10655969381332397], "count": [1567]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006381620931716656], "std": [0.025253808471486124], "count": [1567]}, "timestamp": {"min": [0.0], "max": [78.3], "mean": [39.15], "std": [22.617692189964917], "count": [1567]}, "frame_index": {"min": [0], "max": [1566], "mean": [783.0], "std": [452.3538437992983], "count": [1567]}, "episode_index": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [1567]}, "index": {"min": [106077], "max": [107643], "mean": [106860.0], "std": [452.3538437992983], "count": [1567]}, "task_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1567]}}} +{"episode_index": 60, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6399149063922445]], [[0.6057818485188586]], [[0.5876219101435805]]], "std": [[[0.20352491202564008]], [[0.2233032041981008]], [[0.23406802454276446]]], "count": [266]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6078320936978822]], [[0.5917705638806201]], [[0.5824626058212656]]], "std": [[[0.2523124919726591]], [[0.2556881234052306]], [[0.25815700954163706]]], "count": [266]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6111641021283102]], [[0.593514091652543]], [[0.5825576249080018]]], "std": [[[0.2543011190544898]], [[0.25741916873373283]], [[0.260354864371653]]], "count": [266]}, "annotation.human.task_description": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1716]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1716]}, "observation.state": {"min": [3.731776026952566, -3.7153799873905156, 0.6999427486370184, 0.0, 0.0, -0.9998693466186523, 0.010854411870241165, -0.04220770930854334, -0.2882305333242574, 0.31582997717204375, -0.994452178478241, -0.2155306041240692, -0.605212390422821, 7.546423876192421e-05, 0.0012552251515290018, -0.04020241995708373], "max": [5.644264830513188, -1.4119688631229725, 0.7013850389486618, 0.0, 0.0, 0.9999411106109619, 1.0, 0.65800307094504, 0.3062169717206611, 0.7978837546874624, 0.9649603962898254, 0.3823511004447937, 0.4939444661140442, 0.6222399473190308, 0.04026001151733044, -0.0014597909736461438], "mean": [4.911823666739893, -2.102738416585319, 0.700353983620723, 0.0, 0.0, 0.2113260114234469, 0.8554963534773873, 0.27689011821069043, 0.010074489515936095, 0.6356241801371683, -0.6527572992173108, 0.003415987811687387, -0.24423720672295704, 0.116907168756086, 0.033742596098699354, -0.03182484560472702], "std": [0.6333467556213369, 0.8616240071862792, 0.0004581423642172302, 0.0, 0.0, 0.41610734326485915, 0.22432564455027657, 0.1946476014374951, 0.10084882527283007, 0.11772376677631141, 0.6227284349227443, 0.13975512073425983, 0.2701897459359276, 0.14231108730540218, 0.009521192082847607, 0.00946295978757029], "count": [1716]}, "action": {"min": [-1.0, -1.0, -0.8457142857142858, 0.0, -1.0, -1.0, -1.0, -1.0, -0.48, -0.6771428571428572, -0.4, -1.0], "max": [1.0, 1.0, 0.7228571428571429, 0.0, 1.0, 1.0, 1.0, 1.0, 0.7571428571428571, 0.3914285714285714, 0.29714285714285715, 1.0], "mean": [0.07600316350316344, 0.05842074592074595, -0.04761405261405265, 0.0, -0.3076923076923077, 0.009332334332334328, -0.004308191808191803, 0.0031759906759906637, 0.0002547452547452541, 0.0012021312021311993, -0.004542124542124545, -0.17132867132867133], "std": [0.3464411940252452, 0.29312170158501605, 0.23146703108781538, 0.0, 0.9514859136040772, 0.49213882169934275, 0.33148388967733206, 0.25772354955821103, 0.10338694533261142, 0.10359868442555244, 0.05604749270060901, 0.9852139292461954], "count": [1716]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009324009530246258], "std": [0.09610968828201294], "count": [1716]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005827505827505828], "std": [0.024133192588401697], "count": [1716]}, "timestamp": {"min": [0.0], "max": [85.75], "mean": [42.875], "std": [24.768322342594516], "count": [1716]}, "frame_index": {"min": [0], "max": [1715], "mean": [857.5], "std": [495.3664468518903], "count": [1716]}, "episode_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [1716]}, "index": {"min": [107644], "max": [109359], "mean": [108501.5], "std": [495.3664468518903], "count": [1716]}, "task_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1716]}}} +{"episode_index": 61, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5517193709940994]], [[0.5424222107989565]], [[0.5334355362655916]]], "std": [[[0.25764929150151195]], [[0.2677004308649855]], [[0.26966377889487564]]], "count": [289]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48964064463693]], [[0.46538061422395516]], [[0.45153036864886525]]], "std": [[[0.23535844957635457]], [[0.2443092453232041]], [[0.2548471691681246]]], "count": [289]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49679574726378306]], [[0.4708898383715849]], [[0.4553888522929176]]], "std": [[[0.2460415400284202]], [[0.25384051012104664]], [[0.2644838484587686]]], "count": [289]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1914]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1914]}, "observation.state": {"min": [0.7023540247067581, -3.5862972115449128, 0.6999920465848198, 0.0, 0.0, -0.8844838738441467, 0.46657076478004456, -0.11892868558026803, -0.39153189289499757, 0.28291357029412334, -0.9969462752342224, -0.3594266176223755, -0.5767238140106201, 3.252227179473266e-05, 0.0008494687544214506, -0.04062712262031062], "max": [3.4086925368697205, -1.7768915233429274, 0.7020222781918695, 0.0, 0.0, 0.08933572471141815, 1.0, 0.7908581691934593, 0.015705452000422726, 0.7584132875927876, 0.9605609774589539, 0.44046977162361145, 0.49792101979255676, 0.326708048582077, 0.04011355012683874, -0.0010539189230049785], "mean": [2.297538727537136, -3.058045875936943, 0.7009562164212831, 0.0, 0.0, -0.17964539405330612, 0.9384196775896297, 0.18179330566889984, -0.0839082030249716, 0.5863692992353956, -0.7961799884166338, -0.022594528578323007, -0.27102285991247815, 0.08827227674470083, 0.03243165344466878, -0.032462503895959796], "std": [1.047149019485736, 0.4089509787774104, 0.0006430957940811932, 0.0, 0.0, 0.2687542103369493, 0.1219312391591858, 0.21334582596471305, 0.07741393676365504, 0.11448712537608349, 0.4239582865164469, 0.23640243108423464, 0.1948793558819047, 0.10361867003870326, 0.009868343302647275, 0.009132326454199754], "count": [1914]}, "action": {"min": [-1.0, -1.0, -0.8771428571428571, 0.0, -1.0, -1.0, -1.0, -1.0, -0.3485714285714286, -0.5114285714285715, -0.1457142857142857, -1.0], "max": [1.0, 1.0, 0.5971428571428572, 0.0, 1.0, 1.0, 1.0, 1.0, 0.62, 0.4714285714285714, 0.52, 1.0], "mean": [0.0897223466188983, -0.06487908643081058, 0.0017539931333034591, 0.0, -0.06060606060606061, 0.002664576802507818, -0.009717868338558002, -0.011650992685475455, 0.0017062248096730848, -0.00309747723540827, 0.004293178086281528, -0.17659352142110762], "std": [0.45512045612259505, 0.45882267682271527, 0.2078418047743137, 0.0, 0.998161763151567, 0.39853058587637835, 0.2385052403909445, 0.2404622740085919, 0.06340283508311445, 0.08960601945667726, 0.05907375415162579, 0.9842838656566966], "count": [1914]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008359456434845924], "std": [0.09104710817337036], "count": [1914]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005224660397074191], "std": [0.02285154412604915], "count": [1914]}, "timestamp": {"min": [0.0], "max": [95.65], "mean": [47.825], "std": [27.626206610149477], "count": [1914]}, "frame_index": {"min": [0], "max": [1913], "mean": [956.5], "std": [552.5241322029896], "count": [1914]}, "episode_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [1914]}, "index": {"min": [109360], "max": [111273], "mean": [110316.5], "std": [552.5241322029896], "count": [1914]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1914]}}} +{"episode_index": 62, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5896605513009037]], [[0.5521788693275772]], [[0.5310767782836402]]], "std": [[[0.18840392153962274]], [[0.20535813337083486]], [[0.2271459541505454]]], "count": [224]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5643512354511506]], [[0.5246647629083372]], [[0.4964011884203144]]], "std": [[[0.22183057252193267]], [[0.23470587969971188]], [[0.24466973065271239]]], "count": [224]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5631732195365329]], [[0.5121414881794393]], [[0.4800758701078698]]], "std": [[[0.21589478290890482]], [[0.2387360762227359]], [[0.25460180671706584]]], "count": [224]}, "annotation.human.task_description": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1363]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1363]}, "observation.state": {"min": [-3.4910552591791055, -5.705788701981202, 0.6999818753182193, 0.0, 0.0, -0.9999823570251465, 0.005943194963037968, -0.04974907889446234, -0.287338110735913, 0.23433354932534045, -0.9959722757339478, -0.5016345381736755, -0.5333675742149353, 0.0002969956840388477, 0.0005713230924693461, -0.04082930079259471], "max": [-0.9784851515720104, -3.705081999234681, 0.7011074126179853, 0.0, 0.0, 0.9999431371688843, 1.0, 0.650801642433406, 0.04777261876190764, 0.7226188940356841, 0.9853444695472717, 0.5332558155059814, 0.5303564667701721, 0.21801511943340302, 0.040160673298817534, -0.001966401222162545], "mean": [-1.948089713109786, -4.428312965170605, 0.7007636601770163, 0.0, 0.0, 0.13141749946070844, 0.8525469684242241, 0.20770811623846963, -0.06223219907884832, 0.5737636364165901, -0.4967738163007679, 0.009664403642264693, -0.1958040971792715, 0.07564275240301314, 0.03445606347555213, -0.03493057500215927], "std": [0.8751048714298931, 0.7146055175006695, 0.0002803445676124994, 0.0, 0.0, 0.4610199482662796, 0.20821557361317103, 0.16492672014694293, 0.04688305435890544, 0.12085689702985163, 0.7504456556101554, 0.22309368695893575, 0.3037293085803555, 0.06221202493316048, 0.008485516538932243, 0.007175943805447854], "count": [1363]}, "action": {"min": [-1.0, -1.0, -0.7571428571428571, 0.0, -1.0, -1.0, -1.0, -0.7071428571428572, -0.28, -0.38, -0.2542857142857143, -1.0], "max": [1.0, 1.0, 0.31142857142857144, 0.0, 1.0, 1.0, 0.8785714285714286, 1.0, 0.23142857142857146, 0.3314285714285714, 0.23142857142857146, 1.0], "mean": [0.15293470286133515, 0.02366628236033959, -0.1369961219997904, 0.0, -0.055025678650036686, -0.003254375851587884, -0.018441463158998004, 0.006042343569856416, 0.003588722356147155, -0.002974530971596267, -0.0017335709045173454, -0.123991195891416], "std": [0.4357857109785172, 0.3191238002902304, 0.25874795606695417, 0.0, 0.9984849396406077, 0.43996379048049084, 0.20865480369638592, 0.2794003939093051, 0.039865889660888804, 0.0931207291179678, 0.05105016417350673, 0.9922833180807841], "count": [1363]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021276595070958138], "std": [0.14430488646030426], "count": [1363]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007336757153338225], "std": [0.02707651076631832], "count": [1363]}, "timestamp": {"min": [0.0], "max": [68.1], "mean": [34.050000000000004], "std": [19.67320512778739], "count": [1363]}, "frame_index": {"min": [0], "max": [1362], "mean": [681.0], "std": [393.4641025557478], "count": [1363]}, "episode_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [1363]}, "index": {"min": [111274], "max": [112636], "mean": [111955.0], "std": [393.4641025557478], "count": [1363]}, "task_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1363]}}} +{"episode_index": 63, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6001528697513269]], [[0.5559680843854965]], [[0.5170485390253127]]], "std": [[[0.17922969677535922]], [[0.1877672290297859]], [[0.19930964680146449]]], "count": [328]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5925986373441633]], [[0.5247378443713852]], [[0.480626691784487]]], "std": [[[0.20608015842265343]], [[0.24126109337955126]], [[0.2616131377956363]]], "count": [328]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6108050922410218]], [[0.5677298521664882]], [[0.5359805960452254]]], "std": [[[0.2062683284940788]], [[0.2241816834516456]], [[0.23456523496515255]]], "count": [328]}, "annotation.human.task_description": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [2264]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2264]}, "observation.state": {"min": [-1.3514636892062035, -3.9247544730242985, 0.6999850335132619, 0.0, 0.0, -0.9999973773956299, 0.0004325676418375224, -0.20938521158157997, -0.38904723548587494, 0.3170846883871101, -0.9894137382507324, -0.3304843604564667, -0.6014549732208252, 0.0005117544787935913, 0.00013223055301249075, -0.040549549825782766], "max": [4.192115472889212, -0.8840054630319303, 0.7026162988375108, 0.0, 0.0, 0.9999998807907104, 1.0, 0.6839518918520695, 0.10094938479749338, 0.8486244316449872, 0.9942402839660645, 0.2900365889072418, 0.5517076253890991, 0.5404238104820251, 0.040135779001052016, -0.016539033551344715], "mean": [2.0960634199073187, -1.7169235915091798, 0.7006278797445104, 0.0, 0.0, -0.06425549405186722, 0.8818509466479101, 0.154413115383435, -0.04694815859829028, 0.6353949393892527, -0.3599793786189581, -0.002775724671201866, -0.18854578880942016, 0.04875739397834958, 0.03538088484044617, -0.03791578895325044], "std": [2.1396236446514267, 0.9429948468386112, 0.0009381778435202543, 0.0, 0.0, 0.38204612895142903, 0.26879527086044946, 0.1897407912502148, 0.07111642495164215, 0.11560152040705671, 0.8173816269511142, 0.0991937656677283, 0.3852852702105128, 0.07799664913406157, 0.007638857180405856, 0.003314036845236025], "count": [2264]}, "action": {"min": [-1.0, -1.0, -0.6257142857142857, 0.0, -1.0, -1.0, -1.0, -0.8642857142857142, -0.3057142857142857, -0.5142857142857142, -0.20285714285714287, -1.0], "max": [1.0, 1.0, 0.46857142857142864, 0.0, 1.0, 0.9, 1.0, 1.0, 0.5942857142857143, 0.40571428571428575, 0.21714285714285717, 1.0], "mean": [0.2521706208985361, 0.03621908127208478, -0.10359540636042401, 0.0, -0.0088339222614841, -0.006884149419485119, -0.0029341241797072276, -0.013597930338213021, -0.0005577990913679942, -0.010070671378091887, 1.2619888944959593e-06, -0.07773851590106007], "std": [0.4757569442797026, 0.3210254880670441, 0.20023097141658314, 0.0, 0.999960980147457, 0.36379862684545805, 0.20077563196198336, 0.23535678613119382, 0.05554348417643295, 0.08608716250821762, 0.04184118877485309, 0.9969737825768025], "count": [2264]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007067137863487005], "std": [0.08376868814229965], "count": [2264]}, "next.done": {"min": [false], "max": [true], "mean": [0.00044169611307420494], "std": [0.021011925604710772], "count": [2264]}, "timestamp": {"min": [0.0], "max": [113.15], "mean": [56.574999999999996], "std": [32.67802204846554], "count": [2264]}, "frame_index": {"min": [0], "max": [2263], "mean": [1131.5], "std": [653.5604409693108], "count": [2264]}, "episode_index": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [2264]}, "index": {"min": [112637], "max": [114900], "mean": [113768.5], "std": [653.5604409693108], "count": [2264]}, "task_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [2264]}}} +{"episode_index": 64, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5489694733538928]], [[0.5109893462103143]], [[0.4758524827758094]]], "std": [[[0.17754480126681976]], [[0.1872091750572487]], [[0.20316652625121484]]], "count": [279]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5653621981623]], [[0.5202087526738967]], [[0.4916387442301209]]], "std": [[[0.17650764052984924]], [[0.1961987307604327]], [[0.21251950692942728]]], "count": [279]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5453012626080128]], [[0.48126786358199475]], [[0.44042962015500364]]], "std": [[[0.20943194779074192]], [[0.22537747316535559]], [[0.24287656136413732]]], "count": [279]}, "annotation.human.task_description": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1824]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1824]}, "observation.state": {"min": [4.46112213617854, -4.27559750425335, 0.6999880510384875, 0.0, 0.0, -0.9999194145202637, 0.002676615724340081, -0.08946928784024077, -0.2586823496443067, 0.2592748426114986, -0.9907558560371399, -0.25979894399642944, -0.5711526870727539, 8.407141285715625e-05, 0.0017748399143442018, -0.040089092379719644], "max": [6.364842880166423, -1.8808656513100686, 0.7013138503682312, 0.0, 0.0, 0.9999964237213135, 1.0, 0.6004871245354257, 0.013714186847972432, 0.7421403983159609, 0.9986703395843506, 0.20709598064422607, 0.49522942304611206, 0.5429359674453735, 0.04170582672884975, -0.0011781809797557106], "mean": [5.630357566621676, -2.9540077122460886, 0.7005847965798108, 0.0, 0.0, 0.09710935436231266, 0.8395454758026876, 0.16227604393760173, -0.03905863534908434, 0.5975721986324758, -0.5548952332322012, 0.014894629007597504, -0.26254216598485264, 0.040843355804163525, 0.0332772147243536, -0.029890392809050065], "std": [0.6543833688752223, 0.8305199762178811, 0.0003429766302529391, 0.0, 0.0, 0.4928171896926243, 0.20703716345691386, 0.17964300785239332, 0.03942042499091553, 0.10544807046021698, 0.7341761921539584, 0.07689636666765708, 0.2571899904872447, 0.10098732695896923, 0.009101991485200375, 0.01051387188288326], "count": [1824]}, "action": {"min": [-1.0, -1.0, -0.8285714285714287, 0.0, -1.0, -1.0, -1.0, -0.9214285714285714, -0.4371428571428572, -0.5971428571428572, -0.2885714285714286, -1.0], "max": [1.0, 1.0, 0.34285714285714286, 0.0, 1.0, 1.0, 1.0, 1.0, 0.38857142857142857, 0.5457142857142857, 0.31142857142857144, 1.0], "mean": [0.08867872807017535, 0.04193687343358397, -0.11208333333333333, 0.0, -0.06469298245614036, 0.001108239348370924, -0.0029840225563909787, -0.002858709273182957, -0.0013659147869674196, -0.0035260025062656642, -0.0023308270676691716, -0.06469298245614036], "std": [0.40011609473445325, 0.2650203121298206, 0.2202344937218248, 0.0, 0.9979052149482599, 0.4008070471388041, 0.17858158370824678, 0.23912573673917267, 0.0580439264599294, 0.0887242758825759, 0.04392875508158693, 0.997905214948257], "count": [1824]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008771929889917374], "std": [0.09324688464403152], "count": [1824]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005482456140350877], "std": [0.02340822592128201], "count": [1824]}, "timestamp": {"min": [0.0], "max": [91.15], "mean": [45.575], "std": [26.327168318424725], "count": [1824]}, "frame_index": {"min": [0], "max": [1823], "mean": [911.5], "std": [526.5433663684945], "count": [1824]}, "episode_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [1824]}, "index": {"min": [114901], "max": [116724], "mean": [115812.5], "std": [526.5433663684945], "count": [1824]}, "task_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1824]}}} +{"episode_index": 65, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46671876432197495]], [[0.42871859661753403]], [[0.41365609198741615]]], "std": [[[0.22711571305541237]], [[0.23031963803177163]], [[0.23908439263768086]]], "count": [305]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3984083284913287]], [[0.37528731098132134]], [[0.36602367983566375]]], "std": [[[0.23455020926802372]], [[0.23003358615976877]], [[0.23340541034642387]]], "count": [305]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42761948725603205]], [[0.403573742200998]], [[0.3937727580105749]]], "std": [[[0.24506091015930614]], [[0.2429697427183967]], [[0.24713346955444618]]], "count": [305]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [2060]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2060]}, "observation.state": {"min": [1.1683346536062242, -4.530289457363051, 0.6999965507241811, 0.0, 0.0, -0.04469723254442215, 0.6564573645591736, -0.06173030743220309, -0.3541836880925646, 0.27593480752225663, -0.9958885312080383, -0.338351309299469, -0.5295072793960571, 1.836034789448604e-05, 0.0010838421601645737, -0.040628451848059084], "max": [2.5855387871078435, -1.1500151487649917, 0.7032620019446338, 0.0, 0.0, 0.7543631792068481, 0.9999996423721313, 0.5852343823993844, 0.32004906393101584, 0.7593806462973609, 0.966890811920166, 0.4382701516151428, 0.5214762687683105, 0.6190308928489685, 0.04060477334831848, -0.0008255482813566355], "mean": [1.73547172647168, -2.276211147581292, 0.701111823429755, 0.0, 0.0, 0.620457379608918, 0.7556203082059194, 0.16391548141848994, -0.03088978464805868, 0.6146182265517063, -0.5003542352937957, -0.03267393324126318, -0.18925897687339016, 0.11365246325450129, 0.03271938604663095, -0.03749823137356394], "std": [0.4308823752153954, 1.3090208857921017, 0.0009603461349636461, 0.0, 0.0, 0.18632112550229918, 0.09672130575239545, 0.18577707410297592, 0.11248814407843835, 0.11650627013604994, 0.7521558988936262, 0.146070045893498, 0.29750416256294837, 0.15575150025530046, 0.009490068732742893, 0.004957768042732829], "count": [2060]}, "action": {"min": [-1.0, -1.0, -0.5742857142857143, 0.0, -1.0, -1.0, -1.0, -0.8428571428571429, -0.5142857142857142, -0.2714285714285714, -0.20857142857142857, -1.0], "max": [1.0, 0.8142857142857143, 0.6057142857142859, 0.0, 1.0, 0.8928571428571429, 1.0, 1.0, 0.4371428571428572, 0.38285714285714284, 0.31142857142857144, 1.0], "mean": [0.04167128987517335, -0.03542995839112344, 0.005149791955617192, 0.0, -0.31650485436893205, -0.006574202496532611, -0.010606796116504884, -0.01151525658807214, -0.002730929264909852, -0.005900138696255203, -0.0003536754507628315, -0.25339805825242717], "std": [0.381626033308231, 0.2452040843744585, 0.12038197228198763, 0.0, 0.9485908903004088, 0.4103051071474623, 0.26984906754770777, 0.2592442404351137, 0.08330718517410858, 0.07741528112661226, 0.05858443191356618, 0.9673620956363342], "count": [2060]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.006796116475015879], "std": [0.08215795457363129], "count": [2060]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004854368932038835], "std": [0.02202728408648238], "count": [2060]}, "timestamp": {"min": [0.0], "max": [102.95], "mean": [51.475], "std": [29.733535359926506], "count": [2060]}, "frame_index": {"min": [0], "max": [2059], "mean": [1029.5], "std": [594.6707071985302], "count": [2060]}, "episode_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [2060]}, "index": {"min": [116725], "max": [118784], "mean": [117754.5], "std": [594.6707071985302], "count": [2060]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [2060]}}} +{"episode_index": 66, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5788523902197392]], [[0.5808065640653388]], [[0.5733045853395513]]], "std": [[[0.2479810982183056]], [[0.2402356858158073]], [[0.25119144427232487]]], "count": [286]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5455014499636585]], [[0.561509289905627]], [[0.5612642000261916]]], "std": [[[0.2849147224956568]], [[0.25121813317312336]], [[0.24496980377057095]]], "count": [286]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.589820884831171]], [[0.5934428667083912]], [[0.5889956875101098]]], "std": [[[0.26977112351614074]], [[0.2462615970075838]], [[0.2425282844236153]]], "count": [286]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1888]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1888]}, "observation.state": {"min": [-0.8465282063686134, -2.6969766365501893, 0.6999751761485019, 0.0, 0.0, -0.9999822378158569, 0.005970309022814035, -0.04808222495407666, -0.2921918717598565, 0.259178757949615, -0.9981145858764648, -0.20469826459884644, -0.5912615656852722, 0.0003391171048860997, 0.0005539712538265243, -0.04030052893039876], "max": [0.5855838478577937, -1.0271344340455753, 0.70181982250534, 0.0, 0.0, 0.9999792575836182, 0.9999974966049194, 0.6202906478111818, 0.27606983457752504, 0.8134088913275352, 0.9880615472793579, 0.4684133529663086, 0.5714371204376221, 0.5563844442367554, 0.04049607118855021, 3.4505122257934126e-05], "mean": [0.20022405542672417, -1.624916862625435, 0.7005402345974415, 0.0, 0.0, 0.4059313196401305, 0.7365459234604683, 0.2314054506867046, -0.012498761511420034, 0.6432354274860264, -0.2733286700953366, -0.006327201766198722, -0.10473740889895036, 0.10193006761792121, 0.03091558029449529, -0.031657916815620364], "std": [0.4739233552673152, 0.5665992293455487, 0.000536297201927816, 0.0, 0.0, 0.5140394061998916, 0.16877012943988778, 0.19301208575913492, 0.08667197631874005, 0.12108838152739569, 0.8350211085864409, 0.16337014666214805, 0.40037739612566015, 0.14014145180721888, 0.011238742274256796, 0.010727750995582366], "count": [1888]}, "action": {"min": [-1.0, -1.0, -0.18285714285714286, 0.0, -1.0, -1.0, -1.0, -0.8928571428571429, -0.6228571428571429, -0.6142857142857143, -0.46857142857142864, -1.0], "max": [1.0, 1.0, 0.8028571428571428, 0.0, 1.0, 0.9928571428571428, 1.0, 1.0, 0.52, 0.38857142857142857, 0.6228571428571429, 1.0], "mean": [0.049704903147699805, -0.00025726392251816725, 0.10049636803874086, 0.0, -0.3527542372881356, -0.001153904358353482, -0.009885744552058116, -0.005402542372881345, 0.002192796610169497, -0.00817796610169492, 0.004443099273607744, -0.20021186440677965], "std": [0.3231480097370126, 0.21085464087372097, 0.21842496375500442, 0.0, 0.9357160082392775, 0.47336843988189564, 0.25762816333105426, 0.30306002732061155, 0.09793255703859559, 0.11636520273231055, 0.07241194366166316, 0.9797526266107903], "count": [1888]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008474576286971569], "std": [0.0916665568947792], "count": [1888]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005296610169491525], "std": [0.023008269734082067], "count": [1888]}, "timestamp": {"min": [0.0], "max": [94.35], "mean": [47.175000000000004], "std": [27.250928883250936], "count": [1888]}, "frame_index": {"min": [0], "max": [1887], "mean": [943.5], "std": [545.0185776650187], "count": [1888]}, "episode_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [1888]}, "index": {"min": [118785], "max": [120672], "mean": [119728.5], "std": [545.0185776650187], "count": [1888]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1888]}}} +{"episode_index": 67, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5082104224129185]], [[0.47242062629869175]], [[0.4389177202462512]]], "std": [[[0.1791491289226858]], [[0.20727223750184898]], [[0.22311166916239664]]], "count": [271]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4868416377357994]], [[0.4246745723467403]], [[0.39312234763582987]]], "std": [[[0.18871620352559887]], [[0.22855927701315198]], [[0.2518719980552907]]], "count": [271]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.474334874673066]], [[0.41012693360576186]], [[0.37984682754793714]]], "std": [[[0.2060095509317065]], [[0.24392799150588498]], [[0.2653911314373814]]], "count": [271]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1757]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1757]}, "observation.state": {"min": [0.5853734270129114, -5.529788214648338, 0.6999934422058767, 0.0, 0.0, -0.9999901056289673, 0.004453360103070736, -0.04454685995081864, -0.35154569848355965, 0.2917838714585811, -0.9871939420700073, -0.13784751296043396, -0.5782812237739563, 0.0005139395943842828, 0.007012832529413831, -0.04031960253625494], "max": [3.4100905150255665, -1.6206187052905034, 0.7038497322492924, 0.0, 0.0, 0.9999868869781494, 1.0, 0.6032943681966484, -0.008212472295020756, 0.7462372521975893, 0.98594069480896, 0.28630632162094116, 0.4949406385421753, 0.4690764844417572, 0.04012432644187341, -0.00481285617568229], "mean": [2.190197484366682, -3.6024484886336725, 0.7019964308235502, 0.0, 0.0, 0.016735075926047064, 0.8974490769742313, 0.16590564233337976, -0.09454744440763149, 0.6046976566825757, -0.06169302553769602, 0.0964384421528098, -0.08492144478795606, 0.05928999570882272, 0.03213105876375002, -0.03117188612762696], "std": [1.072614408938583, 0.7414643486117176, 0.0011035916530089736, 0.0, 0.0, 0.3843666249175368, 0.21579482607815384, 0.17385955764141434, 0.05811092272947976, 0.10000984773040204, 0.9075188497230062, 0.07231526013245769, 0.37535863382212487, 0.08032793410547658, 0.01003698144713721, 0.010060360440621684], "count": [1757]}, "action": {"min": [-1.0, -1.0, -0.9742857142857143, 0.0, -1.0, -1.0, -1.0, -1.0, -0.3485714285714286, -0.5685714285714286, -0.1742857142857143, -1.0], "max": [1.0, 1.0, 0.8657142857142858, 0.0, 1.0, 1.0, 0.9285714285714287, 1.0, 0.5742857142857143, 0.3914285714285714, 0.17714285714285713, 1.0], "mean": [0.21245223188877146, 0.05469550369948774, -0.0013480770794373042, 0.0, 0.008537279453614115, 0.007492479063338467, -0.009582079843889766, -0.015834620700869974, -0.0018277908773071008, -0.004135295552483941, -0.00048133994633709854, -0.03699487763232783], "std": [0.4423397264924722, 0.33602556341288653, 0.31262809586401363, 0.0, 0.9999635567656975, 0.40369849784565826, 0.19851345385945537, 0.2789400587978408, 0.06669983387226659, 0.07934928637282365, 0.02849784272901983, 0.99931545521372], "count": [1757]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009106431156396866], "std": [0.09499211609363556], "count": [1757]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005691519635742744], "std": [0.02385011592459529], "count": [1757]}, "timestamp": {"min": [0.0], "max": [87.8], "mean": [43.9], "std": [25.360106466653484], "count": [1757]}, "frame_index": {"min": [0], "max": [1756], "mean": [878.0], "std": [507.20212933306976], "count": [1757]}, "episode_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [1757]}, "index": {"min": [120673], "max": [122429], "mean": [121551.0], "std": [507.20212933306976], "count": [1757]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1757]}}} +{"episode_index": 68, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4765005432915822]], [[0.4730460895186882]], [[0.4484909731823688]]], "std": [[[0.2242293362547951]], [[0.21338000679496813]], [[0.20526280258862314]]], "count": [292]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.532856006197093]], [[0.5405786826282043]], [[0.505940454172057]]], "std": [[[0.22312403481247536]], [[0.20799062686872916]], [[0.20046137635940897]]], "count": [292]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.541755832423134]], [[0.5374552287947834]], [[0.5038166758260386]]], "std": [[[0.22200034020147089]], [[0.21000541948510104]], [[0.2029404385951541]]], "count": [292]}, "annotation.human.task_description": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1940]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1940]}, "observation.state": {"min": [0.9638686637506138, -4.880982668222954, 0.6999793353246897, 0.0, 0.0, -0.9999926090240479, 0.00013406277867034078, -0.09161418543737643, -0.3318382010674057, 0.35297339180954024, -0.9978519678115845, -0.3936503827571869, -0.5989987254142761, 0.00013684251462109387, 0.0007757815849676668, -0.04097585020955345], "max": [3.976214375723662, -3.7879849380483526, 0.7006473065464637, 0.0, 0.0, 1.0, 0.7779595851898193, 0.5354543890478403, 0.3388487853570492, 0.7950861332862635, 0.9989424347877502, 0.4658132791519165, 0.5436913371086121, 0.5947019457817078, 0.04008156808200571, -0.0012433936860096698], "mean": [2.071109158452692, -4.47616086440322, 0.7001719483909029, 0.0, 0.0, 0.8223657404331817, 0.08265176489549424, 0.18325052780660722, 0.01169516722148672, 0.6441793361584963, -0.47784667795466396, 0.014436199654316164, -0.14443734055096955, 0.10356435724895642, 0.03056754180432685, -0.03323552406691999], "std": [1.1414442109555056, 0.3537321750277955, 0.0001971771079040072, 0.0, 0.0, 0.5361791342011609, 0.1714503915866666, 0.1820961446739236, 0.09417555449619985, 0.11251896306040024, 0.7572871118100866, 0.15924910555284522, 0.3434756529359411, 0.15181190824317847, 0.010825880049644299, 0.009458124319428517], "count": [1940]}, "action": {"min": [-1.0, -1.0, -0.4514285714285714, 0.0, -1.0, -1.0, -1.0, -0.5428571428571429, -0.6057142857142859, -0.4714285714285714, -0.3657142857142857, -1.0], "max": [1.0, 1.0, 0.54, 0.0, 1.0, 1.0, 1.0, 1.0, 0.6028571428571429, 0.4914285714285715, 0.40571428571428575, 1.0], "mean": [0.029127393225331342, -0.0347827687776141, 0.004648011782032409, 0.0, -0.35051546391752575, 5.154639175258171e-05, -0.004955817378497796, 0.008766568483063321, -0.0015684830633284235, -0.009487481590574375, -0.00038144329896907327, -0.16804123711340208], "std": [0.35155874711748447, 0.2669585814734867, 0.13678241487210044, 0.0, 0.9365569441068109, 0.4483607347768235, 0.2716395256976446, 0.23442470643045757, 0.1094059153561091, 0.09946345805231274, 0.06028351635793157, 0.9857799666403047], "count": [1940]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008247422985732555], "std": [0.0904400497674942], "count": [1940]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005154639175257732], "std": [0.022697978202375253], "count": [1940]}, "timestamp": {"min": [0.0], "max": [96.95], "mean": [48.475], "std": [28.00148433565621], "count": [1940]}, "frame_index": {"min": [0], "max": [1939], "mean": [969.5], "std": [560.0296867131242], "count": [1940]}, "episode_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [1940]}, "index": {"min": [122430], "max": [124369], "mean": [123399.5], "std": [560.0296867131242], "count": [1940]}, "task_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1940]}}} +{"episode_index": 69, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4747665177014539]], [[0.46628768468927634]], [[0.4459751528603462]]], "std": [[[0.16716295630406147]], [[0.16734557724436055]], [[0.16569371732371366]]], "count": [329]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5311175749180989]], [[0.5163832056727695]], [[0.49434012727847126]]], "std": [[[0.19666870994463279]], [[0.19542841367545097]], [[0.19351702892692435]]], "count": [329]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5048200105653132]], [[0.49193848154600106]], [[0.4732300588588577]]], "std": [[[0.18228907178049736]], [[0.18245284492557012]], [[0.18237793618972784]]], "count": [329]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [2279]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2279]}, "observation.state": {"min": [1.0128757992290676, -4.62802883989703, 0.6999851724504779, 0.0, 0.0, -0.999984860420227, 7.703763549216092e-05, -0.09338239964863293, -0.30988970086088186, 0.2505047031261344, -0.9918638467788696, -0.41939082741737366, -0.5533090829849243, 0.00026459828950464725, 0.0004523272747734776, -0.040525215784292], "max": [4.163890049463898, -2.7207067163557825, 0.7012126062981425, 0.0, 0.0, 1.0, 0.9999998807907104, 0.5810277817947664, 0.5454236206459229, 0.8197518212776923, 0.946183979511261, 0.36146217584609985, 0.5736441016197205, 0.6174899935722351, 0.04053257366158071, -0.0005019579116624502], "mean": [3.246068626015914, -3.9452999153675976, 0.7005313233242977, 0.0, 0.0, -0.4386495882989796, 0.7686078328279372, 0.13176579012985676, 0.02691540453428227, 0.6609451510458476, -0.2488917605350707, 0.02272241341277872, -0.11722403885484557, 0.09358190324744355, 0.03320218879141424, -0.03423456383406516], "std": [1.2003412535532123, 0.6919177566946391, 0.0003308689115599761, 0.0, 0.0, 0.42166748639935414, 0.19754763309743437, 0.20974425848405268, 0.14959267810166108, 0.10729196964830444, 0.8453958391912387, 0.1404513452211769, 0.4020573051431095, 0.13771983740630692, 0.008893879147049906, 0.00787456171954442], "count": [2279]}, "action": {"min": [-1.0, -1.0, -0.5514285714285714, 0.0, -1.0, -1.0, -1.0, -0.7714285714285714, -0.5885714285714285, -0.48, -0.25142857142857145, -1.0], "max": [1.0, 1.0, 0.4885714285714286, 0.0, 1.0, 1.0, 1.0, 1.0, 0.4942857142857143, 0.5171428571428571, 0.4, 1.0], "mean": [0.06233310349150632, 0.04394157838651037, -0.039499780605528736, 0.0, -0.2812637121544537, -0.0036200087757788458, 0.003347332790070832, 0.0027800413715288576, -0.0008775778850372926, -0.0056691531373409395, 0.001924402933617504, -0.19789381307591047], "std": [0.3727702015128932, 0.2724424688051044, 0.16685277320441033, 0.0, 0.9596305144299677, 0.4245736365938022, 0.3497539264584671, 0.2487791907381693, 0.08294411993500565, 0.10188989605310463, 0.05718587719686219, 0.9802234636787105], "count": [2279]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00877577904611826], "std": [0.09326716512441635], "count": [2279]}, "next.done": {"min": [false], "max": [true], "mean": [0.00043878894251864854], "std": [0.02094269339847604], "count": [2279]}, "timestamp": {"min": [0.0], "max": [113.9], "mean": [56.95], "std": [32.894528420392355], "count": [2279]}, "frame_index": {"min": [0], "max": [2278], "mean": [1139.0], "std": [657.890568407847], "count": [2279]}, "episode_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [2279]}, "index": {"min": [124370], "max": [126648], "mean": [125509.0], "std": [657.890568407847], "count": [2279]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [2279]}}} +{"episode_index": 70, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5279617310791505]], [[0.49635448026866996]], [[0.45225262370573227]]], "std": [[[0.18149613370804155]], [[0.15302225767955227]], [[0.16355291034252264]]], "count": [245]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5770963558763349]], [[0.53734860228271]], [[0.47940395347592163]]], "std": [[[0.22412931998016872]], [[0.19177506236433148]], [[0.1845505882426635]]], "count": [245]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.537490379208324]], [[0.5134603409234787]], [[0.476999311931804]]], "std": [[[0.21443093956842]], [[0.1915620974967196]], [[0.1819140388970558]]], "count": [245]}, "annotation.human.task_description": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [1536]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1536]}, "observation.state": {"min": [1.0254660408780247, -3.7907285293810804, 0.6999797491220229, 0.0, 0.0, -1.0, 8.641451643143228e-08, 0.06640907068837867, -0.0643526070765379, 0.26709578351546426, -0.9889276027679443, -0.13497525453567505, -0.6425362229347229, 1.1346190831318381e-06, 0.0008595799097183945, -0.0427801900072997], "max": [2.7586795240106534, -3.371859219714957, 0.7008480418449937, 0.0, 0.0, 1.0, 0.7667863368988037, 0.6888331867620502, 0.3566064046852082, 0.7498740613577705, 0.9001493453979492, 0.4700384736061096, 0.4983455538749695, 0.5734747052192688, 0.040080590879688655, -0.017764524856335548], "mean": [1.7320175878349462, -3.4891247276140938, 0.7001565628851023, 0.0, 0.0, 0.1828908403792108, 0.2626199366004512, 0.2889338249342632, 0.008867051293597888, 0.5782101415405909, -0.6636525347130373, -0.026801323518157005, -0.27914669855575386, 0.05304332672878561, 0.03295236379553664, -0.034223223373971316], "std": [0.6603433518320089, 0.07725162572304183, 0.00026880195815829353, 0.0, 0.0, 0.9021778034574753, 0.2892350903724947, 0.183781562405431, 0.061548373762198315, 0.10319137684219631, 0.5915851106357294, 0.132859298041271, 0.3102047776179274, 0.11941100481995198, 0.009572989344924858, 0.00822355219336504], "count": [1536]}, "action": {"min": [-1.0, -0.7214285714285715, -0.5114285714285715, 0.0, -1.0, -1.0, -1.0, -0.6428571428571428, -0.5057142857142857, -0.4314285714285714, -0.15142857142857147, -1.0], "max": [0.9928571428571428, 0.9357142857142857, 0.6028571428571429, 0.0, 1.0, 1.0, 1.0, 1.0, 0.38, 0.52, 0.6428571428571429, 1.0], "mean": [-0.005784970238095256, -0.00262276785714285, -0.020373883928571406, 0.0, -0.3125, 0.004092261904761912, -0.013839285714285705, 0.001255580357142864, -0.00016741071428571562, 0.0011272321428571418, 0.004205729166666671, -0.2591145833333333], "std": [0.3266471665046273, 0.1985151039944745, 0.17481593662736736, 0.0, 0.9499177595981665, 0.44327599035628573, 0.18553032899283595, 0.24197242198959715, 0.06467551819602997, 0.09497988380329743, 0.06340789544230145, 0.9658465885967583], "count": [1536]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010416666977107525], "std": [0.10152909904718399], "count": [1536]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006510416666666666], "std": [0.025507210968957986], "count": [1536]}, "timestamp": {"min": [0.0], "max": [76.75], "mean": [38.37500000000001], "std": [22.17024563839261], "count": [1536]}, "frame_index": {"min": [0], "max": [1535], "mean": [767.5], "std": [443.40491276785224], "count": [1536]}, "episode_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [1536]}, "index": {"min": [126649], "max": [128184], "mean": [127416.5], "std": [443.40491276785224], "count": [1536]}, "task_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [1536]}}} +{"episode_index": 71, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5886689765360367]], [[0.5490007778004402]], [[0.5284341278042555]]], "std": [[[0.19603892727568745]], [[0.20864454605603616]], [[0.2257986742980798]]], "count": [267]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5452242202237724]], [[0.5175079430866374]], [[0.502613475682181]]], "std": [[[0.23034329058139089]], [[0.23097799888124262]], [[0.23783689856643636]]], "count": [267]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5240673725480872]], [[0.5017783480488257]], [[0.4877032860212934]]], "std": [[[0.24995907684006935]], [[0.2477558231560685]], [[0.2534081580375269]]], "count": [267]}, "annotation.human.task_description": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1722]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1722]}, "observation.state": {"min": [2.3158142045031873, -3.4327997233372964, 0.69991808261337, 0.0, 0.0, -0.9999898672103882, 0.000712315144483, 0.002432808799190056, -0.3453412077123885, 0.2958201639819691, -0.9924002289772034, -0.3093031048774719, -0.650542140007019, 8.413172326982021e-05, 0.0011128373272755719, -0.043055559237364024], "max": [4.01226348147887, -0.9647996265074213, 0.7023828707575057, 0.0, 0.0, 0.9999997615814209, 0.7692832350730896, 0.706737244421419, 0.3614402946886166, 0.8612144350641338, 0.9296470880508423, 0.5342944860458374, 0.6520500183105469, 0.6503080129623413, 0.04032734003855551, -0.000450172973192242], "mean": [3.5249327300582465, -1.8324919609911192, 0.7004694929011712, 0.0, 0.0, 0.6737721054949966, 0.6855369948954892, 0.2757241988295371, -0.012482783665306325, 0.6174415840820277, -0.6371125280857086, 0.02581820767221412, -0.2673691030033738, 0.09632952193521087, 0.034332021504265946, -0.036263328547815915], "std": [0.5492812221267801, 0.814053133290987, 0.0007647721700839432, 0.0, 0.0, 0.24042722658706414, 0.13514780035043972, 0.20031759497624999, 0.10246072846552866, 0.13352041293396594, 0.6116370007574119, 0.14227701999295478, 0.3071065868840386, 0.1549141906621306, 0.009461677176915945, 0.007067210630455938], "count": [1722]}, "action": {"min": [-1.0, -1.0, -0.6771428571428572, 0.0, -1.0, -1.0, -1.0, -0.8571428571428572, -0.42, -0.8657142857142858, -0.34285714285714286, -1.0], "max": [1.0, 1.0, 0.7028571428571428, 0.0, 1.0, 1.0, 1.0, 1.0, 0.6285714285714286, 0.5514285714285714, 0.4885714285714286, 1.0], "mean": [0.02888667662186825, 0.05880205740832918, -0.001997677119628332, 0.0, -0.4634146341463415, -0.018093578894972626, -0.0065994690559150505, 0.020428903268624544, -0.002497096399535421, -0.005128588020574089, -0.001207897793263645, -0.29965156794425085], "std": [0.3502983023010011, 0.2977842457458424, 0.13607933715460013, 0.0, 0.8861415670529209, 0.51720306534073, 0.27840327925907743, 0.3254930453295455, 0.10057785716533642, 0.1263458470495775, 0.07373647410261258, 0.9540487083103014], "count": [1722]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009291521273553371], "std": [0.09594367444515228], "count": [1722]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005807200929152149], "std": [0.0240911364839623], "count": [1722]}, "timestamp": {"min": [0.0], "max": [86.05], "mean": [43.025], "std": [24.85492489762676], "count": [1722]}, "frame_index": {"min": [0], "max": [1721], "mean": [860.5], "std": [497.09849795253524], "count": [1722]}, "episode_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [1722]}, "index": {"min": [128185], "max": [129906], "mean": [129045.5], "std": [497.09849795253524], "count": [1722]}, "task_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1722]}}} +{"episode_index": 72, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4970063100636624]], [[0.4410902397158695]], [[0.4210931509121341]]], "std": [[[0.21809222274428147]], [[0.22812531945295159]], [[0.24321514545262538]]], "count": [255]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.491950179074004]], [[0.43949032875539157]], [[0.4115833117915135]]], "std": [[[0.24626273123559964]], [[0.2492035755740294]], [[0.2594507303712465]]], "count": [255]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4945327633245777]], [[0.439177216995867]], [[0.40900592010509784]]], "std": [[[0.24612314247584668]], [[0.24872134453481917]], [[0.2597640230815549]]], "count": [255]}, "annotation.human.task_description": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1620]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1620]}, "observation.state": {"min": [2.05934582163547, -4.8388065264254445, 0.6999857872197619, 0.0, 0.0, -0.10143376141786575, 0.6375184059143066, 0.0012684708645114284, -0.3418583534023165, 0.26613132933805317, -0.9905221462249756, -0.307328999042511, -0.6043787598609924, 2.0153507648501545e-05, 0.001020967710028885, -0.04046008634032998], "max": [3.8835645881992638, -1.0296982978266622, 0.7015350035087804, 0.0, 0.0, 0.7704351544380188, 1.0, 0.5876354398706125, 0.30663459166056106, 0.7794079413508688, 0.9860150814056396, 0.40845245122909546, 0.5190040469169617, 0.5843923687934875, 0.04049185485719867, -0.0007112483677982404], "mean": [2.5940858681912418, -2.366144782839276, 0.7006654592772483, 0.0, 0.0, 0.6423081939437076, 0.7377775922969535, 0.2224743597931877, 0.004345041242727491, 0.6038525917049824, -0.5434040741788017, 0.02166869622873671, -0.202442144969461, 0.10858450261267973, 0.03338714894602955, -0.037038306663800834], "std": [0.6163790074262079, 1.4351859734659538, 0.00048290332762479125, 0.0, 0.0, 0.19063920089344483, 0.08234749106708583, 0.17157194498315437, 0.08759577645344309, 0.1110650579403612, 0.7311314815384208, 0.13028318721873952, 0.29018791801337196, 0.12543158467135668, 0.008762131141751584, 0.006021007405947432], "count": [1620]}, "action": {"min": [-1.0, -1.0, -0.7028571428571428, 0.0, -1.0, -1.0, -1.0, -0.7642857142857143, -0.4285714285714286, -0.4885714285714286, -0.2742857142857143, -1.0], "max": [1.0, 1.0, 0.6657142857142857, 0.0, 1.0, 1.0, 1.0, 1.0, 0.7628571428571429, 0.8057142857142856, 0.4, 1.0], "mean": [0.06275132275132263, -0.028752204585537885, -0.001504409171075832, 0.0, -0.2308641975308642, 0.004435626102292745, -0.005476190476190485, 0.0032010582010581984, 0.0023439153439153496, -0.004465608465608468, 0.0004479717813051135, -0.11975308641975309], "std": [0.44410663339794376, 0.3419797876789748, 0.15035494845457287, 0.0, 0.972985982580637, 0.5078466961279416, 0.33832002178088755, 0.2676624597881332, 0.1103777779096605, 0.1315525176186343, 0.07771445998361473, 0.9928037058215197], "count": [1620]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009876543655991554], "std": [0.0988888144493103], "count": [1620]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006172839506172839], "std": [0.02483753029472927], "count": [1620]}, "timestamp": {"min": [0.0], "max": [80.95], "mean": [40.475], "std": [23.382681447316234], "count": [1620]}, "frame_index": {"min": [0], "max": [1619], "mean": [809.5], "std": [467.6536289463246], "count": [1620]}, "episode_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [1620]}, "index": {"min": [129907], "max": [131526], "mean": [130716.5], "std": [467.6536289463246], "count": [1620]}, "task_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1620]}}} +{"episode_index": 73, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5507234103255423]], [[0.4993024411631682]], [[0.4670604008395061]]], "std": [[[0.19424255538831942]], [[0.22117365822037174]], [[0.2561944184493978]]], "count": [321]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4948677656245824]], [[0.43239696899510993]], [[0.4058774044369378]]], "std": [[[0.21118725528409257]], [[0.25434970793462414]], [[0.27801418917714854]]], "count": [321]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5221316619475989]], [[0.47224865140303834]], [[0.44937997605599506]]], "std": [[[0.2141440452497466]], [[0.25140461895264365]], [[0.2735950753807164]]], "count": [321]}, "annotation.human.task_description": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [2202]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2202]}, "observation.state": {"min": [1.5422054387902941, -4.206798484258688, 0.6999919820667682, 0.0, 0.0, -0.9999991655349731, 0.0012746562715619802, -0.06359784621777631, -0.38745415662753313, 0.31538927950026674, -0.9941998720169067, -0.1957893967628479, -0.6602626442909241, 4.02137084165588e-05, 0.00040547422549638926, -0.04061758650318925], "max": [4.033350442312041, -0.9634072395114659, 0.7030474572655013, 0.0, 0.0, 0.9999909400939941, 0.9999828338623047, 0.7198000225277501, 0.26777404671005023, 0.8005404174074311, 0.9662282466888428, 0.31914782524108887, 0.6155129075050354, 0.4317092001438141, 0.04032109324097834, -0.0005931412106562068], "mean": [3.5312329503323268, -1.9104932795199163, 0.7010911492012053, 0.0, 0.0, 0.36530879568130953, 0.641001663281672, 0.2013781367223399, -0.0639382493604886, 0.6505787248052881, -0.2395308593475851, 0.0259411312490837, -0.15871866409253196, 0.06017381535542804, 0.03469152732167768, -0.03717969527782185], "std": [0.4437913013158014, 0.963801508624226, 0.0010260956548330535, 0.0, 0.0, 0.6530495039486681, 0.1708586595495805, 0.2211827505907175, 0.0781663303925513, 0.12333918423020963, 0.8497679740105798, 0.10090989571824957, 0.41801609073227014, 0.07818986739692674, 0.007258894753184647, 0.006159936968116808], "count": [2202]}, "action": {"min": [-1.0, -1.0, -0.5571428571428572, 0.0, -1.0, -1.0, -1.0, -0.7428571428571429, -0.39714285714285713, -0.56, -0.3628571428571429, -1.0], "max": [1.0, 0.5285714285714286, 0.7628571428571429, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5057142857142857, 0.41714285714285715, 0.26857142857142857, 1.0], "mean": [0.06538860775917994, -0.052127935642922056, 0.05476579732710519, 0.0, -0.24069028156221617, 0.002870766835344493, -0.002543142597638506, -0.002854547813675877, -0.0008304139094329813, -0.00383677176592708, 0.0031218372907746233, -0.148047229791099], "std": [0.3913279124204659, 0.1657225411578062, 0.21875452573173018, 0.0, 0.9706019721603156, 0.436543626159814, 0.2476659316548936, 0.28505268864613686, 0.06968607665147497, 0.0972931414674236, 0.04461010375769514, 0.9889802918922067], "count": [2202]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007266121916472912], "std": [0.08493129163980484], "count": [2202]}, "next.done": {"min": [false], "max": [true], "mean": [0.00045413260672116256], "std": [0.021305547876003455], "count": [2202]}, "timestamp": {"min": [0.0], "max": [110.05], "mean": [55.02499999999999], "std": [31.783129041468943], "count": [2202]}, "frame_index": {"min": [0], "max": [2201], "mean": [1100.5], "std": [635.662580829379], "count": [2202]}, "episode_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [2202]}, "index": {"min": [131527], "max": [133728], "mean": [132627.5], "std": [635.662580829379], "count": [2202]}, "task_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [2202]}}} +{"episode_index": 74, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5222922363099921]], [[0.49290097781185305]], [[0.45984138243976125]]], "std": [[[0.23139804344988424]], [[0.22190220771200433]], [[0.23035432074331058]]], "count": [264]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4575001424788296]], [[0.4297317615946488]], [[0.40344654112717826]]], "std": [[[0.2246435924515409]], [[0.21581126397441966]], [[0.22076678118890952]]], "count": [264]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46726197612760184]], [[0.45983257894351665]], [[0.43986699948053026]]], "std": [[[0.23247339309822285]], [[0.21887580197213732]], [[0.22156338075074145]]], "count": [264]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1694]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1694]}, "observation.state": {"min": [4.4784651834880895, -4.379881958944706, 0.6999908388954504, 0.0, 0.0, -0.9999071359634399, 0.0026202965527772903, -0.03529120660109619, -0.3639159707839128, 0.2808050021087365, -0.9925402998924255, -0.22156298160552979, -0.5640954375267029, 5.721243724110536e-05, 0.012147894253971673, -0.04068086770230128], "max": [6.391851900482593, -2.1890119366713274, 0.7017378098143725, 0.0, 0.0, 0.999996542930603, 1.0, 0.6062731966200801, -0.005275645549455366, 0.820418493130851, 0.9495483040809631, 0.29358214139938354, 0.5462329983711243, 0.5586350560188293, 0.04034106599549674, -0.01853027450167953], "mean": [5.690433513117423, -2.9012770389112394, 0.7010331248720675, 0.0, 0.0, 0.10995449919887919, 0.8423040181742277, 0.15983800850281107, -0.07159703046571123, 0.6096109484851314, -0.3812464280350853, 0.06756603815444386, -0.15551588019094334, 0.08228203473545481, 0.036343782629832566, -0.03482897725878736], "std": [0.6370941645228908, 0.766140587881126, 0.0005610129750132089, 0.0, 0.0, 0.4788270081458328, 0.2217175122754694, 0.16834280520576364, 0.049954586598049175, 0.11536257261107348, 0.8137645113772398, 0.14200551573207118, 0.35048512047596775, 0.11795084884367914, 0.006791404089761761, 0.006152021554146818], "count": [1694]}, "action": {"min": [-1.0, -1.0, -0.8199999999999998, 0.0, -1.0, -1.0, -1.0, -0.9071428571428573, -0.5342857142857143, -0.5371428571428571, -0.29428571428571426, -1.0], "max": [1.0, 1.0, 0.5628571428571428, 0.0, 1.0, 0.95, 1.0, 1.0, 0.4514285714285714, 0.6028571428571429, 0.2057142857142857, 1.0], "mean": [0.10589475459605326, -0.0027829313543599205, -0.12547309833024134, 0.0, -0.11334120425029516, -0.0021335807050092657, -0.012021420138303242, -0.011730477314892875, 0.0004840613931523041, -0.007370551526395685, -0.004125484904705679, -0.18654073199527746], "std": [0.41207426903056343, 0.23194098135745916, 0.24342038728506374, 0.0, 0.9935561239402109, 0.40486586570437066, 0.220494794578025, 0.25617328203884115, 0.07328386196769392, 0.0977204151081187, 0.042806861625524065, 0.9824472277464412], "count": [1694]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009445100091397762], "std": [0.09672585874795914], "count": [1694]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005903187721369539], "std": [0.024289304145739057], "count": [1694]}, "timestamp": {"min": [0.0], "max": [84.65], "mean": [42.325], "std": [24.450779639921507], "count": [1694]}, "frame_index": {"min": [0], "max": [1693], "mean": [846.5], "std": [489.0155927984301], "count": [1694]}, "episode_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [1694]}, "index": {"min": [133729], "max": [135422], "mean": [134575.5], "std": [489.0155927984301], "count": [1694]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1694]}}} +{"episode_index": 75, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47757150300498485]], [[0.4459440959900613]], [[0.4141471706448307]]], "std": [[[0.18302565940706886]], [[0.17665641298227722]], [[0.1779201820129689]]], "count": [266]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4865583104579722]], [[0.44874786687392887]], [[0.4185774220384083]]], "std": [[[0.20587332400542027]], [[0.20404215588392868]], [[0.20817395113332887]]], "count": [266]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4911733961098317]], [[0.4566663649552132]], [[0.43057820206104647]]], "std": [[[0.20383621416164144]], [[0.20425276450826985]], [[0.20981766970701557]]], "count": [266]}, "annotation.human.task_description": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1716]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1716]}, "observation.state": {"min": [3.514383297482621, -3.5862372941160765, 0.6999679686628236, 0.0, 0.0, -0.9999892711639404, 0.00022755049576517195, -0.08487476475047107, -0.38932473495392594, 0.260473227329613, -0.9878658652305603, -0.22424215078353882, -0.5908389091491699, 2.62740213656798e-05, 0.0007341565901660869, -0.042497363501303544], "max": [5.653571708104845, -1.124684157963977, 0.7032966498084009, 0.0, 0.0, 1.0, 1.0, 0.6334979348813121, 0.2640205818746424, 0.8052612491432617, 0.9867473840713501, 0.4368649125099182, 0.5025392174720764, 0.6524718999862671, 0.04004159891994927, -0.001363036873348918], "mean": [4.922690465728784, -2.0233809053333793, 0.7009015044777951, 0.0, 0.0, 0.09823825140417519, 0.8739029213035446, 0.20770918099397462, -0.044599079733101586, 0.6345799668417434, -0.4800194341055441, 0.052484481597627516, -0.19449110631162755, 0.10328555032019361, 0.03212903297514899, -0.03411971754405325], "std": [0.703673619730761, 0.8643586079274057, 0.0011213069391642191, 0.0, 0.0, 0.4335610488491834, 0.1966412162306149, 0.2173436690434123, 0.094373848821794, 0.1088396098380405, 0.7562692506039831, 0.11951298004119937, 0.33349105783901234, 0.14453099913014653, 0.010023040677411641, 0.009585606866466643], "count": [1716]}, "action": {"min": [-1.0, -1.0, -0.8485714285714285, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5228571428571429, -0.4514285714285714, -0.2714285714285714, -1.0], "max": [1.0, 1.0, 0.18857142857142858, 0.0, 1.0, 1.0, 1.0, 1.0, 0.6542857142857142, 0.4371428571428572, 0.28, 1.0], "mean": [0.13182650682650682, 0.05626040626040626, -0.11221278721278707, 0.0, -0.3006993006993007, 0.00022061272061273213, -0.006730769230769233, -0.0158008658008658, 0.005274725274725274, -0.003876123876123875, 0.0004828504828504806, -0.1993006993006993], "std": [0.39437894463977896, 0.2672139468643017, 0.22747735704120658, 0.0, 0.9537189997892208, 0.5239760551088266, 0.3243389206813513, 0.2954275687564467, 0.10900777645036192, 0.09836660719905696, 0.06594131073192097, 0.9799383813578542], "count": [1716]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009324009530246258], "std": [0.09610968828201294], "count": [1716]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005827505827505828], "std": [0.024133192588401697], "count": [1716]}, "timestamp": {"min": [0.0], "max": [85.75], "mean": [42.875], "std": [24.768322342594516], "count": [1716]}, "frame_index": {"min": [0], "max": [1715], "mean": [857.5], "std": [495.3664468518903], "count": [1716]}, "episode_index": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [1716]}, "index": {"min": [135423], "max": [137138], "mean": [136280.5], "std": [495.3664468518903], "count": [1716]}, "task_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1716]}}} +{"episode_index": 76, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37601120688466433]], [[0.35936326126030216]], [[0.34609278645898683]]], "std": [[[0.2027416604104009]], [[0.19516091217335338]], [[0.19356923625881275]]], "count": [293]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.400846609449894]], [[0.37324322925979403]], [[0.35688550288296045]]], "std": [[[0.22004405088112702]], [[0.21067922577374848]], [[0.2139609099902006]]], "count": [293]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42478719896511696]], [[0.3913989781041003]], [[0.36957956878390485]]], "std": [[[0.22798703700000253]], [[0.21831198153096523]], [[0.22329698540842868]]], "count": [293]}, "annotation.human.task_description": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1951]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1951]}, "observation.state": {"min": [1.7937048608339405, -2.9490843207443613, 0.6999916431511138, 0.0, 0.0, -0.3426123857498169, 0.6654437780380249, -0.2007512547594703, -0.3703815400368944, 0.3279002305511023, -0.9882766604423523, -0.09924834966659546, -0.580957293510437, 0.00014689197996631265, 0.0004491899455040863, -0.04012292851849615], "max": [3.105043123164869, -0.9680715704703106, 0.7029480283235167, 0.0, 0.0, 0.7464479207992554, 0.9999994039535522, 0.6358974061174156, 0.40098514092685544, 0.8232243958425538, 0.9791138172149658, 0.5237743258476257, 0.5723838806152344, 0.5808842182159424, 0.04042499019285106, -0.00018889764956683269], "mean": [2.5884734565963807, -1.7715543405992338, 0.7015143460576707, 0.0, 0.0, 0.39280960965256706, 0.8043355968351672, 0.18409323466571645, -0.047587496815583157, 0.6371395270023349, -0.14285048999766825, 0.03742782964821292, -0.02792931057852638, 0.09351509375978218, 0.03392770244414754, -0.032091643152572666], "std": [0.47847514257042395, 0.7242388651908483, 0.0011885548141160067, 0.0, 0.0, 0.42970790030561895, 0.1187264724546151, 0.21079602700624808, 0.10930821607805197, 0.11162753671748017, 0.8826434907773361, 0.1262742579315922, 0.3882287494094242, 0.1514644864262176, 0.008862501239694917, 0.009839827068552564], "count": [1951]}, "action": {"min": [-1.0, -1.0, -0.6828571428571428, 0.0, -1.0, -1.0, -1.0, -0.7428571428571429, -0.5657142857142857, -0.4542857142857143, -0.29714285714285715, -1.0], "max": [0.9714285714285714, 0.8214285714285715, 0.7542857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.8199999999999998, 0.48571428571428577, 0.32285714285714284, 1.0], "mean": [-0.01255400161089554, -0.050761514241780784, -0.02141612359961923, 0.0, -0.40030753459764223, 0.003661126162407553, -0.009064948378121116, -0.007311268946327873, 0.0007483341875961052, -0.004060921139342461, -0.0017954162700446613, -0.19528446950281908], "std": [0.2815534292974717, 0.23584387751580985, 0.17006872867894368, 0.0, 0.9163808584559001, 0.47228653122603115, 0.2895047554681722, 0.2808402507504831, 0.10429769822705426, 0.09626634167656298, 0.044768796921389534, 0.9807466420900961], "count": [1951]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.00820092298090458], "std": [0.09018684923648834], "count": [1951]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005125576627370579], "std": [0.022633933537488077], "count": [1951]}, "timestamp": {"min": [0.0], "max": [97.5], "mean": [48.75], "std": [28.160255680657446], "count": [1951]}, "frame_index": {"min": [0], "max": [1950], "mean": [975.0], "std": [563.2051136131489], "count": [1951]}, "episode_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [1951]}, "index": {"min": [137139], "max": [139089], "mean": [138114.0], "std": [563.2051136131489], "count": [1951]}, "task_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1951]}}} +{"episode_index": 77, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4674039086118564]], [[0.40752788640498566]], [[0.38254895105768927]]], "std": [[[0.14685013719534504]], [[0.15156994403988253]], [[0.1660870247119218]]], "count": [272]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5062963197525535]], [[0.4486193482026097]], [[0.41276796598335447]]], "std": [[[0.17694949516657546]], [[0.18386053899969806]], [[0.19630834337297642]]], "count": [272]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49545675297509423]], [[0.44363242746636944]], [[0.4082487313117673]]], "std": [[[0.1875635315864148]], [[0.19035937889196133]], [[0.19942991404252225]]], "count": [272]}, "annotation.human.task_description": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1768]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1768]}, "observation.state": {"min": [1.0181229762101471, -2.132233603880152, 0.6999216123234885, 0.0, 0.0, -1.0, 2.1938574263913324e-06, -0.05039026913829381, -0.30962858470286947, 0.2999566650868196, -0.9904271960258484, -0.27649664878845215, -0.6332258582115173, 7.959991489769891e-05, 0.0012342949092612673, -0.042432611348837156], "max": [4.402772939450683, -0.31710590488878543, 0.7010568993309463, 0.0, 0.0, 1.0, 0.6855823993682861, 0.5618366517959399, 0.33443159974718345, 0.791542129319959, 0.9946514964103699, 0.5613725781440735, 0.6388208270072937, 0.561691164970398, 0.041341212144402714, -0.0005812126731374609], "mean": [2.1704577949479202, -0.838653895044096, 0.7003009425735865, 0.0, 0.0, -0.494975000316471, 0.052122777133026536, 0.2325131863194755, -0.008799368933597704, 0.6242385345491319, -0.38564639275564866, 0.04073218251599581, -0.15974596425484258, 0.08623601665534626, 0.03416727464762519, -0.03288607826623491], "std": [1.2440486909249668, 0.6505304258156154, 0.0003209606705982159, 0.0, 0.0, 0.8560546594711983, 0.13947553384394723, 0.17773661999048423, 0.07759250336529097, 0.11615081855340949, 0.8038859091382585, 0.15399557273562062, 0.35463107784660325, 0.14474782884937942, 0.009127804711924753, 0.009446541652339038], "count": [1768]}, "action": {"min": [-1.0, -1.0, -0.54, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4285714285714286, -1.0, -0.23428571428571432, -1.0], "max": [1.0, 1.0, 0.6771428571428572, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5971428571428572, 0.5257142857142857, 0.35428571428571426, 1.0], "mean": [0.03577488687782806, 0.06751373626373627, -0.0005429864253393612, 0.0, -0.38574660633484165, 0.0032199418228830135, 0.005890433096315447, -0.007300420168067236, -0.0019925662572721353, -0.017466063348416282, 0.005226244343891396, -0.27714932126696834], "std": [0.40437324432379285, 0.3168200067879961, 0.13176463009123732, 0.0, 0.9226047667886648, 0.4664630499856324, 0.29773844191654764, 0.2841274890209814, 0.11871139759312704, 0.13819782795246374, 0.05532576373717324, 0.9608268593879215], "count": [1768]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009049774147570133], "std": [0.09469886869192123], "count": [1768]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005656108597285068], "std": [0.023775847915139935], "count": [1768]}, "timestamp": {"min": [0.0], "max": [88.35], "mean": [44.175], "std": [25.518877816236355], "count": [1768]}, "frame_index": {"min": [0], "max": [1767], "mean": [883.5], "std": [510.3775563247271], "count": [1768]}, "episode_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [1768]}, "index": {"min": [139090], "max": [140857], "mean": [139973.5], "std": [510.3775563247271], "count": [1768]}, "task_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1768]}}} +{"episode_index": 78, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5552741833018304]], [[0.5291425052551403]], [[0.4893084321084007]]], "std": [[[0.20110021496097064]], [[0.21119356854466662]], [[0.22635794165886314]]], "count": [261]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5182700431639744]], [[0.47937552625684643]], [[0.45652961401387365]]], "std": [[[0.23079770277645997]], [[0.2314924863441119]], [[0.2369649148406805]]], "count": [261]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5188540147092572]], [[0.48316066129516944]], [[0.46179150362196036]]], "std": [[[0.21718437230540202]], [[0.22156854891561434]], [[0.22740304973538666]]], "count": [261]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1671]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1671]}, "observation.state": {"min": [1.3966538019417671, -4.182229116252034, 0.69999663338389, 0.0, 0.0, -0.08811860531568527, 0.7070806622505188, -0.18998925263862976, -0.3328646345400412, 0.3451086414787006, -0.9897634983062744, -0.2935444116592407, -0.46820610761642456, 1.8376556909061037e-05, 0.000879330082601079, -0.040349291365248764], "max": [2.965090083013811, -0.9738876974237342, 0.7022206939668725, 0.0, 0.0, 0.7071328163146973, 0.9999995231628418, 0.619739824128089, 0.2620199338557079, 0.7616120115195751, 0.9489566683769226, 0.3069572448730469, 0.4873161017894745, 0.23524728417396545, 0.04007167931523541, -0.015649043113711552], "mean": [2.169394292024197, -2.181322048046059, 0.7007262872830788, 0.0, 0.0, 0.4918032617422873, 0.8434122039271571, 0.12138784762048514, -0.007151630977001917, 0.6163867504857204, -0.09596501050917136, -0.016964868807921075, 0.0018668450562273364, 0.04741898679990553, 0.03147258878677614, -0.034456942970745495], "std": [0.39082640860863255, 1.2178391648762084, 0.0007077385114303567, 0.0, 0.0, 0.19354349322319106, 0.0965729133626257, 0.2086760834594495, 0.11775671086004405, 0.10487395454407711, 0.909389821819513, 0.14740362976383267, 0.37115367549590933, 0.042167886051771165, 0.010480381500105511, 0.009139135671511329], "count": [1671]}, "action": {"min": [-1.0, -1.0, -0.62, 0.0, -1.0, -1.0, -0.8642857142857142, -0.7857142857142857, -0.3485714285714286, -0.37142857142857144, -0.28, -1.0], "max": [1.0, 1.0, 0.4914285714285715, 0.0, 1.0, 1.0, 0.9714285714285714, 1.0, 0.35714285714285715, 0.2857142857142857, 0.11714285714285716, 1.0], "mean": [0.063443618021715, -0.036107548944173735, -0.0066854749080960734, 0.0, -0.17893476959904248, -0.0008549200649739315, -0.003069163033256407, -0.0054415662135590325, -0.0011250748055056852, -0.0039018551765409985, 0.0006839360519791414, -0.16576900059844404], "std": [0.3948407867819199, 0.34820249188216545, 0.1411364428050898, 0.0, 0.9838609394770007, 0.40731204600099846, 0.2121878362629055, 0.25167408103184047, 0.04337448966702599, 0.06207340868407485, 0.029290952721717823, 0.9861646102150373], "count": [1671]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01077199261635542], "std": [0.10322769731283188], "count": [1671]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005984440454817474], "std": [0.0244557950229833], "count": [1671]}, "timestamp": {"min": [0.0], "max": [83.5], "mean": [41.75], "std": [24.118803176498343], "count": [1671]}, "frame_index": {"min": [0], "max": [1670], "mean": [835.0], "std": [482.37606352996687], "count": [1671]}, "episode_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [1671]}, "index": {"min": [140858], "max": [142528], "mean": [141693.0], "std": [482.37606352996687], "count": [1671]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1671]}}} +{"episode_index": 79, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5650122482532509]], [[0.530904155515118]], [[0.5023016846517593]]], "std": [[[0.18179169498975764]], [[0.18289373324711494]], [[0.19059305371974822]]], "count": [288]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5564979172999563]], [[0.5095646043748377]], [[0.4804066429470619]]], "std": [[[0.19306421921833491]], [[0.2060661681707933]], [[0.21883915964591477]]], "count": [288]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5420767582579635]], [[0.482855137968375]], [[0.4465087348339604]]], "std": [[[0.2144141407658766]], [[0.22961403707386335]], [[0.24559895560252126]]], "count": [288]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1908]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1908]}, "observation.state": {"min": [-3.342220279608001, -5.6682948087556335, 0.6999829863367778, 0.0, 0.0, -0.9999841451644897, 0.005633134860545397, -0.12070297363715077, -0.30468523910180645, 0.30723297922564685, -0.9854671359062195, -0.3161610960960388, -0.5476914644241333, 0.0001332912070211023, 0.00126357393353285, -0.04020179068740044], "max": [-0.9963875145201658, -2.6606107277396873, 0.7033448501644733, 0.0, 0.0, 0.9999630451202393, 1.0, 0.6561816818090606, 0.15110221494008735, 0.7344655294741557, 0.9607241153717041, 0.3171536326408386, 0.5359259247779846, 0.38757485151290894, 0.04004762877863801, -0.00103465726420962], "mean": [-1.8856196931121951, -4.35858515981303, 0.7013247697022477, 0.0, 0.0, 0.07751241238836414, 0.8534737789978525, 0.1462996417651318, -0.022647516604431345, 0.5900343133732602, -0.7808264084082229, 0.023945069834746154, -0.28954694031541767, 0.04845817307649662, 0.03260816297323488, -0.03440095931439251], "std": [0.842752925448501, 0.7388355860287377, 0.0011317401586803408, 0.0, 0.0, 0.4704866728130774, 0.21027751309470516, 0.19671918751885878, 0.06696191987613309, 0.09907732789682575, 0.5036799214643389, 0.09617512270609654, 0.1890659308118052, 0.0697286453398718, 0.008948040671448287, 0.009359365284167564], "count": [1908]}, "action": {"min": [-1.0, -1.0, -0.6714285714285715, 0.0, -1.0, -1.0, -1.0, -1.0, -0.41428571428571437, -0.37714285714285717, -0.2742857142857143, -1.0], "max": [1.0, 0.9857142857142858, 0.26571428571428574, 0.0, 1.0, 0.8500000000000001, 1.0, 1.0, 0.46857142857142864, 0.42, 0.29428571428571426, 1.0], "mean": [0.14444818808026358, 0.0203167115902965, -0.10300239592692441, 0.0, -0.1090146750524109, 0.0010107816711590512, 0.003174603174603181, -0.011987121892782279, -0.0004642108415693321, -0.003977238694219827, -0.003661275831087153, -0.14150943396226415], "std": [0.4207991811823621, 0.2816272697646784, 0.20056065331586964, 0.0, 0.9940401403480761, 0.3965555241808063, 0.20802866383064422, 0.26746469268492357, 0.06058393360675788, 0.06937166452831833, 0.04032469207183306, 0.9899369071308121], "count": [1908]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008385743945837021], "std": [0.0911889523267746], "count": [1908]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005241090146750524], "std": [0.02288742721268139], "count": [1908]}, "timestamp": {"min": [0.0], "max": [95.35], "mean": [47.675000000000004], "std": [27.53960405791388], "count": [1908]}, "frame_index": {"min": [0], "max": [1907], "mean": [953.5], "std": [550.7920811582776], "count": [1908]}, "episode_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [1908]}, "index": {"min": [142529], "max": [144436], "mean": [143482.5], "std": [550.7920811582776], "count": [1908]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1908]}}} +{"episode_index": 80, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4911197326681152]], [[0.464961320255727]], [[0.43346936404684544]]], "std": [[[0.17304851076650296]], [[0.15563772747496762]], [[0.17164483973832906]]], "count": [285]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5422557029553529]], [[0.5294375290163694]], [[0.5089815363508342]]], "std": [[[0.1974608421986217]], [[0.19411688534804872]], [[0.18980682155758988]]], "count": [285]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4989135567921316]], [[0.49170122931985294]], [[0.4759678573792113]]], "std": [[[0.2005068957312002]], [[0.19549735783981897]], [[0.19459066075140805]]], "count": [285]}, "annotation.human.task_description": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1881]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1881]}, "observation.state": {"min": [1.01866829560142, -2.1064950127381326, 0.6999494534731995, 0.0, 0.0, -1.0, 2.2517278921441175e-06, -0.1453334672735065, -0.36873543768856765, 0.3032672258717628, -0.9948159456253052, -0.1747221052646637, -0.551998496055603, 1.4501068108074833e-05, 0.0034612517674866136, -0.04021917262469468], "max": [4.270306659093621, -0.49846351052398097, 0.7017807991062773, 0.0, 0.0, 1.0, 0.713476300239563, 0.5819182526151696, 0.27677037558989803, 0.8398694769402509, 0.9696502089500427, 0.4056544899940491, 0.5409539937973022, 0.5684114098548889, 0.04034972518107587, -0.0014432394175120547], "mean": [2.083389977161968, -0.8951019820928754, 0.7003184650162521, 0.0, 0.0, -0.013866930772242934, 0.06731926830006425, 0.2299972148693424, -0.05598480729065559, 0.6231502965141235, -0.6267844210717983, 0.016080742164186694, -0.22196998392153286, 0.09324715821763038, 0.037791310496508725, -0.03623598461131985], "std": [1.24055652995983, 0.6169529258746125, 0.0006161818135849004, 0.0, 0.0, 0.9860273182198876, 0.15174308745545503, 0.1897352901831583, 0.08113772236662496, 0.11253745597333942, 0.6635879551054782, 0.13216410688935032, 0.274184806704122, 0.12618780384338543, 0.005000519778399018, 0.005918670418068261], "count": [1881]}, "action": {"min": [-1.0, -1.0, -0.42, 0.0, -1.0, -1.0, -1.0, -0.7714285714285714, -0.35714285714285715, -0.5714285714285714, -0.3742857142857143, -1.0], "max": [1.0, 1.0, 0.5571428571428572, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5485714285714286, 0.4114285714285714, 0.20285714285714287, 1.0], "mean": [0.04099263309789627, 0.06802232854864433, 0.004199893673577882, 0.0, -0.37267410951621477, 0.006041619199513943, -0.005882129566340098, 0.005031518189412906, 0.0010526315789473625, -0.001324523429786588, 0.00015037593984962487, -0.2822966507177033], "std": [0.3566589276090678, 0.2982155900755513, 0.11407382485737869, 0.0, 0.927962288078712, 0.4511383231243609, 0.27956371602449964, 0.2487519244534122, 0.09365917622040494, 0.10354117492366988, 0.04775491164715741, 0.9593271605628575], "count": [1881]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008506113663315773], "std": [0.09183550626039505], "count": [1881]}, "next.done": {"min": [false], "max": [true], "mean": [0.000531632110579479], "std": [0.02305101902039213], "count": [1881]}, "timestamp": {"min": [0.0], "max": [94.0], "mean": [47.0], "std": [27.149892571917604], "count": [1881]}, "frame_index": {"min": [0], "max": [1880], "mean": [940.0], "std": [542.9978514383521], "count": [1881]}, "episode_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [1881]}, "index": {"min": [144437], "max": [146317], "mean": [145377.0], "std": [542.9978514383521], "count": [1881]}, "task_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1881]}}} +{"episode_index": 81, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4718635824834874]], [[0.45944414818575635]], [[0.4187638319954878]]], "std": [[[0.22508174783074622]], [[0.20252883162708912]], [[0.20250497111640248]]], "count": [340]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5425227707947552]], [[0.5418996382804615]], [[0.49602792689269526]]], "std": [[[0.21696176678369739]], [[0.19760245909417232]], [[0.1958301248491905]]], "count": [340]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5168039183303147]], [[0.5272142752149113]], [[0.4841881305206193]]], "std": [[[0.22884961516865826]], [[0.21093685123124314]], [[0.2110699781358427]]], "count": [340]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [2380]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2380]}, "observation.state": {"min": [1.2442974068301154, -6.31345372250745, 0.6999844231990298, 0.0, 0.0, -0.999957799911499, 0.0008763630175963044, -0.014777629704900708, -0.4150545169189468, 0.27750787857924875, -0.9972398281097412, -0.26381486654281616, -0.5627096891403198, 5.5089367378968745e-05, 0.0005793616575469045, -0.0405935982923603], "max": [4.399876861188056, -1.0381565004387632, 0.7028793200529453, 0.0, 0.0, 0.9999996423721313, 1.0, 0.6834562767407055, 0.2824154138797095, 0.7830550943636728, 0.9888222813606262, 0.517244815826416, 0.6295222640037537, 0.5912694334983826, 0.0405749492447772, -0.0007754911112057385], "mean": [3.1361980698435397, -3.0288682637482767, 0.7010570477105966, 0.0, 0.0, 0.47744854800774256, 0.6725032160387808, 0.24378414758704334, -0.08971072589233647, 0.6343082965344885, -0.3936987016882215, 0.09445150501149542, -0.11797822872039807, 0.10060051043110739, 0.029685452356249007, -0.033266969069413205], "std": [0.7972471729154724, 2.107506936415987, 0.0008111187212618292, 0.0, 0.0, 0.5375098672833162, 0.1756856573448418, 0.16550022262755157, 0.12591521886093612, 0.10891503936746211, 0.7937294977886592, 0.21186588330815512, 0.34654229513592466, 0.13059744335029255, 0.01049962142492603, 0.008317214959381019], "count": [2380]}, "action": {"min": [-1.0, -0.8857142857142857, -0.6028571428571429, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4257142857142857, -1.0, -0.42, -1.0], "max": [1.0, 1.0, 0.7371428571428571, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5942857142857143, 0.4228571428571429, 0.4314285714285714, 1.0], "mean": [0.26385054021608656, -0.035921368547418966, 0.10033373349339728, 0.0, -0.07394957983193277, -0.0031332533013204997, -0.004066626650660281, -0.007617046818727499, 0.003288115246098437, -0.007320528211284517, 0.003354141656662673, -0.06386554621848739], "std": [0.49849955293673665, 0.2922691590857291, 0.22358001032688865, 0.0, 0.9972619814485241, 0.4213174626075764, 0.2748031194070998, 0.2408724562772299, 0.09663962672034888, 0.12244997713973438, 0.07126497435363428, 0.9979585121668132], "count": [2380]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.006722689140588045], "std": [0.08171593397855759], "count": [2380]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004201680672268908], "std": [0.02049369478698689], "count": [2380]}, "timestamp": {"min": [0.0], "max": [118.95], "mean": [59.475], "std": [34.35233798448077], "count": [2380]}, "frame_index": {"min": [0], "max": [2379], "mean": [1189.5], "std": [687.0467596896153], "count": [2380]}, "episode_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [2380]}, "index": {"min": [146318], "max": [148697], "mean": [147507.5], "std": [687.0467596896153], "count": [2380]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [2380]}}} +{"episode_index": 82, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4666685655093914]], [[0.4300973912329062]], [[0.41636197283287046]]], "std": [[[0.22707186524364806]], [[0.2282620944810472]], [[0.2338781456673174]]], "count": [277]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4174972891697857]], [[0.39043908536733735]], [[0.3789150760542893]]], "std": [[[0.2386019630661423]], [[0.2363283345173023]], [[0.24178957092295011]]], "count": [277]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4285673759170438]], [[0.403476905458215]], [[0.3927208453891484]]], "std": [[[0.24556655005840367]], [[0.24352503400521644]], [[0.24811998313846104]]], "count": [277]}, "annotation.human.task_description": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1814]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1814]}, "observation.state": {"min": [1.2857985582901736, -4.77349943461444, 0.6999736612196888, 0.0, 0.0, 0.03748941794037819, 0.6761618256568909, 0.051482094269630574, -0.2976024468955307, 0.27556291765130947, -0.9907146096229553, -0.20207881927490234, -0.5631004571914673, 5.657165615957638e-07, 0.0015170185095007335, -0.042075493977523484], "max": [2.908358129985224, -1.1483339910936905, 0.7014554238756865, 0.0, 0.0, 0.7367531061172485, 0.999297022819519, 0.7084240637867041, 0.32278491902087336, 0.8054517050376405, 0.9767196774482727, 0.6697526574134827, 0.5320782661437988, 0.6006972789764404, 0.04010128912288708, -0.016901015209602882], "mean": [1.802976952109214, -2.413233371733608, 0.7004038724531073, 0.0, 0.0, 0.6627506479567539, 0.7299743766887186, 0.2613793247573781, -0.027021500723068463, 0.6357184557503203, -0.4399517003073056, 0.07782115678014408, -0.19030362362977243, 0.1075802396865191, 0.03281457969083937, -0.03308439561338363], "std": [0.5545327332451371, 1.3940166439381814, 0.0004724884134197001, 0.0, 0.0, 0.15004008062256138, 0.07339598985060002, 0.16338388835638337, 0.09765639106809178, 0.12116628122087889, 0.782141314756334, 0.14577939891343217, 0.31152291360700934, 0.15018055390025423, 0.00970175556743233, 0.008753129114611461], "count": [1814]}, "action": {"min": [-1.0, -1.0, -0.7057142857142857, 0.0, -1.0, -1.0, -1.0, -0.8142857142857143, -0.4314285714285714, -0.34285714285714286, -0.3057142857142857, -1.0], "max": [1.0, 1.0, 0.45999999999999996, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5228571428571429, 0.40857142857142864, 0.3457142857142857, 1.0], "mean": [0.027874468420223675, -0.03936446684517251, 0.0017262561033233547, 0.0, -0.38037486218302097, 0.004847220034651135, -0.01475035438651756, -0.00044495196093872086, 0.0021814458969916443, -0.0055158292644511, 0.006268703732871327, -0.22822491730981256], "std": [0.38375917408995797, 0.30948611461506675, 0.12601765055452416, 0.0, 0.9248323979074519, 0.4245306710957231, 0.26504237568560934, 0.2582751644973935, 0.09915666134894509, 0.07884312046108247, 0.05259966301411438, 0.9736084362406373], "count": [1814]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008820286951959133], "std": [0.09350127726793289], "count": [1814]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005512679162072767], "std": [0.023472622774028413], "count": [1814]}, "timestamp": {"min": [0.0], "max": [90.65], "mean": [45.325], "std": [26.18283072931573], "count": [1814]}, "frame_index": {"min": [0], "max": [1813], "mean": [906.5], "std": [523.6566145863146], "count": [1814]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [1814]}, "index": {"min": [148698], "max": [150511], "mean": [149604.5], "std": [523.6566145863146], "count": [1814]}, "task_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1814]}}} +{"episode_index": 83, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4988799151252298]], [[0.43712658178877445]], [[0.39827202192318983]]], "std": [[[0.1543558957099514]], [[0.1482768549816868]], [[0.15494544953440134]]], "count": [276]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5099043878380227]], [[0.44778729910605264]], [[0.4093521007593127]]], "std": [[[0.18823449491433833]], [[0.1921261090935185]], [[0.20010420693927689]]], "count": [276]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5269978576642811]], [[0.4609525558588755]], [[0.41883986121587163]]], "std": [[[0.185646274856508]], [[0.19637644470748333]], [[0.2089290240037509]]], "count": [276]}, "annotation.human.task_description": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1798]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1798]}, "observation.state": {"min": [3.1366055880260295, -3.963798975819814, 0.6999516007709814, 0.0, 0.0, -0.9999737739562988, 0.0029942491091787815, -0.13894094979921845, -0.41382317304737537, 0.29586603542472834, -0.9885685443878174, -0.24753117561340332, -0.527635931968689, 0.00013036308519076556, 0.000765798028728339, -0.041394348089194496], "max": [6.668998286070659, -1.0184753420475692, 0.7037035936208208, 0.0, 0.0, 0.9999955892562866, 1.0, 0.5714852166730512, 0.2600872894259316, 0.8031248917227679, 0.9869664907455444, 0.4517449736595154, 0.5396978259086609, 0.5537964105606079, 0.04042545048032808, -0.005265513538701873], "mean": [4.314646121869387, -1.9357953456757466, 0.7012004761197228, 0.0, 0.0, 0.3054517646979225, 0.5976098657050092, 0.20696807594909916, -0.08595905011451792, 0.627403486757444, -0.39657589315837694, 0.05205548173427847, -0.14206775829746132, 0.08700558044777884, 0.03428663905592465, -0.03354583111806854], "std": [1.3748209502826318, 0.9295500688604024, 0.001387366699360186, 0.0, 0.0, 0.6903068720463739, 0.27025558202535094, 0.1535689831057748, 0.09069948820716493, 0.10551793386049911, 0.8221738923698068, 0.10663982829999268, 0.3346637605034671, 0.1136783797556005, 0.007187458905976218, 0.007298534891677719], "count": [1798]}, "action": {"min": [-1.0, -1.0, -0.8828571428571429, 0.0, -1.0, -1.0, -1.0, -1.0, -0.6314285714285715, -0.7342857142857143, -0.25142857142857145, -1.0], "max": [1.0, 1.0, 0.9057142857142857, 0.0, 1.0, 1.0, 1.0, 1.0, 0.7942857142857143, 0.4742857142857143, 0.5, 1.0], "mean": [0.24759653583346564, -0.0169076751946607, 0.01609407277927857, 0.0, -0.024471635150166853, -0.005899412045129523, -0.004461306213252818, -0.010090576831399958, 0.0022739551883044647, -0.0038423645320197096, 0.0010106467503575396, -0.06229143492769744], "std": [0.5133021847768343, 0.40089341055767536, 0.3179058635365632, 0.0, 0.9997005246938192, 0.4685906626797401, 0.31061655611004135, 0.2865354376064967, 0.12389888841737806, 0.12798971830259043, 0.06564609420507268, 0.998058002890925], "count": [1798]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008898776024580002], "std": [0.09391266107559204], "count": [1798]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005561735261401557], "std": [0.02357677240737113], "count": [1798]}, "timestamp": {"min": [0.0], "max": [89.85], "mean": [44.925], "std": [25.95189058623668], "count": [1798]}, "frame_index": {"min": [0], "max": [1797], "mean": [898.5], "std": [519.0378117247336], "count": [1798]}, "episode_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [1798]}, "index": {"min": [150512], "max": [152309], "mean": [151410.5], "std": [519.0378117247336], "count": [1798]}, "task_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1798]}}} +{"episode_index": 84, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.563622067356305]], [[0.5138780300820261]], [[0.4774054900435352]]], "std": [[[0.1568640657724029]], [[0.16472315022055176]], [[0.20326604635357837]]], "count": [268]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5541356007188323]], [[0.5143765006038854]], [[0.48226288038281134]]], "std": [[[0.19562700781418765]], [[0.21267802196954524]], [[0.2303104705304101]]], "count": [268]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5839483922568196]], [[0.5405789885215324]], [[0.5083977895484949]]], "std": [[[0.17747891285734418]], [[0.2091256242095467]], [[0.23478122228561832]]], "count": [268]}, "annotation.human.task_description": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [1734]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1734]}, "observation.state": {"min": [1.9877654501163795, -3.3335324564640567, 0.6999763347426441, 0.0, 0.0, -0.0949336513876915, 0.4104328453540802, -0.11008567539552194, -0.33219662640895065, 0.2835523111186635, -0.9904503226280212, -0.3000377118587494, -0.5529547333717346, 6.900320295244455e-05, 0.0007679259379662935, -0.04340820767111707], "max": [3.7474103881506315, -2.574317504250327, 0.7012902213794544, 0.0, 0.0, 0.9118908643722534, 1.0, 0.6204240709845799, 0.3399828788038257, 0.8017573403613971, 0.9347962141036987, 0.48399871587753296, 0.5138539671897888, 0.5784226059913635, 0.040659827989760054, 0.0015327736857431926], "mean": [3.045528768245023, -2.887377718439645, 0.7003816845359079, 0.0, 0.0, 0.2691653283233173, 0.8487359529582412, 0.23254559406489506, -0.004966354553325527, 0.625744547754436, -0.22727047486151242, 0.014718603630654402, -0.06643481955368334, 0.09828437341879927, 0.035556142427198775, -0.03484619386219588], "std": [0.6099914938544954, 0.24044310881629516, 0.00042787159484875757, 0.0, 0.0, 0.39577031141550323, 0.22486255394885832, 0.2119043928780798, 0.10578135883310813, 0.11422096588107405, 0.8618640735745907, 0.15315615635251548, 0.38082338409716, 0.15088124395599192, 0.006931543994699751, 0.0070123383321384946], "count": [1734]}, "action": {"min": [-1.0, -1.0, -0.52, 0.0, -1.0, -1.0, -1.0, -0.5857142857142857, -0.5085714285714286, -0.36, -0.40857142857142864, -1.0], "max": [1.0, 0.9928571428571428, 0.6828571428571428, 0.0, 1.0, 1.0, 1.0, 1.0, 0.47714285714285715, 0.2885714285714286, 0.21142857142857144, 1.0], "mean": [-0.018269072334816294, 0.014808864722359528, 0.0262432031636184, 0.0, -0.40484429065743943, -0.0019772614928324356, -0.004115175481957485, 0.004778381941011689, -0.0014005602240896352, -0.007488877904102828, -0.002840665678035922, -0.23990772779700115], "std": [0.2905954431986177, 0.22110368604484484, 0.1753865272578684, 0.0, 0.9143856409207727, 0.44884017036094276, 0.3099496157704181, 0.26995397716745617, 0.0900620644365441, 0.08953872716080938, 0.056915594474043006, 0.9707956953671032], "count": [1734]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009227219969034195], "std": [0.09561420977115631], "count": [1734]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005767012687427913], "std": [0.024007679696076874], "count": [1734]}, "timestamp": {"min": [0.0], "max": [86.65], "mean": [43.325], "std": [25.028130007387023], "count": [1734]}, "frame_index": {"min": [0], "max": [1733], "mean": [866.5], "std": [500.5626001477404], "count": [1734]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [1734]}, "index": {"min": [152310], "max": [154043], "mean": [153176.5], "std": [500.5626001477404], "count": [1734]}, "task_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [1734]}}} +{"episode_index": 85, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4754502218390223]], [[0.4433526683426978]], [[0.4259279956875956]]], "std": [[[0.23872927426247087]], [[0.23896053421708646]], [[0.24741917197423968]]], "count": [327]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4619668427035199]], [[0.4365848291246927]], [[0.42014457957453094]]], "std": [[[0.25461372861473636]], [[0.24471210139763774]], [[0.24167703814811195]]], "count": [327]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4860412879463951]], [[0.45345826743424933]], [[0.43262398235945276]]], "std": [[[0.2610377437896715]], [[0.2518368916960707]], [[0.2502696609111196]]], "count": [327]}, "annotation.human.task_description": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [2258]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2258]}, "observation.state": {"min": [-1.092668135740897, -3.021878943791869, 0.6999375661285362, 0.0, 0.0, -0.9999997615814209, 0.000728815037291497, -0.1730290758873394, -0.3286978323255102, 0.33435103879148964, -0.9901589751243591, -0.25012344121932983, -0.6185033917427063, 9.521431638859212e-05, 0.0020819054938428115, -0.0423358773901353], "max": [1.161806845859099, -1.0269618824915798, 0.7024466135285126, 0.0, 0.0, 0.9999735355377197, 0.9999980926513672, 0.6042594886211043, 0.3988387762500635, 0.8325472634523204, 0.9569731950759888, 0.3018248677253723, 0.6271824836730957, 0.573596179485321, 0.04062429443744331, -0.003659268589648871], "mean": [0.19442072290218418, -1.7351486583196212, 0.7005178816249451, 0.0, 0.0, 0.3559657584608139, 0.7408892763694788, 0.11638481072831511, -0.004169108566773296, 0.6887898614934695, -0.4861749104158978, -0.04154342206391325, -0.23983778960703694, 0.056890709984976716, 0.0347316185741969, -0.03588612445032868], "std": [0.5350102573923377, 0.6508373317537125, 0.0008726678021750664, 0.0, 0.0, 0.5324144983777748, 0.2022529016931174, 0.2326425911759471, 0.09286188246303066, 0.13376908040861513, 0.7353992659152864, 0.092502943449686, 0.3753869534177116, 0.10423599810951802, 0.007338892385604634, 0.00569713225555312], "count": [2258]}, "action": {"min": [-1.0, -1.0, -0.8571428571428572, 0.0, -1.0, -1.0, -1.0, -1.0, -0.35714285714285715, -0.5371428571428571, -0.26, -1.0], "max": [1.0, 1.0, 0.9057142857142857, 0.0, 1.0, 1.0, 1.0, 1.0, 0.6371428571428571, 0.5257142857142857, 0.3914285714285714, 1.0], "mean": [0.06474756421612046, 0.0021004681766418074, 0.029902568644818446, 0.0, -0.18777679362267494, -0.005149943059597614, -0.004934834872833108, 0.0017841326078704206, -0.0014741237504745028, -0.004022523092496518, 0.0008553713779577368, -0.14348981399468555], "std": [0.40131781167544794, 0.21689857217400318, 0.256677027371222, 0.0, 0.9822117265522687, 0.4381871377638126, 0.27091171278962395, 0.2960209662632816, 0.06791776698891011, 0.10462308153179443, 0.05802867813003523, 0.9896517939556986], "count": [2258]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.006200177129358053], "std": [0.07849671691656113], "count": [2258]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004428697962798937], "std": [0.021039811373285568], "count": [2258]}, "timestamp": {"min": [0.0], "max": [112.85], "mean": [56.425], "std": [32.59141949961676], "count": [2258]}, "frame_index": {"min": [0], "max": [2257], "mean": [1128.5], "std": [651.8283899923354], "count": [2258]}, "episode_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [2258]}, "index": {"min": [154044], "max": [156301], "mean": [155172.5], "std": [651.8283899923354], "count": [2258]}, "task_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [2258]}}} +{"episode_index": 86, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4552415602745085]], [[0.4094207284468183]], [[0.3828779622038293]]], "std": [[[0.18826006639890214]], [[0.19306977573617135]], [[0.18983301712568934]]], "count": [241]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5882112219533252]], [[0.5140136306585167]], [[0.4680714182736924]]], "std": [[[0.252130991434107]], [[0.2804297053639511]], [[0.2681334411067384]]], "count": [241]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5316381028491693]], [[0.4812909905375694]], [[0.4539221560864848]]], "std": [[[0.24925413946516928]], [[0.26409290465987295]], [[0.2580617364846167]]], "count": [241]}, "annotation.human.task_description": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1503]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1503]}, "observation.state": {"min": [0.9681625757420715, -3.9511088453916434, 0.6999693225874298, 0.0, 0.0, -1.0, 8.891370839592128e-08, 0.04203832677947883, -0.570983211339005, 0.2849636628967439, -0.9880538582801819, -0.19756898283958435, -0.4896638095378876, 0.00048401346430182457, -0.0015275339032520077, -0.04053819063966356], "max": [2.7869330517154225, -2.649438319918162, 0.7010125320989088, 0.0, 0.0, 1.0, 0.7871989607810974, 0.6290822374658099, 0.0005854236105324873, 0.8409413773790215, 0.9827460646629333, 0.1785169541835785, 0.4953587055206299, 0.5021571516990662, 0.040097978138160476, -0.015536976778618173], "mean": [1.686114462191819, -3.2609247351713755, 0.7002095839977247, 0.0, 0.0, 0.3177596538445986, 0.29457992545564937, 0.25689129238798214, -0.11140230115711847, 0.578844498027227, -0.37379661418562005, 0.037073038255700415, -0.10626902175794281, 0.06793327914888296, 0.03090540198491255, -0.03354766424081902], "std": [0.6565478408460469, 0.3718563773313265, 0.00033372419463684037, 0.0, 0.0, 0.8541654820245218, 0.28749401586368367, 0.16763878101689153, 0.0984927279638919, 0.11564798162873983, 0.8521816298467116, 0.09318340804771154, 0.3158013443181948, 0.09146843646003841, 0.010535223014489527, 0.00852001827485745], "count": [1503]}, "action": {"min": [-1.0, -1.0, -0.6142857142857143, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4514285714285714, -0.3742857142857143, -0.28, -1.0], "max": [1.0, 1.0, 0.4714285714285714, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5314285714285715, 0.3314285714285714, 0.26857142857142857, 1.0], "mean": [0.00473814276209487, -0.024935842600513274, -0.0156715141146279, 0.0, -0.19095143047238855, 0.011429521908563832, -0.01405759908753923, -0.0038827107689382787, -0.0023039635015682895, -0.0040053226879574085, 0.0015150651078794767, -0.1643379906852961], "std": [0.31882802782073855, 0.31537545285669083, 0.17907023823135057, 0.0, 0.9815994861452223, 0.39191129971935107, 0.267059117091075, 0.2587111780263813, 0.0790434159368002, 0.0741795969034533, 0.048522279129218776, 0.9864040879971576], "count": [1503]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010645375587046146], "std": [0.10262579470872879], "count": [1503]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006653359946773121], "std": [0.025785525449203064], "count": [1503]}, "timestamp": {"min": [0.0], "max": [75.1], "mean": [37.550000000000004], "std": [21.693931563150713], "count": [1503]}, "frame_index": {"min": [0], "max": [1502], "mean": [751.0], "std": [433.8786312630142], "count": [1503]}, "episode_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [1503]}, "index": {"min": [156302], "max": [157804], "mean": [157053.0], "std": [433.8786312630142], "count": [1503]}, "task_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1503]}}} +{"episode_index": 87, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.411534156562984]], [[0.35311158684514116]], [[0.3405711918397372]]], "std": [[[0.19846818558393212]], [[0.19207603279007066]], [[0.19565646591169125]]], "count": [307]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4786404738018413]], [[0.40506390763279304]], [[0.3870495952804282]]], "std": [[[0.23667768555242036]], [[0.24828212565810115]], [[0.2604525494994525]]], "count": [307]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4784274485541112]], [[0.403361010790526]], [[0.38436720210290576]]], "std": [[[0.23537374578049436]], [[0.24673358971707626]], [[0.25903250673125383]]], "count": [307]}, "annotation.human.task_description": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [2076]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2076]}, "observation.state": {"min": [1.2813999228063975, -5.755541869780412, 0.699987795375288, 0.0, 0.0, -0.9999939203262329, 0.003508247435092926, -0.09020771828060914, -0.32685218182949827, 0.2915803830343723, -0.9870737195014954, -0.2409457564353943, -0.6585036516189575, 2.877145743696019e-05, 0.0006911568808339452, -0.041237495307384214], "max": [4.232522283635235, -1.281641526581809, 0.700775420544339, 0.0, 0.0, 0.9999583959579468, 1.0, 0.6651319096331676, 0.3367042430564373, 0.7944342331586871, 0.9277105331420898, 0.5340766906738281, 0.6537805795669556, 0.5648165345191956, 0.04040869022942416, 0.004002346640205231], "mean": [3.0789185057205684, -2.8208127883726566, 0.7003822984232825, 0.0, 0.0, 0.0816488279225561, 0.8706678701645421, 0.20127749666568298, -0.027804190288602492, 0.6108979373257266, -0.6713289810857791, 0.010465324822246224, -0.2384570875241942, 0.0949547452038169, 0.030803952888108995, -0.03283143574158499], "std": [0.9814271330730885, 1.671246905439432, 0.00018905677552881229, 0.0, 0.0, 0.4528910068184542, 0.17366832923474126, 0.16399030068007117, 0.07701353520760486, 0.09528717904696084, 0.6141280937138187, 0.1281048009662209, 0.2657964226606624, 0.138267125214567, 0.010493206875829287, 0.01027894028744225], "count": [2076]}, "action": {"min": [-1.0, -1.0, -0.6685714285714286, 0.0, -1.0, -1.0, -1.0, -0.6357142857142857, -0.5371428571428571, -0.6571428571428571, -0.68, -1.0], "max": [1.0, 1.0, 0.8142857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.8114285714285715, 0.44571428571428573, 0.5457142857142857, 1.0], "mean": [0.24074456372144226, -0.06532135975777591, 0.06228736581337742, 0.0, -0.06936416184971098, 0.004992430498210845, -0.00041632259840353436, -0.008529452243325084, -0.0012606661161574434, -0.006292320396366643, -0.0009097164877511722, -0.09152215799614644], "std": [0.46913699150444405, 0.31545039175032746, 0.24505809100993156, 0.0, 0.9975914058626006, 0.42677992951371274, 0.2930902590202277, 0.1906558449682808, 0.10338849949135068, 0.09739085725226236, 0.07246016797595287, 0.9958030400615209], "count": [2076]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008188825100660324], "std": [0.0901208445429802], "count": [2076]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004816955684007707], "std": [0.021942277406416907], "count": [2076]}, "timestamp": {"min": [0.0], "max": [103.75], "mean": [51.875], "std": [29.96447549460305], "count": [2076]}, "frame_index": {"min": [0], "max": [2075], "mean": [1037.5], "std": [599.289509892061], "count": [2076]}, "episode_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [2076]}, "index": {"min": [157805], "max": [159880], "mean": [158842.5], "std": [599.289509892061], "count": [2076]}, "task_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [2076]}}} +{"episode_index": 88, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5483590729921334]], [[0.5121034032852698]], [[0.4869480718240881]]], "std": [[[0.14923044332515598]], [[0.1652586448876664]], [[0.18479915659523902]]], "count": [306]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.557680952147186]], [[0.5137824121475464]], [[0.4794095635918277]]], "std": [[[0.19237066558586158]], [[0.21068326146523367]], [[0.2291273779939283]]], "count": [306]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5613127842753663]], [[0.5179981502037727]], [[0.48503296375580207]]], "std": [[[0.18357219314645018]], [[0.20489378574844716]], [[0.22664284840863097]]], "count": [306]}, "annotation.human.task_description": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [2064]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2064]}, "observation.state": {"min": [1.2447938426950111, -4.964255898675245, 0.6999791964278205, 0.0, 0.0, -0.9999804496765137, 0.006262662820518017, -0.13627415193263492, -0.370404864706223, 0.3425981624863016, -0.9899880290031433, -0.1498686969280243, -0.614554226398468, 0.00021660968195647, 0.00045747613224858064, -0.0411496955409997], "max": [3.185149454009309, -1.0853744912054786, 0.7011037024025462, 0.0, 0.0, 0.9999524354934692, 0.9999816417694092, 0.5462522456295477, 0.3308253924693598, 0.8218846102398307, 0.980882465839386, 0.4293556809425354, 0.557975709438324, 0.6875566840171814, 0.04008039696195535, 4.3338597405421834e-05], "mean": [1.791234127160143, -2.327168357785257, 0.7003499101984454, 0.0, 0.0, 0.628476101820729, 0.7042081728830298, 0.1617973997884962, -0.0013247403758223043, 0.6834626736242322, -0.5694079308431278, 0.07473658401403548, -0.23336824263958622, 0.12417554716466134, 0.03062528549882001, -0.031304933941786156], "std": [0.6065969082795191, 1.3850626298143944, 0.00033404845793146395, 0.0, 0.0, 0.3136680630133185, 0.10354206565026952, 0.17799801375212176, 0.09820661970097595, 0.1159289255154667, 0.6784728427767557, 0.11822746506766278, 0.29530000891805275, 0.19698609742552814, 0.012000335978221324, 0.011708768966457417], "count": [2064]}, "action": {"min": [-1.0, -1.0, -0.1457142857142857, 0.0, -1.0, -1.0, -1.0, -0.8285714285714285, -0.7028571428571428, -0.52, -0.22285714285714286, -1.0], "max": [1.0, 1.0, 0.7542857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5371428571428571, 0.3942857142857143, 0.20857142857142857, 1.0], "mean": [0.058284883720930235, 0.00041528239202657564, 0.05180647840531555, 0.0, -0.34108527131782945, 0.002086794019933546, 0.0005121816168327784, 0.006305370985603523, 0.0005149501661129512, -0.008322259136212632, 0.0012015503875968975, -0.1182170542635659], "std": [0.42092327920424366, 0.25462921707373715, 0.15834825229243255, 0.0, 0.9400323599164264, 0.4675865718818116, 0.31832455133545845, 0.2684769327167392, 0.10220227564726174, 0.10068367587599952, 0.04500175641214561, 0.9929877784148464], "count": [2064]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007751937955617905], "std": [0.0877031609416008], "count": [2064]}, "next.done": {"min": [false], "max": [true], "mean": [0.00048449612403100775], "std": [0.02200593982398404], "count": [2064]}, "timestamp": {"min": [0.0], "max": [103.15], "mean": [51.575], "std": [29.79127039363489], "count": [2064]}, "frame_index": {"min": [0], "max": [2063], "mean": [1031.5], "std": [595.8254078726978], "count": [2064]}, "episode_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [2064]}, "index": {"min": [159881], "max": [161944], "mean": [160912.5], "std": [595.8254078726978], "count": [2064]}, "task_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [2064]}}} +{"episode_index": 89, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5183964766491478]], [[0.5005630559009393]], [[0.47680897016349827]]], "std": [[[0.16430424556974935]], [[0.16540296923699296]], [[0.18658337305951156]]], "count": [259]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4834000078533842]], [[0.46127939067571705]], [[0.4365529507635508]]], "std": [[[0.172617528958846]], [[0.17587917132732425]], [[0.19009351970001676]]], "count": [259]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4849484088662914]], [[0.46538288024906965]], [[0.4443370547913]]], "std": [[[0.18499809292338498]], [[0.18599332355313586]], [[0.2000790418619518]]], "count": [259]}, "annotation.human.task_description": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [1658]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1658]}, "observation.state": {"min": [3.987478143193496, -4.4403685160836455, 0.6999734001140434, 0.0, 0.0, -0.9999988079071045, 0.0015558248851448298, -0.1377695650167805, -0.3243061728415131, 0.29047271386758333, -0.9906684160232544, -0.14525100588798523, -0.5441791415214539, 4.290951619623229e-05, 0.0013431875610841306, -0.040547875058069414], "max": [5.762348729470118, -2.5006318935952407, 0.7008576790076962, 0.0, 0.0, 0.9999984502792358, 1.0, 0.5422655187756034, 0.26197003847364053, 0.7901155472495779, 0.9690888524055481, 0.3438708782196045, 0.6095409393310547, 0.584011971950531, 0.04004559666822418, -0.0013120803108659744], "mean": [5.117052783698083, -3.1345858615100837, 0.7003298522508207, 0.0, 0.0, 0.2051559618838693, 0.835115261815235, 0.17056593254871164, -0.039837458626346495, 0.6134980221347278, 0.021247645159250865, 0.046694954931376494, 0.004371346723832038, 0.08591319385380822, 0.0316740037674696, -0.03287431478072216], "std": [0.614823344035505, 0.677665156279844, 0.000279697581758155, 0.0, 0.0, 0.44061112414118714, 0.25759537968842816, 0.21257296538641376, 0.09955331114893463, 0.11329786146986089, 0.9112686706408129, 0.10649242063815795, 0.3591752902275245, 0.13859949376664205, 0.010215594819626488, 0.009292803012919052], "count": [1658]}, "action": {"min": [-1.0, -1.0, -0.8885714285714287, 0.0, -1.0, -1.0, -1.0, -0.6142857142857143, -0.5628571428571428, -0.52, -0.26285714285714284, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.45999999999999996, 0.4914285714285715, 0.4114285714285714, 1.0], "mean": [0.08084180596243322, 0.06030070653110461, -0.047692572807168675, 0.0, -0.4270205066344994, 0.006151990349819058, 0.003506806824056548, 0.009508013096674135, -0.000977080820265375, -0.0034964673444769874, -0.0009753575736687947, -0.2195416164053076], "std": [0.37268571846981874, 0.23253770431112036, 0.25293091649300087, 0.0, 0.9042419404747863, 0.5083073237070521, 0.3237393893626553, 0.29528824189672853, 0.10791504376928704, 0.10041988566252852, 0.06396362845646662, 0.9756031358427217], "count": [1658]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010253317654132843], "std": [0.10073821246623993], "count": [1658]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006031363088057901], "std": [0.02455142634143259], "count": [1658]}, "timestamp": {"min": [0.0], "max": [82.85], "mean": [41.425], "std": [23.931164305148215], "count": [1658]}, "frame_index": {"min": [0], "max": [1657], "mean": [828.5], "std": [478.6232861029643], "count": [1658]}, "episode_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [1658]}, "index": {"min": [161945], "max": [163602], "mean": [162773.5], "std": [478.6232861029643], "count": [1658]}, "task_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [1658]}}} +{"episode_index": 90, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5662411313690651]], [[0.5541029572746593]], [[0.5285827840335489]]], "std": [[[0.19746582057648293]], [[0.20104142423255286]], [[0.2144540045104544]]], "count": [288]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.584840973166339]], [[0.5608179823765308]], [[0.528483969453633]]], "std": [[[0.2184102990740997]], [[0.21024830559333213]], [[0.21264858609773019]]], "count": [288]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6067679253538709]], [[0.589073305607881]], [[0.5666540970729587]]], "std": [[[0.23033527309776639]], [[0.22138388355501246]], [[0.21832493193974442]]], "count": [288]}, "annotation.human.task_description": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1907]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1907]}, "observation.state": {"min": [1.0109717663453908, -3.721023305526357, 0.6999374663762956, 0.0, 0.0, -1.0, 9.225414032698609e-08, -0.08609844663778254, -0.40945131339689933, 0.30374504772636, -0.9914231300354004, -0.18275243043899536, -0.6059341430664062, 2.498589856259059e-05, 0.0009642483581703481, -0.04026097141367137], "max": [2.844480662092528, -1.9392721225464775, 0.7012472813861398, 0.0, 0.0, 1.0, 0.9999964237213135, 0.6849837775955996, 0.3207354072203632, 0.8295147324451947, 0.9638168811798096, 0.4585304260253906, 0.6183124780654907, 0.641059935092926, 0.040067729952300554, -0.0009188715811908394], "mean": [1.694470232403856, -2.437896494171277, 0.7004563121808142, 0.0, 0.0, -0.13902718247284143, 0.24977692472322446, 0.2471079798716585, -0.059680632823051645, 0.6610607228708902, -0.4285756196098048, 0.0488274430081553, -0.1444224339929875, 0.0923344190088148, 0.0342793861406052, -0.03528928045135172], "std": [0.5967467765795235, 0.6762335749742705, 0.00038761320722028247, 0.0, 0.0, 0.8917431680743599, 0.3508234114314955, 0.2118035985751648, 0.1059414624317788, 0.11674706314469803, 0.7784578987830074, 0.1133572207933836, 0.37319829968339235, 0.1625785935229292, 0.008112891427159565, 0.008518098813197683], "count": [1907]}, "action": {"min": [-1.0, -1.0, -0.20285714285714287, 0.0, -1.0, -1.0, -1.0, -0.7571428571428572, -0.8371428571428572, -0.5, -0.30857142857142855, -1.0], "max": [1.0, 1.0, 0.7828571428571428, 0.0, 1.0, 1.0, 1.0, 1.0, 0.6942857142857143, 0.35714285714285715, 0.4028571428571428, 1.0], "mean": [0.09349764027267966, -0.03694658775938271, 0.0998576672409918, 0.0, -0.3571054011536445, 0.007079181961195586, -0.010495168177391573, 0.0055247584088695895, 0.0019896621469773002, -0.00444377856019177, -0.0016330811296726361, -0.2616675406397483], "std": [0.33935150887268434, 0.23939165718992203, 0.2146150466243726, 0.0, 0.9340640944104937, 0.47019689780690455, 0.3032858445889304, 0.2746587630518613, 0.12420103412797127, 0.08888559626559828, 0.06078176742039936, 0.9651580690102195], "count": [1907]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008914525620639324], "std": [0.09399498254060745], "count": [1907]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005243838489774515], "std": [0.02289342417718204], "count": [1907]}, "timestamp": {"min": [0.0], "max": [95.3], "mean": [47.65], "std": [27.525170299200692], "count": [1907]}, "frame_index": {"min": [0], "max": [1906], "mean": [953.0], "std": [550.5034059840139], "count": [1907]}, "episode_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [1907]}, "index": {"min": [163603], "max": [165509], "mean": [164556.0], "std": [550.5034059840139], "count": [1907]}, "task_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1907]}}} +{"episode_index": 91, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5939287462421492]], [[0.5633460256966556]], [[0.5434863364596327]]], "std": [[[0.18657159329017434]], [[0.1967761042529869]], [[0.21604363302197047]]], "count": [280]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5365283382640166]], [[0.5294966537945744]], [[0.523978656373438]]], "std": [[[0.24679246658782544]], [[0.2386610998269695]], [[0.23061533107060064]]], "count": [280]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.561213738791415]], [[0.5530546080431684]], [[0.5461882175050197]]], "std": [[[0.24580892824639455]], [[0.2355076568825755]], [[0.22529140826135857]]], "count": [280]}, "annotation.human.task_description": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1833]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1833]}, "observation.state": {"min": [1.2351943467063178, -2.370294490532198, 0.6999856213698793, 0.0, 0.0, -0.999984622001648, 0.0005809814902022481, -0.046411853009209025, -0.39831853617068225, 0.29346451957780806, -0.9982664585113525, -0.24984440207481384, -0.5536575317382812, 7.091157021932304e-05, 0.0005960088939195094, -0.04104787244116517], "max": [3.6525779316420595, -0.46739894933416226, 0.7009438305792876, 0.0, 0.0, 0.9999998807907104, 0.9999998807907104, 0.7257006817458086, 0.31000916448670957, 0.7665993763582524, 0.9566361904144287, 0.4647136926651001, 0.5477334260940552, 0.6004412174224854, 0.040357782483623955, -0.00724687303912859], "mean": [1.9395911058316804, -1.140763519982403, 0.7003427735205205, 0.0, 0.0, 0.3656990210947975, 0.5354854714333583, 0.26251979760965266, 0.025743608276768366, 0.5947581748820546, -0.6966231323238026, 0.00024312146239702129, -0.2725459905648422, 0.08234303451956668, 0.03500894886509286, -0.03710831877014123], "std": [0.9543805678193956, 0.572000738047921, 0.0002954487035997428, 0.0, 0.0, 0.7003173610742081, 0.2984545645280311, 0.1799721823244121, 0.10674093023930895, 0.12058432325058795, 0.5740568143514572, 0.13050853394593812, 0.26277575611059356, 0.13427455265067065, 0.007188780510690668, 0.004689384829916114], "count": [1833]}, "action": {"min": [-0.9857142857142858, -1.0, -0.78, 0.0, -1.0, -1.0, -1.0, -0.6571428571428571, -0.5857142857142857, -0.7857142857142858, -0.3171428571428571, -1.0], "max": [1.0, 1.0, 0.4657142857142857, 0.0, 1.0, 1.0, 1.0, 1.0, 0.6371428571428571, 0.5828571428571429, 0.5685714285714286, 1.0], "mean": [0.044275582573454944, 0.057431221261008504, -0.04280102875847555, 0.0, -0.2885979268957992, 0.00035071311667057343, -0.004438469332086357, 0.008534019172317057, -0.00046917621385706164, -0.004288052373158752, -0.0018034447821681859, -0.19039825422804146], "std": [0.3410185891623077, 0.25879386524171344, 0.20929189834746253, 0.0, 0.9574503833575065, 0.4218904730175898, 0.28581038646069684, 0.26248072238262043, 0.11840494733416818, 0.11621660582779729, 0.059066925038289544, 0.9817069342664766], "count": [1833]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008728859946131706], "std": [0.09301970899105072], "count": [1833]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005455537370430987], "std": [0.023350719649790175], "count": [1833]}, "timestamp": {"min": [0.0], "max": [91.6], "mean": [45.800000000000004], "std": [26.457072148419346], "count": [1833]}, "frame_index": {"min": [0], "max": [1832], "mean": [916.0], "std": [529.141442968387], "count": [1833]}, "episode_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [1833]}, "index": {"min": [165510], "max": [167342], "mean": [166426.0], "std": [529.141442968387], "count": [1833]}, "task_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1833]}}} +{"episode_index": 92, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5253542666581482]], [[0.4941459331637114]], [[0.47155100351125523]]], "std": [[[0.17249037235655368]], [[0.17143366171562077]], [[0.18903024759761983]]], "count": [312]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49631545448974485]], [[0.47317333902289005]], [[0.45090192043943106]]], "std": [[[0.19816585568053266]], [[0.19661442721529984]], [[0.1987452095020296]]], "count": [312]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5082273259841359]], [[0.48624731939362786]], [[0.4645676570180794]]], "std": [[[0.19026780601010912]], [[0.1902567225130059]], [[0.19345678852045242]]], "count": [312]}, "annotation.human.task_description": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [2120]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2120]}, "observation.state": {"min": [1.2376612827207272, -4.73972963240566, 0.6999589289352091, 0.0, 0.0, -0.36754584312438965, 0.6779495477676392, -0.05051354351129911, -0.3183218365215894, 0.31203675664872155, -0.9699253439903259, -0.2165796458721161, -0.5968571305274963, 9.753675112733617e-05, 0.002095986643449789, -0.04008383693152844], "max": [2.8268932316711646, -1.1296200655677493, 0.7003378721721516, 0.0, 0.0, 0.7351084351539612, 0.9999994039535522, 0.7299337065019104, 0.2931562210350973, 0.7982159293807191, 0.9915362000465393, 0.6465613842010498, 0.5884789228439331, 0.6067927479743958, 0.04003914796440675, -0.010468066740913537], "mean": [1.8067349565161404, -2.4139904827644676, 0.700079103424619, 0.0, 0.0, 0.6525433126438897, 0.732314443391449, 0.20687991720808285, -0.016477646580692968, 0.6529337987775712, -0.3401922878510547, 0.06711814808395673, -0.13146723211865943, 0.09656001940160044, 0.035297507219787604, -0.03704095242677784], "std": [0.5470270505914331, 1.4482568683001367, 7.653921946460657e-05, 0.0, 0.0, 0.18258205961676768, 0.06757641329577081, 0.19690817565149613, 0.07823542885619127, 0.1282515142650185, 0.802993423697595, 0.16260821274299245, 0.4049345875465938, 0.1339589556070811, 0.007390251729003316, 0.005588570318049672], "count": [2120]}, "action": {"min": [-1.0, -1.0, -0.6457142857142857, 0.0, -1.0, -1.0, -1.0, -0.807142857142857, -0.4571428571428572, -0.5171428571428571, -0.32571428571428573, -1.0], "max": [1.0, 1.0, 0.5371428571428571, 0.0, 1.0, 1.0, 1.0, 1.0, 0.6885714285714286, 0.3942857142857143, 0.4571428571428572, 1.0], "mean": [0.0425606469002696, -0.02751010781671158, 0.0003315363881401634, 0.0, -0.41415094339622643, 0.009447439353099737, 0.0009737196765498701, -0.0005525606469002916, 0.0018355795148247982, -0.0046846361185983836, -0.00015902964959568975, -0.2490566037735849], "std": [0.3994039271161569, 0.2357290996199894, 0.1415609042834648, 0.0, 0.910208215785812, 0.4079791534287596, 0.25598005674625596, 0.24934093494418827, 0.09754623281583764, 0.08636912195887902, 0.06912906213533791, 0.9684889303016113], "count": [2120]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007547169923782349], "std": [0.08654600381851196], "count": [2120]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004716981132075472], "std": [0.02171348921978095], "count": [2120]}, "timestamp": {"min": [0.0], "max": [105.95], "mean": [52.975], "std": [30.599560862862067], "count": [2120]}, "frame_index": {"min": [0], "max": [2119], "mean": [1059.5], "std": [611.9912172572414], "count": [2120]}, "episode_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [2120]}, "index": {"min": [167343], "max": [169462], "mean": [168402.5], "std": [611.9912172572414], "count": [2120]}, "task_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [2120]}}} +{"episode_index": 93, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.528456486642274]], [[0.5204895565654534]], [[0.5093171091028268]]], "std": [[[0.20547153415104408]], [[0.2087584156476934]], [[0.2156154058702058]]], "count": [229]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48015011659131107]], [[0.4780117805429349]], [[0.47076268745250555]]], "std": [[[0.23990666323355261]], [[0.22974951235679902]], [[0.22591381959549994]]], "count": [229]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5138411078921369]], [[0.5163096201482094]], [[0.509432844123935]]], "std": [[[0.23508429457571103]], [[0.2171015256117671]], [[0.21170580466520744]]], "count": [229]}, "annotation.human.task_description": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1403]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1403]}, "observation.state": {"min": [2.951498858956772, -4.48937175144966, 0.6999921377586311, 0.0, 0.0, -0.15334472060203552, 0.7026221752166748, -0.09354826274343608, -0.6183293019437723, 0.25586233367463396, -0.9899362921714783, -0.2394215166568756, -0.5445215106010437, 3.5820816265186295e-05, 0.00027393676478977905, -0.04104193910737993], "max": [4.724657270372512, -3.8003173752337025, 0.7016480119081582, 0.0, 0.0, 0.7115631103515625, 1.0, 0.6125388825106182, 0.07531994590260638, 0.7647353154306185, 0.9554046988487244, 0.23573917150497437, 0.5082066059112549, 0.38042378425598145, 0.04004252586107635, -0.010780499602047284], "mean": [4.053005277461242, -4.087531507114042, 0.7006373786848981, 0.0, 0.0, 0.17991385611824495, 0.9192300000024198, 0.17800915035932408, -0.07717200744089113, 0.5889882026358878, -0.3513687173978652, -0.03160159052990202, -0.14558986051861764, 0.0550797817165571, 0.03491625497995486, -0.03582438466956723], "std": [0.5962104641498901, 0.22273282868067817, 0.00046971616521466786, 0.0, 0.0, 0.3277535420027683, 0.12338903935927886, 0.16570703215481478, 0.10565778156011509, 0.10251447141774508, 0.8414905182430378, 0.10296046163831915, 0.3567252986633239, 0.0731511186678431, 0.007976060322646071, 0.00629133316768436], "count": [1403]}, "action": {"min": [-1.0, -0.9357142857142857, -0.5771428571428572, 0.0, -1.0, -1.0, -1.0, -1.0, -0.24285714285714288, -0.42, -0.27714285714285714, -1.0], "max": [1.0, 0.9714285714285714, 0.6685714285714286, 0.0, 1.0, 0.9857142857142858, 1.0, 1.0, 0.21142857142857144, 0.4371428571428572, 0.3657142857142857, 1.0], "mean": [-0.0005243865186844573, 0.004062722736992158, 0.02162101618979737, 0.0, -0.368496079828938, -0.0043478260869565175, -0.02018124427247732, -0.009332043580083507, -0.002284899704714387, -0.005596171469300478, 0.00041339985744832513, -0.30434782608695654], "std": [0.3344999908487058, 0.2122888420378574, 0.174726655807648, 0.0, 0.92962930200737, 0.4463219065695351, 0.30541406468653526, 0.298266931502725, 0.041455666338646134, 0.08022890442125574, 0.05257264312091895, 0.952560969574196], "count": [1403]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01995723508298397], "std": [0.13985328376293182], "count": [1403]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007127583749109052], "std": [0.026688018855094874], "count": [1403]}, "timestamp": {"min": [0.0], "max": [70.1], "mean": [35.050000000000004], "std": [20.250555547934976], "count": [1403]}, "frame_index": {"min": [0], "max": [1402], "mean": [701.0], "std": [405.0111109586995], "count": [1403]}, "episode_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [1403]}, "index": {"min": [169463], "max": [170865], "mean": [170164.0], "std": [405.0111109586995], "count": [1403]}, "task_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1403]}}} +{"episode_index": 94, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6409610482703965]], [[0.6234577943195365]], [[0.5980623172067315]]], "std": [[[0.20639942909773204]], [[0.20223125716410972]], [[0.22766433499409722]]], "count": [276]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5971950126663126]], [[0.5849693558506751]], [[0.5729513113591508]]], "std": [[[0.24181884436658047]], [[0.24114758301974662]], [[0.2443854347228502]]], "count": [276]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6577449099385423]], [[0.6374260039788886]], [[0.618937329278476]]], "std": [[[0.20761253345402306]], [[0.20994168870941102]], [[0.2191437460926304]]], "count": [276]}, "annotation.human.task_description": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1802]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1802]}, "observation.state": {"min": [2.0930829348444786, -3.396777984445236, 0.6999789138463427, 0.0, 0.0, -0.032485175877809525, 0.6112807989120483, -0.10647760259679062, -0.350089407509957, 0.27598533937109604, -0.9886333346366882, -0.22512933611869812, -0.5950808525085449, 6.270907306316076e-06, 0.0014035406504988362, -0.041079189343175095], "max": [3.6825024899106764, -2.6623542876750403, 0.7016125212018199, 0.0, 0.0, 0.7914137840270996, 1.0, 0.5830665551408356, 0.34044600446231454, 0.8232417917112471, 0.9506446123123169, 0.52187579870224, 0.5060774087905884, 0.6523613333702087, 0.04114949828246655, -0.004983168421876926], "mean": [3.092521488712999, -2.8877376370819987, 0.7004966800707776, 0.0, 0.0, 0.2105537775148584, 0.9034420812169667, 0.22750052959353576, 0.008057036513310011, 0.6263909936957159, -0.6575064400787756, -0.0214415488063826, -0.2721035200926774, 0.11317907705351946, 0.035841180836801385, -0.036412485612932706], "std": [0.5683132758144344, 0.22291232205528347, 0.0004971368064406442, 0.0, 0.0, 0.33770895652551614, 0.15941203417128313, 0.1944694744014277, 0.1279680158910021, 0.12464227429478883, 0.607932569304061, 0.16035755740230873, 0.2528165745757941, 0.14547487089685524, 0.007494149674421702, 0.005583120662514426], "count": [1802]}, "action": {"min": [-1.0, -0.9, -0.4914285714285715, 0.0, -1.0, -1.0, -1.0, -0.7857142857142857, -0.7942857142857143, -0.43428571428571433, -0.3914285714285714, -1.0], "max": [1.0, 1.0, 0.5857142857142857, 0.0, 1.0, 0.9857142857142858, 1.0, 1.0, 0.5828571428571429, 0.24, 0.3742857142857143, 1.0], "mean": [0.0034564769303948055, 0.018903599175519266, 0.018442999841446015, 0.0, -0.4839067702552719, -0.0007372760424924219, 0.0031671159029649384, -0.0004875535119707954, -0.00015221182812748024, -0.002314888219438719, 0.002395750753131446, -0.37735849056603776], "std": [0.28779398252207583, 0.2106709693496874, 0.15437813032144593, 0.0, 0.8751195562328025, 0.4587352483504065, 0.31806632193016754, 0.2818558139261125, 0.11421951637747507, 0.06995677558433497, 0.06043467571919007, 0.926067259759099], "count": [1802]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014983352273702621], "std": [0.12148601561784744], "count": [1802]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005549389567147614], "std": [0.023550605076496055], "count": [1802]}, "timestamp": {"min": [0.0], "max": [90.05], "mean": [45.025], "std": [26.00962562206538], "count": [1802]}, "frame_index": {"min": [0], "max": [1801], "mean": [900.5], "std": [520.1925124413076], "count": [1802]}, "episode_index": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [1802]}, "index": {"min": [170866], "max": [172667], "mean": [171766.5], "std": [520.1925124413076], "count": [1802]}, "task_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1802]}}} +{"episode_index": 95, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49663096448074084]], [[0.4713155089306231]], [[0.4259917581479058]]], "std": [[[0.1822458347461985]], [[0.17786571775171592]], [[0.17881595788334298]]], "count": [308]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46580918314258407]], [[0.43192416784385096]], [[0.40474504393598704]]], "std": [[[0.20912188053272177]], [[0.20949673583323927]], [[0.2131898246438509]]], "count": [308]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5054376915450128]], [[0.4700182886320366]], [[0.4431739948953658]]], "std": [[[0.21050165423477377]], [[0.21357010739973908]], [[0.21878757131320906]]], "count": [308]}, "annotation.human.task_description": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [2082]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2082]}, "observation.state": {"min": [1.1827356147879016, -5.533016474881774, 0.6999721441622013, 0.0, 0.0, -0.9999780654907227, 0.006297266576439142, -0.03107214497280375, -0.47117870288983665, 0.30423773548805555, -0.9997269511222839, -0.22624531388282776, -0.5558207035064697, 0.00013024966756347567, 0.0005181333632431499, -0.040851631571609884], "max": [2.2581308418231094, -1.1436531302990673, 0.7004390603962343, 0.0, 0.0, 0.9999802112579346, 0.9999997615814209, 0.6364615717574069, 0.2245192427713445, 0.8168310344238747, 0.9953598380088806, 0.4576607346534729, 0.6214544773101807, 0.6180981397628784, 0.04009777851295297, -0.0005419151832979647], "mean": [1.9798000284623267, -2.4667903870165047, 0.7001851557551735, 0.0, 0.0, 0.4222603475906867, 0.7772336322174557, 0.21090051109002553, -0.05990449733181113, 0.6216549117064062, -0.33881232683528056, 0.024607983634312432, -0.10100234293473498, 0.11295819943849188, 0.032435545229112406, -0.03576465883229651], "std": [0.3054161489075968, 1.6377132537713406, 0.00013722853919210517, 0.0, 0.0, 0.4355305965698633, 0.16708434989808485, 0.16444938109800247, 0.09428151438939131, 0.08603598966403664, 0.8366066547264351, 0.15103842186438635, 0.34173201408905496, 0.14878022933310733, 0.01005955679542286, 0.006733285925710565], "count": [2082]}, "action": {"min": [-1.0, -1.0, -0.4914285714285715, 0.0, -1.0, -1.0, -1.0, -0.6357142857142857, -0.9257142857142858, -0.40857142857142864, -0.3857142857142858, -1.0], "max": [1.0, 1.0, 0.8, 0.0, 1.0, 1.0, 1.0, 1.0, 0.7571428571428571, 0.5171428571428571, 0.34, 1.0], "mean": [0.09957115411005905, -0.04592767942912036, 0.03589817483189245, 0.0, -0.29010566762728146, 0.0003808151502676197, -0.0026382599149169647, 0.0014580760257993635, 0.00040620282695210866, -0.005110470701248799, -0.0019569095649787293, -0.24399615754082613], "std": [0.3947481061904976, 0.27094215214876055, 0.1895279113211461, 0.0, 0.9569946194261, 0.40158826574649265, 0.2930673050637776, 0.21695855149819876, 0.11271616609617745, 0.09653827096005103, 0.08133401530035511, 0.9697761984629678], "count": [2082]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013928914442658424], "std": [0.1171959936618805], "count": [2082]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004803073967339097], "std": [0.021910652695402582], "count": [2082]}, "timestamp": {"min": [0.0], "max": [104.05], "mean": [52.025], "std": [30.051078044999763], "count": [2082]}, "frame_index": {"min": [0], "max": [2081], "mean": [1040.5], "std": [601.0215608999953], "count": [2082]}, "episode_index": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [2082]}, "index": {"min": [172668], "max": [174749], "mean": [173708.5], "std": [601.0215608999953], "count": [2082]}, "task_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [2082]}}} +{"episode_index": 96, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4150299850957237]], [[0.3905812739892496]], [[0.3791393577735187]]], "std": [[[0.21873118559966007]], [[0.22193434400477433]], [[0.2179631546941321]]], "count": [302]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37829099644501324]], [[0.3531640366228691]], [[0.3393449429396979]]], "std": [[[0.23434383244721843]], [[0.2292406552460371]], [[0.2296362571828098]]], "count": [302]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37347409949645083]], [[0.3523554636617556]], [[0.3396619352175499]]], "std": [[[0.24666274016851839]], [[0.24310616453191145]], [[0.2448702000650368]]], "count": [302]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [2032]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2032]}, "observation.state": {"min": [1.0296972730818876, -4.436324174503112, 0.6999877291760379, 0.0, 0.0, -1.0, 8.066280798857406e-08, 0.006601082293079319, -0.34663662812589563, 0.32128017503091755, -0.9939447045326233, -0.25743910670280457, -0.6580806970596313, 0.00034707519807852805, 0.0014566912320119938, -0.04003988683146718], "max": [3.060419148512885, -0.7674504341348186, 0.7014361949324731, 0.0, 0.0, 1.0, 0.9999581575393677, 0.7869299206814607, 0.32899134699771604, 0.8026888680300084, 0.9919440150260925, 0.4811476469039917, 0.5725959539413452, 0.5934151411056519, 0.040267396715737425, -0.0026634021587910207], "mean": [1.764604855911436, -1.9936206427531418, 0.700658118682613, 0.0, 0.0, 0.5909906176063708, 0.3065361012876862, 0.26166141206612575, -0.00280834452907218, 0.5892411548173506, -0.5169259926348221, 0.0038179981038267688, -0.18595121516650184, 0.10382705721282022, 0.03277906431416448, -0.033445647091642744], "std": [0.6952119738948191, 1.529675940575994, 0.00037097717145554256, 0.0, 0.0, 0.6627633403439098, 0.3427980320770099, 0.16024173314557333, 0.07284897484666004, 0.12025281279941329, 0.7601104216224425, 0.11595129027877162, 0.2718678872448854, 0.14929943807022636, 0.0090688278785003, 0.00904505846337343], "count": [2032]}, "action": {"min": [-1.0, -1.0, -0.4228571428571429, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4371428571428572, -0.8199999999999998, -0.3857142857142858, -1.0], "max": [1.0, 1.0, 0.8171428571428573, 0.0, 1.0, 1.0, 1.0, 1.0, 0.54, 0.4714285714285714, 0.3057142857142857, 1.0], "mean": [0.18398481439820047, -0.03812921822272217, 0.09182367829021368, 0.0, -0.2283464566929134, -0.0018700787401575052, -0.0049247750281215035, 0.004928290213723281, 0.00032199100112486175, -0.006282339707536569, -0.000490719910011247, -0.1062992125984252], "std": [0.4139074431988735, 0.29462009199776634, 0.20438704588036838, 0.0, 0.973579938020374, 0.4272948247521201, 0.26342332689795983, 0.23999026792748088, 0.08802498422828921, 0.10588750282218948, 0.055595437924291856, 0.9943341879876002], "count": [2032]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011811023578047752], "std": [0.10803482681512833], "count": [2032]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004921259842519685], "std": [0.02217845342370817], "count": [2032]}, "timestamp": {"min": [0.0], "max": [101.55], "mean": [50.775], "std": [29.329390123219405], "count": [2032]}, "frame_index": {"min": [0], "max": [2031], "mean": [1015.5], "std": [586.5878024643881], "count": [2032]}, "episode_index": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [2032]}, "index": {"min": [174750], "max": [176781], "mean": [175765.5], "std": [586.5878024643881], "count": [2032]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [2032]}}} +{"episode_index": 97, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42841702798096987]], [[0.377518923300401]], [[0.34351682918435855]]], "std": [[[0.23829229026914864]], [[0.21325446050762514]], [[0.22772669001549412]]], "count": [284]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.390104234090203]], [[0.35518205227097305]], [[0.3375785572691472]]], "std": [[[0.2295862191289889]], [[0.2224883324482028]], [[0.22367120460270126]]], "count": [284]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3982373062466693]], [[0.36566144199998163]], [[0.3491571933648363]]], "std": [[[0.23531919678366345]], [[0.22971223443943287]], [[0.23119821515022204]]], "count": [284]}, "annotation.human.task_description": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1867]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1867]}, "observation.state": {"min": [2.167384116621754, -4.915814528059888, 0.6999784957811914, 0.0, 0.0, -0.9999943971633911, 0.003354678861796856, -0.10743489628055958, -0.27367675927915247, 0.2743239837611454, -0.9899627566337585, -0.350927472114563, -0.574965238571167, 7.892356734373607e-06, 0.00913644912166112, -0.04060981709922197], "max": [3.7246561354628245, -1.028831187419898, 0.7027780831926047, 0.0, 0.0, 0.999975323677063, 0.9999676942825317, 0.6304211006373412, 0.26083959175012494, 0.8098559553929364, 0.9880635142326355, 0.5395936965942383, 0.5439525842666626, 0.60934978723526, 0.04007610183634958, -0.014968835000627323], "mean": [2.669818589668598, -2.4685435617775044, 0.7009907109777674, 0.0, 0.0, 0.5995580768731463, 0.6964939897149167, 0.1983332893366335, -0.01821441686720654, 0.643002685772248, -0.31388894398709194, -0.00039123339517651613, -0.1336951344222854, 0.0894416470383336, 0.033112199459237726, -0.03806035697772633], "std": [0.6188341917147411, 1.4847954783000088, 0.0009624485945472841, 0.0, 0.0, 0.3768519945872525, 0.11579636817662359, 0.2014790803097106, 0.08351896822136998, 0.12736546207802915, 0.8378937276023184, 0.18622827865198782, 0.3486337845015417, 0.1315560567803532, 0.00797295615955138, 0.0033315430541029857], "count": [1867]}, "action": {"min": [-1.0, -1.0, -0.27714285714285714, 0.0, -1.0, -1.0, -1.0, -1.0, -0.6542857142857142, -0.6114285714285714, -0.37142857142857144, -1.0], "max": [1.0, 1.0, 0.7171428571428572, 0.0, 1.0, 1.0, 1.0, 1.0, 0.7114285714285714, 0.45999999999999996, 0.3342857142857143, 1.0], "mean": [0.07466906419771979, -0.028169714591782066, 0.06036728135281964, 0.0, -0.32190680235672203, 0.007885071543346849, -0.009116994414262756, -0.009618180426964558, 0.0021088071007728183, -0.00266278980794246, 0.0015900221899150639, -0.10658810926620246], "std": [0.48190860147675535, 0.26613129543979214, 0.17227618580144446, 0.0, 0.9467713613098324, 0.4815333145027232, 0.23542916812092224, 0.28092029748205133, 0.11782507993177624, 0.10154450079729267, 0.05883985597298447, 0.9943032610642849], "count": [1867]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.008569898083806038], "std": [0.09217621386051178], "count": [1867]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005356186395286556], "std": [0.023137237350246573], "count": [1867]}, "timestamp": {"min": [0.0], "max": [93.3], "mean": [46.64999999999999], "std": [26.947819948930935], "count": [1867]}, "frame_index": {"min": [0], "max": [1866], "mean": [933.0], "std": [538.9563989786187], "count": [1867]}, "episode_index": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [1867]}, "index": {"min": [176782], "max": [178648], "mean": [177715.0], "std": [538.9563989786187], "count": [1867]}, "task_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1867]}}} +{"episode_index": 98, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5015455557321189]], [[0.47474229773602067]], [[0.44648649602077306]]], "std": [[[0.250092415125933]], [[0.2314588253784232]], [[0.22089715472508517]]], "count": [323]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5048506876220036]], [[0.4926725331185287]], [[0.4756194518142614]]], "std": [[[0.26787095880185824]], [[0.24727090759761614]], [[0.23163183997717046]]], "count": [323]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5018227443765698]], [[0.4860122053565162]], [[0.4656205795548374]]], "std": [[[0.27253060845510657]], [[0.254474232388958]], [[0.23990981398988556]]], "count": [323]}, "annotation.human.task_description": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [2218]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2218]}, "observation.state": {"min": [1.3662153760743825, -6.578033407552575, 0.6999856529060878, 0.0, 0.0, -0.9999978542327881, 0.002095836913213134, -0.005908250368782397, -0.4101871018784613, 0.24206703741108926, -0.9921790361404419, -0.2648930847644806, -0.5290324687957764, 0.00030649040127173066, 0.00022770797833716454, -0.040718829603925595], "max": [4.2095522491045045, -0.9682341673446253, 0.703985297009154, 0.0, 0.0, 0.9999629259109497, 0.999998927116394, 0.7175493651217142, 0.3243458840023159, 0.733041246249326, 0.9869363903999329, 0.38552212715148926, 0.5511069297790527, 0.5724725127220154, 0.04037924697269185, -0.0011295564890925528], "mean": [3.052419382516532, -2.9291414611848547, 0.7021590105605326, 0.0, 0.0, 0.4478014271792526, 0.6562802352231017, 0.18461578842488494, -0.05399907299441652, 0.5556908815692396, -0.23976469397329875, 0.00972941044526556, -0.12932009909997338, 0.07653203974547229, 0.03141074066459463, -0.030709112750144558], "std": [0.7660556905551975, 2.047863328244658, 0.0010172628023533985, 0.0, 0.0, 0.580222938621555, 0.17919670976570834, 0.20077151593834983, 0.08113984039144326, 0.10583991067713165, 0.8959956155996257, 0.09654347564239228, 0.30543251040593555, 0.12008157462437759, 0.01067459557500573, 0.010253090811244913], "count": [2218]}, "action": {"min": [-1.0, -1.0, -0.5457142857142857, 0.0, -1.0, -1.0, -1.0, -0.75, -0.56, -0.32571428571428573, -0.28285714285714286, -1.0], "max": [1.0, 1.0, 0.8885714285714287, 0.0, 1.0, 1.0, 1.0, 1.0, 0.4742857142857143, 0.62, 0.31142857142857144, 1.0], "mean": [0.2816565760659539, -0.016465928120571953, 0.10220275666623718, 0.0, -0.059513074842200184, 0.006766069818369191, -0.00955816050495943, -0.01167396625016103, 0.0011335823779466728, -0.001058868993945639, -0.00013525698827772853, -0.1018935978358882], "std": [0.5092368819409822, 0.27106944346834266, 0.2352818563787287, 0.0, 0.9982275261295945, 0.4461131779944064, 0.26321989134961216, 0.22918301366064767, 0.08096414962621604, 0.08446370452697337, 0.051931856511304705, 0.9947953029242206], "count": [2218]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007213706150650978], "std": [0.08462663739919662], "count": [2218]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004508566275924256], "std": [0.021228597596020835], "count": [2218]}, "timestamp": {"min": [0.0], "max": [110.85], "mean": [55.425000000000004], "std": [32.01406917278714], "count": [2218]}, "frame_index": {"min": [0], "max": [2217], "mean": [1108.5], "std": [640.2813834557428], "count": [2218]}, "episode_index": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [2218]}, "index": {"min": [178649], "max": [180866], "mean": [179757.5], "std": [640.2813834557428], "count": [2218]}, "task_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [2218]}}} +{"episode_index": 99, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5903303309410087]], [[0.5745576687194688]], [[0.5609572324772764]]], "std": [[[0.18972016165681407]], [[0.1960664233794981]], [[0.2057052073875561]]], "count": [253]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5615979322728968]], [[0.5520316478661546]], [[0.5424056639054537]]], "std": [[[0.2335113898208685]], [[0.22401939480405839]], [[0.21598493086954018]]], "count": [253]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5691314709091393]], [[0.5605173375415662]], [[0.5520832522085617]]], "std": [[[0.24105158108479138]], [[0.23189492961826597]], [[0.22325692989698348]]], "count": [253]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1603]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1603]}, "observation.state": {"min": [3.817667571655314, -3.5884083867560643, 0.6999680215900037, 0.0, 0.0, -1.0, 5.170913937035948e-06, 0.059005095276503106, -0.260062635878463, 0.29512632810487704, -0.992355465888977, -0.3360428810119629, -0.6834480166435242, 8.07880951469997e-06, 0.0008985343549058239, -0.040618981901346635], "max": [5.708289642748743, -1.314346360140447, 0.7022629153247766, 0.0, 0.0, 1.0, 1.0, 0.6875961345965349, 0.29877094954175853, 0.7927493379787545, 0.980655312538147, 0.4522894620895386, 0.6198694705963135, 0.502249002456665, 0.04008679118357894, -0.010933916933767414], "mean": [4.978516349926772, -2.068075690903473, 0.7004983251818185, 0.0, 0.0, 0.21133949946175665, 0.8021788037444495, 0.2918769170051824, -0.007879455029550736, 0.6065557176091305, -0.6493580749238645, 0.008211411470669326, -0.2946415423477767, 0.06548150947669124, 0.03368140065165224, -0.032992981973798116], "std": [0.6031486096139078, 0.8219782718625956, 0.0008224673279353512, 0.0, 0.0, 0.4674586480867864, 0.30549504336616495, 0.18366599813436751, 0.08583198640113596, 0.1267815941719917, 0.6216949568797333, 0.11395624906386952, 0.2732512759791584, 0.11405390419349908, 0.009480035060409056, 0.008738147852708149], "count": [1603]}, "action": {"min": [-1.0, -1.0, -0.5942857142857143, 0.0, -1.0, -1.0, -1.0, -0.7857142857142857, -0.4657142857142857, -0.4314285714285714, -0.3657142857142857, -1.0], "max": [1.0, 1.0, 0.7285714285714285, 0.0, 1.0, 1.0, 1.0, 1.0, 0.43428571428571433, 0.5257142857142857, 0.23142857142857146, 1.0], "mean": [0.06826486052936453, 0.03490330630068622, -0.04547188307637464, 0.0, -0.33499688084840923, 0.0052669102575528095, -0.007512699402905262, -0.006229391319846694, -9.803047856696453e-05, -0.0022992603154798983, -0.005470100704037075, -0.16905801621958827], "std": [0.3405595380907398, 0.2793091272405194, 0.225799546670005, 0.0, 0.9422192366014595, 0.4925440120377536, 0.2734384182550475, 0.28936712168395495, 0.08668673077578465, 0.09046884791650675, 0.06326146550693047, 0.9856061014177451], "count": [1603]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010605115443468094], "std": [0.10243362188339233], "count": [1603]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006238303181534623], "std": [0.024968803613461633], "count": [1603]}, "timestamp": {"min": [0.0], "max": [80.1], "mean": [40.050000000000004], "std": [23.137307535666288], "count": [1603]}, "frame_index": {"min": [0], "max": [1602], "mean": [801.0], "std": [462.7461507133258], "count": [1603]}, "episode_index": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [1603]}, "index": {"min": [180867], "max": [182469], "mean": [181668.0], "std": [462.7461507133258], "count": [1603]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1603]}}} +{"episode_index": 100, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5476504331946903]], [[0.5033720194755672]], [[0.47456014213988773]]], "std": [[[0.22509947508617015]], [[0.25038441139234824]], [[0.26699965273574433]]], "count": [326]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5420696016713398]], [[0.4943828735571827]], [[0.45844271166666195]]], "std": [[[0.21588610397575414]], [[0.2398089844599976]], [[0.2563957164713428]]], "count": [326]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5169962377879761]], [[0.4704231613711675]], [[0.43657598496630606]]], "std": [[[0.21165615460564466]], [[0.2353606007605312]], [[0.2546128681355386]]], "count": [326]}, "annotation.human.task_description": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [2252]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [2252]}, "observation.state": {"min": [-5.014957093398284, -5.813162640355411, 0.6999979703506445, 0.0, 0.0, -0.9999803304672241, 0.0021856355015188456, -0.02141293416696355, -0.2638754102987617, 0.29874395073783866, -0.9942784309387207, -0.6279503703117371, -0.5563077330589294, 1.3172962098906282e-05, 0.0005102905670593889, -0.04007167149224766], "max": [-1.0501470280355674, -1.9395750266674816, 0.704367618138635, 0.0, 0.0, 0.999997615814209, 1.0, 0.6534659218288434, 0.44058497677237485, 0.7018119440337622, 0.992780864238739, 0.963797926902771, 0.45950767397880554, 0.6552452445030212, 0.04108975759417235, 9.088281961557066e-05], "mean": [-2.1028513415383485, -4.209026806409628, 0.7034622470793265, 0.0, 0.0, 0.2028102012374651, 0.8792520932838541, 0.1865805106145376, -0.009151266754401026, 0.543288106253051, -0.2442472194692411, 0.3109141149381126, -0.0924123431845466, 0.1599650412210203, 0.029277676589244867, -0.02686119406914398], "std": [1.1170761499087796, 0.9238221513469135, 0.0011448543050042463, 0.0, 0.0, 0.3866823053847767, 0.1904221141302122, 0.17620294569721295, 0.09672696837589582, 0.0751041512357466, 0.7305894966700627, 0.4459211725762985, 0.22999857655420328, 0.15505098157825442, 0.014265113959963325, 0.014672611940337182], "count": [2252]}, "action": {"min": [-1.0, -0.6357142857142857, -0.5771428571428572, 0.0, -1.0, -1.0, -1.0, -0.7428571428571429, -0.7457142857142857, -0.6571428571428571, -0.13142857142857142, -1.0], "max": [1.0, 0.7428571428571429, 0.5085714285714286, 0.0, 1.0, 0.9642857142857144, 1.0, 0.9, 0.30857142857142855, 0.5057142857142857, 0.4628571428571429, 1.0], "mean": [0.11977924384673933, 0.0027404212128901593, 0.06591981730525247, 0.0, -0.06571936056838366, 0.00912205024105558, 0.016737503171783793, -0.011770489723420449, -0.013605683836589699, 0.004319969550875413, 0.01721517381375285, 0.27264653641207814], "std": [0.40750477846727867, 0.21001476870050725, 0.17284325299338396, 0.0, 0.9978381460169059, 0.3372021689092615, 0.2822906744323571, 0.2029222790393948, 0.08320322569144045, 0.09550848887789407, 0.0671166829967505, 0.9621142687760564], "count": [2252]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007104795891791582], "std": [0.08398998528718948], "count": [2252]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004440497335701599], "std": [0.021067808462302766], "count": [2252]}, "timestamp": {"min": [0.0], "max": [112.55], "mean": [56.275], "std": [32.504816950722855], "count": [2252]}, "frame_index": {"min": [0], "max": [2251], "mean": [1125.5], "std": [650.0963390144572], "count": [2252]}, "episode_index": {"min": [100], "max": [100], "mean": [100.0], "std": [0.0], "count": [2252]}, "index": {"min": [182470], "max": [184721], "mean": [183595.5], "std": [650.0963390144572], "count": [2252]}, "task_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [2252]}}} +{"episode_index": 101, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6047162280929846]], [[0.5855176883726976]], [[0.5688518680565711]]], "std": [[[0.20502796524419048]], [[0.21340471077242218]], [[0.22755602815120488]]], "count": [264]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5705293457067515]], [[0.5414923116555896]], [[0.5228258190733013]]], "std": [[[0.21931639802395003]], [[0.23769236971882096]], [[0.2552812233139599]]], "count": [264]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5741797108913701]], [[0.5497684197700669]], [[0.5335017763569606]]], "std": [[[0.23315999520217004]], [[0.2486598865054149]], [[0.2640127979931456]]], "count": [264]}, "annotation.human.task_description": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1697]}, "annotation.human.task_name": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1697]}, "observation.state": {"min": [3.9052676504846167, -4.451937539195432, 0.6999673632880689, 0.0, 0.0, -0.9998917579650879, 0.009330096654593945, -0.03907416680624998, -0.3519693983593788, 0.3108892926396255, -0.9946178793907166, -0.1473037302494049, -0.5804465413093567, 4.0347395042772405e-06, 0.0013893069489017433, -0.04051280931561176], "max": [5.764122489973038, -2.6444647286318506, 0.701427524162304, 0.0, 0.0, 0.999956488609314, 1.0, 0.6493209969459492, 0.3119833362570952, 0.8086501607052495, 0.9772607088088989, 0.5259912014007568, 0.6159555315971375, 0.6316171288490295, 0.04043717149270985, -0.0020140144919274573], "mean": [5.05405580647292, -3.1047146051115693, 0.7002745317871161, 0.0, 0.0, 0.21965708833437794, 0.8343862847660481, 0.20567530726672628, -0.05686217160032284, 0.6443655251728314, 0.2724858877514135, 0.05060512734534253, 0.15922476263987378, 0.10432690792243723, 0.032638028965405415, -0.03477679653913053], "std": [0.6082789342661824, 0.6655387354008888, 0.0004675978064316049, 0.0, 0.0, 0.4303455536339734, 0.2652414109856941, 0.19836178120453726, 0.09704112603501217, 0.09776407901752254, 0.8341901748099272, 0.1208454587225973, 0.38596340072464, 0.16585932466808767, 0.009743642209853935, 0.009361964442698986], "count": [1697]}, "action": {"min": [-1.0, -1.0, -0.8, 0.0, -1.0, -1.0, -1.0, -0.7357142857142858, -0.7428571428571429, -0.6714285714285715, -0.2742857142857143, -1.0], "max": [1.0, 1.0, 0.7, 0.0, 1.0, 0.9142857142857143, 1.0, 1.0, 0.6171428571428571, 0.35714285714285715, 0.2742857142857143, 1.0], "mean": [0.0756966074585403, 0.033748632039733974, -0.04207088138732217, 0.0, -0.3918680023571008, 0.004667901338496506, -0.00380924320228974, 0.003594578668238064, -0.001892415186463504, -0.011051435306002198, -0.0020725650307264923, -0.29876252209781967], "std": [0.38055843702494996, 0.2226714873854365, 0.24163442847629193, 0.0, 0.9200214501459402, 0.500669469361491, 0.2882578071340529, 0.30375192002786777, 0.11567003014378814, 0.10723925696756281, 0.05183497027797158, 0.9543274885435014], "count": [1697]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.009428403340280056], "std": [0.09664113074541092], "count": [1697]}, "next.done": {"min": [false], "max": [true], "mean": [0.0005892751915144372], "std": [0.024267837692367712], "count": [1697]}, "timestamp": {"min": [0.0], "max": [84.8], "mean": [42.4], "std": [24.494080917642123], "count": [1697]}, "frame_index": {"min": [0], "max": [1696], "mean": [848.0], "std": [489.88161835284245], "count": [1697]}, "episode_index": {"min": [101], "max": [101], "mean": [101.0], "std": [0.0], "count": [1697]}, "index": {"min": [184722], "max": [186418], "mean": [185570.0], "std": [489.88161835284245], "count": [1697]}, "task_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1697]}}} diff --git a/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/info.json b/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..054cd879650bd9661ea945c8d4b69da96f2dd81f --- /dev/null +++ b/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/info.json @@ -0,0 +1,179 @@ +{ + "codebase_version": "v2.1", + "robot_type": "PandaOmron", + "total_episodes": 102, + "total_frames": 186419, + "total_tasks": 47, + "total_videos": 306, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:102" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "observation.images.robot0_eye_in_hand": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_left": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_right": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "annotation.human.task_description": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "annotation.human.task_name": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "observation.state": { + "dtype": "float64", + "shape": [ + 16 + ] + }, + "action": { + "dtype": "float64", + "shape": [ + 12 + ] + }, + "next.reward": { + "dtype": "float32", + "shape": [ + 1 + ] + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + } + } +} \ No newline at end of file diff --git a/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/modality.json b/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..c5cf7a673c0f30723a873f2ae19bba98a2a97496 --- /dev/null +++ b/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/modality.json @@ -0,0 +1,72 @@ +{ + "state": { + "base_position": { + "original_key": "observation.state", + "start": 0, + "end": 3 + }, + "base_rotation": { + "original_key": "observation.state", + "start": 3, + "end": 7 + }, + "end_effector_position_relative": { + "original_key": "observation.state", + "start": 7, + "end": 10 + }, + "end_effector_rotation_relative": { + "original_key": "observation.state", + "start": 10, + "end": 14 + }, + "gripper_qpos": { + "original_key": "observation.state", + "start": 14, + "end": 16 + } + }, + "action": { + "base_motion": { + "original_key": "action", + "start": 0, + "end": 4 + }, + "control_mode": { + "original_key": "action", + "start": 4, + "end": 5 + }, + "end_effector_position": { + "original_key": "action", + "start": 5, + "end": 8 + }, + "end_effector_rotation": { + "original_key": "action", + "start": 8, + "end": 11 + }, + "gripper_close": { + "original_key": "action", + "start": 11, + "end": 12 + } + }, + "video": { + "robot0_eye_in_hand": { + "original_key": "observation.images.robot0_eye_in_hand" + }, + "robot0_agentview_left": { + "original_key": "observation.images.robot0_agentview_left" + }, + "robot0_agentview_right": { + "original_key": "observation.images.robot0_agentview_right" + } + }, + "annotation": { + "human.task_description": { + "original_key": "annotation.human.task_description" + } + } +} \ No newline at end of file diff --git a/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/stats.json b/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..a7ba39ff604aa72a16555c8109277f2d17b22a7a --- /dev/null +++ b/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/stats.json @@ -0,0 +1,378 @@ +{ + "annotation.human.task_description": { + "mean": [ + 21.912202835083008 + ], + "std": [ + 12.819231033325195 + ], + "min": [ + 0.0 + ], + "max": [ + 46.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 46.0 + ] + }, + "annotation.human.task_name": { + "mean": [ + 47.0 + ], + "std": [ + 0.0 + ], + "min": [ + 47.0 + ], + "max": [ + 47.0 + ], + "q01": [ + 47.0 + ], + "q99": [ + 47.0 + ] + }, + "observation.state": { + "mean": [ + 2.200416326522827, + -2.6402907371520996, + 0.7019387483596802, + 0.0, + 0.0, + 0.2802412807941437, + 0.6448719501495361, + 0.20617252588272095, + -0.03673664107918739, + 0.6178901195526123, + -0.3514508008956909, + 0.03678716719150543, + -0.14165261387825012, + 0.08958935737609863, + 0.03327445685863495, + -0.034391794353723526 + ], + "std": [ + 1.925885558128357, + 1.38497793674469, + 0.0015020001446828246, + 0.0, + 0.0, + 0.6201759576797485, + 0.3482227325439453, + 0.19320061802864075, + 0.1020270586013794, + 0.11609107255935669, + 0.8177871108055115, + 0.18612425029277802, + 0.3544420897960663, + 0.1340801864862442, + 0.009539389982819557, + 0.008802342228591442 + ], + "min": [ + -5.014956951141357, + -6.578033447265625, + 0.6998332738876343, + 0.0, + 0.0, + -1.0, + 0.0, + -0.2737889289855957, + -0.655613362789154, + 0.21258123219013214, + -0.999957263469696, + -0.8498556017875671, + -0.8786894679069519, + 1.9323049116337643e-07, + -0.002982368227094412, + -0.046790264546871185 + ], + "max": [ + 6.74287223815918, + -0.3171059191226959, + 0.7070244550704956, + 0.0, + 0.0, + 1.0, + 1.0, + 0.8745893836021423, + 0.5454236268997192, + 0.8769782781600952, + 0.9989424347877502, + 0.9774507880210876, + 0.92191481590271, + 0.7494933009147644, + 0.04333825781941414, + 0.004002346657216549 + ], + "q01": [ + -3.311302423477173, + -6.076560020446777, + 0.6999938488006592, + 0.0, + 0.0, + -1.0, + 2.9476221243385226e-05, + -0.12927192449569702, + -0.33026671409606934, + 0.31296947598457336, + -0.9904022812843323, + -0.3102665841579437, + -0.612824022769928, + 0.0008019042434170842, + 0.0008084372966550291, + -0.04020150750875473 + ], + "q99": [ + 6.277537822723389, + -0.4637201130390167, + 0.7045987844467163, + 0.0, + 0.0, + 1.0, + 1.0, + 0.6484141945838928, + 0.30032360553741455, + 0.8116973638534546, + 0.9828309416770935, + 0.9045184254646301, + 0.5825600028038025, + 0.5897449851036072, + 0.04007163271307945, + -0.0006471564993262291 + ] + }, + "action": { + "mean": [ + 0.08626101911067963, + 0.0106204180046916, + 0.009588128887116909, + 0.0, + -0.2503017485141754, + -0.00020054582273587584, + -0.006781425327062607, + -0.003620266215875745, + -0.0008204319747164845, + -0.004870146047323942, + 0.0009026577463373542, + -0.16588973999023438 + ], + "std": [ + 0.4090994596481323, + 0.2837713956832886, + 0.2110321968793869, + 0.0, + 0.9681776165962219, + 0.43972304463386536, + 0.27735546231269836, + 0.2676694393157959, + 0.09344889968633652, + 0.10008809715509415, + 0.060493916273117065, + 0.9866793155670166 + ], + "min": [ + -1.0, + -1.0, + -0.9742857217788696, + 0.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.9257143139839172, + -1.0, + -0.7685714364051819, + -1.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.8199999928474426, + 0.9800000190734863, + 1.0 + ], + "q01": [ + -1.0, + -1.0, + -0.6485714316368103, + 0.0, + -1.0, + -1.0, + -1.0, + -0.6499999761581421, + -0.35428571701049805, + -0.36571428179740906, + -0.1971428543329239, + -1.0 + ], + "q99": [ + 1.0, + 1.0, + 0.6742857098579407, + 0.0, + 1.0, + 0.9214285612106323, + 1.0, + 1.0, + 0.4028571546077728, + 0.3028571307659149, + 0.2257142812013626, + 1.0 + ] + }, + "next.reward": { + "mean": [ + 0.009489376097917557 + ], + "std": [ + 0.09695013612508774 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "next.done": { + "mean": [ + 0.0005471545155160129 + ], + "std": [ + 0.023384934291243553 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "timestamp": { + "mean": [ + 46.806941986083984 + ], + "std": [ + 28.334613800048828 + ], + "min": [ + 0.0 + ], + "max": [ + 139.75 + ], + "q01": [ + 0.8999999761581421 + ], + "q99": [ + 109.0999984741211 + ] + }, + "frame_index": { + "mean": [ + 936.138671875 + ], + "std": [ + 566.6922607421875 + ], + "min": [ + 0.0 + ], + "max": [ + 2795.0 + ], + "q01": [ + 18.0 + ], + "q99": [ + 2182.0 + ] + }, + "episode_index": { + "mean": [ + 50.94050979614258 + ], + "std": [ + 29.62117576599121 + ], + "min": [ + 0.0 + ], + "max": [ + 101.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 100.0 + ] + }, + "index": { + "mean": [ + 93209.0 + ], + "std": [ + 53814.53125 + ], + "min": [ + 0.0 + ], + "max": [ + 186418.0 + ], + "q01": [ + 1864.179931640625 + ], + "q99": [ + 184553.828125 + ] + }, + "task_index": { + "mean": [ + 21.912202835083008 + ], + "std": [ + 12.819231033325195 + ], + "min": [ + 0.0 + ], + "max": [ + 46.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 46.0 + ] + } +} \ No newline at end of file diff --git a/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/tasks.jsonl b/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae87aaf448972157dfd0b2226d45ebaad9e470ac --- /dev/null +++ b/pretrain/composite/SetupFruitBowl/20250801/lerobot/meta/tasks.jsonl @@ -0,0 +1,48 @@ +{"task_index": 0, "task": "Retrieve the peach and pear from the fridge and place them into the bowl on the dining table."} +{"task_index": 1, "task": "Retrieve the kiwi and banana from the fridge and place them into the bowl on the dining table."} +{"task_index": 2, "task": "Retrieve the mango and peach from the fridge and place them into the bowl on the dining table."} +{"task_index": 3, "task": "Retrieve the tangerine and kiwi from the fridge and place them into the bowl on the dining table."} +{"task_index": 4, "task": "Retrieve the banana and kiwi from the fridge and place them into the bowl on the dining table."} +{"task_index": 5, "task": "Retrieve the orange and tangerine from the fridge and place them into the bowl on the dining table."} +{"task_index": 6, "task": "Retrieve the kiwi and apple from the fridge and place them into the bowl on the dining table."} +{"task_index": 7, "task": "Retrieve the tangerine and pear from the fridge and place them into the bowl on the dining table."} +{"task_index": 8, "task": "Retrieve the apple and kiwi from the fridge and place them into the bowl on the dining table."} +{"task_index": 9, "task": "Retrieve the tangerine and apple from the fridge and place them into the bowl on the dining table."} +{"task_index": 10, "task": "Retrieve the apple and peach from the fridge and place them into the bowl on the dining table."} +{"task_index": 11, "task": "Retrieve the apple and pear from the fridge and place them into the bowl on the dining table."} +{"task_index": 12, "task": "Retrieve the kiwi and mango from the fridge and place them into the bowl on the dining table."} +{"task_index": 13, "task": "Retrieve the peach and banana from the fridge and place them into the bowl on the dining table."} +{"task_index": 14, "task": "Retrieve the banana and tangerine from the fridge and place them into the bowl on the dining table."} +{"task_index": 15, "task": "Retrieve the peach and apple from the fridge and place them into the bowl on the dining table."} +{"task_index": 16, "task": "Retrieve the kiwi and tangerine from the fridge and place them into the bowl on the dining table."} +{"task_index": 17, "task": "Retrieve the pear and peach from the fridge and place them into the bowl on the dining table."} +{"task_index": 18, "task": "Retrieve the tangerine and mango from the fridge and place them into the bowl on the dining table."} +{"task_index": 19, "task": "Retrieve the pear and banana from the fridge and place them into the bowl on the dining table."} +{"task_index": 20, "task": "Retrieve the peach and kiwi from the fridge and place them into the bowl on the dining table."} +{"task_index": 21, "task": "Retrieve the kiwi and peach from the fridge and place them into the bowl on the dining table."} +{"task_index": 22, "task": "Retrieve the tangerine and peach from the fridge and place them into the bowl on the dining table."} +{"task_index": 23, "task": "Retrieve the banana and mango from the fridge and place them into the bowl on the dining table."} +{"task_index": 24, "task": "Retrieve the peach and mango from the fridge and place them into the bowl on the dining table."} +{"task_index": 25, "task": "Retrieve the tangerine and orange from the fridge and place them into the bowl on the dining table."} +{"task_index": 26, "task": "Retrieve the peach and tangerine from the fridge and place them into the bowl on the dining table."} +{"task_index": 27, "task": "Retrieve the banana and orange from the fridge and place them into the bowl on the dining table."} +{"task_index": 28, "task": "Retrieve the apple and mango from the fridge and place them into the bowl on the dining table."} +{"task_index": 29, "task": "Retrieve the kiwi and pear from the fridge and place them into the bowl on the dining table."} +{"task_index": 30, "task": "Retrieve the orange and peach from the fridge and place them into the bowl on the dining table."} +{"task_index": 31, "task": "Retrieve the orange and pear from the fridge and place them into the bowl on the dining table."} +{"task_index": 32, "task": "Retrieve the mango and banana from the fridge and place them into the bowl on the dining table."} +{"task_index": 33, "task": "Retrieve the apple and orange from the fridge and place them into the bowl on the dining table."} +{"task_index": 34, "task": "Retrieve the tangerine and banana from the fridge and place them into the bowl on the dining table."} +{"task_index": 35, "task": "Retrieve the apple and banana from the fridge and place them into the bowl on the dining table."} +{"task_index": 36, "task": "Retrieve the kiwi and orange from the fridge and place them into the bowl on the dining table."} +{"task_index": 37, "task": "Retrieve the orange and apple from the fridge and place them into the bowl on the dining table."} +{"task_index": 38, "task": "Retrieve the banana and peach from the fridge and place them into the bowl on the dining table."} +{"task_index": 39, "task": "Retrieve the banana and pear from the fridge and place them into the bowl on the dining table."} +{"task_index": 40, "task": "Retrieve the orange and banana from the fridge and place them into the bowl on the dining table."} +{"task_index": 41, "task": "Retrieve the peach and orange from the fridge and place them into the bowl on the dining table."} +{"task_index": 42, "task": "Retrieve the mango and kiwi from the fridge and place them into the bowl on the dining table."} +{"task_index": 43, "task": "Retrieve the mango and orange from the fridge and place them into the bowl on the dining table."} +{"task_index": 44, "task": "Retrieve the orange and mango from the fridge and place them into the bowl on the dining table."} +{"task_index": 45, "task": "Retrieve the pear and orange from the fridge and place them into the bowl on the dining table."} +{"task_index": 46, "task": "Retrieve the mango and pear from the fridge and place them into the bowl on the dining table."} +{"task_index": 47, "task": "SetupFruitBowl"} diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/dataset_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/dataset_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a75a1769a76e56335fdf2050fb505a4549abaa1d --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/dataset_meta.json @@ -0,0 +1,390 @@ +{ + "date": "7-30-2025", + "env": "TurnOffSimmeredSauceHeat", + "env_args": { + "type": 1, + "env_name": "TurnOffSimmeredSauceHeat", + "env_version": "0.5.1", + "robosuite_version": "1.5.2", + "mujoco_version": "3.3.1", + "env_kwargs": { + "env_name": "TurnOffSimmeredSauceHeat", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": false, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + } + }, + "env_info": { + "env_name": "TurnOffSimmeredSauceHeat", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "translucent_robot": true, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + }, + "mujoco_version": "3.3.1", + "robocasa_version": "0.5.1", + "robosuite_version": "1.5.2", + "time": "22:39:51", + "total": 74548 +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000000/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70463cf93c7bf8cef391f22fff21bf8e2e25d82d --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 29, + "style_id": 48, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_left_group", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml" + }, + "reset_region": { + "offset": [ + -0.20417738887777892, + 0.1146765309571935, + 0.015242468730561752 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.20467373418154072, + -4.0895752529704374, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 458.41822285000046 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000001/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0868ac597675962fc46add74d79797049acbebe --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,326 @@ +{ + "layout_id": 37, + "style_id": 35, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_left_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan007/model.xml" + }, + "reset_region": { + "offset": [ + 0.1486764208862963, + 0.16577926657652714, + -0.003961471997002218 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "papertowel_left_group_1": { + "cls": "Accessory" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7985864440048714, + -2.207864905012768, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 456.6598832424246 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fededc4c2110d8e434df4aeace11fb9cba81e53d --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,359 @@ +{ + "layout_id": 36, + "style_id": 42, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_right_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml" + }, + "reset_region": { + "offset": [ + 0.1465443008643839, + 0.19162638019226996, + 0.46965236862466925 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.0677273854460636, + -1.3752201208549792, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 488.8003299506036 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b7e433078988353ee99c8e7e7bdbbcc19bde1be --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,410 @@ +{ + "layout_id": 33, + "style_id": 40, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "widestove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml" + }, + "reset_region": { + "offset": [ + -0.28915312362904877, + 0.19777307900980082, + 0.4430062249049935 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "widestove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.098091861285449, + -0.9460023361751456, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 487.6157475815967 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000004/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7970a5051444567c3b90cababc8074e2affde2c2 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,374 @@ +{ + "layout_id": 38, + "style_id": 40, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_left_group_1", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml" + }, + "reset_region": { + "offset": [ + -0.20074877808322203, + -0.06912926694207545, + 0.471831195327171 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8652290568324893, + -4.432872126480394, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 489.70958721478104 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e75fba9460d621cb77baf2b087c06a5aafe8f820 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,410 @@ +{ + "layout_id": 33, + "style_id": 31, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "widestove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_center" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml" + }, + "reset_region": { + "offset": [ + 0.0047097886951891245, + 0.19779405076086318, + 0.4430062249049935 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_center" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "widestove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.9421875703562212, + -0.8989310934684632, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "rear_center", + "simmer_timesteps": 484.77521188477726 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..79db7d80210802fcbfac1d70f5a1241dbbcf35e8 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 24, + "style_id": 60, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml" + }, + "reset_region": { + "offset": [ + -0.23811360622935657, + 0.206514155286064, + 0.45664184230975824 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.434827064803767, + -0.9454149213550787, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 456.89892175879834 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4528a46c314d5cad9b82d7739138922a68d6a5f3 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,422 @@ +{ + "layout_id": 18, + "style_id": 25, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_left_group", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml" + }, + "reset_region": { + "offset": [ + -0.21471246392874302, + 0.12074257670852313, + 0.0087095887489308 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8142886970518368, + -4.377693282768791, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 456.99190640189596 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0ecf382e7725644915197ba66d6964986769baae --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,365 @@ +{ + "layout_id": 14, + "style_id": 47, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "front_center" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan007/model.xml" + }, + "reset_region": { + "offset": [ + 0.004914930787441105, + -0.12553276189510654, + 0.47018691497155635 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_center" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1198654049569194, + -0.8895706347455007, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "front_center", + "simmer_timesteps": 497.56234308726914 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ae4a051e147b39fbc517b03c67d3824b56119f11 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,422 @@ +{ + "layout_id": 18, + "style_id": 53, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_left_group", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan004/model.xml" + }, + "reset_region": { + "offset": [ + 0.1486764208862963, + 0.16577926657652714, + -0.003961471997002218 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8055684426207116, + -4.242133009919721, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 480.3557008573633 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000010/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c8c2d436fa414d8b7be4cc61e4d2ef305f8d19a9 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,356 @@ +{ + "layout_id": 58, + "style_id": 57, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_island_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan004/model.xml" + }, + "reset_region": { + "offset": [ + -0.19429186732020443, + 0.17967370885342657, + 0.45384265819829256 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_15_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_3": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_16_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.6128510758482837, + -2.1098263467213427, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.7122376720160215 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 487.24524184573244 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b072d7ac881f1637d5667dcd8b654eec1bc806a --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,461 @@ +{ + "layout_id": 15, + "style_id": 32, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_1_left_group_1", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.2600525637192651, + -0.08356082315944455, + -0.007280309186499837 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7770558729690216, + -3.033049491783173, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 469.7925619020153 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b8000d9810f0f37e5fbb7e628ed70c1c4401e625 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,551 @@ +{ + "layout_id": 39, + "style_id": 58, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_island_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml" + }, + "reset_region": { + "offset": [ + -0.15509513602728112, + 0.1346580744333919, + 0.020677267972846806 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.892549794674893, + -3.6589041461784846, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 475.4027246781572 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000013/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..80b3641952a7df9a18c6fbcb7520fd83301cb3ee --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,419 @@ +{ + "layout_id": 28, + "style_id": 50, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_island_group", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml" + }, + "reset_region": { + "offset": [ + -0.25444405795717506, + 0.13746568195098444, + -0.007280309186499837 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2059252196353616, + -1.7310454885636384, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 476.90763718312894 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000014/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9aa5191738f279e7ab8b4231f51e1349e8aa04f --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,353 @@ +{ + "layout_id": 41, + "style_id": 40, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_right_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml" + }, + "reset_region": { + "offset": [ + -0.20040836621335217, + 0.20656003839191814, + 0.471831195327171 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.660862923447658, + -3.461013165929254, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 455.34554466492415 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..01a62274dd939a77e75c09346eb718812cf60c67 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,374 @@ +{ + "layout_id": 38, + "style_id": 43, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_left_group_1", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml" + }, + "reset_region": { + "offset": [ + -0.16646512280112433, + -0.09055386345125134, + 0.4619347540804282 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8745556779159224, + -4.401728499085628, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 479.4530913856561 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a5077b45583b2a21cfa772cee44353ca7c9c31a --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,422 @@ +{ + "layout_id": 18, + "style_id": 60, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_left_group", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml" + }, + "reset_region": { + "offset": [ + -0.22364152350605485, + 0.14909833976982964, + 0.019024919332511003 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8072305572303191, + -4.375013005943578, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 473.05356356748484 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..64e169c0ea12ee56331d146b87e4d09f8084956e --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,359 @@ +{ + "layout_id": 36, + "style_id": 30, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_right_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan004/model.xml" + }, + "reset_region": { + "offset": [ + 0.1800034429929901, + 0.1543295574593578, + 0.4390424604150111 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.128889646657811, + -1.517358846919967, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 488.909230522332 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f0da5357761a8c1e9da77958eb91a859844ebb20 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,371 @@ +{ + "layout_id": 11, + "style_id": 29, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_1_main_group", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan007/model.xml" + }, + "reset_region": { + "offset": [ + 0.1483845687011276, + 0.18435446126015398, + 0.46313426675014535 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.145550079594073, + -0.8682312939084428, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 498.46404376258766 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000019/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..daad76a844528968a28cfb09d2c55f550ec6175c --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,410 @@ +{ + "layout_id": 33, + "style_id": 59, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "widestove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_center" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml" + }, + "reset_region": { + "offset": [ + 0.004914930787441105, + 0.16063501550752776, + 0.47018691497155635 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_center" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "widestove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.969474442178743, + -0.9476920271040613, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "rear_center", + "simmer_timesteps": 454.4926721312787 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000020/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5c10d16b6dac212eb2f331f57b2591ac1a5e782c --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 43, + "style_id": 35, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.18976571040382365, + -0.09795662966306808, + 0.45384256111761867 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_1.001_room": { + "cls": "Floor" + }, + "floor_1.001_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.006_room": { + "cls": "WallAccessory" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "SingleCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.693635875259993, + -0.8682306006268118, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 465.8802915775715 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000021/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cbb1ef2900d82f24df380e76c4fa00d1c3eae71d --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,380 @@ +{ + "layout_id": 60, + "style_id": 52, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml" + }, + "reset_region": { + "offset": [ + 0.1771732251544224, + -0.09850295834721257, + 0.4799969710344246 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_12_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "wallaccessory_08_room": { + "cls": "WallAccessory" + }, + "wallaccessory_09_room": { + "cls": "WallAccessory" + }, + "wallaccessory_10_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_11_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_main_group_1": { + "cls": "Box" + }, + "cube_12_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "fridgebottomfreezer_right_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_05_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_6_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_04_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_06_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_13_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_5_left_group_1": { + "cls": "Counter" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "toaster_left_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.235462943992157, + -0.8207828782351241, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 459.6250760261437 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..24f1aeaf0b8c58c0fc0961ae049fe5ccce4cd40b --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,356 @@ +{ + "layout_id": 58, + "style_id": 47, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_island_group_1", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.16646512280112433, + -0.09055386345125134, + 0.4619347540804282 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_15_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_3": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_16_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.614393144465128, + -2.1232047128415323, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.7122376720160215 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 457.31282416134286 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000023/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb9c9c704933c48c242941c6bf467823b6757fea --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,380 @@ +{ + "layout_id": 60, + "style_id": 48, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml" + }, + "reset_region": { + "offset": [ + -0.1340235283776802, + 0.19094825648403774, + 0.46965236862466925 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_12_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "wallaccessory_08_room": { + "cls": "WallAccessory" + }, + "wallaccessory_09_room": { + "cls": "WallAccessory" + }, + "wallaccessory_10_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_11_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_main_group_1": { + "cls": "Box" + }, + "cube_12_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "fridgebottomfreezer_right_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_05_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_6_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_04_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_06_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_13_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_5_left_group_1": { + "cls": "Counter" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "toaster_left_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.079407135499622, + -0.8266419469987083, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 451.596119728422 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000024/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b6209e3e7f178a019de7e958f01d1a9b9ad40c48 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,407 @@ +{ + "layout_id": 31, + "style_id": 53, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_right_group_1", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml" + }, + "reset_region": { + "offset": [ + 0.1527422659167995, + -0.02707668179549161, + -0.003961471997002218 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.871937823010152, + -4.859739396243461, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 479.7849932231391 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94989924615af1a1358719f59d3bc5d6cf2bd9ff --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,404 @@ +{ + "layout_id": 27, + "style_id": 28, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_front_group", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml" + }, + "reset_region": { + "offset": [ + -0.1634830763681588, + -0.09961690942935982, + 0.48370738282279596 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2234318006840135, + -2.018757543350294, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 485.1868815154946 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000026/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c21e7c385b90a2a51c320f7660bef8b209217bf5 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,365 @@ +{ + "layout_id": 14, + "style_id": 41, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "front_center" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0008076791591385349, + -0.11753212513327681, + 0.45664169735558596 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_center" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1264187530845367, + -0.8520999295638173, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "front_center", + "simmer_timesteps": 469.743709628092 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7103ab45833102b5ce5bff57a0638f6c34e82453 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,407 @@ +{ + "layout_id": 31, + "style_id": 50, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_right_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml" + }, + "reset_region": { + "offset": [ + 0.2318229089634729, + 0.13900181342313603, + -0.007280309186499837 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.876560797746346, + -4.691045873833499, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 469.5675803841115 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8089f8b523d3f3e272d3de5b4da39de8a35eb41e --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,407 @@ +{ + "layout_id": 31, + "style_id": 52, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_right_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan007/model.xml" + }, + "reset_region": { + "offset": [ + -0.21471246392874302, + 0.12074257670852313, + 0.0087095887489308 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.895268906768246, + -4.682221140210279, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 471.7350030560407 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b4bb717c89940a643390fea7e595669fd88551f8 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,419 @@ +{ + "layout_id": 16, + "style_id": 36, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml" + }, + "reset_region": { + "offset": [ + -0.1634830763681588, + -0.09961690942935982, + 0.48370738282279596 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7255681734649109, + -0.816876602364575, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 472.29678778795835 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6adec33254c45a108303090a7af64e8acd517cca --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,464 @@ +{ + "layout_id": 49, + "style_id": 12, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml" + }, + "reset_region": { + "offset": [ + 0.18976571040382365, + -0.09795662966306808, + 0.45384256111761867 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.4741531811310153, + -1.1857482348468749, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706449309965886 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 495.6366539112624 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000031/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..af49b5a7dedb651a7172e3b1719ed1caed60ae6b --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,422 @@ +{ + "layout_id": 18, + "style_id": 44, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_left_group", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan004/model.xml" + }, + "reset_region": { + "offset": [ + 0.1554448332721037, + 0.1345584719579988, + 0.020677267972846806 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8063894962506988, + -4.35488243597989, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 455.47452665863614 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000032/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4ff912431558471650da9d82e6ca251218515e90 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,365 @@ +{ + "layout_id": 59, + "style_id": 25, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "widestove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.2641708018354955, + -0.11651189653269349, + 0.44016840716083067 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "widestove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.5562130622558894, + -1.0405592221295985, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707888166096549 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 464.89154154394487 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..20063914a50e1de77a376957bba5ceef569de628 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,332 @@ +{ + "layout_id": 55, + "style_id": 46, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan004/model.xml" + }, + "reset_region": { + "offset": [ + 0.1771732251544224, + -0.09850295834721257, + 0.4799969710344246 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.3983946383361343, + -0.9801502933578534, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 454.38418578597333 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..585c6f7664c7a19fbf50bc2e0a32a2f9bfb2d6a2 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,365 @@ +{ + "layout_id": 59, + "style_id": 56, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "widestove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_center" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.004914930787441105, + 0.16063501550752776, + 0.47018691497155635 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_center" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "widestove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.3996258658453073, + -1.0563379877606967, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707888166096549 + ], + "refs": { + "knob": "rear_center", + "simmer_timesteps": 494.7184805782622 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000035/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b57f0d65132219e35065b9070b96de72838ae12d --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,407 @@ +{ + "layout_id": 31, + "style_id": 42, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_right_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_center" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0060899916944097306, + 0.16902436077620112, + 0.022934635332920957 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_center" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.865272485237177, + -4.825268075427224, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "knob": "rear_center", + "simmer_timesteps": 498.97782554414033 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..293a2a0d43d4f421d97b98318c67cbf461af8fb7 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,419 @@ +{ + "layout_id": 28, + "style_id": 37, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_island_group", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan007/model.xml" + }, + "reset_region": { + "offset": [ + 0.1554448332721037, + 0.1345584719579988, + 0.020677267972846806 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.222447246661557, + -1.711589388661175, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 451.456643454815 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000037/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ad9d5999ea95208764c390b860a6e274c2d41ce --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,410 @@ +{ + "layout_id": 46, + "style_id": 18, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.29210748499957717, + -0.13647575451326524, + 0.44950546976329364 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.099038654784117, + -1.070597316750684, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 484.79464782671107 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000038/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6cb6354799c4302618bf5c65e691a4902e18d2b7 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,461 @@ +{ + "layout_id": 15, + "style_id": 44, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_1_left_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml" + }, + "reset_region": { + "offset": [ + -0.15509513602728112, + 0.1346580744333919, + 0.020677267972846806 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8011308262540991, + -3.185985001837471, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 469.19085509901373 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000039/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..310fd8de3e818033cac85a0e0b5ef54b6d9787e0 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,380 @@ +{ + "layout_id": 60, + "style_id": 44, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan007/model.xml" + }, + "reset_region": { + "offset": [ + -0.17202120747611915, + -0.09538413197584153, + 0.45199089660907493 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_12_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "wallaccessory_08_room": { + "cls": "WallAccessory" + }, + "wallaccessory_09_room": { + "cls": "WallAccessory" + }, + "wallaccessory_10_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_11_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_main_group_1": { + "cls": "Box" + }, + "cube_12_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "fridgebottomfreezer_right_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_05_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_6_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_04_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_06_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_13_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_5_left_group_1": { + "cls": "Counter" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "toaster_left_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.270035343075671, + -0.815453379988544, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 474.19034023349815 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000040/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8509daddd5b76bbd40e2a0cc76d78189501106f1 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,386 @@ +{ + "layout_id": 30, + "style_id": 36, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_left_group", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.1634830763681588, + -0.09961690942935982, + 0.48370738282279596 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8377260668296365, + -2.309915028744325, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 465.2874942995222 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8968bd20e1d96af97cd303a3fee205f596e861fc --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,419 @@ +{ + "layout_id": 16, + "style_id": 56, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan004/model.xml" + }, + "reset_region": { + "offset": [ + 0.1774782907777112, + 0.08868135148846559, + 0.42613691190457936 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6876218021248037, + -0.8145615313701632, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 495.080768725478 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1194da343d9311bcf4fd87749036994c42436d96 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,359 @@ +{ + "layout_id": 36, + "style_id": 20, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_right_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan007/model.xml" + }, + "reset_region": { + "offset": [ + 0.1763172679128117, + 0.1573408155818936, + 0.4799969710344246 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.0843188613866737, + -1.2882641398659826, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 462.66938275076996 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000043/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..005abb4b2799047c2c0dfd51b942f9f71a7cd0c0 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 56, + "style_id": 52, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml" + }, + "reset_region": { + "offset": [ + -0.2641708018354955, + -0.11651189653269349, + 0.44016840716083067 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0877080160055925, + -0.8740655385273749, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 490.6101520004493 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000044/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3e2ba61629986559ba5dffeddf05bc13cc545a88 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,392 @@ +{ + "layout_id": 48, + "style_id": 27, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "widestove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml" + }, + "reset_region": { + "offset": [ + 0.2918199968127576, + 0.17973367868063156, + 0.4495052714008425 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "widestove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8549926803317205, + -0.9901363492134988, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 488.65035805035876 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000045/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0162147d36bd98d34822d25c1a5b0731d42e2651 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,392 @@ +{ + "layout_id": 48, + "style_id": 27, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "widestove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "center" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan004/model.xml" + }, + "reset_region": { + "offset": [ + 0.00025838617046760486, + 0.021675953614192812, + 0.44950530446125103 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "center" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "widestove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0367194865609335, + -1.057422306913593, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ], + "refs": { + "knob": "center", + "simmer_timesteps": 490.9654894887833 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000046/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8419be3c6bafbd2b2eb212206419e1cf71071842 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,461 @@ +{ + "layout_id": 15, + "style_id": 13, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_1_left_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml" + }, + "reset_region": { + "offset": [ + -0.1960616465874109, + 0.1282580092769118, + 0.010299536306018318 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8092754032977341, + -3.188201109706808, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 489.34846834890146 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f373497ac4c3b37fb92e9cb4a35f9da160a574b0 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,401 @@ +{ + "layout_id": 21, + "style_id": 52, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_left_group", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.1771732251544224, + -0.09850295834721257, + 0.4799969710344246 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.906851655641839, + -1.8577701830524844, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 495.90544087456567 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000048/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..31ceb851db2537997d7eef5cfdff0880f312db66 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,407 @@ +{ + "layout_id": 26, + "style_id": 11, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan004/model.xml" + }, + "reset_region": { + "offset": [ + 0.18976571040382365, + -0.09795662966306808, + 0.45384256111761867 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.283823643301699, + -0.8315837098991279, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 458.26735837204 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5b6e8af3e788ee3ceff9e02618ba6a3e54ff57f1 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,401 @@ +{ + "layout_id": 21, + "style_id": 28, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_left_group", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan007/model.xml" + }, + "reset_region": { + "offset": [ + -0.16360049214596153, + 0.14880519144154747, + 0.48370738282279596 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8236576195880495, + -1.763155697819734, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 463.3777999819527 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000050/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cbbe07b53536db7e38e2d694a269f8200b6a2a13 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,305 @@ +{ + "layout_id": 40, + "style_id": 15, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_right_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.17373775486404966, + 0.1579176201008437, + 0.45199208881856817 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9303008260279264, + -3.4705037695613825, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 480.9244115267939 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000051/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7c90040a4f6c8e2787a5cf8342f18619519fb967 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,404 @@ +{ + "layout_id": 42, + "style_id": 23, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_right_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml" + }, + "reset_region": { + "offset": [ + 0.15650207175883396, + 0.14909917308392034, + 0.01902900151672754 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.3859576870268295, + -2.008347484341219, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 456.1672584901818 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000052/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8ecee780e9712767420379e1241acbe71d27315d --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,374 @@ +{ + "layout_id": 38, + "style_id": 56, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_left_group_1", + "sample_region_kwargs": { + "locs": [ + "center" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0014585940094152925, + -0.0181178389241809, + 0.42613691190457936 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "center" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.887669329582664, + -4.542390295228392, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "refs": { + "knob": "center", + "simmer_timesteps": 467.39454798175683 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5904c9dea3bcfba9f870d860c3cfe4a61670af3a --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,335 @@ +{ + "layout_id": 52, + "style_id": 28, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.16618790833424246, + 0.14863972696327488, + 0.4837074381716271 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + "cls": "Wall" + }, + "wall_front_2.002_backing_room": { + "cls": "Wall" + }, + "wall_front_3.003_room": { + "cls": "Wall" + }, + "wall_front_3.003_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "cube_5_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_01_right_group_1_base": { + "cls": "Box" + }, + "stack_01_right_group_1_1": { + "cls": "Drawer" + }, + "stack_01_right_group_1_2": { + "cls": "Drawer" + }, + "stack_01_right_group_1_3": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgebottomfreezer_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.7031773536455026, + -0.8573937808399319, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706272411567803 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 490.4322833583086 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..81e153423c2e3aadacfefe15d65a4e7ba70ed7a1 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,407 @@ +{ + "layout_id": 31, + "style_id": 50, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_right_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan004/model.xml" + }, + "reset_region": { + "offset": [ + -0.25444405795717506, + 0.13746568195098444, + -0.007280309186499837 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.864573208579435, + -4.717770624688543, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 454.3983689018392 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000055/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eb90d967722650c8430e6eeaa0a6d7562e33f46f --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,332 @@ +{ + "layout_id": 55, + "style_id": 42, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan004/model.xml" + }, + "reset_region": { + "offset": [ + 0.14749302765904157, + -0.08274024767106936, + 0.46965236862466925 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.347610831665609, + -1.024518961930746, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 477.318617117046 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc92a7c58f9c9b84c33ad2a54f22475f36041245 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,419 @@ +{ + "layout_id": 28, + "style_id": 31, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_island_group", + "sample_region_kwargs": { + "locs": [ + "front_center" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.006089991083210428, + -0.04895079086662941, + 0.022934635332920957 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_center" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_island_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.121644154930549, + -1.7261449072308248, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "refs": { + "knob": "front_center", + "simmer_timesteps": 458.2234898519173 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..10b380e33f145a0ae00daf9cf61a5cef041cd6e6 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,410 @@ +{ + "layout_id": 46, + "style_id": 31, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml" + }, + "reset_region": { + "offset": [ + 0.29071982210272057, + -0.09266853653891137, + 0.4430062249049935 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.095850980404819, + -1.064869859877306, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 469.3647780480465 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..037a623f28130125154f62faa73e3f2a166ee182 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,380 @@ +{ + "layout_id": 60, + "style_id": 31, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml" + }, + "reset_region": { + "offset": [ + 0.16618790833424246, + 0.14863972696327488, + 0.4837074381716271 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_12_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "wallaccessory_08_room": { + "cls": "WallAccessory" + }, + "wallaccessory_09_room": { + "cls": "WallAccessory" + }, + "wallaccessory_10_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_11_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_main_group_1": { + "cls": "Box" + }, + "cube_12_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "fridgebottomfreezer_right_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_05_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_6_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_04_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_06_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_13_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_5_left_group_1": { + "cls": "Counter" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "toaster_left_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.134740708585352, + -0.9050568911658213, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 490.83958839058675 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000059/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..68fc1c2b157a7a21592242af9d20e2d77898911d --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,413 @@ +{ + "layout_id": 50, + "style_id": 45, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_right_group_1", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.17324994085513518, + -0.08541443811696806, + 0.39483243421698316 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "cube_09_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_01_island_group_1": { + "cls": "Box" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_07_island_group_1": { + "cls": "Box" + }, + "cube_08_island_group_1": { + "cls": "Box" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_13_left_group_1_base": { + "cls": "Box" + }, + "stack_13_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_13_left_group_1_2": { + "cls": "Drawer" + }, + "stack_12_left_group_1_base": { + "cls": "Box" + }, + "stack_12_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_left_group_1_2": { + "cls": "Drawer" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "Drawer" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_3": { + "cls": "Drawer" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "Drawer" + }, + "cube_02_right_group_1": { + "cls": "Box" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.392020893945442, + -2.2347588271736987, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001619848215634878 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 463.3556395284764 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9d5821450182151df7fc1e8c65bf9b05bfb348c4 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 22, + "style_id": 43, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_dining_area_group_1", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml" + }, + "reset_region": { + "offset": [ + -0.2881532736562506, + 0.03990870814150239, + -0.0021816748666609294 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2205494677982336, + -2.434909454090625, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 461.3309859401449 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ec7b181820fb56eb5145d23fd2cbb5c8940bbd8 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,392 @@ +{ + "layout_id": 19, + "style_id": 18, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_3", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.17503039827568598, + 0.15729823114968652, + 0.4799969710344246 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.171593252176268, + -0.840668267548197, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 493.953497048865 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000062/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b721fe71f6448d7c93023be0d0e4c36f4ed7828 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,371 @@ +{ + "layout_id": 11, + "style_id": 43, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_1_main_group", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.1697292733598175, + 0.16156454641941922, + 0.4619347540804282 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.139986858193091, + -0.9002928271764039, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 460.5302510981055 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000063/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c65992148c696a35ebec4874e83419965d62e901 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,356 @@ +{ + "layout_id": 58, + "style_id": 14, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_island_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.1800034429929901, + 0.1543295574593578, + 0.4390424604150111 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_15_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_3": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_16_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.640160148085715, + -2.0863301830216945, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.7122376720160215 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 485.76953361270154 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7271d234cd1c05d68fd38e765b0190b91e534555 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,464 @@ +{ + "layout_id": 49, + "style_id": 11, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml" + }, + "reset_region": { + "offset": [ + -0.19429186732020443, + 0.17967370885342657, + 0.45384265819829256 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.542592212904493, + -1.213398822854006, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706449309965886 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 452.4236721065827 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5a9c5d6ff8527237cd198b2d29915853dd1065a9 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,464 @@ +{ + "layout_id": 17, + "style_id": 32, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_main_group_1", + "sample_region_kwargs": { + "locs": [ + "center" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml" + }, + "reset_region": { + "offset": [ + 0.00031280663179826193, + 0.021476215583800837, + -0.007280309186499837 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "center" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7354041602247037, + -0.7557036122844721, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "center", + "simmer_timesteps": 487.38697207965777 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000066/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..050b89d49e0dc97a9424bf019ee3b4b6e8444f59 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,386 @@ +{ + "layout_id": 54, + "style_id": 55, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml" + }, + "reset_region": { + "offset": [ + -0.14622969063819963, + 0.18435478552930595, + 0.46313426675014535 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.424153051734218, + -0.9599402341189048, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 451.19236164173543 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..38768dca69e61a37820860bd57ddada543758343 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 24, + "style_id": 49, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.29210748499957717, + -0.13647575451326524, + 0.44950546976329364 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.2775235541055485, + -0.9323985699796397, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 473.0953054233473 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a98b2015dedb4645ba362f904c807f74ded333f8 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 43, + "style_id": 45, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.1728141384636687, + -0.08637226381397044, + 0.39483243421698316 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_1.001_room": { + "cls": "Floor" + }, + "floor_1.001_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.006_room": { + "cls": "WallAccessory" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "SingleCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.9601232803990603, + -0.8464876931377672, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 467.85853150735886 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000069/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..82eea565f7046a880ad4f61c6c98ead71e5449bc --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,413 @@ +{ + "layout_id": 13, + "style_id": 32, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_left_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan007/model.xml" + }, + "reset_region": { + "offset": [ + 0.26452971499762806, + 0.1661242763061401, + 0.47018691497155635 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9295859607982766, + -1.3522049269672958, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 455.47379113451365 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..052eef982dd5b09d14c49825db9dc0dab96490b2 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 29, + "style_id": 21, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_left_group", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml" + }, + "reset_region": { + "offset": [ + -0.22478135159362553, + 0.12645119023904383, + 0.02122241832669323 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.14843401145430576, + -4.25560296632725, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 473.3700809679374 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e88beebef2b7be6ccbbc2942c81458b0b43fd9d5 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,332 @@ +{ + "layout_id": 55, + "style_id": 21, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.1771732251544224, + -0.09850295834721257, + 0.4799969710344246 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.3324215956728094, + -0.975747498923899, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 472.30897491313505 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000072/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..870c2c5bcccf35e0cb857a9d1e6b9c27fc61815d --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,407 @@ +{ + "layout_id": 31, + "style_id": 43, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_right_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_center" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan007/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005015490707065102, + 0.1502082234944847, + -0.0021816748666609294 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_center" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.866624685544329, + -4.742845787709106, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "knob": "rear_center", + "simmer_timesteps": 495.7127752398126 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b4e49bab4d28df755a9768671f9ad39fe027c35 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,437 @@ +{ + "layout_id": 23, + "style_id": 56, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_left_group", + "sample_region_kwargs": { + "locs": [ + "rear_center" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml" + }, + "reset_region": { + "offset": [ + 0.004914930787441105, + 0.16063501550752776, + 0.47018691497155635 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_center" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8626728481500553, + -2.337848077294618, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "rear_center", + "simmer_timesteps": 488.19793732383243 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000074/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..febf6c6b77acac20c9177394a673425a629531ee --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,419 @@ +{ + "layout_id": 16, + "style_id": 59, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan004/model.xml" + }, + "reset_region": { + "offset": [ + -0.17202120747611915, + -0.09538413197584153, + 0.45199089660907493 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.8179055983828483, + -0.8696841762278932, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 488.89906119978764 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9f7c38692e4c3ea46525d7edbb7458bcb8628db8 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,404 @@ +{ + "layout_id": 27, + "style_id": 46, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_front_group", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.1771732251544224, + -0.09850295834721257, + 0.4799969710344246 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2376492547156617, + -1.9700075722730732, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 497.69724938909224 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd8ff013e7c5af91e8544eff6c8c6ed111fd95f6 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,482 @@ +{ + "layout_id": 20, + "style_id": 54, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group", + "sample_region_kwargs": { + "locs": [ + "rear_center" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml" + }, + "reset_region": { + "offset": [ + 0.004914930787441105, + 0.16063501550752776, + 0.47018691497155635 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_center" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.50874230445516, + -0.9406488152443933, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "rear_center", + "simmer_timesteps": 498.6208333039861 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000077/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..68ebf5e715a1cbaacb11f9455e64adca0daee039 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,365 @@ +{ + "layout_id": 59, + "style_id": 43, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "widestove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_center" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml" + }, + "reset_region": { + "offset": [ + -0.0004877137316047348, + 0.10065304751721027, + 0.4450249861283757 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_center" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "widestove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.396859079242472, + -1.019670841523916, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707888166096549 + ], + "refs": { + "knob": "rear_center", + "simmer_timesteps": 472.4741946198769 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..865bff3161fa7d7664d6bc7cc0cf237189c1986b --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,323 @@ +{ + "layout_id": 34, + "style_id": 44, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_left_group_1", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.15550598685395914, + -0.07738007669693829, + 0.020677267972846806 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8094815536296494, + -2.2390470134356706, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 475.72123457693925 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000079/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..314b9efdc0211c5eefac667144b731dd5024ad34 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,392 @@ +{ + "layout_id": 19, + "style_id": 24, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_3", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml" + }, + "reset_region": { + "offset": [ + 0.1699797087870866, + -0.06931179988533402, + 0.471831195327171 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_3" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.14540239556892, + -0.8960693296458193, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 490.522227479663 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000080/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d70807b85b9d6dbe038e52b58ea76e4ee189802 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,461 @@ +{ + "layout_id": 15, + "style_id": 57, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_1_left_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan007/model.xml" + }, + "reset_region": { + "offset": [ + 0.26257306910754263, + 0.14081871516576236, + -0.0033303811972656633 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7831922163210934, + -3.1500070647639036, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 455.2560191324979 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e1bc10057289f99c44b08ec1a45e36034fe88654 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,413 @@ +{ + "layout_id": 50, + "style_id": 12, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_right_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml" + }, + "reset_region": { + "offset": [ + -0.19429186732020443, + 0.17967370885342657, + 0.45384265819829256 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "cube_09_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_01_island_group_1": { + "cls": "Box" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_07_island_group_1": { + "cls": "Box" + }, + "cube_08_island_group_1": { + "cls": "Box" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_13_left_group_1_base": { + "cls": "Box" + }, + "stack_13_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_13_left_group_1_2": { + "cls": "Drawer" + }, + "stack_12_left_group_1_base": { + "cls": "Box" + }, + "stack_12_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_left_group_1_2": { + "cls": "Drawer" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "Drawer" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_3": { + "cls": "Drawer" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "Drawer" + }, + "cube_02_right_group_1": { + "cls": "Box" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.389737183511006, + -2.0943902238041683, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001619848215634878 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 474.72776365285426 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000082/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d115bfe36231c63ffedc096f9409ef77cb418222 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,464 @@ +{ + "layout_id": 17, + "style_id": 50, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_main_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml" + }, + "reset_region": { + "offset": [ + 0.2318229089634729, + 0.13900181342313603, + -0.007280309186499837 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.924856535791208, + -0.7840103412077005, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 498.15796452522557 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000083/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec671e9a2c594b1b8617bb1e44ebe89d2ffb3465 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,416 @@ +{ + "layout_id": 51, + "style_id": 15, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml" + }, + "reset_region": { + "offset": [ + 0.1593645531319272, + -0.09422443449506909, + 0.4519895418255599 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.2095497606682555, + -0.8993494909841547, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 475.4538168595362 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..21f8cc632de5275df46c59f8e88e4b7316516d81 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,323 @@ +{ + "layout_id": 34, + "style_id": 39, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_left_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml" + }, + "reset_region": { + "offset": [ + 0.1486764208862963, + 0.16577926657652714, + -0.003961471997002218 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.813332940928066, + -2.24371484409262, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 465.69140520527236 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8b30be54ad46ff420809060d54124d6aee9ec6ab --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,386 @@ +{ + "layout_id": 30, + "style_id": 60, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_left_group", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.20074877808322203, + -0.06912926694207545, + 0.471831195327171 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8293659042412553, + -2.4961906676925185, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 493.7330078165345 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000086/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..abc2915488cfe0f4ea8684972fcd0286d4f9a75a --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,353 @@ +{ + "layout_id": 41, + "style_id": 36, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_right_group_1", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml" + }, + "reset_region": { + "offset": [ + -0.1634830763681588, + -0.09961690942935982, + 0.48370738282279596 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.6830450888175115, + -3.674895883004244, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 478.0795283954822 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000087/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..81637126fa4a4e490f63fa8190d3b18e4ac21261 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,413 @@ +{ + "layout_id": 50, + "style_id": 37, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_right_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml" + }, + "reset_region": { + "offset": [ + 0.17373775486404966, + 0.1579176201008437, + 0.45199208881856817 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "cube_09_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_01_island_group_1": { + "cls": "Box" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_07_island_group_1": { + "cls": "Box" + }, + "cube_08_island_group_1": { + "cls": "Box" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_13_left_group_1_base": { + "cls": "Box" + }, + "stack_13_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_13_left_group_1_2": { + "cls": "Drawer" + }, + "stack_12_left_group_1_base": { + "cls": "Box" + }, + "stack_12_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_left_group_1_2": { + "cls": "Drawer" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "Drawer" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_3": { + "cls": "Drawer" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "Drawer" + }, + "cube_02_right_group_1": { + "cls": "Box" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.400900336774842, + -2.187113770053448, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001619848215634878 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 496.23582483430175 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e2f0a5e073af70c5f46f1509e51e6e7bb4284713 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,551 @@ +{ + "layout_id": 39, + "style_id": 19, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_island_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml" + }, + "reset_region": { + "offset": [ + -0.279599013244326, + 0.14303949911528238, + 0.02408438819943681 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.4892095833529937, + -3.6873729439898444, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 450.7313191091171 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..28f608f32abc891f15a2f788dd5e2feb32334e76 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,323 @@ +{ + "layout_id": 34, + "style_id": 20, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_left_group_1", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml" + }, + "reset_region": { + "offset": [ + -0.2881532736562506, + 0.03990870814150239, + -0.0021816748666609294 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8102211080446096, + -2.2827918636794307, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 471.28545007713427 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b6f6a9d9cb3503167529966952aa7a4c5c94f216 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,416 @@ +{ + "layout_id": 51, + "style_id": 57, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml" + }, + "reset_region": { + "offset": [ + 0.18988406409958983, + 0.1853399893304247, + 0.45384259347784334 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.151717991455988, + -0.8799681308161247, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 457.5879544969826 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d06d820252ce3260ece0c8dca627d466ff9cfd4e --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,413 @@ +{ + "layout_id": 13, + "style_id": 60, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_left_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan007/model.xml" + }, + "reset_region": { + "offset": [ + 0.2381915352045896, + 0.2068836284321821, + 0.4566417263464204 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8939008005264417, + -1.4223433272266746, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 492.2086214727199 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6046cf3537f8b266d4f9c6306684ee8a64e68f23 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,407 @@ +{ + "layout_id": 26, + "style_id": 39, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml" + }, + "reset_region": { + "offset": [ + -0.19439659994361227, + -0.10836629619364739, + 0.45384256111761867 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.1885650126547236, + -0.8834050360834336, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 457.9950219217719 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94b588662dd758c30c4d030fa8a6807e0551c6e8 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,386 @@ +{ + "layout_id": 30, + "style_id": 34, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_left_group", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml" + }, + "reset_region": { + "offset": [ + 0.1728141384636687, + -0.08637226381397044, + 0.39483243421698316 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8857829461176079, + -2.3562754038001406, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 475.78191901901755 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1c8839d2ef0cd572d8cde0076dea3ed3711783d8 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 24, + "style_id": 24, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml" + }, + "reset_region": { + "offset": [ + -0.2641708018354955, + -0.11651189653269349, + 0.44016840716083067 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.198749251700366, + -0.9367090265277195, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 476.1411354985525 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d999840df6356997477f200baf29922c3d6ed918 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,398 @@ +{ + "layout_id": 47, + "style_id": 29, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml" + }, + "reset_region": { + "offset": [ + 0.1483845687011276, + 0.18435446126015398, + 0.46313426675014535 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_03_right_group_1": { + "cls": "Counter" + }, + "counter_corner_2_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "box_05_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_05_front_group_1": { + "cls": "Counter" + }, + "stack_02_front_group_1_base": { + "cls": "Box" + }, + "stack_02_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_front_group_1_2": { + "cls": "Drawer" + }, + "stack_01_front_group_1_base": { + "cls": "Box" + }, + "stack_01_front_group_1_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_02_main_group_1": { + "cls": "Counter" + }, + "counter_01_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "counter_04_front_group_2": { + "cls": "Counter" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "Drawer" + }, + "stack_10_front_group_2_2": { + "cls": "Drawer" + }, + "stack_10_front_group_2_3": { + "cls": "Drawer" + }, + "stack_10_front_group_2_4": { + "cls": "Drawer" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_front_group_2_2": { + "cls": "Drawer" + }, + "cube_front_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.539114621073498, + -0.954238714541096, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378857158503 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 468.7458422834032 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000096/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a2d4f592fc7211ec0753a857113e476c90687305 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,461 @@ +{ + "layout_id": 15, + "style_id": 53, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_1_left_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml" + }, + "reset_region": { + "offset": [ + 0.1486764208862963, + 0.16577926657652714, + -0.003961471997002218 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7763635418023143, + -3.057925447767131, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 497.7327135092156 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..52e1a71817a6c6d649537cdc527c33a9a56150c4 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 22, + "style_id": 41, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_dining_area_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan006/model.xml" + }, + "reset_region": { + "offset": [ + -0.1960616465874109, + 0.1282580092769118, + 0.010299536306018318 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1943268730914096, + -2.372062551737896, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 456.58421580218317 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6c08bb61028d0b65129ee9725dc6b6b74f6722ee --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 12, + "style_id": 50, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_left_group", + "sample_region_kwargs": { + "locs": [ + "center" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.00031280663179826193, + 0.021476215583800837, + -0.007280309186499837 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "center" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7953990126538494, + -1.973178857906398, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "center", + "simmer_timesteps": 465.7296130768107 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000099/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..86d50337fcbeb63bd5c05dbc5dbbe1aeac59b39a --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,404 @@ +{ + "layout_id": 42, + "style_id": 52, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_right_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml" + }, + "reset_region": { + "offset": [ + -0.21471246392874302, + 0.12074257670852313, + 0.0087095887489308 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_left" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.386982860731027, + -1.9110819658184093, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "knob": "rear_left", + "simmer_timesteps": 464.2013980779705 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000100/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d0bddd8173ae4912eeef15bcbebe7dbc4afa3f19 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 29, + "style_id": 51, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_left_group", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan007/model.xml" + }, + "reset_region": { + "offset": [ + -0.3264256345172612, + 0.025981764899245967, + 0.014643606679733377 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.15768172508600609, + -4.278772998580902, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 470.1421414801811 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000101/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b4ef31cd5c257826a57acf3254f147797c446ca8 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,422 @@ +{ + "layout_id": 18, + "style_id": 59, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_left_group", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml" + }, + "reset_region": { + "offset": [ + 0.2600525637192651, + -0.08356082315944455, + -0.007280309186499837 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8012213075537102, + -4.342813622929858, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 453.05487550926364 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000102/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000102/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b9068670c90c530814c749caa3e074c11d722d94 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,404 @@ +{ + "layout_id": 27, + "style_id": 40, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_front_group", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml" + }, + "reset_region": { + "offset": [ + 0.1699797087870866, + -0.06931179988533402, + 0.471831195327171 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_front_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.2095768343864326, + -1.9386674005348181, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 459.752281911015 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000103/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000103/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e8c2e7cabb191132142ddd68de6a762c99767ef --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 43, + "style_id": 47, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "rear_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml" + }, + "reset_region": { + "offset": [ + 0.1697292733598175, + 0.16156454641941922, + 0.4619347540804282 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "rear_right" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_1.001_room": { + "cls": "Floor" + }, + "floor_1.001_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.006_room": { + "cls": "WallAccessory" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "SingleCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.735497436076275, + -0.8839690952691784, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "rear_right", + "simmer_timesteps": 479.62340417468135 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000104/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000104/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3acbfb3ee91844d81759be6f6e922239bdad0be0 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000104/ep_meta.json @@ -0,0 +1,416 @@ +{ + "layout_id": 51, + "style_id": 49, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_main_group_1", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml" + }, + "reset_region": { + "offset": [ + -0.14636090221691678, + -0.09510533194069311, + 0.4631342364656341 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.265993436758997, + -0.8831727480279794, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 464.9354149158512 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000105/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000105/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7a364bec01915e8a44d16a3c345fbfcfa79e0173 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000105/ep_meta.json @@ -0,0 +1,371 @@ +{ + "layout_id": 11, + "style_id": 28, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_1_main_group", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml" + }, + "reset_region": { + "offset": [ + -0.1634830763681588, + -0.09961690942935982, + 0.48370738282279596 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.248528870845186, + -0.8106478618333214, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 482.8620383003126 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000106/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000106/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..14b2ad9a3ecfc32ea282ebeeaf5faafcd0466208 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000106/ep_meta.json @@ -0,0 +1,461 @@ +{ + "layout_id": 15, + "style_id": 27, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stovetop_1_left_group_1", + "sample_region_kwargs": { + "locs": [ + "front_right" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml" + }, + "reset_region": { + "offset": [ + 0.16758532799318368, + -0.06546508593537394, + 0.010447450100023575 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_right" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stovetop_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7918647772889368, + -2.990296599208971, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "knob": "front_right", + "simmer_timesteps": 457.6371218063659 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000107/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000107/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b3443489c7f4fc9dd1c1653205efe5727c33530 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000107/ep_meta.json @@ -0,0 +1,347 @@ +{ + "layout_id": 44, + "style_id": 41, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_left_group_1", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_17/model.xml" + }, + "reset_region": { + "offset": [ + -0.1769749540436422, + -0.09697025316399842, + 0.4799969710344246 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.5711488906819135, + -1.5610503229595332, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 471.2857197892705 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000108/ep_meta.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000108/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9e729281112c270a9bd8015bf434c144a37998a4 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/extras/episode_000108/ep_meta.json @@ -0,0 +1,353 @@ +{ + "layout_id": 41, + "style_id": 33, + "object_cfgs": [ + { + "name": "saucepan", + "obj_groups": "saucepan", + "placement": { + "fixture": "stove_right_group_1", + "sample_region_kwargs": { + "locs": [ + "front_left" + ] + }, + "ensure_object_boundary_in_range": false, + "size": [ + 0.05, + 0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "saucepan" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan003/model.xml" + }, + "reset_region": { + "offset": [ + -0.16646512280112433, + -0.09055386345125134, + 0.4619347540804282 + ], + "size": [ + 0.1, + 0.1 + ], + "name": "front_left" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove.", + "fixture_refs": { + "stove": "stove_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.654042237894389, + -3.654619313407787, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "knob": "front_left", + "simmer_timesteps": 483.10406945423296 + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/embodiment.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/episodes.jsonl b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f5efcde337d0f76d6a39c604858b01f88d0e00d --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/episodes.jsonl @@ -0,0 +1,109 @@ +{"episode_index": 0, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 481} +{"episode_index": 1, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 590} +{"episode_index": 2, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 706} +{"episode_index": 3, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 618} +{"episode_index": 4, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 719} +{"episode_index": 5, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 591} +{"episode_index": 6, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 729} +{"episode_index": 7, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 534} +{"episode_index": 8, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 851} +{"episode_index": 9, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 544} +{"episode_index": 10, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 967} +{"episode_index": 11, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 563} +{"episode_index": 12, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 556} +{"episode_index": 13, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 703} +{"episode_index": 14, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 709} +{"episode_index": 15, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 708} +{"episode_index": 16, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 835} +{"episode_index": 17, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 851} +{"episode_index": 18, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 609} +{"episode_index": 19, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 499} +{"episode_index": 20, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 712} +{"episode_index": 21, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 886} +{"episode_index": 22, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 577} +{"episode_index": 23, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 668} +{"episode_index": 24, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 537} +{"episode_index": 25, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 698} +{"episode_index": 26, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 603} +{"episode_index": 27, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 566} +{"episode_index": 28, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 613} +{"episode_index": 29, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 697} +{"episode_index": 30, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 570} +{"episode_index": 31, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 889} +{"episode_index": 32, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 699} +{"episode_index": 33, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 852} +{"episode_index": 34, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 636} +{"episode_index": 35, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 587} +{"episode_index": 36, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 546} +{"episode_index": 37, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 799} +{"episode_index": 38, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 551} +{"episode_index": 39, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 836} +{"episode_index": 40, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 586} +{"episode_index": 41, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 916} +{"episode_index": 42, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 613} +{"episode_index": 43, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 633} +{"episode_index": 44, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 514} +{"episode_index": 45, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 1157} +{"episode_index": 46, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 680} +{"episode_index": 47, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 671} +{"episode_index": 48, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 1098} +{"episode_index": 49, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 731} +{"episode_index": 50, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 788} +{"episode_index": 51, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 493} +{"episode_index": 52, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 1115} +{"episode_index": 53, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 749} +{"episode_index": 54, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 604} +{"episode_index": 55, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 771} +{"episode_index": 56, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 476} +{"episode_index": 57, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 594} +{"episode_index": 58, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 510} +{"episode_index": 59, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 539} +{"episode_index": 60, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 530} +{"episode_index": 61, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 524} +{"episode_index": 62, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 773} +{"episode_index": 63, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 778} +{"episode_index": 64, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 867} +{"episode_index": 65, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 505} +{"episode_index": 66, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 864} +{"episode_index": 67, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 744} +{"episode_index": 68, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 580} +{"episode_index": 69, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 549} +{"episode_index": 70, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 532} +{"episode_index": 71, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 841} +{"episode_index": 72, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 619} +{"episode_index": 73, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 737} +{"episode_index": 74, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 786} +{"episode_index": 75, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 833} +{"episode_index": 76, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 683} +{"episode_index": 77, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 723} +{"episode_index": 78, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 708} +{"episode_index": 79, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 562} +{"episode_index": 80, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 531} +{"episode_index": 81, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 501} +{"episode_index": 82, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 654} +{"episode_index": 83, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 524} +{"episode_index": 84, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 914} +{"episode_index": 85, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 977} +{"episode_index": 86, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 605} +{"episode_index": 87, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 712} +{"episode_index": 88, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 552} +{"episode_index": 89, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 733} +{"episode_index": 90, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 596} +{"episode_index": 91, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 580} +{"episode_index": 92, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 616} +{"episode_index": 93, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 544} +{"episode_index": 94, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 767} +{"episode_index": 95, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 820} +{"episode_index": 96, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 863} +{"episode_index": 97, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 540} +{"episode_index": 98, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 687} +{"episode_index": 99, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 480} +{"episode_index": 100, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 671} +{"episode_index": 101, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 563} +{"episode_index": 102, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 821} +{"episode_index": 103, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 669} +{"episode_index": 104, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 612} +{"episode_index": 105, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 758} +{"episode_index": 106, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 795} +{"episode_index": 107, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 784} +{"episode_index": 108, "tasks": ["Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."], "length": 818} diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/episodes_stats.jsonl b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ff22e221dcca74a4a65ec0cf230335aeedc5062 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/episodes_stats.jsonl @@ -0,0 +1,109 @@ +{"episode_index": 0, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.047058823529411764]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2848846077689846]], [[0.2765478906334478]], [[0.2716495817507839]]], "std": [[[0.17429179002365525]], [[0.16475751711107736]], [[0.1633340984202076]]], "count": [102]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4435273859419304]], [[0.47265452407314795]], [[0.40760896382814]]], "std": [[[0.1768454099082705]], [[0.16860623981355466]], [[0.18472050577421173]]], "count": [102]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4515665197317438]], [[0.47767375929912026]], [[0.41648589196181307]]], "std": [[[0.1760946408094893]], [[0.16694613612762393]], [[0.1845891018641883]]], "count": [102]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [481]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [481]}, "observation.state": {"min": [0.20466338862733044, -4.0895753565638, 0.6999976498779626, 0.0, 0.0, -1.0, 9.052398297626496e-08, 0.20830926796079297, -0.01555428822954319, 0.23120744247745917, -0.9971840977668762, -0.5434780716896057, -0.1290094405412674, 0.00040400191210210323, 0.01588493209625525, -0.03999976680636443], "max": [0.2053284188184682, -4.086983357960017, 0.7012661534928064, 0.0, 0.0, 1.0, 0.0028430570382624865, 0.3403810715269714, 0.2277398292489865, 0.5858825916128703, 0.8406803011894226, 0.5433202981948853, 0.12402582168579102, 0.053659480065107346, 0.040300139815090126, -0.006409068879541028], "mean": [0.20509748727859806, -4.087964647394904, 0.7006828888425136, 0.0, 0.0, 0.9958396832809131, 0.0018211133787776766, 0.3054607351895034, 0.20000827363840676, 0.2868432468187218, -0.7496569518487816, -0.3525598523615552, 0.03730049601205665, 0.02896511303493269, 0.02973767477555048, -0.028966119256236978], "std": [0.0002895866284752472, 0.0011276760448914065, 0.000475281226063744, 0.0, 0.0, 0.09109720132705079, 0.001152702711691546, 0.04178222819428749, 0.049091588805308124, 0.10228170219404147, 0.47386249520766, 0.29196624575133423, 0.038971962221802985, 0.013301524591943661, 0.010126091198439272, 0.011717456888743951], "count": [481]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4, -0.2142857142857143, -0.5285714285714286, -0.03428571428571429, -0.15142857142857147, -0.29714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.29285714285714287, 0.6928571428571428, -0.0, 0.06571428571428571, 0.32857142857142857, 0.32, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.012949212949212955, 0.04719334719334719, -0.0572468072468072, 0.0006652806652806651, 0.008791208791208793, -0.002079002079002073, -0.07692307692307693], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.07104378096063366, 0.12174949117867971, 0.10990012115355512, 0.007934905304071371, 0.048645997694648876, 0.09507569462460493, 0.9970370305242849], "count": [481]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03326403349637985], "std": [0.17932522296905518], "count": [481]}, "next.done": {"min": [false], "max": [true], "mean": [0.002079002079002079], "std": [0.04554865343078305], "count": [481]}, "timestamp": {"min": [0.0], "max": [24.0], "mean": [12.0], "std": [6.942621983083912], "count": [481]}, "frame_index": {"min": [0], "max": [480], "mean": [240.0], "std": [138.85243966167826], "count": [481]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [481]}, "index": {"min": [0], "max": [480], "mean": [240.0], "std": [138.85243966167826], "count": [481]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [481]}}} +{"episode_index": 1, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.043137254901960784]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24573384522409605]], [[0.2375023814672928]], [[0.2340795054665938]]], "std": [[[0.15556219352325523]], [[0.14834745081195483]], [[0.1483438068870729]]], "count": [119]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4033581504752637]], [[0.3350329773884508]], [[0.29491818261944025]]], "std": [[[0.28807606677598857]], [[0.262959859134674]], [[0.25062742949935923]]], "count": [119]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4551606265495628]], [[0.37412576013861426]], [[0.32568164523104737]]], "std": [[[0.2693195243429543]], [[0.24989334840030264]], [[0.24239729848258926]]], "count": [119]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [590]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [590]}, "observation.state": {"min": [0.7985854714615976, -2.208016683464807, 0.6999996227065531, 0.0, 0.0, 0.9999998807907104, 5.952174251433462e-05, 0.2424984137929702, -0.0029935550086541696, 0.22821770350211212, -0.9983267188072205, -0.4356031119823456, -0.1397746354341507, 4.026861279271543e-05, 0.0011291744921336385, -0.04075183378851862], "max": [0.7987980307958802, -2.207679834318872, 0.7008647480740343, 0.0, 0.0, 1.0, 0.00046754995128139853, 0.3076114460208279, 0.05858279687369716, 0.5974531530637471, 0.9983406066894531, 0.4405801594257355, 0.05939583480358124, 0.048234421759843826, 0.040004087303008494, -0.020493538629877867], "mean": [0.7987092359710616, -2.2078131429058963, 0.7002721703281753, 0.0, 0.0, 0.9999999923221136, 0.0002986637680836701, 0.29082278550748336, 0.04672651629682335, 0.26544424190288585, 0.5587357989812302, 0.30574219264721464, -0.020739967623598265, 0.011771282238845803, 0.0235858949307979, -0.02971484496329641], "std": [7.329182208826754e-05, 5.5005700025520406e-05, 0.00018424413639279394, 0.0, 0.0, 2.9263038942744353e-08, 8.126267156295249e-05, 0.0202792142773146, 0.011378381021745505, 0.08867316908481898, 0.7300818338567086, 0.24496688336739844, 0.02418055193286248, 0.012423836106370741, 0.011312158521854462, 0.007690524309447188], "count": [590]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.1, -0.2642857142857143, -0.5714285714285715, -0.09428571428571429, -0.04857142857142857, -0.23714285714285716, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.22857142857142856, 0.25, 0.05714285714285714, 0.037142857142857144, 0.09428571428571429, 0.18285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.011307506053268765, -0.008220338983050843, -0.04702179176755447, -0.001690072639225181, 0.004426150121065377, -0.00451815980629541, 0.39661016949152544], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.03439378461743993, 0.0653752006545703, 0.11347527052532357, 0.010281784040018217, 0.015745324651291345, 0.06866917920844524, 0.9179871314217254], "count": [590]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02711864374577999], "std": [0.16242913901805878], "count": [590]}, "next.done": {"min": [false], "max": [true], "mean": [0.001694915254237288], "std": [0.04113444440512406], "count": [590]}, "timestamp": {"min": [0.0], "max": [29.45], "mean": [14.725], "std": [8.515904238540966], "count": [590]}, "frame_index": {"min": [0], "max": [589], "mean": [294.5], "std": [170.31808477081933], "count": [590]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [590]}, "index": {"min": [481], "max": [1070], "mean": [775.5], "std": [170.31808477081933], "count": [590]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [590]}}} +{"episode_index": 2, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3925618370786533]], [[0.39592978929565853]], [[0.3961650408400521]]], "std": [[[0.16531783593510124]], [[0.1591738850249959]], [[0.15734478955348122]]], "count": [136]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.395411187582225]], [[0.4176464714393484]], [[0.4106629548738297]]], "std": [[[0.24274971643710314]], [[0.23052263982472704]], [[0.22105888438014396]]], "count": [136]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37829600051475093]], [[0.39786580007656497]], [[0.3959926790019633]]], "std": [[[0.24431452529045902]], [[0.2333763525954028]], [[0.22646076249329164]]], "count": [136]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [706]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [706]}, "observation.state": {"min": [2.0331128758337926, -1.3752202784060041, 0.6999964909043594, 0.0, 0.0, -0.03337645158171654, 0.9994428753852844, 0.10859447195242344, -0.43635655744523527, 0.0839805725947963, -0.9922066330909729, -0.2115875482559204, -0.8254523873329163, 2.1317111531971022e-05, 0.0015026583664932809, -0.040115520536563955], "max": [2.0677273860853878, -1.199623946689046, 0.7012168699622348, 0.0, 0.0, 0.00015105583588592708, 1.0, 0.2677082999238123, -0.0008663702657845107, 0.5978989887984307, 0.7176842093467712, 0.43992191553115845, 0.730876624584198, 0.45809870958328247, 0.04013553619772164, -0.0149805780199186], "mean": [2.0349829689506738, -1.210639553785211, 0.7004608486143495, 0.0, 0.0, -0.007148099111432731, 0.9999653218319329, 0.2466213938966845, -0.33784346454089137, 0.207498449655128, 0.0008407424259455953, 0.11496074298243684, 0.12314384172092754, 0.14169178581898717, 0.0318288722189876, -0.03474323894139883], "std": [0.006708883427472236, 0.038536161045395805, 0.0004788159565260963, 0.0, 0.0, 0.004279555567431469, 7.425331687794913e-05, 0.04084878507979757, 0.1456254631063591, 0.1888990173496151, 0.7475409609629154, 0.1326372541004467, 0.605273349563803, 0.0936824037157063, 0.011356179966359592, 0.008202285736376444], "count": [706]}, "action": {"min": [-0.41428571428571426, -0.23571428571428574, -0.1657142857142857, 0.0, -1.0, -0.7928571428571428, -1.0, -0.6571428571428571, -0.10857142857142858, -0.4657142857142857, -0.22285714285714286, -1.0], "max": [0.0, 0.5357142857142857, 0.14, 0.0, 1.0, 0.3857142857142857, 0.18571428571428572, 0.22142857142857142, 0.26571428571428574, 0.2057142857142857, 0.18285714285714286, 1.0], "mean": [-0.010946985026305138, 0.014528530959125863, -0.0005382436260623231, 0.0, -0.7337110481586402, 0.0025596924322136634, -0.0582051800890327, -0.05803318494536632, 0.02876568191015781, -0.017838931606636976, -0.0019627681100768926, -0.3286118980169972], "std": [0.04737711342176731, 0.0808833480000351, 0.02317762594494101, 0.0, 0.679461623500504, 0.11725895669509306, 0.20376780304767506, 0.1344020112045218, 0.08493689944113192, 0.07989196731699141, 0.04092499030699418, 0.9444650446055006], "count": [706]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02266288921236992], "std": [0.14882636070251465], "count": [706]}, "next.done": {"min": [false], "max": [true], "mean": [0.00141643059490085], "std": [0.03760883299533075], "count": [706]}, "timestamp": {"min": [0.0], "max": [35.25], "mean": [17.625], "std": [10.190222028984453], "count": [706]}, "frame_index": {"min": [0], "max": [705], "mean": [352.5], "std": [203.80444057968904], "count": [706]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [706]}, "index": {"min": [1071], "max": [1776], "mean": [1423.5], "std": [203.80444057968904], "count": [706]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [706]}}} +{"episode_index": 3, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49889870121702135]], [[0.4903657805875939]], [[0.4867153041845073]]], "std": [[[0.13926395230712088]], [[0.14118527501469108]], [[0.14532038158740548]]], "count": [123]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4928852511235217]], [[0.4241467201479804]], [[0.3991635775463482]]], "std": [[[0.2385572870679108]], [[0.23805011003388166]], [[0.24665076752739287]]], "count": [123]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4832729345072633]], [[0.4171396706409476]], [[0.39315273650388444]]], "std": [[[0.23776476636162464]], [[0.23615181468984295]], [[0.24478396884013476]]], "count": [123]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [618]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [618]}, "observation.state": {"min": [2.0976646098621394, -0.9462641785239718, 0.6998180387137286, 0.0, 0.0, 0.7069632411003113, 0.7068697810173035, 0.11698339015755965, -0.012827259630537213, 0.10057307827582451, -0.990774929523468, -0.0943448543548584, -0.669840395450592, 0.0002837749198079109, 0.020569959753997825, -0.04362980450882808], "max": [2.0981520628539707, -0.9446097567223167, 0.7029348236227564, 0.0, 0.0, 0.7073437571525574, 0.7072502970695496, 0.23784133797012796, 0.3300644132776387, 0.6101425160484469, 0.7457167506217957, 0.29252851009368896, 0.6704522967338562, 0.3574983775615692, 0.04075143412085565, -0.02049660092682486], "mean": [2.0980612218309367, -0.9459787969875458, 0.7010112267288249, 0.0, 0.0, 0.7071121437264106, 0.7071013781437981, 0.20158690634698428, 0.29485920266448923, 0.17295102656076203, -0.38273340868718414, 0.027114546896956113, -0.19746481728495904, 0.07022287202739039, 0.036663615975204435, -0.03900262520213713], "std": [7.4507191396632e-05, 0.00010246853432973006, 0.001261580316469339, 0.0, 0.0, 4.6732004234933157e-05, 4.6732868824734405e-05, 0.042677632571109216, 0.07466058775374311, 0.13738018796664453, 0.6971722554450123, 0.09890665656921747, 0.553553305166269, 0.08126127795511598, 0.004009676958600788, 0.0031527699476308064], "count": [618]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6428571428571428, -0.5642857142857142, -0.4857142857142857, -0.0, -0.2057142857142857, -0.3514285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.2642857142857143, 0.5714285714285715, 0.15714285714285717, 0.6342857142857142, 0.05428571428571429, -0.0, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04348127600554787, 0.0027739251040221806, -0.08242024965325931, 0.07980120203421173, -0.01769764216366159, -0.02766065649560794, -0.11974110032362459], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.14177446923986128, 0.16377707652043996, 0.13609867454957442, 0.13464701928278455, 0.04099171830916111, 0.06765142208446531, 0.9928051515243502], "count": [618]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.027508091181516647], "std": [0.16355854272842407], "count": [618]}, "next.done": {"min": [false], "max": [true], "mean": [0.0016181229773462784], "std": [0.0401933409332499], "count": [618]}, "timestamp": {"min": [0.0], "max": [30.85], "mean": [15.424999999999999], "std": [8.920049981175367], "count": [618]}, "frame_index": {"min": [0], "max": [617], "mean": [308.5], "std": [178.40099962350735], "count": [618]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [618]}, "index": {"min": [1777], "max": [2394], "mean": [2085.5], "std": [178.40099962350735], "count": [618]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [618]}}} +{"episode_index": 4, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5181993125141531]], [[0.5030817208015028]], [[0.4963494598137177]]], "std": [[[0.17170312436372234]], [[0.17529199712420657]], [[0.18205527489451148]]], "count": [138]}, "observation.images.robot0_agentview_left": {"min": [[[0.09019607843137255]], [[0.09019607843137255]], [[0.08627450980392157]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4441291061102175]], [[0.40871882610749233]], [[0.3915410190592032]]], "std": [[[0.2594023208770927]], [[0.257832872562509]], [[0.264256968030805]]], "count": [138]}, "observation.images.robot0_agentview_right": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4322530674372047]], [[0.39786352844325007]], [[0.3805757588166749]]], "std": [[[0.25461207326267427]], [[0.25144244232894714]], [[0.2569445076506638]]], "count": [138]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [719]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [719]}, "observation.state": {"min": [0.8651197359096684, -4.433001466318162, 0.6999728466354926, 0.0, 0.0, 1.0, 3.0580817110603675e-05, 0.06425563930628297, -0.004461779752338302, 0.08185602522187696, -0.9942418336868286, -0.1194758415222168, -0.6851440072059631, 0.00026685421471484005, 0.020549118618037397, -0.04144106667994406], "max": [0.8653412962369138, -4.432830746117719, 0.7017557613500485, 0.0, 0.0, 1.0, 0.00021535722771659493, 0.25903128380820517, 0.3251615838262625, 0.5703740080851356, 0.9921539425849915, 0.16163110733032227, 0.6974560618400574, 0.10426262766122818, 0.04100892318839085, -0.020517440846169115], "mean": [0.8652278062665071, -4.432875986285259, 0.7009619084817923, 0.0, 0.0, 1.0, 0.00014882801553441384, 0.16882219109091717, 0.2993804971499015, 0.1458758017707615, 0.6539830674050746, 0.09707306475690741, 0.5964135561185022, 0.07566652305951077, 0.036751236433175585, -0.03596436518004139], "std": [2.294876795949568e-05, 2.1880060719924457e-05, 0.0007913912009650953, 0.0, 0.0, 0.0, 1.558766244196014e-05, 0.047152779224624936, 0.05653613814148397, 0.12467442001330938, 0.3503639375214022, 0.03420121813677565, 0.27664783811411015, 0.03146079954620325, 0.0033439922716056213, 0.003863686340671913], "count": [719]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4714285714285715, -0.40714285714285714, -0.7714285714285714, -0.04, -0.35714285714285715, -0.0, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.22142857142857142, 0.6571428571428571, -0.0, 0.3057142857142857, 0.04, 0.08285714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.007212398172064377, 0.008513808861513993, -0.0714782435922909, 0.021724617524339365, -0.017782634611563677, 0.0023047883965825557, 0.1571627260083449], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.09653638505966027, 0.13519211906864975, 0.13786245876470654, 0.06599057585954352, 0.0580526568317547, 0.011168371119991416, 0.9875727201343868], "count": [719]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0222531296312809], "std": [0.14750567078590393], "count": [719]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013908205841446453], "std": [0.03726776357990059], "count": [719]}, "timestamp": {"min": [0.0], "max": [35.9], "mean": [17.95], "std": [10.377861051295685], "count": [719]}, "frame_index": {"min": [0], "max": [718], "mean": [359.0], "std": [207.55722102591372], "count": [719]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [719]}, "index": {"min": [2395], "max": [3113], "mean": [2754.0], "std": [207.55722102591372], "count": [719]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [719]}}} +{"episode_index": 5, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.054901960784313725]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4971415030856093]], [[0.47650023136839753]], [[0.4638877905108505]]], "std": [[[0.16102467372596033]], [[0.1475877114830806]], [[0.1435936303328533]]], "count": [119]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5102866936641385]], [[0.4483581281490078]], [[0.42441096950901225]]], "std": [[[0.20769187129993777]], [[0.18689869400806416]], [[0.17601495656156338]]], "count": [119]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5023583032994908]], [[0.43960338371906665]], [[0.41406581725923364]]], "std": [[[0.21225554680206804]], [[0.1981914573718695]], [[0.19420163806727642]]], "count": [119]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [591]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [591]}, "observation.state": {"min": [1.5931231920572875, -0.9799091312686181, 0.699998869894185, 0.0, 0.0, 0.6998302936553955, 0.7071046829223633, 0.15582351638301983, -0.611381963811553, 0.08877170384396849, -0.988317608833313, -0.173292338848114, -0.747913658618927, 0.0026197449769824743, 0.018267750959658817, -0.04204722188164398], "max": [1.9424035303552036, -0.898931092710511, 0.7046773281525051, 0.0, 0.0, 0.7071087956428528, 0.7143091559410095, 0.2749889661878031, -0.010981227545267647, 0.605006403815825, 0.8232583999633789, 0.3767438530921936, 0.7643285989761353, 0.3231986165046692, 0.040486038712804436, -0.020504635713919455], "mean": [1.6301322881304812, -0.974908115464466, 0.7008794520663808, 0.0, 0.0, 0.7006912597544908, 0.7134622746917803, 0.24499873614121914, -0.45773227268484806, 0.2392343318649774, 0.1349322294624122, 0.10062707065527411, 0.2449711666343176, 0.1708039585185787, 0.03755127160879562, -0.03952025560752622], "std": [0.07281387966299974, 0.014825586081945884, 0.0012452067590682718, 0.0, 0.0, 0.0012984194902240407, 0.0012858230817018926, 0.03238808128976884, 0.22829698525078804, 0.19781159682828428, 0.7969088100161843, 0.12675506566493883, 0.46787891851837715, 0.11154116825054326, 0.003336893786259419, 0.0017501035973081153], "count": [591]}, "action": {"min": [-0.5214285714285715, -0.32857142857142857, -0.07428571428571429, 0.0, -1.0, -0.42142857142857143, -1.0, -0.6214285714285714, -0.10571428571428572, -0.29428571428571426, -0.23142857142857146, -1.0], "max": [0.0, 0.8357142857142857, 0.002857142857142857, 0.0, 1.0, 0.29285714285714287, 0.29285714285714287, -0.0, 0.5285714285714286, 0.1, 0.05714285714285715, 1.0], "mean": [-0.017669809040367416, 0.013089195068890494, -0.000870195794053662, 0.0, -0.6649746192893401, 0.0008822818467488523, -0.10519700265893162, -0.1434493594392073, 0.0645346869712352, -0.04408025138989605, -0.024220449601160255, -0.45516074450084604], "std": [0.06931072508815943, 0.12505477795698114, 0.006417001556366315, 0.0, 0.7468659556446408, 0.07188996682174877, 0.22454783239690015, 0.15945324493792573, 0.1635487886042221, 0.06876299622150289, 0.05495590799230444, 0.8904092860395344], "count": [591]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.027072757482528687], "std": [0.16229549050331116], "count": [591]}, "next.done": {"min": [false], "max": [true], "mean": [0.001692047377326565], "std": [0.04109968799150971], "count": [591]}, "timestamp": {"min": [0.0], "max": [29.5], "mean": [14.75], "std": [8.530338015967871], "count": [591]}, "frame_index": {"min": [0], "max": [590], "mean": [295.0], "std": [170.60676031935742], "count": [591]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [591]}, "index": {"min": [3114], "max": [3704], "mean": [3409.0], "std": [170.60676031935742], "count": [591]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [591]}}} +{"episode_index": 6, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32948343186151413]], [[0.32626992105435926]], [[0.32208697407185527]]], "std": [[[0.16772385976896298]], [[0.1583296858450627]], [[0.1483907022092693]]], "count": [140]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5557670948017879]], [[0.5294105888815487]], [[0.4949503084925376]]], "std": [[[0.2679207896115394]], [[0.24428401477646278]], [[0.22030126550348197]]], "count": [140]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5545672329600785]], [[0.5297498819474078]], [[0.4965299816826145]]], "std": [[[0.2661793295302851]], [[0.241233059788372]], [[0.21674191119822137]]], "count": [140]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [729]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [729]}, "observation.state": {"min": [4.434408684421831, -0.9455371789196683, 0.699856989154504, 0.0, 0.0, 0.7070462107658386, 0.7069368958473206, 0.059687036611608346, 0.00515234822863242, 0.13526706949933653, -0.7990018129348755, 0.0007343292236328125, -0.6011370420455933, 0.0007997943903319538, 0.0052155070909664465, -0.04157622221043906], "max": [4.434865874597884, -0.9451695378660383, 0.7010959750135038, 0.0, 0.0, 0.7072766423225403, 0.7071672677993774, 0.25952036551657287, 0.43464511134813577, 0.591736842973189, 0.9887065887451172, 0.7990779280662537, 0.6059996485710144, 0.6845566034317017, 0.040712525182729054, -0.0056758951242132745], "mean": [4.434799797801896, -0.9454086294283236, 0.7001389398170327, 0.0, 0.0, 0.7071260159888876, 0.7070875180928632, 0.2161381518241515, 0.3764709758177356, 0.19484475153988018, 0.2620588721929754, 0.6314064863818827, 0.20729484626785719, 0.5510986188794863, 0.030796664620052205, -0.03714388449401753], "std": [6.578001392885785e-05, 4.240370605576221e-05, 0.00029136886376862696, 0.0, 0.0, 4.690910140076557e-05, 4.689556738797708e-05, 0.04802585533420219, 0.06294393486616978, 0.10799964067067626, 0.28596986731103446, 0.1739292695105662, 0.18893009640757852, 0.19556436396837476, 0.013363064532359649, 0.007526373210948915], "count": [729]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6857142857142857, -0.6267857142857143, -0.7285714285714285, -0.27, -0.4285714285714286, -0.3085714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4982142857142858, 0.9267857142857143, 0.225, 0.75, 0.2721428571428572, 0.4928571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.020113168724279838, -0.00471046443268666, -0.09426072898295126, 0.16297766019988227, -0.012375073486184593, -0.02899764844209287, -0.30315500685871055], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1363161732180181, 0.21785672518076182, 0.17166719229699684, 0.29971108846081856, 0.08192418196096385, 0.1330367897629538, 0.9529412583241939], "count": [729]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021947873756289482], "std": [0.14651335775852203], "count": [729]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013717421124828531], "std": [0.037011625687879406], "count": [729]}, "timestamp": {"min": [0.0], "max": [36.4], "mean": [18.2], "std": [10.5221987562803], "count": [729]}, "frame_index": {"min": [0], "max": [728], "mean": [364.0], "std": [210.44397512560596], "count": [729]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [729]}, "index": {"min": [3705], "max": [4433], "mean": [4069.0], "std": [210.44397512560596], "count": [729]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [729]}}} +{"episode_index": 7, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3680356778898039]], [[0.3671265748170045]], [[0.36741993709874854]]], "std": [[[0.21265218025913588]], [[0.19674436131290418]], [[0.19298998224225042]]], "count": [111]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.043137254901960784]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4924073958350584]], [[0.4781725305484138]], [[0.4570483217305081]]], "std": [[[0.24964943479812604]], [[0.23783836661611196]], [[0.2256417643440925]]], "count": [111]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.043137254901960784]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.503899653761068]], [[0.49010803513761925]], [[0.468795103050546]]], "std": [[[0.2518535912741032]], [[0.24109143517979043]], [[0.22947795957395645]]], "count": [111]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [534]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [534]}, "observation.state": {"min": [0.8142780383747545, -4.378120766677998, 0.6999936679851225, 0.0, 0.0, -1.0, 0.0, 0.19511179556359926, -0.012447803725220474, 0.2208697335394012, -0.9929088354110718, -0.9502521753311157, -0.12393610924482346, 4.785925193573348e-05, 0.0007413911775925156, -0.0427049163419837], "max": [0.814435631508985, -4.377603848515008, 0.7090786172854501, 0.0, 0.0, 1.0, 0.000542564201168716, 0.3078755175693746, 0.03380544160810217, 0.5846489626815786, 0.928977370262146, 0.9664236307144165, 0.12828513979911804, 0.17767766118049622, 0.040001668211120646, -0.020493879245170304], "mean": [0.8142990379789484, -4.377702857160066, 0.7006896211398377, 0.0, 0.0, 0.46441947744133766, 2.6213733755563035e-05, 0.2578822768021995, 0.006079633072745984, 0.4239291189935002, -0.5914910548690999, -0.20428661279352417, -0.059515354106807035, 0.028608451570761737, 0.03517449208869651, -0.03929133401162811], "std": [2.9167001269688622e-05, 5.7294455623542025e-05, 0.0016881555297672424, 0.0, 0.0, 0.8856153484449684, 7.321445151244726e-05, 0.032713646194252925, 0.012750618362303913, 0.16086891934784228, 0.4986326098728621, 0.5899851047733115, 0.07940373253626014, 0.0319834921324469, 0.011607240962957253, 0.0031176850405236554], "count": [534]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5785714285714286, -0.27142857142857146, -0.6928571428571428, -0.23142857142857146, -0.2485714285714286, -0.7428571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.45, 0.5, -0.0, 0.09714285714285714, 0.17142857142857143, 0.5285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.003544676297485288, -0.004962546816479402, -0.10615302300695566, -0.004788657035848051, -0.00828250401284109, -0.015082932049224219, -0.7116104868913857], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.10188897145305209, 0.06247467217317807, 0.1647525601397706, 0.02350829887357631, 0.05562957977898111, 0.21717071380459604, 0.7025742060068857], "count": [534]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02996254712343216], "std": [0.17048399150371552], "count": [534]}, "next.done": {"min": [false], "max": [true], "mean": [0.0018726591760299626], "std": [0.04323369430942021], "count": [534]}, "timestamp": {"min": [0.0], "max": [26.65], "mean": [13.325000000000001], "std": [7.707612578916163], "count": [534]}, "frame_index": {"min": [0], "max": [533], "mean": [266.5], "std": [154.15225157832327], "count": [534]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [534]}, "index": {"min": [4434], "max": [4967], "mean": [4700.5], "std": [154.15225157832327], "count": [534]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [534]}}} +{"episode_index": 8, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37625337336056536]], [[0.3621012930061928]], [[0.35244804754884884]]], "std": [[[0.19388638390258356]], [[0.18349926501852504]], [[0.17465188521072933]]], "count": [157]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44006482502249006]], [[0.4244720127395853]], [[0.39919984754855614]]], "std": [[[0.271522719558448]], [[0.2803167838585967]], [[0.273755465630292]]], "count": [157]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43875058877925177]], [[0.40706428726975713]], [[0.37986358684503113]]], "std": [[[0.2673553946669073]], [[0.2744156378897567]], [[0.27272026716775494]]], "count": [157]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [851]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [851]}, "observation.state": {"min": [2.777350646309066, -0.8895944856718486, 0.699994011103796, 0.0, 0.0, 0.7048272490501404, 0.7070983052253723, 0.009159692484511428, -0.32132316654913673, 0.1069473543653292, -0.9866262078285217, -0.2417486310005188, -0.656757652759552, 0.0004942532978020608, 0.0004926403422413499, -0.04061774179032959], "max": [3.1198696273251874, -0.8882729223175976, 0.7017694107340308, 0.0, 0.0, 0.7071152329444885, 0.7093790769577026, 0.24531493765250134, 0.0389330284916376, 0.6193570537801718, 0.7661917805671692, 0.35528063774108887, 0.7414897680282593, 0.2270941287279129, 0.040003943815411815, -0.020510921766426164], "mean": [2.9922442359823567, -0.8891378121611236, 0.7001339776071246, 0.0, 0.0, 0.7063986574300728, 0.7078128059938568, 0.19311115999067724, -0.08017694387675847, 0.49238176820853474, -0.5748932557716773, 0.04042753897668612, -0.010911859090403861, 0.04865719830078597, 0.037865648628181654, -0.03928308254467232], "std": [0.15953050299149182, 0.00059974529289134, 0.0003646861302174802, 0.0, 0.0, 0.0009978458079016898, 0.0009948075977176999, 0.055315450090558695, 0.13637704567843914, 0.1957884260883401, 0.7109011283256054, 0.13916549942183956, 0.36884319864348286, 0.06770532624413825, 0.007058131785080551, 0.0031600934725805148], "count": [851]}, "action": {"min": [0.0, 0.0, -0.06, 0.0, -1.0, -1.0, -1.0, -0.5571428571428572, -0.13428571428571429, -0.6457142857142857, -0.3314285714285714, -1.0], "max": [0.12142857142857143, 0.4, 0.0, 0.0, 1.0, 0.31428571428571433, 0.28571428571428575, 0.27142857142857146, 0.2857142857142857, 0.1457142857142857, 0.19142857142857142, 1.0], "mean": [0.0014856471378210511, 0.03208829947960383, -0.00019472889038106428, 0.0, -0.7978848413631022, -0.0042051368138324875, -0.03617592748027532, -0.04551787812657379, 0.003098875272788315, -0.013631022326674517, -0.006130602652341783, -0.8895417156286721], "std": [0.00924687991270053, 0.09890485860872439, 0.002993308930384701, 0.0, 0.6028099036371063, 0.12050300753826794, 0.15506807196362743, 0.12268404593518234, 0.047846841145606424, 0.059446620920411274, 0.052738428346464306, 0.4568539549532199], "count": [851]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018801409751176834], "std": [0.1358231157064438], "count": [851]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011750881316098707], "std": [0.034259411838104], "count": [851]}, "timestamp": {"min": [0.0], "max": [42.5], "mean": [21.25], "std": [12.283118496538249], "count": [851]}, "frame_index": {"min": [0], "max": [850], "mean": [425.0], "std": [245.66236993076492], "count": [851]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [851]}, "index": {"min": [4968], "max": [5818], "mean": [5393.0], "std": [245.66236993076492], "count": [851]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [851]}}} +{"episode_index": 9, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37793299196814956]], [[0.36563535257547847]], [[0.36071879923844535]]], "std": [[[0.2528310558132251]], [[0.23945633787891388]], [[0.23690085549915457]]], "count": [112]}, "observation.images.robot0_agentview_left": {"min": [[[0.09411764705882353]], [[0.09411764705882353]], [[0.09411764705882353]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4323571352063775]], [[0.43175944373721165]], [[0.4301553314807368]]], "std": [[[0.2476545707297741]], [[0.24307495523681855]], [[0.24180249598130216]]], "count": [112]}, "observation.images.robot0_agentview_right": {"min": [[[0.09411764705882353]], [[0.09411764705882353]], [[0.09411764705882353]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4372841997974727]], [[0.43677364584444617]], [[0.4353750608214477]]], "std": [[[0.2493478585652268]], [[0.24497536113321416]], [[0.24376962061855173]]], "count": [112]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [544]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [544]}, "observation.state": {"min": [0.8055647459208386, -4.242444613623701, 0.6999988069021117, 0.0, 0.0, -1.0, 1.7250977180083282e-07, 0.20930344127396494, -0.05539479866668451, 0.2276755389488856, -0.9957144856452942, -0.14844481647014618, -0.13832901418209076, 5.4507723689312115e-05, -0.0007149160724168683, -0.0401332943927549], "max": [0.8056372523251085, -4.242133113247706, 0.7021948302342693, 0.0, 0.0, 1.0, 0.0004075701581314206, 0.308988320380263, 0.002257157564349299, 0.5915298517298831, 0.989356279373169, 0.18454723060131073, 0.09619682282209396, 0.16790497303009033, 0.0400037212264068, -0.02049948228588461], "mean": [0.8055708509944841, -4.242152116727999, 0.7000527689835389, 0.0, 0.0, -0.9963235294117647, 2.210110039826799e-05, 0.2544365841201382, -0.03601897288698939, 0.4739077351773646, -0.5188804175704718, 0.01749828038737178, -0.07790061542661586, 0.03340248202178988, 0.03715569298949307, -0.03842255541490347], "std": [1.0198523442999523e-05, 2.733793299112252e-05, 0.000236908884908051, 0.0, 0.0, 0.08567044263037515, 3.8691494045484975e-05, 0.028515584977550277, 0.02387022699484274, 0.14878735949138733, 0.8413461122296808, 0.08952936197550578, 0.08346733334421118, 0.020666571913094615, 0.008550394090573616, 0.004371313076856103], "count": [544]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.2, -0.35000000000000003, -0.46428571428571436, -0.06571428571428571, -0.0, -0.5828571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.29285714285714287, 0.24285714285714285, -0.0, 0.29714285714285715, 0.10285714285714286, 0.05142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.008941701680672274, -0.006263130252100842, -0.060491071428571415, 0.012778361344537817, 0.007704831932773111, -0.018728991596638652, -0.7977941176470589], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.05892100963846584, 0.06661480806267263, 0.11083936277807126, 0.06035702928698216, 0.0217161909146356, 0.09480569830973413, 0.6029299676146065], "count": [544]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.029411764815449715], "std": [0.16895772516727448], "count": [544]}, "next.done": {"min": [false], "max": [true], "mean": [0.001838235294117647], "std": [0.04283522131518767], "count": [544]}, "timestamp": {"min": [0.0], "max": [27.15], "mean": [13.575000000000001], "std": [7.8519503946471785], "count": [544]}, "frame_index": {"min": [0], "max": [543], "mean": [271.5], "std": [157.0390078929436], "count": [544]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [544]}, "index": {"min": [5819], "max": [6362], "mean": [6090.5], "std": [157.0390078929436], "count": [544]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [544]}}} +{"episode_index": 10, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4774680495518859]], [[0.48457452816635144]], [[0.46918176198970374]]], "std": [[[0.22958859957778022]], [[0.22487112342757568]], [[0.22607369373055988]]], "count": [173]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4586656899243056]], [[0.47742827051312536]], [[0.4135542268481747]]], "std": [[[0.21737377143719197]], [[0.19236448896840522]], [[0.19258217942074257]]], "count": [173]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47109243078836033]], [[0.49022424363446837]], [[0.41957103526472006]]], "std": [[[0.20825239274481178]], [[0.1777903509964064]], [[0.18030180220604394]]], "count": [173]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [967]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [967]}, "observation.state": {"min": [3.3726359926580725, -2.10982639218123, 0.6999528011715288, 0.0, 0.0, -0.7073248028755188, 0.7068887948989868, 0.020276441198718853, -0.007863996717222932, 0.10297125563793263, -0.9936922192573547, -0.07567846775054932, -0.6630609035491943, 0.00017406298138666898, 0.011268664824329297, -0.04001668622496279], "max": [3.612851865447043, -2.0498543626609496, 0.7006030241100133, 0.0, 0.0, -0.7068991661071777, 0.7073142528533936, 0.2668437421295078, 0.473257947099893, 0.6024278906518431, 0.8940706849098206, 0.5702254176139832, 0.6615003943443298, 0.6163458228111267, 0.040634801099098936, -0.0062866919602671085], "mean": [3.382632524951011, -2.0520767089424448, 0.700241936397974, 0.0, 0.0, -0.7072483044129246, 0.7069652153269581, 0.22788687616265732, 0.3916944774658716, 0.1998532507950364, 0.12374819576308793, 0.1566548729093886, 0.2232346123983966, 0.1537798941701983, 0.028010540892053182, -0.026905774320823604], "std": [0.045596717640601574, 0.009076909907159796, 0.0002616037378485191, 0.0, 0.0, 5.097837262460078e-05, 5.09912801996049e-05, 0.06617277948495932, 0.14076136528649494, 0.16815157567771438, 0.7645301722542516, 0.12476243057822434, 0.5170772608429673, 0.13864612113937605, 0.009643453993637599, 0.010378067744337064], "count": [967]}, "action": {"min": [-0.45, -0.6142857142857143, -0.005714285714285714, 0.0, -1.0, -0.5142857142857143, -0.12142857142857143, -0.4928571428571429, -0.12571428571428572, -0.19714285714285715, -0.27714285714285714, -1.0], "max": [0.11428571428571428, 0.0, 0.0, 0.0, 1.0, 0.35714285714285715, 0.7428571428571429, 0.05714285714285714, 0.44285714285714284, 0.2571428571428571, 0.07714285714285714, 1.0], "mean": [-0.004838233121583693, -0.012498153346136798, -8.863938543359434e-06, 0.0, -0.8552223371251293, -0.013842517358546316, 0.04332249963066924, -0.04590042842369627, 0.051682671000147735, 0.001382774412764066, -0.023841040035455757, 0.27404343329886244], "std": [0.04273220945639699, 0.07355651306527318, 0.00020525754980598072, 0.0, 0.5182612797443239, 0.11020235993273, 0.12153929748553176, 0.10071826531579568, 0.10290236984374887, 0.052741845923208575, 0.056257457834739205, 0.9617173164011077], "count": [967]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016546018421649933], "std": [0.1275627315044403], "count": [967]}, "next.done": {"min": [false], "max": [true], "mean": [0.001034126163391934], "std": [0.032141200140475806], "count": [967]}, "timestamp": {"min": [0.0], "max": [48.3], "mean": [24.15], "std": [13.957435294494474], "count": [967]}, "frame_index": {"min": [0], "max": [966], "mean": [483.0], "std": [279.14870588988947], "count": [967]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [967]}, "index": {"min": [6363], "max": [7329], "mean": [6846.0], "std": [279.14870588988947], "count": [967]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [967]}}} +{"episode_index": 11, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34716625425008657]], [[0.3120709457462503]], [[0.29947778830239635]]], "std": [[[0.2819864066426952]], [[0.2787546602642387]], [[0.27951726089744894]]], "count": [115]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5937883460003397]], [[0.5083420426806932]], [[0.4421143421065777]]], "std": [[[0.29688213993693235]], [[0.2968995704353216]], [[0.2847482779540481]]], "count": [115]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.634384067337023]], [[0.5479824228116008]], [[0.48276423435585175]]], "std": [[[0.27369829553123687]], [[0.29147867409733363]], [[0.29150813726353236]]], "count": [115]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [563]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [563]}, "observation.state": {"min": [0.7770250596996424, -3.0331751739224493, 0.6999984775960783, 0.0, 0.0, -1.0, 0.0, 0.15764816788450053, -0.323519683236535, 0.22471768367217548, -0.995793342590332, -0.6177865266799927, -0.15502968430519104, 0.004575721919536591, 0.007334387492950905, -0.04094448627216015], "max": [0.7771143441995318, -3.0330328947150087, 0.7046614381026963, 0.0, 0.0, 1.0, 0.00010789950465550646, 0.27034087790597905, 0.000365656308998652, 0.5963239781016393, -0.7758252024650574, -0.050496309995651245, -0.013365967199206352, 0.07703565806150436, 0.03992784986002905, -0.007971323292868659], "mean": [0.7770581957973065, -3.03305730630575, 0.7031845171812646, 0.0, 0.0, -0.3463587921847247, 1.050564569735951e-05, 0.24336139281748267, -0.28834010255066406, 0.26255800742800073, -0.8193334706299682, -0.5383087749300164, -0.09762483780631269, 0.05481676882807807, 0.026159397379618508, -0.028843986388184056], "std": [1.167140686548193e-05, 2.1471710467590417e-05, 0.0019775504746425954, 0.0, 0.0, 0.9381021197483395, 1.9914234449321085e-05, 0.026079730459459452, 0.051251253900959824, 0.09247491823969307, 0.06475257912980013, 0.1445397805792007, 0.02588991761202155, 0.025018127909867367, 0.009872095914487643, 0.009475521245165168], "count": [563]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5928571428571429, -1.0, -0.5428571428571429, -0.09714285714285714, -0.08285714285714285, -0.2257142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.31428571428571433, 0.2642857142857143, -0.0, 0.025714285714285714, 0.10285714285714286, 0.35714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.006762243085511291, -0.045787871098705905, -0.06459020553159092, -0.0020147170768840396, 0.004141080943922861, -0.0002791169753869675, 0.31438721136767317], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.09170789677856031, 0.1761915043665768, 0.12733446559362574, 0.01157421474576461, 0.02113374351210594, 0.08591447712216224, 0.9492948337205223], "count": [563]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02841918356716633], "std": [0.16616719961166382], "count": [563]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017761989342806395], "std": [0.04210752963101136], "count": [563]}, "timestamp": {"min": [0.0], "max": [28.1], "mean": [14.049999999999999], "std": [8.126192220222212], "count": [563]}, "frame_index": {"min": [0], "max": [562], "mean": [281.0], "std": [162.52384440444425], "count": [563]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [563]}, "index": {"min": [7330], "max": [7892], "mean": [7611.0], "std": [162.52384440444425], "count": [563]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [563]}}} +{"episode_index": 12, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38669909833836563]], [[0.3768401999878727]], [[0.3621324684187683]]], "std": [[[0.24253408566951745]], [[0.23532156891553455]], [[0.22550920571290273]]], "count": [114]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5135241361184345]], [[0.4926043846043763]], [[0.4686147038289514]]], "std": [[[0.21468297924357718]], [[0.22224205742760825]], [[0.22814680069029347]]], "count": [114]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5363577922431308]], [[0.5144278028637099]], [[0.48856036248877976]]], "std": [[[0.2178660961930328]], [[0.2275672532158447]], [[0.23561022756506586]]], "count": [114]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [556]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [556]}, "observation.state": {"min": [3.891998743743557, -3.659409616645027, 0.6999987375646611, 0.0, 0.0, 0.7070940732955933, 0.706535816192627, 0.22450371541734127, -0.007309326061194721, 0.22952717791448585, -0.9942737817764282, -0.6725720763206482, -0.13180553913116455, 0.00018231809372082353, 0.0007854072228321154, -0.042374473306404724], "max": [3.892563145855651, -3.6587798558704603, 0.7058530765476324, 0.0, 0.0, 0.7076772451400757, 0.7071194052696228, 0.3533372236296075, 0.193772732928998, 0.5951040471531831, 0.9741369485855103, 0.6724162101745605, 0.11164145171642303, 0.18910087645053864, 0.040009423128665345, 0.0006243350572622436], "mean": [3.8925186721018457, -3.6589079697031615, 0.7001867328909442, 0.0, 0.0, 0.7071372207334573, 0.7070762974967202, 0.2630178145863299, 0.07040288588777498, 0.47161185750315404, -0.7458758524639143, -0.06865305014008241, -0.07736679665309212, 0.0337922111603351, 0.035448693142444004, -0.03724775523932103], "std": [0.00010800250533749704, 4.2104657475231446e-05, 0.0006385263259890517, 0.0, 0.0, 0.00010629675926246585, 0.00010635401656371708, 0.04670943829027308, 0.09189814164475353, 0.15657628131330495, 0.5527038527100036, 0.3465115277216846, 0.07360434314856316, 0.029309516887664696, 0.010767922320476611, 0.007892827974956901], "count": [556]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6785714285714286, -0.8142857142857143, -0.9857142857142858, -0.16, -0.045714285714285714, -0.9285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.30714285714285716, 0.8500000000000001, -0.0, 0.15428571428571428, 0.27714285714285714, 0.26285714285714284, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0243448098663926, -0.03751284686536484, -0.11577595066803699, 0.006536485097636177, 0.012533401849948613, -0.045693730729701953, -0.6942446043165468], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.14393934962233323, 0.2361208980469099, 0.20444781661753425, 0.040188214662710935, 0.039218593789456135, 0.21468698199515637, 0.7197391398120307], "count": [556]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.028776979073882103], "std": [0.167179137468338], "count": [556]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017985611510791368], "std": [0.042371291328740096], "count": [556]}, "timestamp": {"min": [0.0], "max": [27.75], "mean": [13.875000000000002], "std": [8.025155761728241], "count": [556]}, "frame_index": {"min": [0], "max": [555], "mean": [277.5], "std": [160.50311523456483], "count": [556]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [556]}, "index": {"min": [7893], "max": [8448], "mean": [8170.5], "std": [160.50311523456483], "count": [556]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [556]}}} +{"episode_index": 13, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2163881942062642]], [[0.21562102690700016]], [[0.22081134492550755]]], "std": [[[0.23820300221028842]], [[0.23747427919630282]], [[0.2346117807195044]]], "count": [136]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6564692984540295]], [[0.619524492221995]], [[0.5915715161491842]]], "std": [[[0.22495247807790286]], [[0.22039083752979016]], [[0.22231530159899718]]], "count": [136]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.657827088247121]], [[0.6238328935915761]], [[0.5976963232407795]]], "std": [[[0.23114955456504752]], [[0.2282511201645344]], [[0.23039478836620078]]], "count": [136]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [703]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [703]}, "observation.state": {"min": [3.205901430116091, -1.7310830694784483, 0.6999781932076466, 0.0, 0.0, -0.7071332931518555, 0.7070802450180054, 0.2287153119831291, -0.13941702518579913, 0.22962883314626592, -0.998547375202179, -0.9417859315872192, -0.1259189397096634, 0.000422043667640537, 0.013543316360879533, -0.03997159169716337], "max": [3.2060093143520203, -1.7310245255692058, 0.7008552878451334, 0.0, 0.0, -0.7070258855819702, 0.7071877717971802, 0.2664408442068491, 0.010626742457940264, 0.5906101157932157, 0.4465494453907013, 0.8885418772697449, 0.04908379539847374, 0.04895525425672531, 0.040003952859058695, -0.020528899239794608], "mean": [3.2059304640446826, -1.7310460876882214, 0.7002923702107601, 0.0, 0.0, -0.7071002419947899, 0.707113277013407, 0.25265104363745505, -0.12574961619352393, 0.26418955695145985, -0.9204085461615159, -0.15825785061140488, -0.04294686891285274, 0.03028727534012127, 0.023685988333275766, -0.02861038869313723], "std": [1.0563805038185125e-05, 6.244827272605682e-06, 0.0002353649680612823, 0.0, 0.0, 1.2494246159774657e-05, 1.2495100031828588e-05, 0.008987062746994413, 0.022004085749645227, 0.0835141625781366, 0.20043345083461747, 0.2884245655319122, 0.040317321137100806, 0.007282028676931169, 0.009625851620352049, 0.006794928151719247], "count": [703]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.2571428571428572, -0.5071428571428571, -0.5428571428571429, -0.0, -0.09714285714285714, -0.27714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.29285714285714287, 0.13571428571428573, -0.0, 0.04, 0.17714285714285713, 0.22285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.004043893517577725, -0.016124771387929306, -0.039575289575289566, 0.0007518796992481203, 0.010331233489128226, -0.03782564519406624, 0.465149359886202], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.05668550096346673, 0.06882914799391272, 0.09535721024948166, 0.004075400173390498, 0.031186986284418027, 0.09369485056166947, 0.8852322141661276], "count": [703]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02275960147380829], "std": [0.14913618564605713], "count": [703]}, "next.done": {"min": [false], "max": [true], "mean": [0.001422475106685633], "std": [0.03768887994165511], "count": [703]}, "timestamp": {"min": [0.0], "max": [35.1], "mean": [17.549999999999997], "std": [10.146920715172659], "count": [703]}, "frame_index": {"min": [0], "max": [702], "mean": [351.0], "std": [202.93841430345316], "count": [703]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [703]}, "index": {"min": [8449], "max": [9151], "mean": [8800.0], "std": [202.93841430345316], "count": [703]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [703]}}} +{"episode_index": 14, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4709804291955149]], [[0.45383677806775086]], [[0.4458936923594712]]], "std": [[[0.20282337581993215]], [[0.19859839072293195]], [[0.20095415527077135]]], "count": [137]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.058823529411764705]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5013120278620116]], [[0.42893922619337144]], [[0.4040752742292885]]], "std": [[[0.25191723561975105]], [[0.2533478767693262]], [[0.2624939522607776]]], "count": [137]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.06666666666666667]], [[0.06666666666666667]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49812619274942527]], [[0.42895058413099213]], [[0.40454154368785894]]], "std": [[[0.25321345837990955]], [[0.25491478042587534]], [[0.26390816689981533]]], "count": [137]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [709]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [709]}, "observation.state": {"min": [4.66085226808932, -3.801456484027189, 0.6999977637744543, 0.0, 0.0, 0.00011221144814044237, 0.9999996423721313, -0.018999490112033612, -0.07553080208526186, 0.06777030837302167, -0.9912205934524536, -0.10509377717971802, -0.163436621427536, 0.0016905652591958642, -0.0028687436783658396, -0.05001045242744652], "max": [4.661004444998476, -3.4609890139451696, 0.7052823880323487, 0.0, 0.0, 0.0009147214004769921, 1.0, 0.24965018785901893, 0.40987226030293433, 0.5996740833483777, 0.984528660774231, 0.6119123101234436, 0.459103524684906, 0.6564309000968933, 0.041052133005221626, -0.0012429915580460867], "mean": [4.660909074169743, -3.6205440354246585, 0.70054213875693, 0.0, 0.0, 0.00025058852081999514, 0.9999999613284393, 0.1851823524258939, 0.1403166108865467, 0.4233898910943151, -0.29594085591468217, 0.10899347865531071, 0.04495049943708734, 0.21326301192975772, 0.03428658159682862, -0.0351374391178848], "std": [5.680890352215615e-05, 0.1671642834171057, 0.001198383087972631, 0.0, 0.0, 0.00021145023663258122, 1.022274302494709e-07, 0.06389426770926412, 0.1893548730027699, 0.2231789848902173, 0.8256583226482545, 0.23045398811349282, 0.2435741542037811, 0.24266992239177193, 0.012358115113553633, 0.011182140423625414], "count": [709]}, "action": {"min": [0.0, -0.7571428571428572, 0.0, 0.0, -1.0, -1.0, -0.9714285714285714, -0.9142857142857143, -0.3314285714285714, -0.36857142857142855, -0.88, -1.0], "max": [0.0, 0.0, 0.0, 0.0, 1.0, 0.7142857142857143, 0.8714285714285716, 0.2571428571428572, 0.9285714285714286, 0.18571428571428572, 0.20857142857142857, 1.0], "mean": [0.0, -0.020411041708643968, 0.0, 0.0, -0.8956276445698167, 0.03281281482974007, 0.02607293975418095, -0.11758009268587548, 0.06568607696957487, -0.027257707032037087, -0.08475518839411648, -0.6530324400564175], "std": [0.0, 0.10262754086917815, 0.0, 0.0, 0.44480458887283025, 0.17824229444025372, 0.21879552390448567, 0.20844932917729356, 0.22196209261492975, 0.08283192515233534, 0.2568892587709851, 0.75732993617971], "count": [709]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02256699651479721], "std": [0.14851844310760498], "count": [709]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014104372355430183], "std": [0.03752929392284928], "count": [709]}, "timestamp": {"min": [0.0], "max": [35.4], "mean": [17.7], "std": [10.233523342427084], "count": [709]}, "frame_index": {"min": [0], "max": [708], "mean": [354.0], "std": [204.67046684854168], "count": [709]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [709]}, "index": {"min": [9152], "max": [9860], "mean": [9506.0], "std": [204.67046684854168], "count": [709]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [709]}}} +{"episode_index": 15, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3805490701516265]], [[0.32955141833228785]], [[0.30916215048440965]]], "std": [[[0.15427786011726025]], [[0.16562425394908048]], [[0.18247749189686524]]], "count": [137]}, "observation.images.robot0_agentview_left": {"min": [[[0.06666666666666667]], [[0.0392156862745098]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44646859251584414]], [[0.3381485965914936]], [[0.29534085247672576]]], "std": [[[0.19323715757285548]], [[0.23622333977383678]], [[0.2575775599538348]]], "count": [137]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.047058823529411764]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4440280877726604]], [[0.33889159370052196]], [[0.29719911048182673]]], "std": [[[0.1955681054411507]], [[0.23723703679345856]], [[0.25695515625132825]]], "count": [137]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [708]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [708]}, "observation.state": {"min": [0.87452544898452, -4.401770823007666, 0.6999965284996504, 0.0, 0.0, 1.0, 3.762402457141434e-06, 0.0530546356587408, -0.004513523492095217, 0.12096615756223983, -0.9921286106109619, -0.08280661702156067, -0.4970819056034088, 6.184532685438171e-05, 0.02054303994745834, -0.04003940487942561], "max": [0.8746444863073001, -4.401715786603149, 0.7022468497623998, 0.0, 0.0, 1.0, 0.00017583300359547138, 0.24824612689931025, 0.3682293961594194, 0.6025391161974142, 0.9891068339347839, 0.41704243421554565, 0.4901050329208374, 0.46307602524757385, 0.04066943676863634, -0.020523519543135093], "mean": [0.8745578351491488, -4.401730025155421, 0.7009881513409634, 0.0, 0.0, 1.0, 0.00014541403922327593, 0.18387174683290444, 0.33597217463466855, 0.1658571430010638, 0.6674396241620436, 0.34219460294576687, 0.34262666309326045, 0.40370060102293914, 0.03808383311490959, -0.03864288044085912], "std": [1.0956857556025973e-05, 6.946480389155209e-06, 0.0005783783011184438, 0.0, 0.0, 0.0, 2.143253960579723e-05, 0.03373614810827531, 0.06250244218846074, 0.11071487816099168, 0.33109946066554574, 0.09493719574799556, 0.14721863179366768, 0.12940920923518082, 0.003303299909043144, 0.0038911571817194218], "count": [708]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6910714285714286, -0.24642857142857144, -0.8410714285714286, -0.15857142857142859, -0.1842857142857143, -0.14142857142857146, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5571428571428572, 0.9482142857142856, -0.0, 0.3407142857142857, 0.04071428571428572, 0.18, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0030796004842614973, 0.03501059322033896, -0.05912530266343822, 0.010254237288135593, -0.0071610169491525405, 0.003129539951573848, -0.7937853107344632], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1371614993060559, 0.16456545426303135, 0.12884810657249196, 0.08321123436526599, 0.022530574534740777, 0.04379926138950775, 0.6081980602256074], "count": [708]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02259887009859085], "std": [0.1486208587884903], "count": [708]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014124293785310734], "std": [0.03755575084832862], "count": [708]}, "timestamp": {"min": [0.0], "max": [35.35], "mean": [17.675], "std": [10.21908957132027], "count": [708]}, "frame_index": {"min": [0], "max": [707], "mean": [353.5], "std": [204.38179142640536], "count": [708]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [708]}, "index": {"min": [9861], "max": [10568], "mean": [10214.5], "std": [204.38179142640536], "count": [708]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [708]}}} +{"episode_index": 16, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5886892462772029]], [[0.5760159720626532]], [[0.563764483206337]]], "std": [[[0.28694315420882327]], [[0.2739271347051773]], [[0.26198527698635005]]], "count": [155]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6168236409041943]], [[0.589623855117904]], [[0.551808172101691]]], "std": [[[0.23716237922085714]], [[0.21121291190582472]], [[0.19183831929874243]]], "count": [155]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6110406277950319]], [[0.5835242158623152]], [[0.5452165277180681]]], "std": [[[0.24331772163012316]], [[0.21899230068700165]], [[0.20019030819385483]]], "count": [155]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [835]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [835]}, "observation.state": {"min": [0.807216052225796, -4.37531632761688, 0.699999217011373, 0.0, 0.0, -1.0, 0.0, 0.15485130645178535, 0.0015367735567579643, 0.22549311462857702, -0.9975563287734985, -0.9796326756477356, -0.13745690882205963, 0.00020622936426661909, 0.010241038790525037, -0.040195120721145845], "max": [0.8072801730428386, -4.374969875169067, 0.7045266515135654, 0.0, 0.0, 1.0, 0.0003400989808142185, 0.28947179873501483, 0.10070528335286166, 0.6016643597052016, 0.47874757647514343, 0.9825149178504944, 0.05109065771102905, 0.05259454622864723, 0.040958210153637827, -0.003737631811447559], "mean": [0.8072337055473092, -4.3750259557120765, 0.70161371019107, 0.0, 0.0, 0.5089820359281437, 2.4263074406605312e-05, 0.2628183735776375, 0.08144024352513225, 0.2614367015299193, -0.017737898248398377, 0.4498523190260647, -0.004129925628806953, 0.020802915295896895, 0.036835269168108295, -0.03611604869579151], "std": [8.767305448642412e-06, 5.12270894293974e-05, 0.0009484259903280999, 0.0, 0.0, 0.8607771413684524, 5.98911281375901e-05, 0.03335688473500754, 0.012968583957027983, 0.08870585293107233, 0.3718445331944401, 0.8110781437732177, 0.026109348343891687, 0.008403834184691313, 0.006927819591980038, 0.008830443952921447], "count": [835]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5517857142857143, -0.2839285714285715, -0.39107142857142857, -0.047142857142857146, -0.06857142857142857, -0.28500000000000003, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3696428571428571, 0.35357142857142865, -0.0, 0.060000000000000005, 0.10285714285714286, 0.75, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.005453378956372969, -0.011573994867408037, -0.057715996578271825, -0.00017707442258340454, 0.004139435414884519, -2.5662959795294954e-06, -0.6335329341317365], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.08250294338460447, 0.06827710031723061, 0.08948446619575656, 0.00891216401211953, 0.01885082943860111, 0.16666911540483953, 0.7737157238743654], "count": [835]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019161676988005638], "std": [0.13709305226802826], "count": [835]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011976047904191617], "std": [0.034585698390883], "count": [835]}, "timestamp": {"min": [0.0], "max": [41.7], "mean": [20.85], "std": [12.052178226362239], "count": [835]}, "frame_index": {"min": [0], "max": [834], "mean": [417.0], "std": [241.04356452724474], "count": [835]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [835]}, "index": {"min": [10569], "max": [11403], "mean": [10986.0], "std": [241.04356452724474], "count": [835]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [835]}}} +{"episode_index": 17, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48298681722950426]], [[0.47858438273859005]], [[0.47528692774071707]]], "std": [[[0.18682884700517302]], [[0.1857925340591291]], [[0.18398060543725342]]], "count": [157]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43068085269444417]], [[0.4244872437057028]], [[0.42514135542472115]]], "std": [[[0.2692972600034105]], [[0.26811691955960243]], [[0.2582708667233798]]], "count": [157]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42794942044729417]], [[0.4292530405219164]], [[0.43635771946617025]]], "std": [[[0.2762380775939098]], [[0.26996393217446324]], [[0.2561699798009089]]], "count": [157]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [851]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [851]}, "observation.state": {"min": [2.0697517973315915, -1.6539877042600277, 0.6998768607528535, 0.0, 0.0, -5.549746219912777e-06, 0.9999994039535522, 0.06706173287159034, -0.019105476308123537, 0.07771781015885171, -0.9844057559967041, -0.05061817169189453, -0.6044917702674866, 0.0015408198814839125, 0.008426347580188646, -0.04084745390633366], "max": [2.128889801877699, -1.5173588472802906, 0.7015476872414451, 0.0, 0.0, 0.0011563618900254369, 1.0, 0.24924435652574362, 0.30730409218991217, 0.606141895388767, 0.8177297115325928, 0.7054859399795532, 0.626079261302948, 0.43434712290763855, 0.04222134602195184, -0.0064535833544755155], "mean": [2.0766593572122454, -1.647884920255226, 0.7006238485901849, 0.0, 0.0, 0.0002525154741333042, 0.9999999696023316, 0.20740982262471386, 0.2441542787952409, 0.2027794112969706, -0.09362725764688118, 0.16882411760883242, 0.01617737795575385, 0.15698486382659355, 0.031919120371392946, -0.02840605488208736], "std": [0.014666238632588263, 0.024833574425428776, 0.000700071885419647, 0.0, 0.0, 0.00018221368101896108, 7.983387557267917e-08, 0.04773496336432701, 0.10156052233912698, 0.19251919386068453, 0.7748400444654047, 0.18488523794880266, 0.538955378827616, 0.11310990385343532, 0.009976070123995127, 0.011567616581572735], "count": [851]}, "action": {"min": [-0.4, -0.45714285714285713, 0.0, 0.0, -1.0, -0.45714285714285713, -1.0, -0.6928571428571428, -0.13428571428571429, -0.29428571428571426, -0.5971428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 0.7357142857142858, 1.0, 0.7714285714285716, 0.08857142857142856, 1.0], "mean": [-0.009341950646298471, -0.017953667953667964, 0.0, 0.0, -0.7955346650998825, 0.0333389289911029, 0.031366459627329264, -0.03727547423199596, 0.166063454759107, 0.020607688433775372, -0.08234010407923456, 0.2573443008225617], "std": [0.04707017026415928, 0.06996339936658935, 0.0, 0.0, 0.6059080760514707, 0.2317805101189869, 0.2777922945968711, 0.17047876086165645, 0.2873930083825032, 0.1261544213901595, 0.16353396350071558, 0.9663197766961666], "count": [851]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018801409751176834], "std": [0.1358231157064438], "count": [851]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011750881316098707], "std": [0.034259411838104], "count": [851]}, "timestamp": {"min": [0.0], "max": [42.5], "mean": [21.25], "std": [12.283118496538249], "count": [851]}, "frame_index": {"min": [0], "max": [850], "mean": [425.0], "std": [245.66236993076492], "count": [851]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [851]}, "index": {"min": [11404], "max": [12254], "mean": [11829.0], "std": [245.66236993076492], "count": [851]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [851]}}} +{"episode_index": 18, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3961876580125839]], [[0.38914750288322936]], [[0.3824908230474086]]], "std": [[[0.15704481769507272]], [[0.15787222225894876]], [[0.16055677708810867]]], "count": [122]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36420998397037474]], [[0.3438834347015253]], [[0.33010714858032736]]], "std": [[[0.19970955299317553]], [[0.194128850097192]], [[0.19159137657439557]]], "count": [122]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3501394057879299]], [[0.33483290002492416]], [[0.32410452930692]]], "std": [[[0.20819411978710126]], [[0.20331442586565104]], [[0.201603907291104]]], "count": [122]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [609]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [609]}, "observation.state": {"min": [1.8202600328168292, -1.101955383837767, 0.6999957433966454, 0.0, 0.0, 0.7037912011146545, 0.7071028351783752, 0.15834873175269548, -0.5248318020476455, 0.1079516189962395, -0.9866103529930115, -0.33296918869018555, -0.7873572111129761, 1.7802945876610465e-05, 0.014584527661569176, -0.04048993247961522], "max": [2.1474828920514777, -0.8682312921679934, 0.7019241525696676, 0.0, 0.0, 0.7071107029914856, 0.7104068994522095, 0.3268192529316577, 0.012602738037076122, 0.6124197334741859, 0.9857685565948486, 0.21417266130447388, 0.724119246006012, 0.2215992510318756, 0.040041804093623894, -0.02052572347091756], "mean": [1.841021442667799, -0.9741542855971824, 0.7001488041727256, 0.0, 0.0, 0.7051244780347852, 0.7090832039053216, 0.2739405453272259, -0.41200164876597906, 0.2405142914364052, -0.11722418386947933, 0.05181694767255893, -0.019501441878638243, 0.0691926985266114, 0.032742687905848056, -0.038397101086761184], "std": [0.07687570930925082, 0.03141079987856177, 0.0003964311143620374, 0.0, 0.0, 0.0004801110327918203, 0.0004781979404623563, 0.05464059028997458, 0.19193158976931315, 0.18555652281123816, 0.786852034939714, 0.14702666228369793, 0.5788894112595008, 0.05039485937224528, 0.009317724375603671, 0.0028549771444279547], "count": [609]}, "action": {"min": [-0.8928571428571429, -0.10714285714285715, -0.05428571428571429, 0.0, -1.0, -0.46428571428571436, -1.0, -0.5571428571428572, -0.15714285714285714, -0.22285714285714286, -0.37142857142857144, -1.0], "max": [0.45714285714285713, 0.8285714285714285, 0.02, 0.0, 1.0, 0.2642857142857143, 0.11428571428571428, -0.0, 0.20857142857142857, 0.10285714285714286, 0.21142857142857144, 1.0], "mean": [0.0009617640159512032, 0.018684025334271635, -0.00024865118461177575, 0.0, -0.7274220032840722, 0.010286183438892794, -0.06950504339666899, -0.10063335679099233, 0.023903354445226375, -0.021379310344827596, -0.03171475486746423, -0.26436781609195403], "std": [0.11933941214368073, 0.11078608776623557, 0.0036398789102970574, 0.0, 0.686190373830886, 0.07445166238315479, 0.21223229051898798, 0.12848056704913524, 0.06219808274436757, 0.05260546035193204, 0.0965966131211655, 0.9644219293518649], "count": [609]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.026272578164935112], "std": [0.15994477272033691], "count": [609]}, "next.done": {"min": [false], "max": [true], "mean": [0.0016420361247947454], "std": [0.040488761924262574], "count": [609]}, "timestamp": {"min": [0.0], "max": [30.4], "mean": [15.2], "std": [8.79014599802908], "count": [609]}, "frame_index": {"min": [0], "max": [608], "mean": [304.0], "std": [175.80291996058162], "count": [609]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [609]}, "index": {"min": [12255], "max": [12863], "mean": [12559.0], "std": [175.80291996058162], "count": [609]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [609]}}} +{"episode_index": 19, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3688779834850607]], [[0.35120871094205913]], [[0.33971743800059084]]], "std": [[[0.1828050662478496]], [[0.16244269327468383]], [[0.15617447446571986]]], "count": [105]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.495638145639115]], [[0.47685481679651026]], [[0.45282556243526056]]], "std": [[[0.22288188470622577]], [[0.21077512168844315]], [[0.20111167791326276]]], "count": [105]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47358159368890784]], [[0.45707712210860907]], [[0.4355893135248891]]], "std": [[[0.221930498335619]], [[0.21107035123353482]], [[0.20282069735303712]]], "count": [105]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [499]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [499]}, "observation.state": {"min": [1.9681855930024021, -0.9496340166925668, 0.6999947895016765, 0.0, 0.0, 0.7069422602653503, 0.7067882418632507, -0.010191470768848743, -0.2529157505305055, 0.08115213483651496, -0.9849171042442322, -0.0589178204536438, -0.6803601980209351, 0.013602378778159618, 0.001113714694942271, -0.04282503823727658], "max": [1.969583366356527, -0.9464347933076851, 0.713416617917152, 0.0, 0.0, 0.7074251770973206, 0.7072712779045105, 0.2512366818969719, 0.00925171360742949, 0.6116496661783934, -0.06974771618843079, 0.8432745933532715, -0.16208018362522125, 0.44467926025390625, 0.04003198193289649, -0.02051484807906038], "mean": [1.9694447100363202, -0.9477498510204287, 0.7010468803347952, 0.0, 0.0, 0.7071165761393392, 0.7070969273905477, 0.21080289820398718, -0.11835223454856628, 0.3796929007291256, -0.7813257130090603, 0.13741703295636035, -0.3881753990370668, 0.12654821294731272, 0.03209582082030868, -0.03853509376652713], "std": [0.00011157211802764393, 0.00025494808119664133, 0.0027324513429491616, 0.0, 0.0, 5.2186665332571295e-05, 5.218360962921899e-05, 0.06626321251587898, 0.12051025360325451, 0.23655876578165044, 0.2603920808171761, 0.2654846108629279, 0.21868251008493675, 0.13358123020063778, 0.014356874487698101, 0.004021600660228313], "count": [499]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7714285714285714, -0.7285714285714285, -1.0, -0.26857142857142857, -0.35714285714285715, -0.9171428571428571, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5071428571428571, -0.0, 0.14285714285714288, 0.5685714285714286, 0.05142857142857143, -0.0, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.010793014600629834, -0.06265387918694534, -0.17151445748640137, 0.08606355568279415, -0.030918980818780414, -0.09735470941883764, -0.531062124248497], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19342720124792662, 0.14652671604652853, 0.27378695913323353, 0.17504112024525956, 0.06692986008925823, 0.2199607066501895, 0.8473328862900769], "count": [499]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.032064128667116165], "std": [0.1761704385280609], "count": [499]}, "next.done": {"min": [false], "max": [true], "mean": [0.002004008016032064], "std": [0.044721269748339475], "count": [499]}, "timestamp": {"min": [0.0], "max": [24.9], "mean": [12.45], "std": [7.202430145443967], "count": [499]}, "frame_index": {"min": [0], "max": [498], "mean": [249.0], "std": [144.04860290887933], "count": [499]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [499]}, "index": {"min": [12864], "max": [13362], "mean": [13113.0], "std": [144.04860290887933], "count": [499]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [499]}}} +{"episode_index": 20, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46767016386668436]], [[0.4125542694873627]], [[0.37763977836979057]]], "std": [[[0.2474804069106309]], [[0.22370214148416684]], [[0.2121801615107533]]], "count": [137]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5706141007651206]], [[0.49392225462871336]], [[0.438886251486438]]], "std": [[[0.2541762405928237]], [[0.24850548436073122]], [[0.2379817145140037]]], "count": [137]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5779998871019951]], [[0.510478683259843]], [[0.45916873096003624]]], "std": [[[0.2733400056724948]], [[0.26543581512219305]], [[0.25304782768899736]]], "count": [137]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [712]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [712]}, "observation.state": {"min": [3.6936096099246867, -0.868289948463639, 0.6999992297246703, 0.0, 0.0, 0.7070232033729553, 0.7070689797401428, 0.06918112253974995, -0.47072807252481574, 0.11064749011885056, -0.9861152768135071, -0.08044546842575073, -0.7540889382362366, 0.000255620019743219, -4.493490712512591e-05, -0.04053960589680817], "max": [3.693671675984339, -0.8682266100784439, 0.7012627094257741, 0.0, 0.0, 0.7071444988250732, 0.7071904540061951, 0.24204017966106395, -0.012644090608244785, 0.61963291927043, 0.6670260429382324, 0.06884884834289551, 0.7604599595069885, 0.08603902161121368, 0.040003314580038404, -0.02049120838356747], "mean": [3.6936354711624486, -0.8682335426098375, 0.7000586185031804, 0.0, 0.0, 0.7071039276511482, 0.7071095682429464, 0.18498861168732814, -0.19790919563550025, 0.459452770233405, -0.7847687868254908, -0.01237035258097595, -0.26724133140334255, 0.042873924469297, 0.036516130834982743, -0.038617007258469116], "std": [5.86918997750717e-06, 1.0044116759671683e-05, 0.00016756702750629399, 0.0, 0.0, 1.5975176012200107e-05, 1.5990134844637797e-05, 0.04597762555054643, 0.17618843912496596, 0.20821909665003102, 0.4169053069749746, 0.03348845071129608, 0.36826575268448286, 0.01332893161818068, 0.00902292915248067, 0.004063943373740019], "count": [712]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.35000000000000003, -0.6285714285714287, -0.44285714285714284, -0.022857142857142857, -0.17714285714285713, -0.09714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.22142857142857142, 0.22142857142857142, 0.11428571428571428, 0.17142857142857143, 0.15142857142857147, 0.05428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.004464285714285699, -0.04753210272873194, -0.06152688603531299, 0.005313001605136437, -0.011532905296950243, -0.0017255216693418942, -0.7780898876404494], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.08767441546511591, 0.1321133013284309, 0.11726552257808213, 0.024825452358398753, 0.044952145382351046, 0.01814623424692389, 0.6281529485337726], "count": [712]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02247191034257412], "std": [0.14821243286132812], "count": [712]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014044943820224719], "std": [0.037450257376329725], "count": [712]}, "timestamp": {"min": [0.0], "max": [35.55], "mean": [17.775], "std": [10.27682465550522], "count": [712]}, "frame_index": {"min": [0], "max": [711], "mean": [355.5], "std": [205.5364931101044], "count": [712]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [712]}, "index": {"min": [13363], "max": [14074], "mean": [13718.5], "std": [205.5364931101044], "count": [712]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [712]}}} +{"episode_index": 21, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43224069174713675]], [[0.38049974037526857]], [[0.34329551303395345]]], "std": [[[0.2355147779200512]], [[0.19202233216683118]], [[0.1789317374501328]]], "count": [162]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49079165249752726]], [[0.42317847402180636]], [[0.35700529823866517]]], "std": [[[0.29936116154257686]], [[0.2550663160893391]], [[0.24697275561703166]]], "count": [162]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5411209209869687]], [[0.45541090216136854]], [[0.37460623385397757]]], "std": [[[0.29380491990627067]], [[0.24895812703045184]], [[0.24712552801469526]]], "count": [162]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [886]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [886]}, "observation.state": {"min": [3.0867839572013986, -0.8212037337518168, 0.6997918146232028, 0.0, 0.0, 0.7069264650344849, 0.70661461353302, -0.1778320914509901, -0.512079321273418, 0.11699195881414781, -0.9911584854125977, -0.06408463418483734, -0.8193418383598328, 0.0004545982228592038, 0.0015006728830549748, -0.050259410633001544], "max": [3.235509766387093, -0.8190622210886398, 0.702486798667199, 0.0, 0.0, 0.7075985670089722, 0.7072870135307312, 0.2438158374039684, 0.03064648029506145, 0.6093666617962412, 0.991073489189148, 0.7882590293884277, 0.14184555411338806, 0.3116312623023987, 0.046166920919300976, 4.672651450533851e-05], "mean": [3.181186211859519, -0.8207833276756162, 0.7001532665251816, 0.0, 0.0, 0.7071196950854352, 0.7070938044019531, 0.11852107766111836, -0.10184037775478866, 0.47830756646209965, 0.03194288129242385, 0.1415135230086996, -0.1853329170470044, 0.09571954935437497, 0.03531208569630813, -0.03806898312489523], "std": [0.07033656050760156, 0.00010739700894848628, 0.00054117561676381, 0.0, 0.0, 7.167561807134568e-05, 7.17002872917769e-05, 0.11155708610757126, 0.15374025924008086, 0.18237305967347814, 0.887820013657982, 0.16871333487013515, 0.33110452825078973, 0.09552109701345236, 0.01155808949930395, 0.008486775244201928], "count": [886]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8500000000000001, -1.0, -0.6500000000000001, -0.32285714285714284, -0.35428571428571426, -0.7714285714285716, -1.0], "max": [0.0, 0.4857142857142857, 0.0, 0.0, 1.0, 0.6428571428571428, 0.7000000000000001, 1.0, 0.8714285714285714, 0.23714285714285716, 0.13142857142857142, 1.0], "mean": [0.0, 0.013342470170912607, 0.0, 0.0, -0.909706546275395, -0.005175749758142545, -0.09804901644630765, 0.0017978071589809606, 0.046646243147371806, -0.020941631731699453, -0.05014511447920027, -0.6839729119638827], "std": [0.0, 0.06615642695891441, 0.0, 0.0, 0.4152517304764626, 0.16816480953384325, 0.25832366883653457, 0.24902501090157028, 0.14184110572107164, 0.0569805632457361, 0.14407232967083333, 0.7295074061993105], "count": [886]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018058691173791885], "std": [0.1331637054681778], "count": [886]}, "next.done": {"min": [false], "max": [true], "mean": [0.001128668171557562], "std": [0.033576692507095975], "count": [886]}, "timestamp": {"min": [0.0], "max": [44.25], "mean": [22.125], "std": [12.788300317086708], "count": [886]}, "frame_index": {"min": [0], "max": [885], "mean": [442.5], "std": [255.76600634173417], "count": [886]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [886]}, "index": {"min": [14075], "max": [14960], "mean": [14517.5], "std": [255.76600634173417], "count": [886]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [886]}}} +{"episode_index": 22, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4477908388102336]], [[0.4398812993559303]], [[0.4214145047312628]]], "std": [[[0.20080192448492568]], [[0.19983173641463178]], [[0.1952647871681802]]], "count": [117]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5238402455980222]], [[0.49727136385946274]], [[0.4549761230509665]]], "std": [[[0.19852799754616735]], [[0.2009850829645689]], [[0.20492046073046888]]], "count": [117]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.508802141023677]], [[0.48593210482769167]], [[0.4452785598706296]]], "std": [[[0.20005905718485054]], [[0.19874658332333503]], [[0.19884561413361335]]], "count": [117]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [577]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [577]}, "observation.state": {"min": [3.614305393542208, -2.1234048249902124, 0.6998452239889512, 0.0, 0.0, -0.7072665095329285, 0.7069470286369324, -0.03630751174741942, -0.016118118953091898, 0.11316847624057125, -0.9884964227676392, -0.06621098518371582, -0.6549085378646851, 0.00010025431402027607, 0.01567556735200896, -0.040764462875304275], "max": [3.614506814174268, -2.123102058393793, 0.7021260119630623, 0.0, 0.0, -0.7071126103401184, 0.7071009278297424, 0.2518419145833555, 0.31681970366187695, 0.5972336921142781, 0.9056443572044373, 0.2313256859779358, 0.6599569916725159, 0.22161713242530823, 0.04079888204678863, -0.018206352868313326], "mean": [3.614359248221107, -2.1232251746449173, 0.7009103573051921, 0.0, 0.0, -0.7071954348678192, 0.7070181612538713, 0.14707048861526442, 0.27596247485288317, 0.22397744013212575, 0.18711820849099647, 0.04434530679749864, 0.23043828229040578, 0.05572111706906749, 0.03385787351705888, -0.03348076988466013], "std": [2.993983374641249e-05, 4.328894249231133e-05, 0.0009819870939482115, 0.0, 0.0, 1.8590145670850592e-05, 1.8583078899199956e-05, 0.07359531165985998, 0.06996802378003406, 0.17068029359304412, 0.7705089231789868, 0.052897360123822415, 0.5559692512139784, 0.03506690876497951, 0.008447698848193033, 0.008216462978887597], "count": [577]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6928571428571428, -0.31428571428571433, -0.6357142857142857, -0.0, -0.26285714285714284, -0.21714285714285717, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.36428571428571427, 0.5142857142857143, -0.0, 0.3314285714285714, -0.0, 0.17714285714285713, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02231988115870265, 0.020264917058677893, -0.09212676405050754, 0.04224312948749691, -0.025857885615251274, -0.018861104233721216, -0.03986135181975736], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.15810410036988917, 0.11596801487934114, 0.15535711569981364, 0.08318725608187558, 0.05957103195283507, 0.06351791148109888, 0.999205220478305], "count": [577]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.027729636058211327], "std": [0.1641971468925476], "count": [577]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017331022530329288], "std": [0.04159445407279029], "count": [577]}, "timestamp": {"min": [0.0], "max": [28.8], "mean": [14.399999999999999], "std": [8.328265125462805], "count": [577]}, "frame_index": {"min": [0], "max": [576], "mean": [288.0], "std": [166.5653025092561], "count": [577]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [577]}, "index": {"min": [14961], "max": [15537], "mean": [15249.0], "std": [166.5653025092561], "count": [577]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [577]}}} +{"episode_index": 23, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32854393221200395]], [[0.3261318065755793]], [[0.3236054677268092]]], "std": [[[0.14790926134616394]], [[0.14532463164374515]], [[0.14596831106197058]]], "count": [131]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34420344343158304]], [[0.3518172982530918]], [[0.32719478849842953]]], "std": [[[0.22679617971876764]], [[0.23082998359505394]], [[0.22335553012155673]]], "count": [131]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.412020911479528]], [[0.4109676896089423]], [[0.38652151033846566]]], "std": [[[0.20564822954741466]], [[0.20496693217928877]], [[0.2035583092178139]]], "count": [131]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [668]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [668]}, "observation.state": {"min": [3.0794069442065, -0.8266419868398819, 0.6999213510327712, 0.0, 0.0, 0.7071068286895752, 0.7064802050590515, -0.06457415920991227, -0.004322495409415428, 0.09558168347975615, -0.9902511835098267, -0.19852161407470703, -0.636807382106781, 0.0009844077285379171, -1.0406918158735493e-05, -0.04110038622996633], "max": [3.4114894856668934, -0.8109322952640448, 0.7004993101210044, 0.0, 0.0, 0.7077328562736511, 0.7071066498756409, 0.2418650926281517, 0.4506960669147877, 0.5942085188077675, 0.987211287021637, 0.8394173383712769, 0.6842222213745117, 0.6791061758995056, 0.03997708497110962, -0.012630346565227839], "mean": [3.4019186255530305, -0.8131823669170145, 0.7001456318558069, 0.0, 0.0, 0.7076585309769579, 0.706554562745694, 0.11625498471139674, 0.3592586608159073, 0.21488268624636603, 0.0900827292638725, 0.6087038697686024, 0.06106289632903018, 0.4899486794532416, 0.03421553248952622, -0.036255109439871286], "std": [0.04863297025344395, 0.003172317457982527, 0.00016943457142829153, 0.0, 0.0, 9.856697935315152e-05, 9.86724800222854e-05, 0.07401435876327388, 0.1387310338073851, 0.16752697967601263, 0.4492130339979225, 0.2880851350359654, 0.19535216348970333, 0.2337486640163594, 0.011028818898178768, 0.008157923330474819], "count": [668]}, "action": {"min": [0.0, -0.6053571428571428, 0.0, 0.0, -1.0, -0.7017857142857142, -0.5410714285714286, -0.5089285714285714, -0.18, -0.08785714285714287, -0.1392857142857143, -1.0], "max": [0.5196428571428572, 0.0, 0.019285714285714288, 0.0, 1.0, 0.2517857142857143, 0.7178571428571429, 0.35892857142857143, 0.6364285714285715, 0.04071428571428572, 0.31285714285714283, 1.0], "mean": [0.009759944396920447, -0.02352170658682635, 2.8870829769033367e-05, 0.0, -0.8323353293413174, -0.007803143712574864, -0.0013633447390932092, -0.051390076988879416, 0.06397455089820361, -0.00957549187339607, 0.019580838323353382, -0.5209580838323353], "std": [0.059183846468359606, 0.10072561125909411, 0.0007456279563599595, 0.0, 0.5542724055284299, 0.14046298424194043, 0.2064200861784338, 0.11278248124508353, 0.19369863668562737, 0.01944091030874222, 0.08332130635269291, 0.8535822601775067], "count": [668]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.023952096700668335], "std": [0.15289993584156036], "count": [668]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014970059880239522], "std": [0.038662190329775324], "count": [668]}, "timestamp": {"min": [0.0], "max": [33.35], "mean": [16.675], "std": [9.64173869175057], "count": [668]}, "frame_index": {"min": [0], "max": [667], "mean": [333.5], "std": [192.83477383501142], "count": [668]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [668]}, "index": {"min": [15538], "max": [16205], "mean": [15871.5], "std": [192.83477383501142], "count": [668]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [668]}}} +{"episode_index": 24, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41169394564026346]], [[0.39644307411300317]], [[0.3900172268790505]]], "std": [[[0.2509822903573076]], [[0.23691789360985735]], [[0.23518493815164734]]], "count": [111]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4732355082420426]], [[0.47223220283415307]], [[0.4709355540124799]]], "std": [[[0.2503761321412532]], [[0.2462363511817722]], [[0.24522427000485936]]], "count": [111]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48409319137899387]], [[0.4828043921679032]], [[0.4814722559473536]]], "std": [[[0.2409003831466001]], [[0.2365558865230431]], [[0.235476224141103]]], "count": [111]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [537]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [537]}, "observation.state": {"min": [4.870939447985624, -4.8597922914339104, 0.699808825451357, 0.0, 0.0, 7.962759991642088e-05, 0.9999995231628418, 0.15630798041434346, -0.09447264963789692, 0.22980726332757573, -0.9909424781799316, -0.8703354001045227, -0.23893554508686066, 0.0004967276472598314, 0.00040222389483913346, -0.04262508964995274], "max": [4.872148336567873, -4.859034999540346, 0.7026683220220825, 0.0, 0.0, 0.0009555249125696719, 1.0, 0.3107133923058196, 0.0036984483652284794, 0.5976333194054844, 0.9945567846298218, 0.2866940200328827, 0.21607649326324463, 0.1335177719593048, 0.04000338586624123, 0.0033386225665101655], "mean": [4.871936986959083, -4.859695194226804, 0.7001940606802506, 0.0, 0.0, 0.00020406452187851203, 0.999999982462693, 0.24311747467724606, -0.04097655955409583, 0.44072187793909234, -0.13445489361077492, 0.0004984331031085392, -0.034120854406549946, 0.03940938097380147, 0.035012557085393074, -0.036935172488549384], "std": [6.514551775523304e-05, 0.0001297364832020914, 0.0005466886926987565, 0.0, 0.0, 0.0001543730136459845, 6.655369586964038e-08, 0.036563080248783776, 0.02733890295878387, 0.15354956429945932, 0.9528079543021544, 0.23181433358612252, 0.1317114540517849, 0.01659838393858701, 0.01185222137939975, 0.008808922408973286], "count": [537]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8857142857142857, -0.8285714285714285, -0.7857142857142857, -0.17142857142857143, -0.4828571428571429, -0.6828571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5214285714285715, 0.6857142857142858, -0.0, 0.25142857142857145, -0.0, 0.12285714285714287, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.08063314711359408, -0.01443202979515828, -0.16432561851556274, -0.002883745677041766, -0.03816440542697527, -0.06095770151636073, -0.6797020484171322], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24545352104810156, 0.13548719279938867, 0.20401915481706032, 0.034158439265518904, 0.09170427239294597, 0.17971595609312108, 0.7334883266811777], "count": [537]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04841713234782219], "std": [0.21464601159095764], "count": [537]}, "next.done": {"min": [false], "max": [true], "mean": [0.00186219739292365], "std": [0.04311298660257067], "count": [537]}, "timestamp": {"min": [0.0], "max": [26.8], "mean": [13.4], "std": [7.750913924606999], "count": [537]}, "frame_index": {"min": [0], "max": [536], "mean": [268.0], "std": [155.01827849213998], "count": [537]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [537]}, "index": {"min": [16206], "max": [16742], "mean": [16474.0], "std": [155.01827849213998], "count": [537]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [537]}}} +{"episode_index": 25, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39121239002147445]], [[0.36285789428799586]], [[0.35247309976327046]]], "std": [[[0.18376064022362643]], [[0.15729505703579127]], [[0.15780329831880835]]], "count": [135]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40755618780353575]], [[0.3887976575088224]], [[0.38179430771151057]]], "std": [[[0.1950933018726285]], [[0.20279018049014091]], [[0.20702925497947813]]], "count": [135]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3857434117491036]], [[0.3693314722264774]], [[0.3631593826947735]]], "std": [[[0.1987624755515634]], [[0.20374622703495177]], [[0.2071431424327204]]], "count": [135]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [698]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [698]}, "observation.state": {"min": [3.2232779720542726, -2.0188837425076915, 0.6999865661461881, 0.0, 0.0, -0.7071642875671387, 0.7070491909980774, 0.05011377701320008, -0.011681915917904462, 0.16045228957146163, -0.9921398758888245, -0.43838202953338623, -0.3165441155433655, 0.00038303955807350576, 0.00012352714702051578, -0.04155780620986217], "max": [3.223637096445876, -2.0183177816860685, 0.700980416062954, 0.0, 0.0, -0.7070398926734924, 0.707173764705658, 0.26622331435281854, 0.2656701125663954, 0.6179520130183639, 0.9924517273902893, 0.5112418532371521, 0.644413411617279, 0.3781674802303314, 0.04222657171876768, -0.001715423364394718], "mean": [3.2234371147789416, -2.0187593213147896, 0.7000583175258416, 0.0, 0.0, -0.7071048847925355, 0.7071086400559433, 0.19358588356708759, 0.0906433052997788, 0.44397258742127726, -0.17546199326187287, 0.09500265530281217, 0.13268781521685827, 0.1278251361556436, 0.03673943405721942, -0.03911565139883055], "std": [2.6502669333474874e-05, 2.3647762298482105e-05, 0.0001701931822486361, 0.0, 0.0, 1.0890335337280861e-05, 1.0887978692556656e-05, 0.08295782367753787, 0.1097919559195308, 0.19815540887937694, 0.8831133751408728, 0.16111019475230742, 0.3164067076032052, 0.14241951932444144, 0.0100547681466235, 0.0037734697996947234], "count": [698]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5142857142857143, -0.8500000000000001, -0.5928571428571429, -0.3342857142857143, -0.2542857142857143, -0.3057142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4928571428571429, 0.5571428571428572, 0.30714285714285716, 0.44285714285714284, 0.35428571428571426, 0.20285714285714287, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.012812116250511658, -0.031232091690544427, -0.05294719607040527, 0.020036839950880066, -0.0034424887433483417, 0.0020221039705280515, -0.830945558739255], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.13932763631836528, 0.1904995203077325, 0.14199215437228807, 0.10529354402284082, 0.05724404706492736, 0.07710436860866188, 0.5563537349667991], "count": [698]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022922636941075325], "std": [0.14965690672397614], "count": [698]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014326647564469914], "std": [0.03782343490671657], "count": [698]}, "timestamp": {"min": [0.0], "max": [34.85], "mean": [17.424999999999997], "std": [10.07475185798638], "count": [698]}, "frame_index": {"min": [0], "max": [697], "mean": [348.5], "std": [201.4950371597276], "count": [698]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [698]}, "index": {"min": [16743], "max": [17440], "mean": [17091.5], "std": [201.4950371597276], "count": [698]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [698]}}} +{"episode_index": 26, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4605485677835022]], [[0.4416531664338805]], [[0.4263201124914228]]], "std": [[[0.25706265707673903]], [[0.24336594938302955]], [[0.22614951811734443]]], "count": [121]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5000618170115574]], [[0.46089192095113485]], [[0.42243243415126575]]], "std": [[[0.30113431742199204]], [[0.28538676549720354]], [[0.2729922231195364]]], "count": [121]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5848833968391721]], [[0.5224358889527693]], [[0.45898643225368657]]], "std": [[[0.25003773227423054]], [[0.24631651281340328]], [[0.25072478186431196]]], "count": [121]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [603]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [603]}, "observation.state": {"min": [3.126418637260394, -0.9819805888480749, 0.6999092774262127, 0.0, 0.0, 0.7025132775306702, 0.7070494294166565, 0.14458355688485824, -0.0008232313765299537, 0.1378925003635887, -0.9919018149375916, -0.1147686243057251, -0.7324538230895996, 0.0002059782564174384, 0.005866925197733598, -0.040698647453321114], "max": [3.499909432760818, -0.8520999148017141, 0.7002507184254835, 0.0, 0.0, 0.7071640491485596, 0.7116706371307373, 0.2536552055867164, 0.43871283402233185, 0.5845409040409638, 0.9732271432876587, 0.3002363443374634, 0.7814539670944214, 0.3464222550392151, 0.04060430580237679, -0.015160019676585482], "mean": [3.4728814246121886, -0.9077866649266523, 0.7000621969096645, 0.0, 0.0, 0.7029116803140782, 0.7112756906259514, 0.20827431010437242, 0.3406418050502587, 0.24102409146287718, -0.08538001162891166, 0.04060167093972859, 0.13791936805246283, 0.04871438407039623, 0.03252493530075825, -0.034131686235487145], "std": [0.08899649121845864, 0.019028683214395038, 8.137234354578834e-05, 0.0, 0.0, 0.0010191321501426393, 0.0010120221788776727, 0.02265162988420153, 0.15704441998033078, 0.16593652037976797, 0.758472302314292, 0.09021873186057232, 0.6185425190508647, 0.06043516402142899, 0.00970179750122648, 0.007972403728582992], "count": [603]}, "action": {"min": [-0.6071428571428572, -0.7428571428571429, -0.05714285714285715, 0.0, -1.0, -0.5, -0.35714285714285715, -0.6714285714285714, -0.05714285714285715, -0.25142857142857145, -0.2, -1.0], "max": [0.5214285714285715, 0.0, 0.0, 0.0, 1.0, 0.3357142857142857, 0.7642857142857143, -0.0, 0.4885714285714286, 0.18, 0.03142857142857143, 1.0], "mean": [0.0006751954513148556, -0.03288320303245677, -0.0005922767116796968, 0.0, -0.7346600331674958, -0.020682302771855017, 0.05812603648424535, -0.060578062070599424, 0.0557640369580668, -0.01476427386875149, -0.024397062307510077, -0.21724709784411278], "std": [0.08997429901395251, 0.11834128481843527, 0.004305156710678772, 0.0, 0.6784354322014168, 0.09986555499721461, 0.1733568345791721, 0.12973770523484848, 0.11637724669555091, 0.06061094879923185, 0.051538726715686364, 0.9761166418406728], "count": [603]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02653399668633938], "std": [0.1607169508934021], "count": [603]}, "next.done": {"min": [false], "max": [true], "mean": [0.001658374792703151], "std": [0.04068936698635256], "count": [603]}, "timestamp": {"min": [0.0], "max": [30.1], "mean": [15.049999999999999], "std": [8.703543339736218], "count": [603]}, "frame_index": {"min": [0], "max": [602], "mean": [301.0], "std": [174.07086679472434], "count": [603]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [603]}, "index": {"min": [17441], "max": [18043], "mean": [17742.0], "std": [174.07086679472434], "count": [603]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [603]}}} +{"episode_index": 27, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.19428448164438863]], [[0.1919585810229938]], [[0.19686331603880103]]], "std": [[[0.2144796555272881]], [[0.21114878739919982]], [[0.20797996231270102]]], "count": [116]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6997714601714036]], [[0.658899264693502]], [[0.6263479324351138]]], "std": [[[0.2590987851213146]], [[0.23911586142238306]], [[0.22735964481541515]]], "count": [116]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7261953961293064]], [[0.6860060892369474]], [[0.6539575072540634]]], "std": [[[0.23107384830950642]], [[0.21364732184355287]], [[0.20611209223538807]]], "count": [116]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [566]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [566]}, "observation.state": {"min": [4.876537434811104, -4.6910549250630735, 0.6999994118395316, 0.0, 0.0, 0.00011408069985918701, 1.0, 0.23486413784116422, -0.3125875545110519, 0.23003481838572515, -0.9994435906410217, -0.04311107099056244, -0.14183872938156128, 0.012210018001496792, 0.011485073343766954, -0.0399134844904208], "max": [4.876577878309188, -4.69100059858214, 0.7013506159547922, 0.0, 0.0, 0.00019534897000994533, 1.0, 0.2772276860788958, 0.0012216537109832615, 0.5988993836165787, -0.7472397089004517, 0.6642588973045349, -0.004839346744120121, 0.050708651542663574, 0.04000428588885489, -0.020539125035933685], "mean": [4.876559959633845, -4.691041187418081, 0.7008919006513603, 0.0, 0.0, 0.00015689767153078836, 1.0, 0.2694492232441092, -0.27936200300861136, 0.27194579515819634, -0.9871392276388176, 0.02827647719992976, -0.015923551297763055, 0.03399056577791753, 0.023808758610411047, -0.028169548391406563], "std": [4.502691308393845e-06, 6.064389109299501e-06, 0.0005200709446427201, 0.0, 0.0, 1.1437687135502209e-05, 0.0, 0.014370797460645967, 0.06360441593301529, 0.09970052983934412, 0.040765745510948664, 0.1440380349464189, 0.029409393160033673, 0.008599581875707916, 0.009111079189586663, 0.007263659300539514], "count": [566]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.12142857142857143, -0.5, -0.5785714285714286, -0.0, -0.0, -0.2142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.16428571428571428, -0.0, -0.0, 0.05714285714285715, 0.07428571428571429, -0.0, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0015901060070671392, -0.04131751640585562, -0.053079252902574495, 0.0008379606259464917, 0.004310954063604239, -0.025683997980817774, 0.43462897526501765], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.029648962001339308, 0.10642435476920231, 0.11991394834784452, 0.005247621153024252, 0.013472810923228168, 0.06394113003255457, 0.9006096012479999], "count": [566]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02826855145394802], "std": [0.1657390594482422], "count": [566]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017667844522968198], "std": [0.04199598701061736], "count": [566]}, "timestamp": {"min": [0.0], "max": [28.25], "mean": [14.125], "std": [8.169493558354764], "count": [566]}, "frame_index": {"min": [0], "max": [565], "mean": [282.5], "std": [163.3898711670953], "count": [566]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [566]}, "index": {"min": [18044], "max": [18609], "mean": [18326.5], "std": [163.3898711670953], "count": [566]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [566]}}} +{"episode_index": 28, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5032468946892622]], [[0.4686421556562475]], [[0.44970134173818477]]], "std": [[[0.18971617893473366]], [[0.14857822510371607]], [[0.1402562444801701]]], "count": [123]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.653848670389062]], [[0.5573147020137768]], [[0.46364806224033056]]], "std": [[[0.24589304692795794]], [[0.22537106055219724]], [[0.23864778131572625]]], "count": [123]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6389284795234786]], [[0.5521984439061131]], [[0.4674623425832001]]], "std": [[[0.25091359249383405]], [[0.23388396547932852]], [[0.24388281099193695]]], "count": [123]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [613]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [613]}, "observation.state": {"min": [4.895223542966383, -4.682408174746313, 0.6999951346124048, 0.0, 0.0, -5.616719136014581e-05, 0.9999994039535522, 0.20355571205646328, -0.00830091511814679, 0.22726992931881573, -0.9991798996925354, -0.6002784967422485, -0.15810731053352356, 5.066345329396427e-05, 0.0004764189997412437, -0.04346319852999607], "max": [4.895386856062864, -4.681434216123847, 0.7024448308243323, 0.0, 0.0, 0.0010672627249732614, 1.0, 0.2935688038286255, 0.03321756903943651, 0.6116035922347596, 0.9254027009010315, 0.6440883874893188, 0.11224742978811264, 0.0640319362282753, 0.04018342990649353, -0.01695006995661263], "mean": [4.895270268416001, -4.682178309328085, 0.7004079886312489, 0.0, 0.0, 0.00020123126571756813, 0.9999999739411993, 0.23364794431457223, 0.0117039487891346, 0.4570069239540371, -0.6073000789855472, -0.01291861336489875, -0.0757995636970964, 0.03206625226450897, 0.03542755292648201, -0.03887948198025224], "std": [1.620358638280526e-05, 0.0001676034268171147, 0.0007036797896816901, 0.0, 0.0, 0.00019480989994663254, 1.0289616031896404e-07, 0.02543557732733454, 0.008314290449058747, 0.17259196287624287, 0.6949763342993317, 0.3633682985390378, 0.09444416959465413, 0.01725037606388072, 0.010285652522493268, 0.004454077789176272], "count": [613]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.6285714285714287, -0.6428571428571428, -0.1457142857142857, -0.44857142857142857, -0.7714285714285716, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.30714285714285716, 0.9142857142857143, -0.0, 0.12857142857142856, 0.20285714285714287, 0.2857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.03953623863901187, -0.03185737590305291, -0.08773013283616868, -0.0020228384991843387, 0.010985784199487305, -0.038210207410859925, -0.7618270799347472], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1671473924937704, 0.14497218703402753, 0.16251136089386167, 0.03046940656764646, 0.05081357306179204, 0.19781479091688306, 0.6477804414136761], "count": [613]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.026101142168045044], "std": [0.15943610668182373], "count": [613]}, "next.done": {"min": [false], "max": [true], "mean": [0.0016313213703099511], "std": [0.04035666191469162], "count": [613]}, "timestamp": {"min": [0.0], "max": [30.6], "mean": [15.299999999999999], "std": [8.847881102275279], "count": [613]}, "frame_index": {"min": [0], "max": [612], "mean": [306.0], "std": [176.95762204550556], "count": [613]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [613]}, "index": {"min": [18610], "max": [19222], "mean": [18916.0], "std": [176.95762204550556], "count": [613]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [613]}}} +{"episode_index": 29, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36177116222284633]], [[0.3330353953376055]], [[0.31543843188316995]]], "std": [[[0.16572379441021903]], [[0.14537900816550672]], [[0.14928058775884215]]], "count": [135]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40304802611329543]], [[0.3707930576654128]], [[0.3524213466491921]]], "std": [[[0.28361269265459743]], [[0.2824105528918123]], [[0.2896632201678328]]], "count": [135]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4196295041906375]], [[0.3877158871541962]], [[0.36890119919676495]]], "std": [[[0.289524324635893]], [[0.2888137049521759]], [[0.2967172911331796]]], "count": [135]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [697]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [697]}, "observation.state": {"min": [1.7255680320893296, -0.8168766419872222, 0.6999974872592956, 0.0, 0.0, 0.7071068286895752, 0.703124463558197, 0.047697820525379075, -0.015807290602335877, 0.1440955399045024, -0.993962824344635, -0.05758042633533478, -0.637438178062439, 0.0014001327799633145, 0.014357276133892856, -0.04020434490137082], "max": [1.8288840601432022, -0.8093551870859541, 0.7017991490336978, 0.0, 0.0, 0.7110667824745178, 0.7071066498756409, 0.24392321047765608, 0.36040441723532224, 0.5840691767673953, 0.9934143424034119, 0.7374392151832581, 0.6372774839401245, 0.6576542258262634, 0.04000215459555126, -0.0204997694096683], "mean": [1.8265422642396603, -0.8124945291169923, 0.7007196701386706, 0.0, 0.0, 0.7107674623151421, 0.7034259385494795, 0.14237859235132644, 0.30360288564098714, 0.23356839745020844, 0.23602001845751122, 0.5216026160240687, 0.22247737553104266, 0.5060023029705301, 0.03557607044179057, -0.03877113960027638], "std": [0.013835525934871163, 0.0007494146156265327, 0.0005912967724419376, 0.0, 0.0, 0.0008647773576801361, 0.0008698368857795756, 0.04499534162190342, 0.10935334280143899, 0.13687671410620572, 0.46410446647139, 0.24160432054997225, 0.20917617509012895, 0.22174418449593028, 0.008025262625148407, 0.003814885260121256], "count": [697]}, "action": {"min": [0.0, -0.6482142857142857, 0.0, 0.0, -1.0, -0.6000000000000001, -0.17142857142857143, -0.8624999999999999, -0.3192857142857143, -0.12642857142857145, -0.075, -1.0], "max": [0.36428571428571427, 0.0, 0.0, 0.0, 1.0, 0.15535714285714286, 1.0, -0.0, 0.3107142857142858, 0.10928571428571428, 0.3792857142857142, 1.0], "mean": [0.017001434720229556, -0.02675497028079525, 0.0, 0.0, -0.8479196556671449, -0.007463107194097136, 0.0431543349046936, -0.052034228325476606, 0.02333162533306006, -0.006081164172986274, 0.014689485550317707, -0.6126255380200861], "std": [0.06775762206775723, 0.10776744134022155, 0.0, 0.0, 0.530124756574623, 0.09900531063154865, 0.16389558604423463, 0.11836274247980126, 0.12637614649040838, 0.023039377186637042, 0.07144295448430997, 0.7903732979836803], "count": [697]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022955523803830147], "std": [0.14976170659065247], "count": [697]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014347202295552368], "std": [0.037850519248989724], "count": [697]}, "timestamp": {"min": [0.0], "max": [34.8], "mean": [17.4], "std": [10.060318086422516], "count": [697]}, "frame_index": {"min": [0], "max": [696], "mean": [348.0], "std": [201.20636172845033], "count": [697]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [697]}, "index": {"min": [19223], "max": [19919], "mean": [19571.0], "std": [201.20636172845033], "count": [697]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [697]}}} +{"episode_index": 30, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46497323459834167]], [[0.441248659929607]], [[0.42715210569638346]]], "std": [[[0.24824383647317794]], [[0.2529520226693023]], [[0.2626905957378401]]], "count": [116]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5003307159403194]], [[0.494375801731236]], [[0.49223524071704383]]], "std": [[[0.335565398806042]], [[0.33580186599982065]], [[0.33581530549978045]]], "count": [116]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37361865195170535]], [[0.3524870825426412]], [[0.34089479375482007]]], "std": [[[0.28388366223553724]], [[0.27953049306031397]], [[0.2821661453380233]]], "count": [116]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [570]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [570]}, "observation.state": {"min": [2.473804553516978, -1.1858530803633718, 0.6999958059836477, 0.0, 0.0, 0.7070479989051819, 0.706960916519165, 0.06697277139379043, -0.46188847104803177, 0.09642918410401735, -0.9932874441146851, -0.02328278124332428, -0.7641003131866455, 2.008259980357252e-05, 0.0002940357120255841, -0.04261271485254304], "max": [2.4741534187890237, -1.1856961700782778, 0.7026450525123749, 0.0, 0.0, 0.7072526812553406, 0.707165539264679, 0.2545420090634556, -0.0017567079832794263, 0.5752136160065172, 0.7385978698730469, 0.29760849475860596, 0.779154360294342, 0.29561617970466614, 0.04000271407881606, -0.020501268788801305], "mean": [2.474082476880875, -1.1857517845757308, 0.7002766836777158, 0.0, 0.0, 0.7071038963501913, 0.70710962770278, 0.1732936591663318, -0.41265966469676724, 0.1691437200466847, 0.1705188836967736, 0.06907675612652511, 0.37318669196806453, 0.06379434461485194, 0.02643678466018356, -0.031063854375264835], "std": [2.7687103343860383e-05, 1.3389392669762798e-05, 0.0005279355997204342, 0.0, 0.0, 1.9039226348900908e-05, 1.9033419607118192e-05, 0.0345954915665798, 0.08642197525068399, 0.12259143199254785, 0.67549745120228, 0.05045481437347383, 0.6019807483441847, 0.03987957946217824, 0.012330214533147546, 0.008821101692852006], "count": [570]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5571428571428572, -0.8928571428571429, -0.6071428571428572, -0.10571428571428572, -0.3, -0.2142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4, 0.25, 0.23571428571428574, 0.43428571428571433, 0.15428571428571428, 0.017142857142857144, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.021052631578947358, -0.08157894736842111, -0.08691729323308273, 0.034611528822055135, -0.01404010025062658, -0.009012531328320802, 0.13333333333333333], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.12238764002161398, 0.18783371004362495, 0.13824116120711877, 0.09922778012376006, 0.07129017044944563, 0.03147420110611217, 0.9910712498212341], "count": [570]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.028070176020264626], "std": [0.16517336666584015], "count": [570]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017543859649122807], "std": [0.041848633129391445], "count": [570]}, "timestamp": {"min": [0.0], "max": [28.45], "mean": [14.225], "std": [8.22722867475231], "count": [570]}, "frame_index": {"min": [0], "max": [569], "mean": [284.5], "std": [164.54457349504622], "count": [570]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [570]}, "index": {"min": [19920], "max": [20489], "mean": [20204.5], "std": [164.54457349504622], "count": [570]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [570]}}} +{"episode_index": 31, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2974280799453872]], [[0.2828225450924366]], [[0.27613988362452907]]], "std": [[[0.24713809681899876]], [[0.2368871980266097]], [[0.2360045813805738]]], "count": [162]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.587533543110471]], [[0.5352311824372882]], [[0.49520944019577107]]], "std": [[[0.1768448663969962]], [[0.19616564983510948]], [[0.2073940058293685]]], "count": [162]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6037795865371249]], [[0.5547967837353764]], [[0.5155895058625665]]], "std": [[[0.17530970768759874]], [[0.19366751632244567]], [[0.20595320987856805]]], "count": [162]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [889]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [889]}, "observation.state": {"min": [0.8063787405620115, -4.355012128556792, 0.6999999586254873, 0.0, 0.0, -1.0, 0.0, 0.2364081428395295, -0.10753038666905645, 0.22478515027182455, -0.9896881580352783, -0.16777978837490082, -0.14342434704303741, 0.0009517434518784285, 0.0015439218053372652, -0.04100736666348335], "max": [0.8064756490906373, -4.3548512678933555, 0.7048746545909601, 0.0, 0.0, 1.0, 0.00017152160580735654, 0.28912200683627354, -0.014055091165270817, 0.606193454529587, 0.98847496509552, 0.5114419460296631, 0.21244628727436066, 0.05886932089924812, 0.03999564859367685, -0.01953391035204996], "mean": [0.8063922408467333, -4.354886410420818, 0.7003920565991274, 0.0, 0.0, 0.8177727784026997, 5.836944599214966e-06, 0.2723637908200362, -0.08604748298352673, 0.2506591848384579, 0.7809968234717645, 0.46996514834421693, -0.031208805208742887, 0.025799547486830634, 0.03795765734056237, -0.03946613972811136], "std": [1.2945481577715987e-05, 1.9760835594923438e-05, 0.0006276213576699396, 0.0, 0.0, 0.5755412086927698, 2.3422775415602076e-05, 0.009758118556905733, 0.009931599465348159, 0.06799271022049615, 0.38849226202406323, 0.12302229791565582, 0.03770501860060018, 0.007398404269734368, 0.007690827707186735, 0.002764549621084051], "count": [889]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.14464285714285713, -0.45, -0.5732142857142857, -0.16928571428571426, -0.1392857142857143, -0.48428571428571426, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.13392857142857142, 0.19821428571428573, -0.0, 0.04285714285714286, 0.12428571428571428, 0.19285714285714284, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0011509721999035855, -0.00615257914189298, -0.05320986662381487, -0.0026152980877390333, 0.0001542664309818411, -0.00881488028282179, -0.8672665916760405], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.022416631783819727, 0.04785452865873889, 0.12968766994480108, 0.017373130132191657, 0.021531896869652192, 0.09109981811129712, 0.49784401067264444], "count": [889]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017997751012444496], "std": [0.13294295966625214], "count": [889]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011248593925759281], "std": [0.03352005495107163], "count": [889]}, "timestamp": {"min": [0.0], "max": [44.4], "mean": [22.2], "std": [12.83160161476345], "count": [889]}, "frame_index": {"min": [0], "max": [888], "mean": [444.0], "std": [256.632032295269], "count": [889]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [889]}, "index": {"min": [20490], "max": [21378], "mean": [20934.0], "std": [256.632032295269], "count": [889]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [889]}}} +{"episode_index": 32, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3952959447125204]], [[0.38618813286852643]], [[0.38030494839537377]]], "std": [[[0.2251090886711919]], [[0.2204406326353349]], [[0.21708173884726079]]], "count": [135]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4301783959659529]], [[0.415483633801828]], [[0.398286066768649]]], "std": [[[0.2549518373929955]], [[0.24524021176150126]], [[0.23077620117874162]]], "count": [135]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41815804541760276]], [[0.4049214122497957]], [[0.38815571083395745]]], "std": [[[0.2516997591306896]], [[0.24081489753303958]], [[0.22501972825047786]]], "count": [135]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [699]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [699]}, "observation.state": {"min": [3.5560044035117064, -1.0407028811933372, 0.6999765233086814, 0.0, 0.0, 0.7070772051811218, 0.7068316340446472, -0.07368227508034764, -0.011734370002344008, 0.08791460061163026, -0.9896360039710999, -0.15844112634658813, -0.9207435250282288, 0.00016307499026879668, 0.0021101333019604173, -0.04002509674204964], "max": [3.556242262404857, -1.0405496989917906, 0.7012743540344102, 0.0, 0.0, 0.7073817253112793, 0.7071362733840942, 0.23713656743450762, 0.45844705401621066, 0.614110646325553, 0.9896811842918396, 0.8090788722038269, 0.94431072473526, 0.679690957069397, 0.04001017329104489, 0.0003558078748748217], "mean": [3.5562046795187063, -1.0405641680380717, 0.7001380624493476, 0.0, 0.0, 0.7071170482001079, 0.707096485024017, 0.07103600721463463, 0.2743915860290374, 0.34282935976301165, 0.22997066877030892, 0.14697639497052958, 0.04149862171519809, 0.17646887662308558, 0.03530829531069919, -0.034937512385517955], "std": [3.167809771910628e-05, 1.4891278412363004e-05, 0.0002662085080558989, 0.0, 0.0, 4.0105319471312804e-05, 4.010482587937608e-05, 0.11497953032926186, 0.16248443442915067, 0.21636238550011314, 0.7551291402947145, 0.19134974225072138, 0.5139839486936185, 0.1470842864165352, 0.010702177228225355, 0.011529466722658045], "count": [699]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.45714285714285713, -0.7214285714285715, -0.3314285714285714, -0.4314285714285714, -0.3485714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5928571428571429, 0.9857142857142858, 0.014285714285714285, 0.7285714285714285, 0.3514285714285714, 0.2714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.003494788473329276, 0.026343756386674837, -0.11507255262620071, 0.08724300020437359, -0.01728591865930922, -0.013288371142448395, -0.7081545064377682], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20109345143860252, 0.19755224767442925, 0.18036813628014217, 0.19016506036269656, 0.10072507258353446, 0.08487695287173783, 0.7060575012078549], "count": [699]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022889843210577965], "std": [0.14955231547355652], "count": [699]}, "next.done": {"min": [false], "max": [true], "mean": [0.001430615164520744], "std": [0.03779640862266926], "count": [699]}, "timestamp": {"min": [0.0], "max": [34.9], "mean": [17.45], "std": [10.0891856295078], "count": [699]}, "frame_index": {"min": [0], "max": [698], "mean": [349.0], "std": [201.78371259015597], "count": [699]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [699]}, "index": {"min": [21379], "max": [22077], "mean": [21728.0], "std": [201.78371259015597], "count": [699]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [699]}}} +{"episode_index": 33, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38910996327615194]], [[0.37605036762571514]], [[0.369596028295188]]], "std": [[[0.2295052613089014]], [[0.20167586408360005]], [[0.19875498924552257]]], "count": [157]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33101622513711143]], [[0.3505473432639751]], [[0.3538052096413929]]], "std": [[[0.2810128395794253]], [[0.2701933660936769]], [[0.2694658962993108]]], "count": [157]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31377069333437246]], [[0.3445693895404997]], [[0.3515205304215013]]], "std": [[[0.26631482920663196]], [[0.25126982287608146]], [[0.2513579138522565]]], "count": [157]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [852]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [852]}, "observation.state": {"min": [3.395509055167422, -0.9882485133663768, 0.6999919372905637, 0.0, 0.0, 0.7045205235481262, 0.7069569230079651, 0.044854463615697004, -0.24618913848994373, 0.062132549162020934, -0.9939406514167786, -0.06280547380447388, -0.7246130704879761, 0.007858654484152794, 0.0006056530135857893, -0.04872160230139849], "max": [3.398404188046125, -0.9801187285723046, 0.7184613572602249, 0.0, 0.0, 0.707256555557251, 0.7096835374832153, 0.24863324333745085, 0.004490741222830774, 0.6093104277760224, 0.006564076524227858, 0.9849575161933899, 0.17268532514572144, 0.42969074845314026, 0.040059299575560404, -0.00027137984776707397], "mean": [3.3981590420118595, -0.9808252357668031, 0.7014623847921728, 0.0, 0.0, 0.7067280907726063, 0.7074844784719844, 0.18491565796869974, -0.08840286060062388, 0.42520213360287507, -0.8501293151882617, 0.07064635052997181, -0.31035943279441003, 0.10547276513165676, 0.03447080693100841, -0.038819915640217875], "std": [0.00040256613223337077, 0.0012962210193798492, 0.0038022202193451265, 0.0, 0.0, 0.0007398255942442528, 0.000737775572199544, 0.04490505521457238, 0.10261932889744449, 0.21388281197097034, 0.20130297998641297, 0.21648744257632152, 0.24761285336349434, 0.12704302947869667, 0.011181764634638484, 0.006398007833538311], "count": [852]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9928571428571428, -0.8, -0.09142857142857143, -0.40857142857142864, -0.2714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.32857142857142857, 0.3214285714285714, 0.021428571428571432, 1.0, 0.6142857142857143, 0.06571428571428571, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.029376257545271622, -0.08887491616364859, -0.06242454728370225, 0.10529175050301812, 0.020228034875922205, -0.019959758551307848, -0.6737089201877934], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.14848633914723816, 0.22532037036587652, 0.15099597384426466, 0.2673962789801473, 0.12645953774201693, 0.05425833534094683, 0.7389968138357553], "count": [852]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018779342994093895], "std": [0.13574491441249847], "count": [852]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011737089201877935], "std": [0.034239324285950286], "count": [852]}, "timestamp": {"min": [0.0], "max": [42.55], "mean": [21.275], "std": [12.297552263221599], "count": [852]}, "frame_index": {"min": [0], "max": [851], "mean": [425.5], "std": [245.95104526443197], "count": [852]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [852]}, "index": {"min": [22078], "max": [22929], "mean": [22503.5], "std": [245.95104526443197], "count": [852]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [852]}}} +{"episode_index": 34, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42847396893327644]], [[0.4228582159589096]], [[0.41515661928834036]]], "std": [[[0.2091345964598851]], [[0.20187121537525288]], [[0.19125655832616756]]], "count": [126]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5543908915562753]], [[0.45935532219343905]], [[0.4219290022459722]]], "std": [[[0.2434453608651232]], [[0.26594272227229276]], [[0.251963578414994]]], "count": [126]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5555133680669534]], [[0.46371866007145046]], [[0.42572744626550707]]], "std": [[[0.24221249564000172]], [[0.2636985894574535]], [[0.2495416754708327]]], "count": [126]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [636]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [636]}, "observation.state": {"min": [3.399552560109467, -1.056842559678279, 0.6999988444246855, 0.0, 0.0, 0.7066437005996704, 0.7070256471633911, 0.16095165758790198, -0.29480677434489655, 0.10495536585439602, -0.9922915697097778, -0.061792075634002686, -0.6661417484283447, 4.9941685574594885e-05, 0.014015732932297652, -0.040001751437314374], "max": [3.399755922538237, -1.0563176151231481, 0.7006671471532816, 0.0, 0.0, 0.7071879506111145, 0.7075695395469666, 0.24525043436243432, -0.00694325929515216, 0.5843125472751388, 0.8203442096710205, 0.7119884490966797, 0.5913089513778687, 0.711854875087738, 0.03997652129265628, -0.014130984214340446], "mean": [3.399605048739889, -1.0566474188963355, 0.7002645110010476, 0.0, 0.0, 0.706843948964053, 0.7073694734640841, 0.22480666606988886, -0.23715843471170958, 0.16035102611506555, -0.6975464448801376, 0.039191018825150886, -0.5389671057532981, 0.10825765959264075, 0.025020069025748905, -0.0255520140498152], "std": [2.581756278330122e-05, 0.00018714501972327165, 0.00020654189219831637, 0.0, 0.0, 0.00017613523770770628, 0.00017607733020728758, 0.022558156393680282, 0.04031240189329934, 0.12527007029601323, 0.2794249742342358, 0.1734551398765369, 0.24191080571865137, 0.20736903391854902, 0.009300927737893129, 0.009311958224825929], "count": [636]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5, -0.7642857142857143, -0.5785714285714286, -0.0, -0.2285714285714286, -0.06285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.16428571428571428, 0.15, 0.05, 0.38285714285714284, 0.33714285714285713, 0.037142857142857144, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.005548068283917337, -0.050774932614555325, -0.056143306379155364, 0.046828391734052115, 0.0034321653189577513, -0.002367475292003594, 0.4088050314465409], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.06927706224026293, 0.13519534602567912, 0.129935161006451, 0.09013155829116343, 0.07929044844690265, 0.0125802872398127, 0.912621743256204], "count": [636]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.025157231837511063], "std": [0.15660251677036285], "count": [636]}, "next.done": {"min": [false], "max": [true], "mean": [0.0015723270440251573], "std": [0.03962139361117658], "count": [636]}, "timestamp": {"min": [0.0], "max": [31.75], "mean": [15.875], "std": [9.17985793281501], "count": [636]}, "frame_index": {"min": [0], "max": [635], "mean": [317.5], "std": [183.5971586563002], "count": [636]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [636]}, "index": {"min": [22930], "max": [23565], "mean": [23247.5], "std": [183.5971586563002], "count": [636]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [636]}}} +{"episode_index": 35, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39906033163782517]], [[0.3879560509865711]], [[0.37712277135693434]]], "std": [[[0.20093829488920023]], [[0.17077248344028925]], [[0.14672052166817898]]], "count": [119]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.09803921568627451]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4381699742310757]], [[0.4791939067102025]], [[0.4880214845157962]]], "std": [[[0.24762964485505062]], [[0.21288086326218827]], [[0.20225007144983256]]], "count": [119]}, "observation.images.robot0_agentview_right": {"min": [[[0.09411764705882353]], [[0.09411764705882353]], [[0.09411764705882353]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4525062489379943]], [[0.49267768954146457]], [[0.4981001085377855]]], "std": [[[0.24345468487247476]], [[0.20568263810109264]], [[0.19257225287616067]]], "count": [119]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [587]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [587]}, "observation.state": {"min": [4.865251034702001, -4.825313522788531, 0.6998448409611, 0.0, 0.0, 0.00010122035018866882, 0.9999996423721313, 0.23243037309478165, -0.017823986619783128, 0.23034723185075567, -0.9924755096435547, -0.5805864334106445, -0.14907461404800415, 0.0002457004738971591, 0.0011160383149428706, -0.040002202371038055], "max": [4.865338519483721, -4.824697481974235, 0.7001046569253377, 0.0, 0.0, 0.0008506811573170125, 1.0, 0.3064889095205121, 0.024353749168069427, 0.583807560162319, 0.9907673001289368, 0.583251416683197, 0.161886066198349, 0.13247619569301605, 0.040009626478200874, -0.0036242772990926174], "mean": [4.8652746675513345, -4.825250484337883, 0.7000000336034117, 0.0, 0.0, 0.00017423719322202596, 0.9999999918767094, 0.25316119496714634, 0.013384763286174934, 0.49168443091678476, 0.6232554004789415, 0.02586350746110107, 0.09842031267535074, 0.02060736785816335, 0.037489238333449096, -0.03812561035757962], "std": [9.742400895714394e-06, 8.690581565169145e-05, 2.683388181409214e-05, 0.0, 0.0, 0.00010803174247330088, 4.902407559463625e-08, 0.02111575203848903, 0.005556430632910242, 0.1367163966745578, 0.7196038858598748, 0.2707390643588292, 0.0947533570052796, 0.02578718790707869, 0.007690511004558614, 0.0057694304302587], "count": [587]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6071428571428572, -0.2, -0.7285714285714285, -0.28285714285714286, -0.3314285714285714, -0.7285714285714285, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.31428571428571433, 0.4928571428571429, -0.0, 0.2714285714285714, 0.23428571428571432, 0.3628571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02284010708201508, -0.0044536383548308585, -0.06939644682404485, 0.007116086639084935, -0.010148454611827696, -0.02557799951326356, -0.7887563884156729], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.116755482537293, 0.039547069284165556, 0.1400873769772364, 0.04542784108337497, 0.06384728298784163, 0.17296893196676605, 0.6147059132084741], "count": [587]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.027257239446043968], "std": [0.16283206641674042], "count": [587]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017035775127768314], "std": [0.04123924510020512], "count": [587]}, "timestamp": {"min": [0.0], "max": [29.3], "mean": [14.649999999999999], "std": [8.472602905837142], "count": [587]}, "frame_index": {"min": [0], "max": [586], "mean": [293.0], "std": [169.45205811674285], "count": [587]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [587]}, "index": {"min": [23566], "max": [24152], "mean": [23859.0], "std": [169.45205811674285], "count": [587]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [587]}}} +{"episode_index": 36, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3071132339349314]], [[0.3042091017009831]], [[0.2991892747852315]]], "std": [[[0.23248265017046785]], [[0.22814168616640323]], [[0.22616806609846957]]], "count": [112]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5051801927283365]], [[0.4725066567001557]], [[0.42834583250414426]]], "std": [[[0.24072554943330596]], [[0.2420938088040389]], [[0.24094569603273394]]], "count": [112]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5017901839996253]], [[0.4651979077763918]], [[0.4205562500726609]]], "std": [[[0.24076099539524948]], [[0.244828167944532]], [[0.24809504432237592]]], "count": [112]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [546]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [546]}, "observation.state": {"min": [3.221651752416701, -1.7117006362066478, 0.699999008220592, 0.0, 0.0, -0.7077946066856384, 0.7064182758331299, 0.21041430181666998, -0.21098830007179536, 0.21625919732421206, -0.9994547963142395, -0.9797244071960449, -0.13298338651657104, 0.00041891305590979755, -0.002686146439076303, -0.04079571764485609], "max": [3.2240177082688195, -1.7074532091573522, 0.7156646464535859, 0.0, 0.0, -0.7062892317771912, 0.707923412322998, 0.31877690684579196, 0.000245211639724463, 0.5891461830197713, 0.9994450211524963, 0.9867373704910278, 0.05761142820119858, 0.17304864525794983, 0.0437895635530602, 0.0019167651301402438], "mean": [3.2224478770951315, -1.7114745062582195, 0.7019169466390456, 0.0, 0.0, -0.7071151171193455, 0.7070983422326518, 0.24971714626850539, -0.1079828317212806, 0.3755895360203638, -0.37713571983788696, 0.18177391822030256, -0.04898305473833826, 0.03418514180542337, 0.03383880015747244, -0.02981446610351022], "std": [0.0002616671616598026, 0.0005335431645086824, 0.00392856068578638, 0.0, 0.0, 0.00021082132677028626, 0.00021080268336496266, 0.026590085684872925, 0.08245364112673388, 0.1695673909116778, 0.7814109372081314, 0.4519753490587642, 0.07033155931971712, 0.036436564871132504, 0.01143894122484774, 0.01469200329455182], "count": [546]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7071428571428572, -0.7714285714285714, -0.7214285714285715, -0.2142857142857143, -0.2885714285714286, -1.0, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.11428571428571428, 0.2485714285714286, 0.23142857142857146, 0.03428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.06632653061224492, 0.07615122972265825, -0.09680795395081113, 0.007299843014128727, -0.0020408163265306155, -0.1798482469911041, -0.2673992673992674], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24815974945180855, 0.305737159810529, 0.16405033980218686, 0.04464353873235436, 0.06736371356029705, 0.3017908586337433, 0.9635858196312], "count": [546]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.029304029420018196], "std": [0.1686573624610901], "count": [546]}, "next.done": {"min": [false], "max": [true], "mean": [0.0018315018315018315], "std": [0.04275684076896979], "count": [546]}, "timestamp": {"min": [0.0], "max": [27.25], "mean": [13.625000000000002], "std": [7.880817956701365], "count": [546]}, "frame_index": {"min": [0], "max": [545], "mean": [272.5], "std": [157.61635913402728], "count": [546]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [546]}, "index": {"min": [24153], "max": [24698], "mean": [24425.5], "std": [157.61635913402728], "count": [546]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [546]}}} +{"episode_index": 37, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.043137254901960784]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.513267731710197]], [[0.4877699142156863]], [[0.4731931076548458]]], "std": [[[0.13897849783134536]], [[0.1365050225821325]], [[0.14860876960467737]]], "count": [150]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.06274509803921569]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5241569772358814]], [[0.4405003901462929]], [[0.39930768979141135]]], "std": [[[0.2154640419245184]], [[0.21031525541083018]], [[0.21426397811055775]]], "count": [150]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5344396418153851]], [[0.44865927822137974]], [[0.4072319244185304]]], "std": [[[0.21093975389051714]], [[0.20933066338721887]], [[0.21586980791347757]]], "count": [150]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [799]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [799]}, "observation.state": {"min": [4.098861501303541, -1.0706526175649815, 0.6998658140159354, 0.0, 0.0, 0.7070370316505432, 0.7067572474479675, 0.053384078719317385, -0.42407712859371216, 0.13713260799035842, -0.9932934641838074, -0.10050207376480103, -0.7514902949333191, 7.239020487759262e-05, 0.002203445272368657, -0.040854552365651234], "max": [4.099038076428675, -1.0695675490577816, 0.7003071440948785, 0.0, 0.0, 0.7074561715126038, 0.7071765661239624, 0.24795555346553, -0.004255705550844979, 0.5841672603956845, 0.6930897235870361, 0.6176640391349792, 0.7434916496276855, 0.38769692182540894, 0.041770517937748906, -5.618407072252882e-05], "mean": [4.098956730163197, -1.0705772704295313, 0.7000648666627578, 0.0, 0.0, 0.7071161751305505, 0.7070973423753721, 0.2124560663663575, -0.39096378565307527, 0.1959867793097799, 0.028571294902710802, 0.03410995162286806, 0.16418981388938592, 0.058412025925566824, 0.02752424293065511, -0.029161042175930983], "std": [1.7139524555423183e-05, 8.830876783963424e-05, 6.407098005565512e-05, 0.0, 0.0, 5.695767190487221e-05, 5.6970170977002154e-05, 0.05751730195540152, 0.0723148997707851, 0.11033143568666932, 0.7366208057462867, 0.11012064793730955, 0.6341578140493519, 0.10371615243554876, 0.00967595687118801, 0.009366603130891011], "count": [799]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6714285714285714, -0.9, -0.6857142857142858, -0.08571428571428572, -0.27714285714285714, -0.2542857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3857142857142857, 0.11428571428571428, 0.2785714285714286, 0.31142857142857144, 0.19142857142857142, 0.04285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.028696585016985528, -0.0462274271410693, -0.04292866082603253, 0.03184695154657606, -0.0019524405506883516, -0.016073663507956377, 0.409261576971214], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.15050419606259943, 0.13850447406445784, 0.11601804804793894, 0.07045696180959012, 0.06154647445548799, 0.05307158638344744, 0.9124170984889817], "count": [799]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02002503164112568], "std": [0.14008580148220062], "count": [799]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012515644555694619], "std": [0.0353553113687748], "count": [799]}, "timestamp": {"min": [0.0], "max": [39.9], "mean": [19.95], "std": [11.532562594670797], "count": [799]}, "frame_index": {"min": [0], "max": [798], "mean": [399.0], "std": [230.65125189341592], "count": [799]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [799]}, "index": {"min": [24699], "max": [25497], "mean": [25098.0], "std": [230.65125189341592], "count": [799]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [799]}}} +{"episode_index": 38, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.03529411764705882]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2838148009501955]], [[0.2642088694641124]], [[0.25599485811375505]]], "std": [[[0.2410932102014149]], [[0.22881126479079422]], [[0.22818990185508412]]], "count": [113]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.591327854297485]], [[0.5314387128023395]], [[0.48481684983779877]]], "std": [[[0.17262568589412383]], [[0.1931741700225401]], [[0.20524802750542628]]], "count": [113]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.574980230031898]], [[0.5251567098553678]], [[0.4849651865551254]]], "std": [[[0.1926057637201555]], [[0.20936924030354623]], [[0.22022234966510323]]], "count": [113]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [551]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [551]}, "observation.state": {"min": [0.8010928517243394, -3.186066472684519, 0.6999997436968061, 0.0, 0.0, -1.0, 0.0, 0.20347951270966702, -0.05232968952656858, 0.2253982539050603, -0.9998230934143066, -0.4888615310192108, -0.13843634724617004, 4.042468845000258e-06, 0.009871175846229457, -0.04098140301967545], "max": [0.8011895502448103, -3.1859512552904516, 0.7016183509116564, 0.0, 0.0, 1.0, 0.00010454069706611335, 0.2862995890585487, -0.01686785526000456, 0.5940859821152666, 0.9764276146888733, 0.48425593972206116, 0.14777027070522308, 0.06546937674283981, 0.04000813096358243, -0.007500715158430062], "mean": [0.8011313663640668, -3.1859876148301343, 0.7009898503306627, 0.0, 0.0, 0.11433756805807622, 6.455761175168558e-06, 0.2631612582759572, -0.041720844030116555, 0.27087668984120344, 0.22175164231371317, 0.21946811768312527, 0.006076179486623342, 0.007924004239429865, 0.025275267497161656, -0.028930676225478787], "std": [8.147403009027348e-06, 1.1191719127037297e-05, 0.0006660949542116311, 0.0, 0.0, 0.9934419562966715, 1.4126769130265517e-05, 0.022721135137404952, 0.005505154611763595, 0.09453431086220154, 0.8766744677764998, 0.36150616301366006, 0.05600939295117843, 0.013355282520298406, 0.010056763808783686, 0.008569028229418133], "count": [551]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.2142857142857143, -0.3857142857142857, -0.4357142857142858, -0.0, -0.08571428571428572, -0.20285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.30714285714285716, 0.14285714285714288, 0.014285714285714285, 0.16, 0.1142857142857143, 0.27714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0010370754472387883, -0.0036168006222452665, -0.05576873217526578, 0.0033704952035260595, 0.005449831475239825, 0.0006740990407052155, 0.3466424682395644], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0543271684739484, 0.03310500429919748, 0.10824025675369932, 0.017591237705305192, 0.027875443087035427, 0.07560341146361355, 0.9379973343313852], "count": [551]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.029038112610578537], "std": [0.16791337728500366], "count": [551]}, "next.done": {"min": [false], "max": [true], "mean": [0.0018148820326678765], "std": [0.04256275644122895], "count": [551]}, "timestamp": {"min": [0.0], "max": [27.5], "mean": [13.750000000000002], "std": [7.952986860293433], "count": [551]}, "frame_index": {"min": [0], "max": [550], "mean": [275.0], "std": [159.05973720586866], "count": [551]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [551]}, "index": {"min": [25498], "max": [26048], "mean": [25773.0], "std": [159.05973720586866], "count": [551]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [551]}}} +{"episode_index": 39, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43146425849195524]], [[0.4156471768788791]], [[0.39775211071229144]]], "std": [[[0.16198724045768936]], [[0.14847923956276565]], [[0.13679257636620715]]], "count": [155]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41635452145040225]], [[0.37438032330025]], [[0.3437525541340528]]], "std": [[[0.2618141878523206]], [[0.24578112827907211]], [[0.2348820808286472]]], "count": [155]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4602524353838057]], [[0.4090042417310296]], [[0.36991700299701535]]], "std": [[[0.2514228132245821]], [[0.2364559572036493]], [[0.22550474358109354]]], "count": [155]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [836]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [836]}, "observation.state": {"min": [3.269689828575612, -0.8155219969444645, 0.6998891066211108, 0.0, 0.0, 0.7069631814956665, 0.7070371508598328, -0.008158562824615467, 0.0016051489637556315, 0.10154983697740017, -0.992378830909729, -0.09819462895393372, -0.13986970484256744, 0.0013409280218183994, 0.010887681211997279, -0.04162290850651699], "max": [3.270106213850852, -0.8153109881847336, 0.701032257518948, 0.0, 0.0, 0.7071764469146729, 0.7072503566741943, 0.24591943325019494, 0.41137992611189533, 0.5893874963668202, 0.9864633679389954, 0.6417421102523804, 0.7724036574363708, 0.6624130010604858, 0.039614665150672634, -0.02049516082064334], "mean": [3.2700296637641344, -0.8154503463091356, 0.7004657847030842, 0.0, 0.0, 0.7071072558324303, 0.7071062399154645, 0.12749516114333811, 0.3880741097508362, 0.14682633302283343, 0.3786929175257683, 0.5586581152182019, 0.368906152029143, 0.553223592854711, 0.0353785137127871, -0.03798636518693866], "std": [4.336361162468725e-05, 2.574423979007079e-05, 0.0003333019002294983, 0.0, 0.0, 1.7511962094419542e-05, 1.7512112752399886e-05, 0.037557917812431785, 0.06270805471860565, 0.11754176501727708, 0.22678682539573658, 0.10991599690215054, 0.12122376339717995, 0.1553567010019476, 0.00805129314663762, 0.005145305242322459], "count": [836]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6589285714285714, -0.6160714285714286, -0.5464285714285714, -0.23785714285714282, -0.19500000000000003, -0.19285714285714284, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.39642857142857146, 1.0, 0.20892857142857144, 0.6664285714285715, 0.2314285714285714, 0.3407142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00793959330143541, 0.024805622009569414, -0.043113465481886555, 0.05710868079289135, -0.002060833902939168, 0.007502563226247431, -0.5741626794258373], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.12234287387522402, 0.17770261447945315, 0.11907134606354713, 0.17639329169216358, 0.05389244769366154, 0.061066211904578026, 0.8187412396811014], "count": [836]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019138755276799202], "std": [0.13701263070106506], "count": [836]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011961722488038277], "std": [0.034565031762679166], "count": [836]}, "timestamp": {"min": [0.0], "max": [41.75], "mean": [20.875], "std": [12.066611993430469], "count": [836]}, "frame_index": {"min": [0], "max": [835], "mean": [417.5], "std": [241.33223986860935], "count": [836]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [836]}, "index": {"min": [26049], "max": [26884], "mean": [26466.5], "std": [241.33223986860935], "count": [836]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [836]}}} +{"episode_index": 40, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37516108695316364]], [[0.3284416743058666]], [[0.3000497603970356]]], "std": [[[0.17916706626025322]], [[0.1549820630496052]], [[0.16187797070601803]]], "count": [119]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.382180713723334]], [[0.3469894346324237]], [[0.32661229257902613]]], "std": [[[0.28131343840484085]], [[0.2780771956328881]], [[0.284804970846543]]], "count": [119]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41657092977069043]], [[0.37255983074525767]], [[0.34570654534217177]]], "std": [[[0.27945903783106957]], [[0.2760376773666196]], [[0.28510543812746497]]], "count": [119]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [586]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [586]}, "observation.state": {"min": [0.8377197354413818, -2.309935831098089, 0.6999953052683459, 0.0, 0.0, -1.0, 0.0, 0.02593903685566379, 0.00573857610922035, 0.1505496770095459, -0.9897565841674805, -0.12578518688678741, -0.6684135794639587, 0.0008146782638505101, 0.020559508126009665, -0.040031050815086115], "max": [0.8377496668652065, -2.309886034168709, 0.7007382515090582, 0.0, 0.0, 1.0, 4.426370651344769e-05, 0.2433265056402132, 0.43243970926174713, 0.6010507185622577, 0.9830504655838013, 0.7318475246429443, 0.6579616069793701, 0.6087557673454285, 0.03962991094249591, -0.01651774916699654], "mean": [0.8377268124154782, -2.3099143856383293, 0.7000967348722457, 0.0, 0.0, -0.5563139931740614, 5.747285379186354e-06, 0.14399895555850495, 0.40630981900216856, 0.20661215335928917, 0.3633385717156804, 0.6041423980998505, 0.2394271361492193, 0.5174300732659637, 0.03659939272457599, -0.03639910423054926], "std": [2.9435649568597164e-06, 6.115988020242351e-06, 0.00018166724056897644, 0.0, 0.0, 0.8309721661997539, 9.287277824851982e-06, 0.044455068350866156, 0.07529432876079496, 0.1019421937212406, 0.29628204212002196, 0.18529482457086469, 0.1651987531170493, 0.1689081257455963, 0.005877421807485282, 0.007937992340510307], "count": [586]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7607142857142858, -0.08571428571428572, -0.525, -0.3021428571428571, -0.18642857142857147, -0.0642857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.2785714285714286, 1.0, -0.0, 0.36642857142857144, 0.05785714285714285, 0.3814285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.010019502681618707, 0.05636579717211119, -0.06240248659190653, 0.019878108239882987, -0.013511701608971236, 0.021501706484641663, -0.6689419795221843], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.13575115477004537, 0.19650570872270495, 0.1148432530974451, 0.12884555172386156, 0.03313135348632396, 0.07966615723440568, 0.7433146225071462], "count": [586]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.027303753420710564], "std": [0.16296705603599548], "count": [586]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017064846416382253], "std": [0.04127435707320076], "count": [586]}, "timestamp": {"min": [0.0], "max": [29.25], "mean": [14.625], "std": [8.458169128126963], "count": [586]}, "frame_index": {"min": [0], "max": [585], "mean": [292.5], "std": [169.16338256253923], "count": [586]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [586]}, "index": {"min": [26885], "max": [27470], "mean": [27177.5], "std": [169.16338256253923], "count": [586]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [586]}}} +{"episode_index": 41, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37684595336481497]], [[0.3618079156873357]], [[0.34780961290589746]]], "std": [[[0.2921537472718421]], [[0.27950740967494014]], [[0.2615057889188005]]], "count": [166]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4860402219661043]], [[0.36705456793857416]], [[0.3378265463767986]]], "std": [[[0.266842576216374]], [[0.2715558677217973]], [[0.26253316693050216]]], "count": [166]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4324611823327317]], [[0.3500033567173104]], [[0.3246409588549511]]], "std": [[[0.28966455477703246]], [[0.2866313918376264]], [[0.2736234294094176]]], "count": [166]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [916]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [916]}, "observation.state": {"min": [1.474111688497923, -0.9473803300016586, 0.6999980238352863, 0.0, 0.0, 0.6931018233299255, 0.707098126411438, 0.10696870643975431, -0.5345213942531983, 0.130674416280934, -0.9901115298271179, -0.15344953536987305, -0.7535337805747986, 0.028000904247164726, 0.009052773261455342, -0.04040263740287121], "max": [1.689446229295022, -0.8145580536198574, 0.7011669337736135, 0.0, 0.0, 0.7071153521537781, 0.7208397388458252, 0.29623563551846954, 0.018761175451783352, 0.5955664174250545, -0.3667367100715637, 0.6944875121116638, -0.13146641850471497, 0.48548877239227295, 0.040035133178688606, -0.020488866456983577], "mean": [1.4964118398807227, -0.9333321620567229, 0.7000544421961588, 0.0, 0.0, 0.6955516275229933, 0.7184573378755537, 0.25342623497184713, -0.43882353534570767, 0.22712760931805293, -0.7520232187933796, 0.05911908842070134, -0.5740502472787965, 0.10049837828292532, 0.02809744267493669, -0.034035833914596504], "std": [0.06440999780145937, 0.03777702120181159, 0.00017336882911184165, 0.0, 0.0, 0.0037067520925963935, 0.003640259960749591, 0.06274168160242588, 0.16607136257691973, 0.15308154889079656, 0.12000304541982748, 0.15624961371438031, 0.197557189630062, 0.11614165533498211, 0.010573182392210835, 0.00565090728188826], "count": [916]}, "action": {"min": [-0.6214285714285714, 0.0, -0.12, 0.0, -1.0, -0.5785714285714286, -1.0, -0.4714285714285715, -0.022857142857142857, -0.18857142857142858, -0.2142857142857143, -1.0], "max": [0.15, 0.7785714285714286, 0.022857142857142857, 0.0, 1.0, 0.35000000000000003, 0.30714285714285716, -0.0, 0.25142857142857145, 0.13142857142857142, 0.08857142857142856, 1.0], "mean": [-0.0052011852776044955, 0.010628509045539617, -0.0010761072988147223, 0.0, -0.9126637554585153, 0.0035324391765439844, -0.04378509045539621, -0.05297878976918283, 0.030015595757953848, -0.008300062383031815, -0.014139114160948223, 0.11353711790393013], "std": [0.058175189098990325, 0.07317989770444334, 0.010149519414798887, 0.0, 0.40871122993180037, 0.08513625953733202, 0.16243148254085313, 0.09758316599187593, 0.05992382746906462, 0.04204117562893222, 0.04309567518612729, 0.9935337552685747], "count": [916]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017467249184846878], "std": [0.13100436329841614], "count": [916]}, "next.done": {"min": [false], "max": [true], "mean": [0.001091703056768559], "std": [0.0330228896555768], "count": [916]}, "timestamp": {"min": [0.0], "max": [45.75], "mean": [22.875], "std": [13.221313285751913], "count": [916]}, "frame_index": {"min": [0], "max": [915], "mean": [457.5], "std": [264.4262657150382], "count": [916]}, "episode_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [916]}, "index": {"min": [27471], "max": [28386], "mean": [27928.5], "std": [264.4262657150382], "count": [916]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [916]}}} +{"episode_index": 42, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36093985607573503]], [[0.35489968595256954]], [[0.34826395164622315]]], "std": [[[0.22238665239243205]], [[0.21571325268834093]], [[0.21316662850897652]]], "count": [123]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4064417226831821]], [[0.40580972324579917]], [[0.40989749615944576]]], "std": [[[0.30609866639008965]], [[0.30598413529840546]], [[0.3042961380799136]]], "count": [123]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3914100961975555]], [[0.3903086018452096]], [[0.3923442235503037]]], "std": [[[0.31287909100657774]], [[0.3121319862511272]], [[0.311604724085734]]], "count": [123]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [613]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [613]}, "observation.state": {"min": [2.0783344078064103, -1.2883329627338442, 0.6999942006582975, 0.0, 0.0, -0.0001564238773426041, 1.0, 0.03942151119629367, -0.35393841979304796, 0.13781917029576018, -0.9944964647293091, -0.17363044619560242, -0.4840814471244812, 1.2057476851623505e-05, -0.006673987467543712, -0.061016116858609984], "max": [2.0843281591327627, -1.2847784807137252, 0.7206830481973823, 0.0, 0.0, 0.0002248784148832783, 1.0, 0.2855016044066341, 0.008138545008162579, 0.5900034334964916, 0.8991551995277405, 0.45020627975463867, 0.8297328352928162, 0.30458971858024597, 0.04000100572184347, -0.020537862448545312], "mean": [2.0841468883571115, -1.2882179513086187, 0.7006740605824245, 0.0, 0.0, 0.0001393273333100249, 1.0, 0.18709348714460794, -0.14935903590213462, 0.41532141995755634, -0.44524479286705687, 0.13537086497803885, 0.13866252402302492, 0.06832023726096693, 0.03671417574338324, -0.04022719470259089], "std": [0.0008514684006328071, 0.00027138134163797595, 0.0027444104881200145, 0.0, 0.0, 4.10130563209682e-05, 0.0, 0.04557984276138872, 0.11805315773322805, 0.18441585118314793, 0.7641666284646562, 0.13887413821984082, 0.38241477733673573, 0.10029517321856303, 0.00894663466074336, 0.003178752715441709], "count": [613]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7214285714285715, -1.0, -0.6214285714285714, -0.17714285714285713, -0.4885714285714286, -0.6828571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3214285714285714, 0.37142857142857144, 0.25, 0.7714285714285716, 0.2914285714285714, 0.21142857142857144, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.004089955721277092, -0.10159636448380327, -0.07498252155674669, 0.030948496853880215, -0.0048706595199254354, -0.01987415520857609, -0.800978792822186], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.12123959535822476, 0.23958659464993465, 0.1658739573234499, 0.15394144476534194, 0.1148108162937808, 0.1129851311208802, 0.5986927203909469], "count": [613]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02773246355354786], "std": [0.16420526802539825], "count": [613]}, "next.done": {"min": [false], "max": [true], "mean": [0.0016313213703099511], "std": [0.04035666191469162], "count": [613]}, "timestamp": {"min": [0.0], "max": [30.6], "mean": [15.299999999999999], "std": [8.847881102275279], "count": [613]}, "frame_index": {"min": [0], "max": [612], "mean": [306.0], "std": [176.95762204550556], "count": [613]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [613]}, "index": {"min": [28387], "max": [28999], "mean": [28693.0], "std": [176.95762204550556], "count": [613]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [613]}}} +{"episode_index": 43, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.383033231942408]], [[0.36302850689429417]], [[0.3457512231916421]]], "std": [[[0.2126291617784922]], [[0.18060821399374347]], [[0.1707706609685306]]], "count": [126]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6547972678247731]], [[0.5803513622788525]], [[0.5011221307777668]]], "std": [[[0.2853915983783321]], [[0.25692300461975326]], [[0.23651328836558042]]], "count": [126]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6416199062904242]], [[0.5693659787455564]], [[0.49151212737970623]]], "std": [[[0.2887792533035238]], [[0.25821665065503335]], [[0.2356029588568921]]], "count": [126]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [633]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [633]}, "observation.state": {"min": [3.0873722355066735, -0.8742661890991013, 0.6997762448051461, 0.0, 0.0, 0.706529438495636, 0.7068187594413757, -0.058466269575905394, 0.0010391643828437935, 0.07013962256230588, -0.9897186160087585, -0.23806703090667725, -0.8174695372581482, 0.0034943614155054092, -1.479827328955397e-05, -0.04542153463535946], "max": [3.0882323412729256, -0.8736991033189145, 0.7008393527231164, 0.0, 0.0, 0.7073945999145508, 0.7076835036277771, 0.245452467070707, 0.5143647349876299, 0.6122592997583144, 0.987073540687561, 0.6708502769470215, 0.8113007545471191, 0.7299879193305969, 0.03997838626578251, 0.0036306840801879816], "mean": [3.087696793927434, -0.874070639571297, 0.7001630548463528, 0.0, 0.0, 0.7070647733283081, 0.707148731790636, 0.17331881508847186, 0.24472016236949837, 0.32003629022178787, 0.6489828025560244, 0.28664780531731826, 0.26871488746520467, 0.2899427113357172, 0.030539342428065674, -0.035706627025897324], "std": [0.00010497461270631483, 4.823063727004637e-05, 0.00032827778472149154, 0.0, 0.0, 0.00010377176789735561, 0.00010375369536607179, 0.0593337267222065, 0.17934081920665854, 0.22954691257190765, 0.34383089794198884, 0.2622266466920449, 0.2664748923514817, 0.2870340318118141, 0.014687042901723476, 0.011285654757394008], "count": [633]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.7785714285714286, -0.6571428571428571, -0.35714285714285715, -0.5, -0.8285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6, 1.0, 1.0, 0.9742857142857143, 0.5514285714285714, 0.96, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.05486346197246672, 0.06785150078988944, 0.0020988490182803103, 0.07697133829835251, -0.06712254570074479, -0.020938839990972714, -0.4154818325434439], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2010690426953081, 0.24071972340111972, 0.31798429798395983, 0.2069951759194177, 0.16672220958015338, 0.25287900641938854, 0.9096014769262089], "count": [633]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.025276461616158485], "std": [0.15696357190608978], "count": [633]}, "next.done": {"min": [false], "max": [true], "mean": [0.001579778830963665], "std": [0.03971502398096852], "count": [633]}, "timestamp": {"min": [0.0], "max": [31.6], "mean": [15.800000000000002], "std": [9.13655660884705], "count": [633]}, "frame_index": {"min": [0], "max": [632], "mean": [316.0], "std": [182.73113217694095], "count": [633]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [633]}, "index": {"min": [29000], "max": [29632], "mean": [29316.0], "std": [182.73113217694095], "count": [633]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [633]}}} +{"episode_index": 44, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5017987805450926]], [[0.48998425836547377]], [[0.4720374287889623]]], "std": [[[0.17996685044632732]], [[0.15858001729092508]], [[0.15138611277804787]]], "count": [107]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.0392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5979123890607463]], [[0.5395749039498794]], [[0.4459999194922018]]], "std": [[[0.2698882700124599]], [[0.2065068401231544]], [[0.17168617017127852]]], "count": [107]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6160303010638214]], [[0.5536329831792165]], [[0.45604973489468803]]], "std": [[[0.27003281570008925]], [[0.20868661168275687]], [[0.17967387003472515]]], "count": [107]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [514]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [514]}, "observation.state": {"min": [2.848147708364314, -0.9912741135045351, 0.6999965656705395, 0.0, 0.0, 0.706977367401123, 0.7066643834114075, 0.023091812086011076, -0.34838508915255106, 0.11553069569170105, -0.9888585805892944, -0.35040295124053955, -0.4549624025821686, 0.003584641497582197, 0.00032298141436470945, -0.04707894463722553], "max": [2.8550111437093006, -0.9900651891084721, 0.7038783277586461, 0.0, 0.0, 0.7075489163398743, 0.7072361707687378, 0.23898211401957026, -0.014542076401608206, 0.6119295382135289, 0.873357355594635, 0.33227217197418213, 0.935175359249115, 0.22176246345043182, 0.04001497976354731, -0.002058592145716759], "mean": [2.854856367336101, -0.9901534990075656, 0.7003193006431029, 0.0, 0.0, 0.7070749783562316, 0.7071385365051982, 0.15793612385643285, -0.16700145364149108, 0.37889456579061165, -0.29121364943016365, 0.06324917254860762, 0.17828192208179705, 0.10770884792026901, 0.03373636311177598, -0.03754766034421346], "std": [0.0006861173562314397, 8.918131699695891e-05, 0.0008701931582604472, 0.0, 0.0, 8.491673998015487e-05, 8.494357534527406e-05, 0.0687905696355058, 0.12657947958125537, 0.21396675389629558, 0.7953882306530828, 0.1714987830780162, 0.45024595786785493, 0.05507113548253935, 0.013082145908572294, 0.007786937982490118], "count": [514]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8, -0.8428571428571429, -0.9071428571428573, -0.2914285714285714, -0.3514285714285714, -0.5085714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.6357142857142857, 1.0, 0.5457142857142857, 0.2914285714285714, 0.23428571428571432, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.029224569205113963, -0.07655642023346304, -0.03226792662590329, 0.02354641467481934, -0.02573096164535851, -0.04524180100055587, -0.6303501945525292], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2124454756340777, 0.20715438030539685, 0.3329114876438209, 0.09826592138849928, 0.09069072253882449, 0.13504009972223374, 0.7763109120884422], "count": [514]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.031128404662013054], "std": [0.17366470396518707], "count": [514]}, "next.done": {"min": [false], "max": [true], "mean": [0.0019455252918287938], "std": [0.04406518152881761], "count": [514]}, "timestamp": {"min": [0.0], "max": [25.65], "mean": [12.825000000000001], "std": [7.418936918454018], "count": [514]}, "frame_index": {"min": [0], "max": [513], "mean": [256.5], "std": [148.37873836908037], "count": [514]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [514]}, "index": {"min": [29633], "max": [30146], "mean": [29889.5], "std": [148.37873836908037], "count": [514]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [514]}}} +{"episode_index": 45, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.355328125858288]], [[0.35300054612502557]], [[0.35011825213977243]]], "std": [[[0.16319345957175127]], [[0.15656503463191587]], [[0.1523353464497338]]], "count": [198]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6147050137896659]], [[0.5488505846440237]], [[0.44656836301365754]]], "std": [[[0.2657573897192474]], [[0.19832381963010903]], [[0.16113427310075887]]], "count": [198]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.03529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6170286457003592]], [[0.5517867848575174]], [[0.4466855214406627]]], "std": [[[0.25819697989997964]], [[0.1923820503325691]], [[0.15565241938397698]]], "count": [198]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1157]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1157]}, "observation.state": {"min": [3.036554860472114, -1.0575703896151802, 0.6997938891843825, 0.0, 0.0, 0.7068906426429749, 0.7069846391677856, 0.10165072989485047, -0.0016099384918990545, 0.13146365857301412, -0.9888373613357544, -0.22822314500808716, -0.6613259315490723, 0.0005519932019524276, 6.968054133296731e-05, -0.04251361473899543], "max": [3.036779047674156, -1.0558847452721656, 0.7048130409343717, 0.0, 0.0, 0.7072288990020752, 0.7073229551315308, 0.24431501620305418, 0.3068529901174557, 0.5969577992873215, 0.9855075478553772, 0.7742307782173157, 0.6679813265800476, 0.6532949209213257, 0.04137126342914786, -0.0006725025114380886], "mean": [3.0367175802104684, -1.0574173416341908, 0.7005361325332284, 0.0, 0.0, 0.7070539394842723, 0.7071595944612317, 0.20944191266867293, 0.2560909636455966, 0.1657033970330975, 0.3694378439475466, 0.5850282741731472, 0.2671391995126251, 0.5692608325824994, 0.03619497106494661, -0.03690567116329665], "std": [1.535572929899819e-05, 8.512554919149536e-05, 0.0008884000553414695, 0.0, 0.0, 2.889504958014348e-05, 2.8897395085038484e-05, 0.028465284923680053, 0.030182646507649773, 0.0754868772008852, 0.2209230076883732, 0.1863704928933588, 0.12732799852061372, 0.1615023103908777, 0.009469599275683176, 0.00897445959930018], "count": [1157]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5196428571428572, -0.46607142857142864, -0.8089285714285713, -0.3235714285714285, -0.22285714285714286, -0.23785714285714282, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.44464285714285723, 1.0, 0.5625000000000001, 0.6857142857142857, 0.04928571428571429, 0.46714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.005361773058402276, 0.007363563402889247, -0.03318002222496605, 0.04533337449067786, -0.014609211013705405, 0.0027633041116187146, -0.6992221261884183], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0792931784344411, 0.13486825472952702, 0.14887949259123198, 0.1613809238173338, 0.03853202705759265, 0.08094422541954482, 0.7149044819054844], "count": [1157]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013828868046402931], "std": [0.11678025871515274], "count": [1157]}, "next.done": {"min": [false], "max": [true], "mean": [0.000864304235090752], "std": [0.029386343993085564], "count": [1157]}, "timestamp": {"min": [0.0], "max": [57.8], "mean": [28.900000000000002], "std": [16.699850298730226], "count": [1157]}, "frame_index": {"min": [0], "max": [1156], "mean": [578.0], "std": [333.9970059746045], "count": [1157]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [1157]}, "index": {"min": [30147], "max": [31303], "mean": [30725.0], "std": [333.9970059746045], "count": [1157]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1157]}}} +{"episode_index": 46, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3738306535093478]], [[0.3598576640899987]], [[0.3466201901453427]]], "std": [[[0.19960223294619642]], [[0.17959564327722752]], [[0.16221460652012393]]], "count": [133]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.027450980392156862]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46349738940858004]], [[0.44662975528924564]], [[0.41582128881054886]]], "std": [[[0.21582025590063456]], [[0.21309608574783395]], [[0.22095990694752568]]], "count": [133]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.023529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.443943036841587]], [[0.4215658015493409]], [[0.39120022372898583]]], "std": [[[0.2193575037795456]], [[0.21613956182123967]], [[0.22231752672141636]]], "count": [133]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [680]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [680]}, "observation.state": {"min": [0.8092660868198993, -3.1882536657217213, 0.6999983577890223, 0.0, 0.0, -1.0, 2.8033987575781794e-08, 0.18237870700980297, -0.011684533741949554, 0.22558251221358816, -0.9957078099250793, -0.5536460280418396, -0.13582567870616913, 0.0013855320867151022, -0.0007055224418833553, -0.03987028709497773], "max": [0.8093833618522865, -3.1879951669142907, 0.7129310072130156, 0.0, 0.0, 1.0, 0.00021400759578682482, 0.2913752641543098, 0.021704200628070325, 0.5840105643322252, 0.9960529208183289, 0.4947628974914551, 0.23069170117378235, 0.11011282354593277, 0.04000864760271376, 0.0009428925484254097], "mean": [0.8092828194243032, -3.188196658858036, 0.7011677031377639, 0.0, 0.0, -0.6294117647058823, 8.86776046103008e-06, 0.2714139176325523, 0.0051094880982528205, 0.260726417749662, -0.7446761183002416, -0.4401537032359663, 0.10837938385632108, 0.0350585961026167, 0.03495767412208747, -0.036692352762792056], "std": [2.193981251002854e-05, 2.613134527566039e-05, 0.0021828687811266054, 0.0, 0.0, 0.7770719596342626, 2.688773347803747e-05, 0.02515829300736811, 0.0054164333864506935, 0.0706633154697908, 0.41186074520857485, 0.2568701885654503, 0.054161487838726714, 0.014211621273223805, 0.011763740557946342, 0.008400201037993264], "count": [680]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5410714285714286, -0.1875, -0.9482142857142856, -0.16071428571428573, -0.19285714285714284, -0.39000000000000007, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.40714285714285714, 0.375, -0.0, 0.08571428571428572, 0.2742857142857143, 0.3364285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.012770483193277312, 0.010162815126050419, -0.10842699579831931, -0.0046165966386554624, 0.0025808823529411716, -0.015337184873949567, -0.7235294117647059], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.09622194731902438, 0.051034795208435964, 0.20745500142456152, 0.02426687790398764, 0.03741333804684197, 0.11023127040467362, 0.6902935537229209], "count": [680]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0235294122248888], "std": [0.15157762169837952], "count": [680]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014705882352941176], "std": [0.038320041825868775], "count": [680]}, "timestamp": {"min": [0.0], "max": [33.95], "mean": [16.975], "std": [9.81494396316148], "count": [680]}, "frame_index": {"min": [0], "max": [679], "mean": [339.5], "std": [196.29887926322962], "count": [680]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [680]}, "index": {"min": [31304], "max": [31983], "mean": [31643.5], "std": [196.29887926322962], "count": [680]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [680]}}} +{"episode_index": 47, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.047058823529411764]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4991916532592134]], [[0.46318347909782054]], [[0.42377785618586056]]], "std": [[[0.24763573856086876]], [[0.21893458260200233]], [[0.20189708659505393]]], "count": [131]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6138117465479005]], [[0.5136935081761712]], [[0.4104600426465911]]], "std": [[[0.2677699401357698]], [[0.23590332851138035]], [[0.2384790209280436]]], "count": [131]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.06274509803921569]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6172586811889593]], [[0.517307905343599]], [[0.41533819003619754]]], "std": [[[0.2615061041045474]], [[0.2350591758707135]], [[0.24083746499872088]]], "count": [131]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [671]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [671]}, "observation.state": {"min": [0.9068180003402996, -1.857847124753233, 0.6999988858301548, 0.0, 0.0, -1.0, 8.525581307594621e-08, 0.1351023983714229, -0.357942227557547, 0.15229000710897111, -0.9874522686004639, -0.028466463088989258, -0.6799806356430054, 0.0001401187910232693, 0.02055645265302318, -0.04031550162889766], "max": [0.9069721838693108, -1.8577702853920508, 0.7010052040902531, 0.0, 0.0, 1.0, 0.00011633898975560442, 0.2502265974573016, -0.00999730943786048, 0.6001669799792432, 0.8298125863075256, 0.30464106798171997, 0.7277078628540039, 0.3232792019844055, 0.0400009120538979, -0.01381055400958932], "mean": [0.9068538673318716, -1.857819856956851, 0.7004729549161051, 0.0, 0.0, -0.9493293591654247, 5.3988506906464156e-05, 0.22324630960339967, -0.3020596123796787, 0.21782768419047718, 0.30526708055359775, 0.10485106955342073, 0.4476799778362678, 0.11776321173669672, 0.033836365185986456, -0.03272433710098202], "std": [1.6155082531274174e-05, 6.784732087034902e-06, 0.0004560445675355322, 0.0, 0.0, 0.3142829423092619, 1.3021454265518271e-05, 0.03457896785006161, 0.05360131917738082, 0.12132924352575652, 0.6559442462538363, 0.08782936597176344, 0.48839317162663765, 0.07090832634708129, 0.00625038746779042, 0.007789375902052283], "count": [671]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.3428571428571429, -0.6857142857142858, -0.46428571428571436, -0.13714285714285715, -0.17714285714285713, -0.07142857142857142, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.22142857142857142, 0.23571428571428574, 0.15714285714285717, 0.22, 0.10285714285714286, 0.028571428571428574, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -3.193527783691984e-05, -0.038130721737279084, -0.0544602938045561, 0.014251649989354912, -0.014008941877794332, -0.002427081115605708, -0.010432190760059613], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.06537877213482825, 0.13428343963189132, 0.11055470349653916, 0.06387260205365568, 0.039586767740598446, 0.010448617326335511, 0.9999455832173778], "count": [671]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0238450076431036], "std": [0.15256613492965698], "count": [671]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014903129657228018], "std": [0.03857579465140026], "count": [671]}, "timestamp": {"min": [0.0], "max": [33.5], "mean": [16.75], "std": [9.685040010242602], "count": [671]}, "frame_index": {"min": [0], "max": [670], "mean": [335.0], "std": [193.70080020485202], "count": [671]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [671]}, "index": {"min": [31984], "max": [32654], "mean": [32319.0], "std": [193.70080020485202], "count": [671]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [671]}}} +{"episode_index": 48, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4662077657504716]], [[0.4449477916359286]], [[0.43554172291475185]]], "std": [[[0.23754902438758047]], [[0.24798734465277483]], [[0.25913606117838406]]], "count": [190]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3240804423833164]], [[0.30496045973770886]], [[0.3003486127823868]]], "std": [[[0.23569191628775651]], [[0.23309985303896957]], [[0.23983572076424534]]], "count": [190]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32369176591020865]], [[0.30243715961405127]], [[0.2964078533538724]]], "std": [[[0.24307780501620252]], [[0.2391400567756692]], [[0.24556189858001362]]], "count": [190]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1098]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1098]}, "observation.state": {"min": [2.021362313740141, -0.9805105764094304, 0.6999886047136059, 0.0, 0.0, 0.7055286765098572, 0.7070644497871399, 0.032396165523961074, -0.4818285935722506, 0.10728148816687877, -0.9989763498306274, -0.12460607290267944, -0.7705298662185669, 1.8929440557258204e-05, 0.011931562289293072, -0.04000774276682862], "max": [2.283832637784305, -0.8315778828846125, 0.7000602120324683, 0.0, 0.0, 0.707149088382721, 0.7086812853813171, 0.25658235028273935, -0.004194054275194592, 0.5829232121220279, 0.9957641959190369, 0.7241460084915161, 0.6870571374893188, 0.6750317215919495, 0.04004344710024185, -0.012846514163850322], "mean": [2.046833296377829, -0.9169968314427277, 0.700018395124406, 0.0, 0.0, 0.7060684293019966, 0.7081434376035666, 0.22902813779840833, -0.40551357856776243, 0.18896064657207906, -0.7076486484342694, 0.05042551916927262, -0.5896351917923338, 0.062808264143675, 0.02505821526829536, -0.02555747120550361], "std": [0.07614986226563839, 0.027226979625528475, 1.893246476460362e-05, 0.0, 0.0, 0.00033006589200304054, 0.00032953639419777567, 0.05099844948217678, 0.14496795600485718, 0.15182762350162143, 0.2132814566992628, 0.1345397182569287, 0.2602458256573243, 0.11729592320515242, 0.008701845391838702, 0.008540885847332213], "count": [1098]}, "action": {"min": [-0.7142857142857143, -0.03571428571428572, -0.022857142857142857, 0.0, -1.0, -0.5857142857142857, -1.0, -0.5428571428571429, -0.09714285714285714, -0.32571428571428573, -0.13714285714285715, -1.0], "max": [0.3785714285714286, 0.807142857142857, 0.0, 0.0, 1.0, 0.37142857142857144, 0.28571428571428575, 0.05, 0.4628571428571429, 0.08571428571428572, 0.19142857142857142, 1.0], "mean": [0.0005984907624251874, 0.008860265417642456, -7.546187874056728e-05, 0.0, -0.907103825136612, 0.0007090814467863792, -0.037457715326567775, -0.03196070778037991, 0.02986468904501691, -0.012659380692167578, -0.0023757481134530313, 0.4808743169398907], "std": [0.06894332867924352, 0.07433537735656531, 0.0010777515290095491, 0.0, 0.42090693795958756, 0.09413495076079625, 0.15372900171478587, 0.09566643186586465, 0.09295651270797448, 0.05597992011009449, 0.03168042227814625, 0.8767895364952788], "count": [1098]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014571948908269405], "std": [0.11983157694339752], "count": [1098]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009107468123861566], "std": [0.030164836360071393], "count": [1098]}, "timestamp": {"min": [0.0], "max": [54.85], "mean": [27.425], "std": [15.848258316504898], "count": [1098]}, "frame_index": {"min": [0], "max": [1097], "mean": [548.5], "std": [316.965166330098], "count": [1098]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [1098]}, "index": {"min": [32655], "max": [33752], "mean": [33203.5], "std": [316.965166330098], "count": [1098]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1098]}}} +{"episode_index": 49, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34709608574875267]], [[0.33933670514104075]], [[0.33597275549624145]]], "std": [[[0.12047444901345129]], [[0.11432176000308165]], [[0.11678872300697471]]], "count": [140]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39469041455693604]], [[0.38019316729377295]], [[0.3756784968015527]]], "std": [[[0.20689735772379442]], [[0.2143461310329661]], [[0.2186192072589936]]], "count": [140]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3862458557641807]], [[0.37087451710420494]], [[0.3664397757393973]]], "std": [[[0.19850323446152132]], [[0.20688159784338156]], [[0.21179961228980737]]], "count": [140]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [731]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [731]}, "observation.state": {"min": [0.8236528364472724, -1.763227397103794, 0.6999978882862629, 0.0, 0.0, -1.0, 0.0, -0.006054061707279512, -0.010931114816272514, 0.14875436837149347, -0.9889003038406372, -0.03869117796421051, -0.20063871145248413, 0.00013451097765937448, 0.020576512565868857, -0.040041785081787254], "max": [0.8238000163349043, -1.7628012735682428, 0.7030661332488346, 0.0, 0.0, 1.0, 0.00023105736181605607, 0.2535649473389685, 0.25323926206540803, 0.6010155794675395, 0.978731632232666, 0.4424092769622803, 0.5185604691505432, 0.601325273513794, 0.04317860835889841, -0.011552751776328859], "mean": [0.8236617333981281, -1.7631548399693227, 0.7001518819828574, 0.0, 0.0, 0.5047879616963065, 9.71955948515177e-06, 0.15034872158646356, 0.10583806089875386, 0.4363894743588386, -0.08395159122229601, 0.15981067235998186, 0.14895042410138204, 0.25857348076780373, 0.0379490637629272, -0.037704568660837434], "std": [1.598925376597491e-05, 3.861669874094229e-05, 0.00039657318922378286, 0.0, 0.0, 0.8632433687706413, 2.4389506725723993e-05, 0.08224397434886442, 0.11295586864876205, 0.19097228123275556, 0.8326030605546921, 0.18918266321998012, 0.30166706307863733, 0.241547635472562, 0.004391704052469578, 0.005554291562260667], "count": [731]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.36428571428571427, -0.35714285714285715, -0.6642857142857144, -0.2714285714285714, -0.26285714285714284, -0.1, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.22142857142857142, 0.29285714285714287, 0.042857142857142864, 0.3457142857142857, 0.13714285714285715, 0.13142857142857142, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0035567715458276676, 0.004475278483486418, -0.052452608950556985, 0.007355872581590765, -0.011123705296071925, 0.00023842094977525956, -0.7017783857729138], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.09737572063783896, 0.10037029250979253, 0.1127903239363649, 0.09662385854861118, 0.04688524697996558, 0.030113163955850713, 0.7123953237226937], "count": [731]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021887825801968575], "std": [0.1463172733783722], "count": [731]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013679890560875513], "std": [0.03696102896335512], "count": [731]}, "timestamp": {"min": [0.0], "max": [36.5], "mean": [18.25], "std": [10.551066296825171], "count": [731]}, "frame_index": {"min": [0], "max": [730], "mean": [365.0], "std": [211.0213259365034], "count": [731]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [731]}, "index": {"min": [33753], "max": [34483], "mean": [34118.0], "std": [211.0213259365034], "count": [731]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [731]}}} +{"episode_index": 50, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4004183669663891]], [[0.3925357755934933]], [[0.38690377919207697]]], "std": [[[0.204615894638512]], [[0.20064334946143167]], [[0.1938047330243709]]], "count": [148]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5061908586478827]], [[0.447781633256792]], [[0.40656653820173283]]], "std": [[[0.23843700534945622]], [[0.25606712256715414]], [[0.26585984275730074]]], "count": [148]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4355636531989538]], [[0.38706228420983313]], [[0.3528991618356063]]], "std": [[[0.2600949784348816]], [[0.26412501282859296]], [[0.26804350700039553]]], "count": [148]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [788]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [788]}, "observation.state": {"min": [2.929091776883632, -3.47050535854827, 0.6999967797559853, 0.0, 0.0, -0.00728301377967, 0.9999735355377197, -0.01932010328692435, -0.5379939560542497, 0.09958989948267138, -0.9929231405258179, -0.05112111568450928, -0.6262524724006653, 0.0010456083109602332, 0.012898704487840005, -0.041019036528547034], "max": [2.9303022678120474, -2.8752484361059385, 0.7016244990738828, 0.0, 0.0, 0.000151184867718257, 1.0, 0.2501945115225612, 0.003086171702391116, 0.588649886648657, 0.8351256847381592, 0.47880464792251587, 0.648591160774231, 0.5077381134033203, 0.04003375019963988, -0.02054735533142044], "mean": [2.929215207823259, -2.89684286361892, 0.700051080074116, 0.0, 0.0, -0.0068318362382908, 0.9999762313620089, 0.14407823800502606, -0.44212527561016, 0.1905043790320163, 0.3693946142335834, 0.29934210823801566, 0.38634020230037913, 0.301202352370873, 0.03792394028976116, -0.03938968334970135], "std": [0.00010403736142554769, 0.09168127089642349, 0.0001986058726841876, 0.0, 0.0, 0.0009408711355023948, 3.6735768988636552e-06, 0.06149308344906783, 0.15700013138111787, 0.15607504275801318, 0.6401814991596312, 0.13158931876786484, 0.3017200548846179, 0.1256073786942912, 0.005206580275016403, 0.0027751629893419073], "count": [788]}, "action": {"min": [-0.16607142857142856, -0.375, -0.030000000000000002, 0.0, -1.0, -0.6696428571428571, -0.8410714285714286, -0.6053571428571428, -0.5207142857142857, -0.3642857142857143, -0.2742857142857143, -1.0], "max": [0.0, 0.6642857142857143, 0.0, 0.0, 1.0, 0.39107142857142857, 0.24642857142857144, -0.0, 0.42642857142857143, 0.24642857142857144, 0.038571428571428576, 1.0], "mean": [-0.0015432378535170412, 0.027438361131254536, -0.0005221174764321973, 0.0, -0.8451776649746193, -0.011013415518491648, -0.06559780638143592, -0.053816171138506286, -0.005563814358230607, -0.005006345177664972, -0.012103879622915157, -0.8578680203045685], "std": [0.012710033392350068, 0.12495367714136402, 0.003045053933320421, 0.0, 0.5344854671813255, 0.11816815245226822, 0.16637945381918348, 0.10242567853319863, 0.1433626503747212, 0.0541549734370747, 0.045817679129151516, 0.5138700806027925], "count": [788]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020304568111896515], "std": [0.14104005694389343], "count": [788]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012690355329949238], "std": [0.0356009140586435], "count": [788]}, "timestamp": {"min": [0.0], "max": [39.35], "mean": [19.675], "std": [11.37379114455686], "count": [788]}, "frame_index": {"min": [0], "max": [787], "mean": [393.5], "std": [227.47582289113717], "count": [788]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [788]}, "index": {"min": [34484], "max": [35271], "mean": [34877.5], "std": [227.47582289113717], "count": [788]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [788]}}} +{"episode_index": 51, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2728888239795806]], [[0.2733083808404108]], [[0.27490267688872044]]], "std": [[[0.2171165389399006]], [[0.2096557552330314]], [[0.20565682093440268]]], "count": [104]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.560333127098026]], [[0.41926435640314946]], [[0.39034300008690376]]], "std": [[[0.26435354974917313]], [[0.31021305640016017]], [[0.3326162822335896]]], "count": [104]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.571399707132515]], [[0.4263602635080099]], [[0.3966731259905555]]], "std": [[[0.26545417282972233]], [[0.3156984501814537]], [[0.33893464127832224]]], "count": [104]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [493]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [493]}, "observation.state": {"min": [4.385254566887323, -2.0094089366549857, 0.6999989646659381, 0.0, 0.0, -0.002381604863330722, 0.9999971389770508, 0.19745483711276623, -0.12657463180134254, 0.2263881721594243, -0.9921499490737915, -0.9116497039794922, -0.20673608779907227, 0.0003142693021800369, 0.009357591931429937, -0.039979273577273614], "max": [4.385968844588377, -2.006398691764189, 0.7028479863081779, 0.0, 0.0, 0.0019630687311291695, 1.0, 0.2932447161932368, -0.0038872649437817763, 0.5981823790119848, 0.9044972658157349, 0.9098562002182007, 0.20809043943881989, 0.12461433559656143, 0.040003272572931264, -0.018830275088233848], "mean": [4.3858121949293425, -2.0089430729031044, 0.7004219812478611, 0.0, 0.0, -0.001758688024105026, 0.9999980962784247, 0.2674030334057157, -0.09847617106527219, 0.2756677496430051, -0.3955969432667351, -0.6874465603555192, 0.0073985768732194555, 0.0419040504695057, 0.03548520166187601, -0.03807020108305247], "std": [0.0001439844597831527, 0.0005996180287523147, 0.0005777116792775203, 0.0, 0.0, 0.0008998509240838974, 8.224181682234229e-07, 0.022392346673392984, 0.029823692458312442, 0.10378572743071225, 0.3504368334313038, 0.494074944089344, 0.043630655046838475, 0.017027465820597793, 0.009287362700483586, 0.004334398929446027], "count": [493]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.28928571428571426, -0.43928571428571433, -0.6267857142857143, -0.3921428571428571, -0.1842857142857143, -0.315, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.17678571428571432, 0.11785714285714287, -0.0, 0.030000000000000002, 0.2014285714285714, 0.6385714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.007291364821790785, -0.016451753115039124, -0.08012894813097639, -0.01502173283106346, 0.0034772529701535804, -0.0007780353520718983, -0.6470588235294118], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.06531152907836692, 0.0659399039472816, 0.13087264917170496, 0.06356836427918104, 0.037024900606391284, 0.1901858366820757, 0.7624400821656302], "count": [493]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03245436027646065], "std": [0.1772034913301468], "count": [493]}, "next.done": {"min": [false], "max": [true], "mean": [0.002028397565922921], "std": [0.04499203450876031], "count": [493]}, "timestamp": {"min": [0.0], "max": [24.6], "mean": [12.299999999999999], "std": [7.115827429048571], "count": [493]}, "frame_index": {"min": [0], "max": [492], "mean": [246.0], "std": [142.3165485809714], "count": [493]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [493]}, "index": {"min": [35272], "max": [35764], "mean": [35518.0], "std": [142.3165485809714], "count": [493]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [493]}}} +{"episode_index": 52, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2988041743733525]], [[0.29054202223135756]], [[0.2864133055693184]]], "std": [[[0.21629940960621244]], [[0.20880612761346054]], [[0.19938660522930501]]], "count": [192]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5500010325238596]], [[0.3809814347161187]], [[0.3400526589038325]]], "std": [[[0.21952279947504696]], [[0.2542606738888148]], [[0.2460258268210946]]], "count": [192]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5165198971243465]], [[0.3716179052988688]], [[0.33660415823942696]]], "std": [[[0.2485797019198696]], [[0.26383614923335064]], [[0.2555144336135921]]], "count": [192]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1115]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1115]}, "observation.state": {"min": [0.8870297285321188, -4.777095280795938, 0.6999690753930877, 0.0, 0.0, 0.9999923706054688, 0.00015089634689502418, 0.06296824864997874, -0.4632063487734843, 0.12415699879830533, -0.991493821144104, -0.16489681601524353, -0.5108689665794373, 0.0003639355709310621, 0.01000042162057354, -0.042129084161569796], "max": [0.88787503825951, -4.5423901094485215, 0.7030597341616872, 0.0, 0.0, 1.0, 0.003920302260667086, 0.24699634011458727, -0.004729105508792131, 0.5925846580147006, 0.9256421327590942, 0.70137619972229, 0.5665330290794373, 0.7346549034118652, 0.04092118700853862, -0.004280007418211664], "mean": [0.8872486741374971, -4.773889228676399, 0.7003068898284863, 0.0, 0.0, 0.9999941652665758, 0.0034093498328941845, 0.18852664270137695, -0.40847631145564567, 0.2147754926020121, 0.20373628355997025, 0.5208696259377783, 0.2696783401460424, 0.5029657393597607, 0.03743745098660469, -0.037058244440813896], "std": [9.099825413022591e-05, 0.024246638206308825, 0.0005078220468225177, 0.0, 0.0, 6.042297487128872e-07, 0.0002975379075704021, 0.03686614344587071, 0.10111964609491834, 0.11344727197591495, 0.4616844076998602, 0.22439287197116892, 0.23263958904641827, 0.20942679094907019, 0.005171825714323615, 0.007866039978986265], "count": [1115]}, "action": {"min": [-0.06964285714285715, -0.19285714285714287, -0.02142857142857143, 0.0, -1.0, -0.5732142857142857, -0.8089285714285713, -0.8785714285714287, -0.37714285714285717, -0.24214285714285713, -0.135, -1.0], "max": [0.17142857142857143, 0.6910714285714286, 0.0, 0.0, 1.0, 0.21964285714285717, 0.4821428571428571, -0.0, 0.41571428571428576, 0.060000000000000005, 0.21642857142857144, 1.0], "mean": [0.000283472133247918, 0.008484945547725819, -0.00015951313260730303, 0.0, -0.9246636771300448, -0.024969570787956454, -0.04549007046764891, -0.11537315823190251, -0.004793081358103908, -0.022001281229980817, 0.016902626521460535, -0.7560538116591928], "std": [0.008848439624040631, 0.06759821517158891, 0.0016719896617279698, 0.0, 0.38078482663618174, 0.10040819777445124, 0.16495312255730943, 0.18718154609283338, 0.1397224193087347, 0.04988120415052549, 0.06049118250195574, 0.6545094604935854], "count": [1115]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01434977538883686], "std": [0.1189279556274414], "count": [1115]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008968609865470852], "std": [0.029934204965522217], "count": [1115]}, "timestamp": {"min": [0.0], "max": [55.7], "mean": [27.85], "std": [16.093632281122865], "count": [1115]}, "frame_index": {"min": [0], "max": [1114], "mean": [557.0], "std": [321.87264562245736], "count": [1115]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [1115]}, "index": {"min": [35765], "max": [36879], "mean": [36322.0], "std": [321.87264562245736], "count": [1115]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1115]}}} +{"episode_index": 53, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36926272669627014]], [[0.3610382142845665]], [[0.355906335581449]]], "std": [[[0.15906869759957024]], [[0.1603654677583997]], [[0.1630333720364117]]], "count": [143]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3708838494867189]], [[0.33870948698398723]], [[0.32713583838084787]]], "std": [[[0.1793178311801142]], [[0.19620613592000752]], [[0.2051944493593599]]], "count": [143]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3703699594987006]], [[0.33859269960613453]], [[0.32707075764739624]]], "std": [[[0.1895591374327706]], [[0.20395173310259737]], [[0.2121399335279233]]], "count": [143]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [749]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [749]}, "observation.state": {"min": [1.4213736173753393, -0.9539794295745411, 0.6999980490062022, 0.0, 0.0, 0.6997697949409485, 0.7071654200553894, 0.14175278957355686, -0.4189352894608529, 0.1434877857710799, -0.9906253218650818, -0.06621390581130981, -0.7090241312980652, 0.0006437778356485069, 0.01412272287710225, -0.04033873761327298], "max": [1.7031774087594478, -0.8573937174440063, 0.7012021619318181, 0.0, 0.0, 0.7070480585098267, 0.7143684029579163, 0.253712271432608, 0.0011581618965115226, 0.5897818999280857, 0.7125566005706787, 0.6327940821647644, 0.7060113549232483, 0.5334093570709229, 0.04004087294829721, -0.020486387132744498], "mean": [1.4363294046984076, -0.9257203960454072, 0.7002154839393457, 0.0, 0.0, 0.7005989398752577, 0.7135527198400612, 0.22993674484174545, -0.34039834815799175, 0.2515527579813471, -0.21838642933340036, 0.14318219274879299, -0.038453049271383655, 0.1590433148165962, 0.030218038059875555, -0.03670706942340749], "std": [0.060970843475029374, 0.013340744080538564, 0.00022785139469961083, 0.0, 0.0, 0.0013547761324642896, 0.001341418850247452, 0.03178112456328689, 0.14339229506869394, 0.16377201093039198, 0.7176721179943573, 0.15524505858567408, 0.5906901772620768, 0.13024450410032096, 0.00950855613300379, 0.0036521372835648927], "count": [749]}, "action": {"min": [-0.6071428571428572, 0.0, -0.06285714285714286, 0.0, -1.0, -0.37142857142857144, -0.8214285714285715, -0.3857142857142857, -0.13142857142857142, -0.2542857142857143, -0.22285714285714286, -1.0], "max": [0.3428571428571429, 0.8, 0.0, 0.0, 1.0, 0.17857142857142858, 0.02857142857142857, 0.12142857142857143, 0.35714285714285715, 0.19428571428571428, 0.05428571428571429, 1.0], "mean": [-0.0011825290864009147, 0.015010490177379366, -0.0006942590120160213, 0.0, -0.7730307076101469, 0.004186534426854844, -0.05398626740415794, -0.04093076482929617, 0.05024222773221436, 0.00584016784283808, -0.026446690825863074, 0.0013351134846461949], "std": [0.06907897512781806, 0.09301520035367028, 0.005702616065243176, 0.0, 0.6343686034883617, 0.06133627257753152, 0.13549620683598718, 0.09193727168030953, 0.10381438702232162, 0.06850062671777259, 0.059968546870277056, 0.9999991087355946], "count": [749]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0213618166744709], "std": [0.14458730816841125], "count": [749]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013351134846461949], "std": [0.036514804622636426], "count": [749]}, "timestamp": {"min": [0.0], "max": [37.4], "mean": [18.7], "std": [10.810874155219826], "count": [749]}, "frame_index": {"min": [0], "max": [748], "mean": [374.0], "std": [216.21748310439654], "count": [749]}, "episode_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [749]}, "index": {"min": [36880], "max": [37628], "mean": [37254.0], "std": [216.21748310439654], "count": [749]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [749]}}} +{"episode_index": 54, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.18579858295574816]], [[0.18391940386247796]], [[0.18907130366108865]]], "std": [[[0.20465641602637755]], [[0.20167197812046891]], [[0.19834752232991856]]], "count": [121]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6983361085487753]], [[0.6567657099804023]], [[0.6234278867898044]]], "std": [[[0.24725743319303153]], [[0.2275475256355462]], [[0.21723243192391692]]], "count": [121]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7073430816892711]], [[0.6670663490227412]], [[0.6346461539484078]]], "std": [[[0.24781042664764819]], [[0.227940935869443]], [[0.21823478206641975]]], "count": [121]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [604]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [604]}, "observation.state": {"min": [4.864491814204811, -4.717789611239674, 0.6999559434427586, 0.0, 0.0, 0.00012170833360869437, 1.0, 0.21573541260320273, -0.07109786375256011, 0.22712440933979905, -0.9995514750480652, -0.2749480903148651, -0.14045462012290955, 6.755512004019693e-05, 0.0037598073908933004, -0.04092794152664717], "max": [4.864628011075603, -4.717680086923453, 0.7013665603310429, 0.0, 0.0, 0.00027568574296310544, 1.0, 0.30358966454731195, 0.007043624714400565, 0.5986012796520377, 0.9993435740470886, 0.43532148003578186, 0.06639403849840164, 0.04778943210840225, 0.03996535965721, -0.02053098571925232], "mean": [4.864574898898182, -4.7177648568924235, 0.7008726936831262, 0.0, 0.0, 0.0001593462521542212, 1.0, 0.2870662076538862, -0.05700096303956678, 0.25595726738762337, 0.7536894875449061, 0.2902955995866449, -0.011601776415339535, 0.010891313340630253, 0.02429907804824775, -0.028892929665976695], "std": [1.3055843482497382e-05, 1.6298624720722587e-05, 0.0005176953165949976, 0.0, 0.0, 2.4338005419165513e-05, 0.0, 0.020651898894872144, 0.01418951220792088, 0.08043823882219749, 0.5782117901960632, 0.1079657281455032, 0.0359224867981437, 0.01230835486764772, 0.009623146979337676, 0.007000133242379845], "count": [604]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.3357142857142857, -0.3214285714285714, -0.5642857142857142, -0.15714285714285714, -0.0, -0.2914285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.24285714285714285, 0.19285714285714284, -0.0, 0.002857142857142857, 0.11714285714285716, 0.30857142857142855, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.010359508041627245, -0.011140018921475875, -0.054186376537369914, -0.002724692526017029, 0.004385052034058657, -0.018268684957426687, 0.45364238410596025], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.08161594709652865, 0.04750930360427309, 0.1194848761335349, 0.01719430233532115, 0.01385454816169854, 0.0887653307187009, 0.8911838123208105], "count": [604]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.026490066200494766], "std": [0.16058748960494995], "count": [604]}, "next.done": {"min": [false], "max": [true], "mean": [0.0016556291390728477], "std": [0.0406557256881082], "count": [604]}, "timestamp": {"min": [0.0], "max": [30.15], "mean": [15.075000000000001], "std": [8.717977116281046], "count": [604]}, "frame_index": {"min": [0], "max": [603], "mean": [301.5], "std": [174.35954232562094], "count": [604]}, "episode_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [604]}, "index": {"min": [37629], "max": [38232], "mean": [37930.5], "std": [174.35954232562094], "count": [604]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [604]}}} +{"episode_index": 55, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07058823529411765]], [[0.07058823529411765]], [[0.07058823529411765]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4170710356428262]], [[0.42119094229756326]], [[0.4224525302064185]]], "std": [[[0.1496730485823475]], [[0.144611150630203]], [[0.14523593602267215]]], "count": [146]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39597671840769166]], [[0.4248828393043192]], [[0.4283502312843882]]], "std": [[[0.24439795702726302]], [[0.22803562522858403]], [[0.22350002960606008]]], "count": [146]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39214383232122846]], [[0.4331044896136296]], [[0.44826078699251803]]], "std": [[[0.24529696154042335]], [[0.23033170349812318]], [[0.23456236723270685]]], "count": [146]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [771]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [771]}, "observation.state": {"min": [3.3475718827803327, -1.0246124650277941, 0.6999991790928611, 0.0, 0.0, 0.7069119215011597, 0.7071191668510437, 0.15300971451497614, -0.2907129842355318, 0.10120961698514497, -0.9923834204673767, -0.020967066287994385, -0.6367476582527161, 0.02056487649679184, 0.01723575685819031, -0.03996389305921073], "max": [3.3476792516805034, -1.0244938040916955, 0.7008634744688413, 0.0, 0.0, 0.7070943713188171, 0.7073014974594116, 0.2544601166217342, -0.018134081660791335, 0.5928032293520314, -0.3148668706417084, 0.6862109899520874, -0.11405755579471588, 0.5436604619026184, 0.040006054216708636, -0.008044068216744154], "mean": [3.3476091090978106, -1.0245203623439083, 0.7005361679933857, 0.0, 0.0, 0.7070510391286066, 0.7071624673448803, 0.22329816627196128, -0.2581400275277949, 0.1477380595027284, -0.7638719908690175, 0.06344790456166682, -0.5752340115790392, 0.10250993356852757, 0.02663209373079347, -0.02477737048736495], "std": [9.25454031007661e-06, 1.0972544726721445e-05, 0.0003592617817735179, 0.0, 0.0, 1.533589987892568e-05, 1.533701767308195e-05, 0.02329588575520052, 0.04084045468029006, 0.11695170146216674, 0.1017606025518799, 0.1632644845981514, 0.11528001574924056, 0.14412322266471014, 0.007865619910378105, 0.009794614546300642], "count": [771]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.36428571428571427, -0.8142857142857143, -0.6357142857142857, -0.0, -0.26285714285714284, -0.14, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.22142857142857142, 0.13571428571428573, 0.12142857142857143, 0.2257142857142857, 0.08, 0.014285714285714287, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00020381693533444046, -0.030526218269408933, -0.044376505465999576, 0.03330368723364831, -0.006555493792847885, -0.010420604039281077, 0.4163424124513619], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.06085506259478898, 0.11583832096484745, 0.13413406579034381, 0.06034794310425051, 0.045800614014850916, 0.02776212354808994, 0.9092078945951606], "count": [771]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02075226977467537], "std": [0.1425538957118988], "count": [771]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012970168612191958], "std": [0.03599075726462155], "count": [771]}, "timestamp": {"min": [0.0], "max": [38.5], "mean": [19.25], "std": [11.128417078213175], "count": [771]}, "frame_index": {"min": [0], "max": [770], "mean": [385.0], "std": [222.5683415642635], "count": [771]}, "episode_index": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [771]}, "index": {"min": [38233], "max": [39003], "mean": [38618.0], "std": [222.5683415642635], "count": [771]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [771]}}} +{"episode_index": 56, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4110431437861732]], [[0.3753109060475211]], [[0.35007739414221756]]], "std": [[[0.2028511548089811]], [[0.14675242160057447]], [[0.12199733341695318]]], "count": [101]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5635027776387473]], [[0.4741280604788133]], [[0.42217963071870146]]], "std": [[[0.22229619871947348]], [[0.21738905038457365]], [[0.20900527732003565]]], "count": [101]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.058823529411764705]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5465150187719541]], [[0.4619968492066923]], [[0.4135699939227896]]], "std": [[[0.22331618853227098]], [[0.21154539677787265]], [[0.20040132014652343]]], "count": [101]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [476]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [476]}, "observation.state": {"min": [3.121489727926981, -1.7262488227492352, 0.6999942168325853, 0.0, 0.0, -0.7071805000305176, 0.7070331573486328, 0.17481461778334406, -0.0013524419508654795, 0.21211660340771443, -0.9932199716567993, -0.41549888253211975, -0.11256192624568939, 0.000248492433456704, -0.0013948753825633565, -0.040006944803643314], "max": [3.122113778379465, -1.7220744867705038, 0.7165031700195419, 0.0, 0.0, -0.7066795229911804, 0.7075337767601013, 0.33775530824728484, 0.07334406076258793, 0.6057234468361864, 0.9996410608291626, 0.9664410352706909, 0.20724566280841827, 0.2545318305492401, 0.04214551087856612, 0.003888528561402232], "mean": [3.1216487780168287, -1.726059759661516, 0.7006973632261346, 0.0, 0.0, -0.7070972245781362, 0.7071163317486018, 0.23323998355736728, 0.03224089456684471, 0.4452991273031723, 0.8201055370756433, 0.11969475395304441, 0.13590105410634457, 0.055013938085041535, 0.03566582291130314, -0.03517680139611401], "std": [4.243496533168564e-05, 0.0004686410703291403, 0.0024321073150308393, 0.0, 0.0, 4.094408859687816e-05, 4.093517485202164e-05, 0.0300286783385537, 0.02259039902233849, 0.1620613158130691, 0.4611363767317327, 0.26831460986606465, 0.07915348291541371, 0.02645135562836661, 0.0101998045280904, 0.011060198520713967], "count": [476]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.22142857142857142, -1.0, -0.4542857142857143, -0.9285714285714286, -1.0, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6, 0.5071428571428571, 0.25, 0.12285714285714287, 0.36, 0.04, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0584033613445378, 0.00535714285714286, -0.17587034813925576, 0.0065846338535414176, -0.0006902761104441769, -0.12739495798319328, -0.5966386554621849], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.18526910595497162, 0.06555964796475203, 0.2780699947241794, 0.037774849928483165, 0.06452751861274755, 0.3035602863322783, 0.8025100091639205], "count": [476]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03361344709992409], "std": [0.18023201823234558], "count": [476]}, "next.done": {"min": [false], "max": [true], "mean": [0.0021008403361344537], "std": [0.04578675360862052], "count": [476]}, "timestamp": {"min": [0.0], "max": [23.75], "mean": [11.875], "std": [6.870453041830648], "count": [476]}, "frame_index": {"min": [0], "max": [475], "mean": [237.5], "std": [137.40906083661295], "count": [476]}, "episode_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [476]}, "index": {"min": [39004], "max": [39479], "mean": [39241.5], "std": [137.40906083661295], "count": [476]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [476]}}} +{"episode_index": 57, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.027450980392156862]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45517910078460094]], [[0.4302923613903569]], [[0.42083626990224804]]], "std": [[[0.1796365485990277]], [[0.18023025879323087]], [[0.18689214853229424]]], "count": [120]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5168452533397798]], [[0.4411299656886681]], [[0.40820091097962624]]], "std": [[[0.219605430432779]], [[0.20708809008870438]], [[0.20412109858112637]]], "count": [120]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5277690169390511]], [[0.4472760074590546]], [[0.4118707260431028]]], "std": [[[0.2174842696553366]], [[0.2088724765895911]], [[0.20739336265125924]]], "count": [120]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [594]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [594]}, "observation.state": {"min": [4.0955778452624605, -1.0651310811191994, 0.6999954648263826, 0.0, 0.0, 0.7068361639976501, 0.706875741481781, -0.033405352735176086, -0.48632823721188956, 0.0973112625258522, -0.9936683773994446, -0.2802872657775879, -0.88028484582901, 0.0007980592781677842, 0.0015593188260580723, -0.04454742578958211], "max": [4.095885011861923, -1.0647888290718779, 0.7039928490158638, 0.0, 0.0, 0.7073378562927246, 0.7073772549629211, 0.24842483564870155, 0.01378108573045811, 0.5812076854340523, 0.8362057209014893, 0.28357774019241333, 0.8810968399047852, 0.2074315845966339, 0.04084413961858706, -0.020508146352898625], "mean": [4.095833662765792, -1.0648702206474767, 0.7002767996088752, 0.0, 0.0, 0.7070641633035358, 0.7071493986479762, 0.1767556930306602, -0.17434957075708618, 0.4297846367762281, -0.5044338873741201, 0.10601384819858403, 0.0702440353104161, 0.05382201096338145, 0.03848046883536286, -0.0398169508271252], "std": [5.643024669791327e-05, 2.2936520152018742e-05, 0.0007360520537396698, 0.0, 0.0, 6.038138130020471e-05, 6.03873652444107e-05, 0.07459377511556983, 0.1818565723773759, 0.19422820260532747, 0.7387190673120102, 0.09348235357670585, 0.4082249413289683, 0.0733762116823878, 0.005384136589734821, 0.0017449597349777836], "count": [594]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7642857142857143, -0.7571428571428572, -0.6142857142857143, -0.16, -0.34285714285714286, -0.41428571428571437, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4357142857142858, -0.0, -0.0, 0.5457142857142857, 0.028571428571428574, 0.12, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.01915584415584415, -0.09652477152477153, -0.10349927849927856, 0.02587782587782588, -0.02133718133718134, -0.020370370370370365, -0.7845117845117845], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.17782790461595543, 0.16467068897777515, 0.17274736221974737, 0.12474141762945373, 0.0704835895901323, 0.09320742888453153, 0.6201139088604082], "count": [594]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02693602629005909], "std": [0.1618964970111847], "count": [594]}, "next.done": {"min": [false], "max": [true], "mean": [0.0016835016835016834], "std": [0.04099594498951488], "count": [594]}, "timestamp": {"min": [0.0], "max": [29.65], "mean": [14.825], "std": [8.573639347830458], "count": [594]}, "frame_index": {"min": [0], "max": [593], "mean": [296.5], "std": [171.47278695660916], "count": [594]}, "episode_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [594]}, "index": {"min": [39480], "max": [40073], "mean": [39776.5], "std": [171.47278695660916], "count": [594]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [594]}}} +{"episode_index": 58, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39175641753853996]], [[0.36704630545038913]], [[0.3559644417031379]]], "std": [[[0.18342498523361625]], [[0.17259815853433957]], [[0.1710489633684218]]], "count": [107]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39454112557104837]], [[0.3545209121634197]], [[0.3365174715567448]]], "std": [[[0.257705911540391]], [[0.22546384635599034]], [[0.21007516066199777]]], "count": [107]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4204897552876108]], [[0.3760039416385348]], [[0.35530099503522566]]], "std": [[[0.26118614972359155]], [[0.22895613273813886]], [[0.2125245338509704]]], "count": [107]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [510]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [510]}, "observation.state": {"min": [3.134631993574977, -0.9051545422537639, 0.6999911849663776, 0.0, 0.0, 0.7069879770278931, 0.7069808840751648, -0.04935727738768969, -0.2862024257567297, 0.15179711697325726, -0.9909812808036804, -0.12352752685546875, -0.7329350113868713, 0.009948442690074444, 0.02056729200089035, -0.04000323163924544], "max": [3.1348131950597495, -0.9049398853879067, 0.7012862657475505, 0.0, 0.0, 0.7072327136993408, 0.7072256207466125, 0.25093301545092106, -0.019091671455978787, 0.5962636853731634, -0.6717654466629028, 0.11314010620117188, -0.12728875875473022, 0.17307522892951965, 0.0401179793707676, -0.020245640721478674], "mean": [3.1347407051845257, -0.9050586900506679, 0.7007761077703945, 0.0, 0.0, 0.7071050233700696, 0.7071085230976928, 0.20377629583350765, -0.20429037759683535, 0.22302151177620427, -0.7265259727543476, -0.05863758445370431, -0.6610056482109369, 0.04292533737698606, 0.03139642046264073, -0.034497152713389066], "std": [1.3772572002264117e-05, 1.7155715842361666e-05, 0.0005226881566600944, 0.0, 0.0, 2.0800188272898842e-05, 2.0806768163798792e-05, 0.06861470230127979, 0.04673487509063905, 0.13313294950661161, 0.07833879196180163, 0.03154733374161373, 0.14419956282124302, 0.04499857425779826, 0.007261824329301315, 0.0053074377648472774], "count": [510]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7000000000000001, -0.7857142857142857, -0.5214285714285715, -0.0, -0.44857142857142857, -0.12285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6428571428571428, 0.42142857142857143, -0.0, 0.19714285714285715, 0.04, 0.045714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.001120448179271709, -0.02009803921568629, -0.07084033613445376, 0.013663865546218491, -0.023014005602240907, -0.002896358543417368, 0.01568627450980392], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19919341431021473, 0.1521038613119581, 0.12923674002247001, 0.040720372276182075, 0.07592444410337444, 0.017871043965870147, 0.9998769628269352], "count": [510]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0313725508749485], "std": [0.1743224412202835], "count": [510]}, "next.done": {"min": [false], "max": [true], "mean": [0.00196078431372549], "std": [0.04423731048109207], "count": [510]}, "timestamp": {"min": [0.0], "max": [25.45], "mean": [12.725], "std": [7.361201781412236], "count": [510]}, "frame_index": {"min": [0], "max": [509], "mean": [254.5], "std": [147.2240356282447], "count": [510]}, "episode_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [510]}, "index": {"min": [40074], "max": [40583], "mean": [40328.5], "std": [147.2240356282447], "count": [510]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [510]}}} +{"episode_index": 59, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5082053460284732]], [[0.49427427269295954]], [[0.49074573014823186]]], "std": [[[0.15209260729670424]], [[0.15637726642162822]], [[0.15921541393573474]]], "count": [111]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5060128108706707]], [[0.47849037912999165]], [[0.47173914583385085]]], "std": [[[0.21443987348843718]], [[0.22219649832543137]], [[0.2249056309636675]]], "count": [111]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49616499541821235]], [[0.4700579410263894]], [[0.4634989781759586]]], "std": [[[0.21271463171344113]], [[0.21918780881523478]], [[0.22149079919702627]]], "count": [111]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [539]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [539]}, "observation.state": {"min": [5.391995602451724, -2.2347841554124814, 0.6999581404767515, 0.0, 0.0, -9.458391286898404e-05, 1.0, 0.018370990196809878, 0.0001577238750996024, 0.09315998526074964, -0.9891168475151062, -0.154780775308609, -0.6861353516578674, 0.0006362181738950312, 0.019920840064778116, -0.04000859352217669], "max": [5.392078590064085, -2.23467593358194, 0.7000230346465007, 0.0, 0.0, -3.405632742214948e-05, 1.0, 0.246604840147433, 0.38434673215291437, 0.6044431451359061, 0.9511641263961792, 0.18826824426651, 0.7448989152908325, 0.23872417211532593, 0.04026550190535263, -0.01772684217278396], "mean": [5.392023666800419, -2.2347541347274698, 0.7000034052171533, 0.0, 0.0, -7.936967224062374e-05, 1.0, 0.17192706770266847, 0.336373235758821, 0.21040686317917576, -0.40573165699811947, 0.01585935540013499, -0.30347304664040764, 0.04830524625296831, 0.03805900713607984, -0.0322476298366781], "std": [9.973860633991525e-06, 1.5659852439789055e-05, 1.1099294857421118e-05, 0.0, 0.0, 7.524668991257536e-06, 0.0, 0.0748470856721723, 0.08875840253516308, 0.17103355453892763, 0.6705248345714057, 0.062227392407845916, 0.5338093758721819, 0.04767362633150862, 0.005222069313055634, 0.009873785899866896], "count": [539]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6714285714285714, -0.22142857142857142, -0.4857142857142857, -0.0, -0.2057142857142857, -0.09142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.2571428571428572, 0.6214285714285714, 0.14285714285714288, 0.2, 0.14285714285714285, 0.1457142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.003087728597932683, 0.036072091174132036, -0.07565597667638474, 0.026615425390935598, -0.012658362046117162, -0.0026398091704214173, -0.14656771799628943], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.13548436949636944, 0.1379764069589485, 0.14064151314717785, 0.05348062907639567, 0.0663209806157328, 0.028923324942105973, 0.989200638920823], "count": [539]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.029684601351618767], "std": [0.16971571743488312], "count": [539]}, "next.done": {"min": [false], "max": [true], "mean": [0.0018552875695732839], "std": [0.04303307422910279], "count": [539]}, "timestamp": {"min": [0.0], "max": [26.9], "mean": [13.450000000000001], "std": [7.779781487933963], "count": [539]}, "frame_index": {"min": [0], "max": [538], "mean": [269.0], "std": [155.59562975867928], "count": [539]}, "episode_index": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [539]}, "index": {"min": [40584], "max": [41122], "mean": [40853.0], "std": [155.59562975867928], "count": [539]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [539]}}} +{"episode_index": 60, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3486758809081161]], [[0.33282137729692374]], [[0.3242083054812834]]], "std": [[[0.25201478701147556]], [[0.23389526739142172]], [[0.2341798086161838]]], "count": [110]}, "observation.images.robot0_agentview_left": {"min": [[[0.07058823529411765]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47443683807862636]], [[0.40556718523702096]], [[0.3726982837479807]]], "std": [[[0.23957773299485852]], [[0.27765470639575074]], [[0.2979715736750416]]], "count": [110]}, "observation.images.robot0_agentview_right": {"min": [[[0.06666666666666667]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45911571591083167]], [[0.38812826771999637]], [[0.354909711487578]]], "std": [[[0.2357877058188955]], [[0.2705454917676708]], [[0.2911862361441319]]], "count": [110]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [530]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [530]}, "observation.state": {"min": [3.220505544875302, -2.4351295790776937, 0.6997166530958986, 0.0, 0.0, -0.7071757316589355, 0.7070378661155701, 0.15142560661123294, -0.014304139663723792, 0.2372771623790766, -0.9969913363456726, -0.4020194411277771, -0.16488517820835114, 2.6667717975215055e-05, 0.0010989010706523444, -0.042523621682245195], "max": [3.2208314894136327, -2.434896603768248, 0.7001462345603335, 0.0, 0.0, -0.7069395184516907, 0.7072740197181702, 0.24420927218485033, 0.1629365981353481, 0.6066031112804969, 0.9965715408325195, 0.002398565411567688, 0.07629542052745819, 0.052726052701473236, 0.040004607415044996, -0.013955673594983039], "mean": [3.220554031834009, -2.434916347623367, 0.699996716610721, 0.0, 0.0, -0.7071062946094657, 0.7071071997003735, 0.20837144542151387, 0.039129101236430264, 0.5021823294629281, -0.9271003066368823, -0.11149617600834595, -0.127042789792396, 0.014541878518286706, 0.03763620033054981, -0.03822229267327943], "std": [3.096876783479749e-05, 3.3051128972105706e-05, 4.342164194119867e-05, 0.0, 0.0, 1.772626959818348e-05, 1.7729944124837283e-05, 0.021472558819241115, 0.0750839382037872, 0.1466859842542253, 0.29160988731925847, 0.1566259501327092, 0.044890561806054934, 0.010913517354466478, 0.007153997491897197, 0.005538250914433863], "count": [530]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.32857142857142857, -0.4357142857142858, -0.10571428571428572, -0.1457142857142857, -0.6485714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.37142857142857144, 0.45, -0.0, 0.12, 0.10285714285714286, 0.24285714285714288, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.03421832884097034, 0.010646900269541784, -0.06688679245283019, 0.0035741239892183294, -0.00107277628032345, -0.02047978436657682, -0.8037735849056604], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.17567893296712195, 0.10739613048837679, 0.12392654940904813, 0.025696197450073704, 0.021656570031353517, 0.1419096370445992, 0.5949353109438906], "count": [530]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.030188679695129395], "std": [0.17110617458820343], "count": [530]}, "next.done": {"min": [false], "max": [true], "mean": [0.0018867924528301887], "std": [0.043396226415094344], "count": [530]}, "timestamp": {"min": [0.0], "max": [26.45], "mean": [13.225], "std": [7.649877449998791], "count": [530]}, "frame_index": {"min": [0], "max": [529], "mean": [264.5], "std": [152.9975489999758], "count": [530]}, "episode_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [530]}, "index": {"min": [41123], "max": [41652], "mean": [41387.5], "std": [152.9975489999758], "count": [530]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [530]}}} +{"episode_index": 61, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3426042540636524]], [[0.3359066420567295]], [[0.3316354624293094]]], "std": [[[0.14199361063051685]], [[0.1345429327373943]], [[0.1319817556842238]]], "count": [109]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3726229782090768]], [[0.3458244349806831]], [[0.3286039091310263]]], "std": [[[0.25443325030300995]], [[0.23914003573025652]], [[0.23254319096713413]]], "count": [109]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.413432489056492]], [[0.3817600876763047]], [[0.3574414877180445]]], "std": [[[0.27931214827349554]], [[0.263111239619202]], [[0.25288572517653635]]], "count": [109]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [524]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [524]}, "observation.state": {"min": [3.1715931050143835, -0.8406696804523845, 0.6999897626118834, 0.0, 0.0, 0.7071068286895752, 0.7060470581054688, 0.005551737434166593, -0.002614809249943839, 0.15280701633915972, -0.993139386177063, -0.042868077754974365, -0.13132308423519135, 0.002077900106087327, 0.013240849167761146, -0.041087782519616665], "max": [3.2905634633648817, -0.8076256745653031, 0.7004371279163581, 0.0, 0.0, 0.7081648707389832, 0.7071066498756409, 0.2567930119737135, 0.3334351180853785, 0.5819374214405644, 0.9917470216751099, 0.305217444896698, 0.29936620593070984, 0.48759716749191284, 0.04061530463695599, -0.02050890203919565], "mean": [3.286324526648673, -0.8109272288416494, 0.7001491744639728, 0.0, 0.0, 0.7079292928217021, 0.7062832706302177, 0.1399687222242447, 0.27641657584882334, 0.24198517725474059, 0.5978402946969025, 0.19652647759680075, 0.18471606418433537, 0.3770392203542674, 0.0371786797955522, -0.03912204179386739], "std": [0.019924826054897968, 0.005941724359158804, 0.00011580572789473774, 0.0, 0.0, 0.00017209096880759704, 0.00017231964355063315, 0.05722329932959785, 0.11522832420381937, 0.15131534424647772, 0.6102907816213231, 0.09794898798277013, 0.12233881435056083, 0.17512880863553637, 0.006243859175094529, 0.0033171927284056982], "count": [524]}, "action": {"min": [-0.12321428571428572, -0.46607142857142864, 0.0, 0.0, -1.0, -0.9642857142857142, -0.43928571428571433, -0.4982142857142858, -0.20357142857142857, -0.11357142857142859, -0.010714285714285714, -1.0], "max": [0.5464285714285714, 0.0, 0.0, 0.0, 1.0, 0.29464285714285715, 0.9, -0.0, 0.28500000000000003, 0.14357142857142857, 0.1285714285714286, 1.0], "mean": [0.020027944383860415, -0.024168484187568156, 0.0, 0.0, -0.8015267175572519, -0.016695065430752453, 0.022052208287895288, -0.07010291712104687, 0.0014517448200654288, -0.000879225736095963, 0.0039708287895310794, -0.7748091603053435], "std": [0.08676381964167104, 0.09197352885491178, 0.0, 0.0, 0.5979589626737768, 0.16950209194730584, 0.20667535239541787, 0.12403237363022045, 0.083785194178375, 0.03653987234984814, 0.017785055313526418, 0.6321951954158842], "count": [524]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.030534351244568825], "std": [0.1720523238182068], "count": [524]}, "next.done": {"min": [false], "max": [true], "mean": [0.0019083969465648854], "std": [0.04364349857263081], "count": [524]}, "timestamp": {"min": [0.0], "max": [26.15], "mean": [13.075000000000001], "std": [7.563274753702922], "count": [524]}, "frame_index": {"min": [0], "max": [523], "mean": [261.5], "std": [151.26549507405844], "count": [524]}, "episode_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [524]}, "index": {"min": [41653], "max": [42176], "mean": [41914.5], "std": [151.26549507405844], "count": [524]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [524]}}} +{"episode_index": 62, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4062145150159272]], [[0.3748782202725509]], [[0.3596434173870881]]], "std": [[[0.19707181437428964]], [[0.19357679563863603]], [[0.19819396702481315]]], "count": [146]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4308104296573349]], [[0.3450278049318373]], [[0.31035916976252453]]], "std": [[[0.2367405049415587]], [[0.25833416893195915]], [[0.27207269199917783]]], "count": [146]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39652044976106615]], [[0.3313064669461267]], [[0.30442564516274995]]], "std": [[[0.25021461351718083]], [[0.256707699705327]], [[0.2649227016517387]]], "count": [146]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [773]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [773]}, "observation.state": {"min": [1.8519460711208668, -1.0788983696435275, 0.6999980005825216, 0.0, 0.0, 0.6728718876838684, 0.707103967666626, 0.10039436041380734, -0.49387426118528666, 0.11415290611198814, -0.989172637462616, -0.07521575689315796, -0.7340137362480164, 0.00014169626228976995, 0.01857253007274829, -0.04001967606871959], "max": [2.147045096922444, -0.9002928126798132, 0.7013566906481775, 0.0, 0.0, 0.7071095108985901, 0.7397589683532715, 0.37531835821229176, 0.001974587731964128, 0.5987290780496832, 0.9888867735862732, 0.27242302894592285, 0.677682101726532, 0.2895573377609253, 0.0400339812476417, -0.02052242153210271], "mean": [1.8739241763825063, -1.0346483742800336, 0.7002428393441908, 0.0, 0.0, 0.6976387869340174, 0.7164092472577311, 0.29773387256970896, -0.34101310761806564, 0.2871232328357502, -0.20718422335455675, 0.06686602766115946, -0.03123557108802598, 0.06420166695847104, 0.036020360761488956, -0.037668071798174614], "std": [0.07408557456262732, 0.03031926912773643, 0.00038438089765993404, 0.0, 0.0, 0.005519059888757758, 0.005237978460572743, 0.07904978114949418, 0.20405975366919277, 0.20353874550460999, 0.7923452121537774, 0.1136828320972997, 0.5505624799670403, 0.06043470811766222, 0.006353698300646308, 0.004394959937251509], "count": [773]}, "action": {"min": [-0.6214285714285714, 0.0, -0.15428571428571428, 0.0, -1.0, -0.55, -0.9071428571428573, -0.41428571428571426, -0.10857142857142858, -0.28, -0.16285714285714287, -1.0], "max": [0.35000000000000003, 0.8214285714285715, 0.13428571428571429, 0.0, 1.0, 0.36428571428571427, -0.0, -0.0, 0.16, 0.045714285714285714, 0.04857142857142857, 1.0], "mean": [0.002762890408427273, 0.015098872666789878, -0.0008427277767510624, 0.0, -0.5342820181112549, 0.004906671594899275, -0.054638698946590354, -0.08044723710959167, 0.01472925522084642, -0.01535760487895029, -0.01192385880613565, -0.5109961190168176], "std": [0.09641902093320481, 0.09229782714784496, 0.023911805267867795, 0.0, 0.8453062907153535, 0.1109295836276461, 0.15951362472423425, 0.10467896021229432, 0.05058335111678353, 0.04987374328850035, 0.038389410295578595, 0.859583018881685], "count": [773]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020698577165603638], "std": [0.14237326383590698], "count": [773]}, "next.done": {"min": [false], "max": [true], "mean": [0.00129366106080207], "std": [0.035944227657049944], "count": [773]}, "timestamp": {"min": [0.0], "max": [38.6], "mean": [19.3], "std": [11.15728461589109], "count": [773]}, "frame_index": {"min": [0], "max": [772], "mean": [386.0], "std": [223.1456923178218], "count": [773]}, "episode_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [773]}, "index": {"min": [42177], "max": [42949], "mean": [42563.0], "std": [223.1456923178218], "count": [773]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [773]}}} +{"episode_index": 63, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.050980392156862744]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3972870727880996]], [[0.380856567073444]], [[0.3674637901221687]]], "std": [[[0.20480488263859464]], [[0.18912023282754736]], [[0.18431186279155404]]], "count": [147]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.06666666666666667]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5314729875511401]], [[0.545124121832978]], [[0.525088502604818]]], "std": [[[0.22031264513433038]], [[0.20987036099461764]], [[0.20318973376133598]]], "count": [147]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5397226505348233]], [[0.5523561426523734]], [[0.5312504852201297]]], "std": [[[0.2171855866592832]], [[0.20551214777785873]], [[0.19938489455746355]]], "count": [147]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [778]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [778]}, "observation.state": {"min": [3.3667711093412556, -2.0868145282523662, 0.6998424296386382, 0.0, 0.0, -0.707232654094696, 0.7069809436798096, -0.03601556257362093, -0.02841526679546824, 0.07017966838813683, -0.989415168762207, -0.031236901879310608, -0.14528679847717285, 0.0008242045296356082, 0.007186608781532606, -0.04248265799031808], "max": [3.6401944433990208, -2.085095591557319, 0.7012155611161867, 0.0, 0.0, -0.7067486643791199, 0.7074646353721619, 0.24915463794774917, 0.32760689406688526, 0.6056681389993617, 0.9915528893470764, 0.6710850596427917, 0.6479818820953369, 0.6106343269348145, 0.039968460972703346, -0.01827583173415506], "mean": [3.533080257697151, -2.0863162072766412, 0.7001194784271249, 0.0, 0.0, -0.7071451841252628, 0.7070683285325842, 0.18726837170815414, 0.07791057885928529, 0.4539883966296472, 0.8224792656677854, 0.2004151718552131, 0.22241604149073438, 0.16393710297917238, 0.0368117292425877, -0.03910336108479956], "std": [0.13188195149970686, 6.622773657756061e-05, 0.00033212542420183426, 0.0, 0.0, 7.926664445561439e-05, 7.925284173328205e-05, 0.05971703105638177, 0.14934070998970342, 0.20854960714011053, 0.2675017202570583, 0.24486686073364974, 0.14316401453121244, 0.2345303005322938, 0.008312880508189662, 0.003431862458722461], "count": [778]}, "action": {"min": [0.0, -0.6071428571428572, 0.0, 0.0, -1.0, -1.0, -0.7428571428571429, -0.7000000000000001, -0.3, -0.28, -0.7085714285714285, -1.0], "max": [0.0, 0.0, 0.0, 0.0, 1.0, 0.35000000000000003, 0.6500000000000001, -0.0, 0.86, 0.04285714285714286, 0.32857142857142857, 1.0], "mean": [0.0, -0.019124127800220343, 0.0, 0.0, -0.8791773778920309, -0.026129269188395175, 0.017701065001836224, -0.09410576569959606, 0.06430774880646345, -0.023687109805361727, -0.039643775247888355, -0.7480719794344473], "std": [0.0, 0.08787893650903603, 0.0, 0.0, 0.47649463606938025, 0.16808603524617519, 0.1653746758567985, 0.17132797617370032, 0.2387624488701647, 0.05578372177312766, 0.18576204663320772, 0.663617595897687], "count": [778]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02056555263698101], "std": [0.1419246643781662], "count": [778]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012853470437017994], "std": [0.03582868859837109], "count": [778]}, "timestamp": {"min": [0.0], "max": [38.85], "mean": [19.425], "std": [11.22945345954112], "count": [778]}, "frame_index": {"min": [0], "max": [777], "mean": [388.5], "std": [224.58906919082239], "count": [778]}, "episode_index": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [778]}, "index": {"min": [42950], "max": [43727], "mean": [43338.5], "std": [224.58906919082239], "count": [778]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [778]}}} +{"episode_index": 64, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46480106189580545]], [[0.46344494111059564]], [[0.4640674838979789]]], "std": [[[0.24757202516176194]], [[0.24766551878186116]], [[0.2469253788114669]]], "count": [159]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29292260519393]], [[0.27291972369326806]], [[0.2659029534542542]]], "std": [[[0.23888358339965535]], [[0.23513341043667926]], [[0.2390803926234031]]], "count": [159]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31427326548156853]], [[0.27262646440719324]], [[0.25089226451162966]]], "std": [[[0.2325389834449792]], [[0.22644539757266702]], [[0.23417235593155492]]], "count": [159]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [867]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [867]}, "observation.state": {"min": [2.5425861453925083, -1.237876862447818, 0.6998708501544659, 0.0, 0.0, 0.7070457339286804, 0.7011418342590332, 0.06344567804951584, -0.013852467545331315, 0.09022960775107214, -0.9994389414787292, -0.1106824278831482, -0.7119386196136475, 3.5190876133128768e-06, 0.0013517982268890436, -0.04088592495103719], "max": [2.8191149853144086, -1.213391134348889, 0.7011236265372347, 0.0, 0.0, 0.7130218148231506, 0.7071677446365356, 0.25186568846380064, 0.4632957475290804, 0.6019454179272277, 0.9997955560684204, 0.6686268448829651, 0.7128922343254089, 0.7147130370140076, 0.04136075281706503, 0.00010918958283178017], "mean": [2.7907635821839043, -1.2350109769208617, 0.7002205630535303, 0.0, 0.0, 0.7121345215877722, 0.7020391148816894, 0.20857246042534267, 0.363948024141042, 0.20403210573218694, 0.06053088400878158, 0.13861314982665657, 0.22855006355855123, 0.15233684901097497, 0.029318245541185665, -0.026698902890039792], "std": [0.08246412893062963, 0.006985157284584666, 0.00028347920466111504, 0.0, 0.0, 0.0016561635237379367, 0.0016693535231606684, 0.052501190832650306, 0.1622241713386694, 0.167309323818537, 0.7450273040468921, 0.15767444093272315, 0.5438824090658975, 0.16107692375928082, 0.011259749340137602, 0.01265654302870953], "count": [867]}, "action": {"min": [-0.35000000000000003, -0.7285714285714285, 0.0, 0.0, -1.0, -0.45, -0.7357142857142858, -0.5571428571428572, -0.12857142857142856, -0.5314285714285715, -0.44, -1.0], "max": [0.0, 0.0, 0.05142857142857143, 0.0, 1.0, 0.29285714285714287, 0.9214285714285714, 0.17857142857142858, 0.72, 0.21714285714285717, 0.10571428571428572, 1.0], "mean": [-0.004292305157357061, -0.013437139561707034, 0.0005042016806722689, 0.0, -0.9123414071510957, -0.020538803756796824, -0.01141868512110722, -0.054926676552974084, 0.09909045971329715, -0.027362003624979397, -0.032318339100346025, 0.19261822376009227], "std": [0.03345192219333482, 0.08486312004587636, 0.0042650680808232885, 0.0, 0.40943028319552166, 0.09923753847336324, 0.20179448211828888, 0.10672366467688178, 0.19115074505173946, 0.09034618662673467, 0.07782256209244923, 0.9812737741708487], "count": [867]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01845443993806839], "std": [0.13458779454231262], "count": [867]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011534025374855825], "std": [0.033942189087801986], "count": [867]}, "timestamp": {"min": [0.0], "max": [43.3], "mean": [21.65], "std": [12.514058760716551], "count": [867]}, "frame_index": {"min": [0], "max": [866], "mean": [433.0], "std": [250.28117521433103], "count": [867]}, "episode_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [867]}, "index": {"min": [43728], "max": [44594], "mean": [44161.0], "std": [250.28117521433103], "count": [867]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [867]}}} +{"episode_index": 65, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.21916460664546625]], [[0.21114970386094445]], [[0.2151789488459004]]], "std": [[[0.22879893212249777]], [[0.22329736744633671]], [[0.21976763051656392]]], "count": [106]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6135447895531295]], [[0.5222680433741156]], [[0.4561417845324856]]], "std": [[[0.2887231114650197]], [[0.2960002945205153]], [[0.28574528904491886]]], "count": [106]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6381752784720537]], [[0.5585634599206539]], [[0.49464648913949055]]], "std": [[[0.2963888958706903]], [[0.2971316661489327]], [[0.28700482757679274]]], "count": [106]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [505]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [505]}, "observation.state": {"min": [2.735365521364413, -0.7557169681982324, 0.6999987332966742, 0.0, 0.0, 0.7070751190185547, 0.7070743441581726, 0.18976805005255748, -0.255406879744982, 0.22795531841522276, -0.9999723434448242, -0.4104095697402954, -0.13909929990768433, 0.00011258992890361696, 0.012240521753280574, -0.04031931445656236], "max": [2.735427169027777, -0.7556948740060312, 0.700461987975578, 0.0, 0.0, 0.7071391344070435, 0.7071383595466614, 0.24317105531754057, -0.006565461754944657, 0.6016885285172064, 0.98956698179245, 0.38993000984191895, 0.1463506519794464, 0.05141478404402733, 0.04000024158018415, -0.020523672463632365], "mean": [2.735402498394567, -0.755703940008468, 0.700201176377558, 0.0, 0.0, 0.7071076213723362, 0.7071059044044796, 0.22400577207605785, -0.2373610121716686, 0.2645633160950395, -0.7693441270601631, -0.31119334903628665, -0.007600403007691597, 0.006015791848335314, 0.037108208780273086, -0.03789102291082328], "std": [7.410627032802841e-06, 1.6840842518819348e-06, 0.00012861958021357194, 0.0, 0.0, 7.3401505028947224e-06, 7.343284105420096e-06, 0.012970020827628386, 0.04204731895391777, 0.08543980782324805, 0.5120958263916892, 0.21768084318840825, 0.038661831846073864, 0.007248745512010335, 0.00681080735350195, 0.005432207701435995], "count": [505]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.24642857142857144, -1.0, -0.7982142857142857, -0.14785714285714285, -0.05785714285714285, -0.2292857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.225, 0.058928571428571434, 0.02142857142857143, 0.03642857142857143, 0.07071428571428573, 0.3835714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.002270155586987269, -0.03984794908062232, -0.05712517680339467, -0.0015190947666195195, 0.0028896746817538904, -0.0042178217821782086, -0.7544554455445545], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0482604180827519, 0.1449066852499358, 0.1375099178648868, 0.016559617831480723, 0.011910962893619913, 0.07929216456058523, 0.6563512631877595], "count": [505]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.031683169305324554], "std": [0.17515520751476288], "count": [505]}, "next.done": {"min": [false], "max": [true], "mean": [0.0019801980198019802], "std": [0.044455335288403265], "count": [505]}, "timestamp": {"min": [0.0], "max": [25.2], "mean": [12.6], "std": [7.289032857656769], "count": [505]}, "frame_index": {"min": [0], "max": [504], "mean": [252.0], "std": [145.78065715313537], "count": [505]}, "episode_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [505]}, "index": {"min": [44595], "max": [45099], "mean": [44847.0], "std": [145.78065715313537], "count": [505]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [505]}}} +{"episode_index": 66, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38979551461375384]], [[0.3886004776413071]], [[0.38728116612088037]]], "std": [[[0.1509494772131764]], [[0.14899433778357496]], [[0.14691701001026825]]], "count": [159]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5239208391259904]], [[0.518543982449935]], [[0.5099742818369732]]], "std": [[[0.2606950517495156]], [[0.25942586924359395]], [[0.2538362418195497]]], "count": [159]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5574627318237019]], [[0.5516502117872504]], [[0.5406559198877935]]], "std": [[[0.24213618190134187]], [[0.24139441325921868]], [[0.2357159303781985]]], "count": [159]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [864]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [864]}, "observation.state": {"min": [3.424152738329653, -0.9599401548752803, 0.6999976300958507, 0.0, 0.0, 0.7050581574440002, 0.7063419222831726, -0.031012464092848857, 0.013173706532015661, 0.11004692993564957, -0.9880117177963257, -0.09135361015796661, -0.16926144063472748, 0.004490972030907869, 0.015555187971303125, -0.040773225675275984], "max": [3.569840643533311, -0.9257378603160666, 0.7009636505413852, 0.0, 0.0, 0.7078708410263062, 0.7091494798660278, 0.24512480441826012, 0.39218910939750407, 0.6019429344925655, 0.9790424108505249, 0.7657725214958191, 0.5802679061889648, 0.5445512533187866, 0.04033102189823048, -0.020503047659857054], "mean": [3.5662954364733612, -0.9287254875454776, 0.7003565998077796, 0.0, 0.0, 0.7052656870197367, 0.7089428787844049, 0.13587769194713747, 0.347550054672816, 0.19339686877021556, 0.30238358331499277, 0.6208426186607944, 0.2804813060771536, 0.4586825188393791, 0.03731367860677898, -0.03889932673459854], "std": [0.01693330944690265, 0.004664889355374119, 0.00028890167951935993, 0.0, 0.0, 0.00040763368923489216, 0.0004066228023277418, 0.05712871277225322, 0.09580783657634788, 0.14428190633554608, 0.3761824891920538, 0.22224535800673093, 0.1340709357131675, 0.15867551022670817, 0.005525634404761659, 0.003677667828745014], "count": [864]}, "action": {"min": [0.0, -0.46071428571428574, -0.13285714285714284, 0.0, -1.0, -0.6160714285714286, -0.30000000000000004, -0.5785714285714285, -0.2721428571428572, -0.20357142857142857, -0.16928571428571426, -1.0], "max": [0.40714285714285714, 0.0, 0.0, 0.0, 1.0, 0.28928571428571426, 1.0, -0.0, 0.3792857142857142, 0.11142857142857143, 0.32142857142857145, 1.0], "mean": [0.010999503968253966, -0.011941964285714287, -0.0010267857142857145, 0.0, -0.8935185185185185, -0.008413938492063485, 0.015674603174603192, -0.051357886904761944, 0.018980654761904765, -0.008405257936507942, 0.0037673611111111063, -0.7407407407407407], "std": [0.057200245238194836, 0.06516038176755767, 0.010324153382709962, 0.0, 0.4490263433970049, 0.11286430251183661, 0.1733992968083466, 0.09426648573700389, 0.11785699606735459, 0.03349216551561797, 0.06721043819350817, 0.6717910054524834], "count": [864]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018518518656492233], "std": [0.13481685519218445], "count": [864]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011574074074074073], "std": [0.03400099727214903], "count": [864]}, "timestamp": {"min": [0.0], "max": [43.15], "mean": [21.575], "std": [12.47075746162464], "count": [864]}, "frame_index": {"min": [0], "max": [863], "mean": [431.5], "std": [249.4151492324928], "count": [864]}, "episode_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [864]}, "index": {"min": [45100], "max": [45963], "mean": [45531.5], "std": [249.4151492324928], "count": [864]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [864]}}} +{"episode_index": 67, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46199263156826603]], [[0.4526599373089217]], [[0.44653833700589335]]], "std": [[[0.17051004814060905]], [[0.16702564979386447]], [[0.16771035366009704]]], "count": [142]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4959216897706899]], [[0.4811051249405324]], [[0.4736583647560724]]], "std": [[[0.22102903613024485]], [[0.2252852545526618]], [[0.22852381251761586]]], "count": [142]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49492615091639375]], [[0.47815744715545494]], [[0.47016988362899903]]], "std": [[[0.2180750827179339]], [[0.22308207784069709]], [[0.2266771340683104]]], "count": [142]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [744]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [744]}, "observation.state": {"min": [4.275807444041992, -0.9325972360374903, 0.6999858241738279, 0.0, 0.0, 0.7069257497787476, 0.7065615653991699, -0.025299398609878843, -0.407327606266346, 0.11559608920347486, -0.9906954765319824, -0.3859093189239502, -0.844439685344696, 0.0010128598660230637, 0.001233286253588827, -0.043080140428377156], "max": [4.277618907229082, -0.93234065863825, 0.70985017014093, 0.0, 0.0, 0.7076514959335327, 0.7072877883911133, 0.22955555682665918, 0.01431172470348141, 0.5913812095282808, 0.9308433532714844, 0.5844247341156006, 0.8450207114219666, 0.5628713369369507, 0.040762888427236556, -0.002233913744081422], "mean": [4.27750804173934, -0.9324124316166523, 0.7006876987085774, 0.0, 0.0, 0.7070927148865115, 0.707120786511129, 0.18175814143796898, -0.17497273751845796, 0.3881003084356761, -0.42900950598820886, 0.1182905590782563, 0.02448263530048632, 0.18588085085064704, 0.03857254650146668, -0.03702697360723945], "std": [0.00011193655680632272, 3.7099845090852086e-05, 0.0016954196607269626, 0.0, 0.0, 6.640166286075285e-05, 6.643064851319281e-05, 0.06276014193010612, 0.18566251904300013, 0.1910153860052981, 0.6846604210396408, 0.2593315853181891, 0.426158816607689, 0.22177241532752992, 0.005793509738447442, 0.007820610361432632], "count": [744]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.34, -0.4028571428571428, -0.54, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.44285714285714284, 1.0, 0.3357142857142857, 1.0, 0.4028571428571428, 0.28, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.006538018433179712, -0.10265937019969279, -0.07652649769585257, 0.045241935483870954, -0.026251920122887858, -0.03506144393241168, -0.760752688172043], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.18397464214339407, 0.2547276098156863, 0.15311394101647793, 0.2225264065105496, 0.08914201375652012, 0.11798297318203675, 0.6490418687873766], "count": [744]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02150537632405758], "std": [0.1450616866350174], "count": [744]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013440860215053765], "std": [0.03663713217859949], "count": [744]}, "timestamp": {"min": [0.0], "max": [37.15], "mean": [18.575], "std": [10.738705306817328], "count": [744]}, "frame_index": {"min": [0], "max": [743], "mean": [371.5], "std": [214.77410613634657], "count": [744]}, "episode_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [744]}, "index": {"min": [45964], "max": [46707], "mean": [46335.5], "std": [214.77410613634657], "count": [744]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [744]}}} +{"episode_index": 68, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46758209056099925]], [[0.4466870628349327]], [[0.44031285963885686]]], "std": [[[0.1799848237664014]], [[0.18170963420913797]], [[0.18727713995597758]]], "count": [118]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5123920637177011]], [[0.4816941118985167]], [[0.47443656579090854]]], "std": [[[0.21082691648317933]], [[0.2197317275386964]], [[0.22256112499956604]]], "count": [118]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5139557706275705]], [[0.4835124007250709]], [[0.4760987174990328]]], "std": [[[0.2169835959725929]], [[0.22636083580247207]], [[0.22931453926959683]]], "count": [118]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [580]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [580]}, "observation.state": {"min": [3.808004095360651, -0.8496001586751472, 0.6998680521806029, 0.0, 0.0, 0.6970911622047424, 0.707088053226471, 0.010438788544663846, -0.32208555022149987, 0.07331914638095538, -0.9911602735519409, -0.4177912473678589, -0.5686950087547302, 0.0001115113846026361, 6.596377668956574e-05, -0.04101606842792992], "max": [3.9601418215362294, -0.8440222659872894, 0.7011629390610353, 0.0, 0.0, 0.7071254253387451, 0.7169825434684753, 0.25244312356300447, 0.04546638561878158, 0.604976517150566, 0.7331563234329224, 0.3974754810333252, 0.8692082762718201, 0.3643186092376709, 0.040014821465496245, -0.0008091497729801686], "mean": [3.8909897832354465, -0.8465344864878251, 0.7000496253379569, 0.0, 0.0, 0.7029545967948848, 0.7112171047720416, 0.16426043909114327, -0.13837424208060126, 0.38660676921553866, -0.341291972275438, 0.06658123985960565, 0.1495432523560935, 0.11205350304903575, 0.03451827313124703, -0.03631846473756093], "std": [0.05863113907974538, 0.0002157526190127759, 0.00018525604828238164, 0.0, 0.0, 0.00355793728303837, 0.0035212105478865593, 0.061474455246128365, 0.14377387283690124, 0.2197468064651005, 0.7758123001061509, 0.19833217580724163, 0.43901182229833474, 0.10107326189371243, 0.01234993835419301, 0.009712282538442172], "count": [580]}, "action": {"min": [0.0, -0.42142857142857143, -0.07714285714285714, 0.0, -1.0, -1.0, -1.0, -0.7928571428571428, -0.3914285714285714, -0.5942857142857143, -0.4942857142857143, -1.0], "max": [0.0, 0.5714285714285715, 0.06285714285714286, 0.0, 1.0, 0.7857142857142857, 0.9214285714285714, 1.0, 0.2285714285714286, 0.1657142857142857, 0.7342857142857143, 1.0], "mean": [0.0, 0.011157635467980292, -0.000950738916256158, 0.0, -0.8448275862068966, -0.003423645320197048, -0.0380541871921182, -0.016908866995073893, -0.0005369458128078821, -0.050857142857142865, 0.005536945812807881, -0.7034482758620689], "std": [0.0, 0.09094795818255565, 0.00950630561221228, 0.0, 0.5350386430752664, 0.1847104243469565, 0.22834767346568127, 0.248903432091403, 0.06569677594065836, 0.12519736986667956, 0.1585290302132998, 0.710746454923753], "count": [580]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.027586206793785095], "std": [0.16378401219844818], "count": [580]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017241379310344827], "std": [0.04148692901902057], "count": [580]}, "timestamp": {"min": [0.0], "max": [28.95], "mean": [14.475], "std": [8.371566460346594], "count": [580]}, "frame_index": {"min": [0], "max": [579], "mean": [289.5], "std": [167.43132920693188], "count": [580]}, "episode_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [580]}, "index": {"min": [46708], "max": [47287], "mean": [46997.5], "std": [167.43132920693188], "count": [580]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [580]}}} +{"episode_index": 69, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4572389448100694]], [[0.43506935142134495]], [[0.41170535149641296]]], "std": [[[0.25320532509855503]], [[0.22538823381748785]], [[0.20196313767014476]]], "count": [113]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.0392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5646207450351718]], [[0.49152957903683114]], [[0.4364285973610614]]], "std": [[[0.28355598084679356]], [[0.28192589815830227]], [[0.27432234347161333]]], "count": [113]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5491226267777403]], [[0.481498894334853]], [[0.42654031001919573]]], "std": [[[0.2975802934502014]], [[0.28382480620445044]], [[0.2665854037722822]]], "count": [113]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [549]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [549]}, "observation.state": {"min": [0.9295348048013378, -1.6360091126389078, 0.6999970357853689, 0.0, 0.0, -1.0, 6.998277513048379e-08, 0.11350797236499, -0.4449166663772752, 0.10842826997816013, -0.98331218957901, -0.0986132025718689, -0.744810163974762, 0.0005669963429681957, 0.014130818891300988, -0.04001962829836637], "max": [0.9480481055982429, -1.3522050210949093, 0.700481391030374, 0.0, 0.0, 1.0, 0.017769765108823776, 0.2602939020880539, 0.00450695040607707, 0.619868939671058, 0.7455435991287231, 0.6190868616104126, 0.7623860239982605, 0.6081295609474182, 0.04001032325636374, -0.019978343387650255], "mean": [0.9451753278382042, -1.620097543294388, 0.700072768329553, 0.0, 0.0, 0.9634304830502508, 0.01597018140841886, 0.22525622426441555, -0.31495902442959034, 0.2675503097144255, -0.4303221673261924, 0.08513576405730186, -0.17456849378097686, 0.1311275922876311, 0.03207625570795736, -0.03385250365120322], "std": [0.00654590986501171, 0.05070313206735807, 0.00011473489166935539, 0.0, 0.0, 0.2674367907202468, 0.0049204860047543705, 0.04280108057600507, 0.1769343771821922, 0.21370757838348844, 0.6455974386248112, 0.15563739378088817, 0.5472757902588898, 0.13919875164726672, 0.010581057422557374, 0.008259006062196067], "count": [549]}, "action": {"min": [-0.3357142857142857, 0.0, -0.09142857142857143, 0.0, -1.0, -0.4928571428571429, -0.8714285714285716, -0.5428571428571429, -0.12857142857142856, -0.3142857142857143, -0.08571428571428572, -1.0], "max": [0.02857142857142857, 0.6142857142857143, 0.0, 0.0, 1.0, 0.42142857142857143, -0.0, -0.0, 0.23714285714285716, 0.1457142857142857, 0.011428571428571429, 1.0], "mean": [-0.008378870673952642, 0.02953421805880822, -0.0017694509497788188, 0.0, -0.6174863387978142, 0.002315899037210498, -0.07396565183450435, -0.07763466042154575, 0.04182149362477231, -0.0106167056986729, -0.011412958626073383, -0.3224043715846995], "std": [0.04356958466474263, 0.10646547319891264, 0.01077042993869279, 0.0, 0.786581605046845, 0.0944287860728644, 0.15839920087706533, 0.14121899608913396, 0.09569250431095058, 0.0626001502645695, 0.021754903875476905, 0.9466020394986878], "count": [549]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02914389781653881], "std": [0.16820979118347168], "count": [549]}, "next.done": {"min": [false], "max": [true], "mean": [0.0018214936247723133], "std": [0.042640072534497725], "count": [549]}, "timestamp": {"min": [0.0], "max": [27.4], "mean": [13.700000000000001], "std": [7.924119299118777], "count": [549]}, "frame_index": {"min": [0], "max": [548], "mean": [274.0], "std": [158.48238598237555], "count": [549]}, "episode_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [549]}, "index": {"min": [47288], "max": [47836], "mean": [47562.0], "std": [158.48238598237555], "count": [549]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [549]}}} +{"episode_index": 70, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.0392156862745098]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40337222991780164]], [[0.38478030444466493]], [[0.3739252552161667]]], "std": [[[0.16773827689962872]], [[0.15438539300955761]], [[0.1475852298498524]]], "count": [110]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5537680254985518]], [[0.4289614378577248]], [[0.36316939899628176]]], "std": [[[0.20549472173283043]], [[0.2260390298214372]], [[0.24332688709455672]]], "count": [110]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.561832032773159]], [[0.43679063113615474]], [[0.3710054279946176]]], "std": [[[0.1994292222905626]], [[0.22432170791013875]], [[0.24256670147926992]]], "count": [110]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [532]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [532]}, "observation.state": {"min": [0.1465816059622238, -4.256544975770502, 0.6999991927250004, 0.0, 0.0, -1.0, 0.0, 0.24028841543426427, -0.007436332915480293, 0.19336446095260884, -0.9999102354049683, -0.36900824308395386, -0.13514456152915955, 0.000293609598884359, -0.003392985204670827, -0.04089661390466154], "max": [0.16033950827520196, -4.254745778402666, 0.7347499752422161, 0.0, 0.0, 1.0, 0.0010600133100524545, 0.31134348228096126, 0.08760674826461567, 0.5993839566390761, 0.9998074769973755, 0.281647264957428, 0.12365540117025375, 0.04369020089507103, 0.043486056509703816, 0.003473942977401855], "mean": [0.14889169751899223, -4.25564436315337, 0.7024908599254492, 0.0, 0.0, 0.29323309996074304, 0.00011422667191111662, 0.2607212884137638, 0.02906142198804343, 0.4266671591162939, -0.5391769083146762, 0.021765119376893443, -0.07023685997246093, 0.014841787911121318, 0.03383420448515388, -0.0320860365583425], "std": [0.001936748896771155, 0.00020285291307954126, 0.005788504853307057, 0.0, 0.0, 0.9560409487866883, 0.00023368160524830876, 0.019533170604508533, 0.0376135446685655, 0.18080819511756102, 0.8262373027482145, 0.12370211441973421, 0.07484872824988921, 0.009404088461297571, 0.011972808554017516, 0.013448371510168654], "count": [532]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.6285714285714287, -1.0, -0.11714285714285716, -0.1142857142857143, -1.0, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.36428571428571427, 0.6571428571428571, -0.0, 0.21142857142857144, 0.5742857142857143, 0.05428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.09648227712137489, 0.012016648764769058, -0.21249999999999997, 0.019554242749731464, 0.03675080558539205, -0.17460257787325453, -0.3157894736842105], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2892668122355002, 0.15387285692561758, 0.312009589109832, 0.05081596752648321, 0.1051763670070895, 0.33328249346555894, 0.9488292830168426], "count": [532]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.030075188726186752], "std": [0.17079423367977142], "count": [532]}, "next.done": {"min": [false], "max": [true], "mean": [0.0018796992481203006], "std": [0.04331473166091321], "count": [532]}, "timestamp": {"min": [0.0], "max": [26.55], "mean": [13.275], "std": [7.678745014649204], "count": [532]}, "frame_index": {"min": [0], "max": [531], "mean": [265.5], "std": [153.57490029298407], "count": [532]}, "episode_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [532]}, "index": {"min": [47837], "max": [48368], "mean": [48102.5], "std": [153.57490029298407], "count": [532]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [532]}}} +{"episode_index": 71, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39368610487564415]], [[0.3892375000521668]], [[0.38644560770271646]]], "std": [[[0.11973256584238662]], [[0.11384287356569067]], [[0.11780347731290106]]], "count": [156]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4143538036317667]], [[0.3365254720052083]], [[0.29035774296165534]]], "std": [[[0.27639926207148396]], [[0.2432874918685509]], [[0.23505305659304448]]], "count": [156]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41094206651291576]], [[0.32982613442230607]], [[0.2862323636323019]]], "std": [[[0.2701356322538692]], [[0.2353563177370856]], [[0.23048735733629855]]], "count": [156]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [841]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [841]}, "observation.state": {"min": [3.332379199206897, -0.9757646447505129, 0.6999977205646278, 0.0, 0.0, 0.7070358395576477, 0.707109808921814, 0.04891984400964977, -0.283230018911687, 0.1471806145605502, -0.9931073188781738, -0.025733008980751038, -0.37390774488449097, 0.016205398365855217, 0.02055777648343212, -0.039479058030752925], "max": [3.332429585054383, -0.9757342308004181, 0.7004215556808485, 0.0, 0.0, 0.7071037292480469, 0.7071777582168579, 0.24840070138247694, 0.012513543244283998, 0.5962876854694533, 0.03550727292895317, 0.5919812321662903, 0.13596752285957336, 0.8055412769317627, 0.04004070399104921, -0.020508784384232964], "mean": [3.332419873834289, -0.9757476289099581, 0.7000286087761654, 0.0, 0.0, 0.7070518119014826, 0.7071617164878301, 0.17201630797024337, -0.2575202741665023, 0.18115713530457672, -0.6642944729941211, 0.4233545704382637, -0.3227815646700357, 0.4746513162007584, 0.03823532141271799, -0.0379492527958822], "std": [5.97707458344901e-06, 2.569223330358693e-06, 7.837122832078095e-05, 0.0, 0.0, 8.302457708462465e-06, 8.306669918586518e-06, 0.03207537741684176, 0.04690959563413773, 0.09246972466576182, 0.13906873939552136, 0.09037812946248718, 0.10270692204600719, 0.10929274969667764, 0.0049566432179470555, 0.0031065190736479635], "count": [841]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7017857142857142, -0.825, -0.6000000000000001, -0.002142857142857143, -0.17357142857142857, -0.17357142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.32142857142857145, 0.3375, 0.13392857142857142, 0.34714285714285714, 0.060000000000000005, -0.0, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.005535501953456765, -0.03248046543230847, -0.03650628503482248, 0.03374808900968236, -0.003243587565823, -0.013224052998131503, -0.7717003567181926], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.10030755310080838, 0.12977471947536867, 0.11553722188711604, 0.0830880383644124, 0.02219679008467693, 0.0328224691007999, 0.6359862887209237], "count": [841]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01902497000992298], "std": [0.136612668633461], "count": [841]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011890606420927466], "std": [0.034462251477263825], "count": [841]}, "timestamp": {"min": [0.0], "max": [42.0], "mean": [21.0], "std": [12.138780828402826], "count": [841]}, "frame_index": {"min": [0], "max": [840], "mean": [420.0], "std": [242.77561656805653], "count": [841]}, "episode_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [841]}, "index": {"min": [48369], "max": [49209], "mean": [48789.0], "std": [242.77561656805653], "count": [841]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [841]}}} +{"episode_index": 72, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30070001407939373]], [[0.2887765511615905]], [[0.28366253181472]]], "std": [[[0.21054587248504752]], [[0.2032825281763538]], [[0.20349124153518464]]], "count": [124]}, "observation.images.robot0_agentview_left": {"min": [[[0.07058823529411765]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5070704200160723]], [[0.40728367824180456]], [[0.36131982531900425]]], "std": [[[0.21746295387450823]], [[0.2509308490680842]], [[0.26984989860977265]]], "count": [124]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5014472049372924]], [[0.40326962407671296]], [[0.35823954196763447]]], "std": [[[0.22239562395062465]], [[0.2537723192386028]], [[0.2718690060971912]]], "count": [124]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [619]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [619]}, "observation.state": {"min": [4.86235948940623, -4.743326526542854, 0.6999988894212187, 0.0, 0.0, -0.00017532921629026532, 0.9999833106994629, 0.22743447741261846, 0.004050274655032382, 0.21997211818235418, -0.9982163310050964, -0.06111457198858261, -0.15007463097572327, 7.31781983631663e-06, 0.020522009975461143, -0.04000132904487019], "max": [4.86664521992277, -4.740543361556972, 0.7088776624007465, 0.0, 0.0, 0.00577703770250082, 1.0, 0.32133988327764573, 0.061264300232821256, 0.6028624041690454, 0.9979143738746643, 0.9450439810752869, 0.1415361911058426, 0.15475542843341827, 0.042720740596142844, 0.00014201382470445956], "mean": [4.866436939456594, -4.742848891787394, 0.7003470282220763, 0.0, 0.0, 0.0002549923856224888, 0.9999998012536562, 0.24637937046334404, 0.017427714620319633, 0.498287095414046, -0.8680527654140947, 0.008532111185432829, -0.07496723557464322, 0.0249681144067893, 0.03888546621912854, -0.03663746293948284], "std": [0.000599945912060727, 0.0001980237795665529, 0.0012269736905787725, 0.0, 0.0, 0.0005970465789800292, 1.3569419994366295e-06, 0.027560404785568222, 0.022069834315529346, 0.14615646046579767, 0.4336401292964548, 0.19957265419229187, 0.10648852251414158, 0.030907784478755286, 0.0038715136313734726, 0.009564376720949397], "count": [619]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8571428571428572, -0.12142857142857143, -0.6714285714285714, -0.06857142857142857, -0.2485714285714286, -1.0, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3, 0.2142857142857143, -0.0, 0.07428571428571429, 0.19714285714285715, 0.18, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.005192707131317793, 0.008389106854373413, -0.08301407800600052, 0.0028248326794368794, 0.014382644818832222, -0.06780060004615739, -0.7802907915993538], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.10400666544498563, 0.030010983318484057, 0.15550452558936625, 0.014461836484947317, 0.041873674347384225, 0.22674756829706036, 0.6254168854014526], "count": [619]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0258481428027153], "std": [0.15868212282657623], "count": [619]}, "next.done": {"min": [false], "max": [true], "mean": [0.0016155088852988692], "std": [0.04016091403766092], "count": [619]}, "timestamp": {"min": [0.0], "max": [30.9], "mean": [15.45], "std": [8.93448375677073], "count": [619]}, "frame_index": {"min": [0], "max": [618], "mean": [309.0], "std": [178.68967513541457], "count": [619]}, "episode_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [619]}, "index": {"min": [49210], "max": [49828], "mean": [49519.0], "std": [178.68967513541457], "count": [619]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [619]}}} +{"episode_index": 73, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45851013200569174]], [[0.4502009865372623]], [[0.43952888973630233]]], "std": [[[0.22312224396904332]], [[0.21749311158384618]], [[0.20554233233529193]]], "count": [141]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5524486908311225]], [[0.4833918319360518]], [[0.44575951525439245]]], "std": [[[0.23797902478478034]], [[0.24119890643639094]], [[0.22501631843834266]]], "count": [141]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5489363582156461]], [[0.4911728692508974]], [[0.4561310234595002]]], "std": [[[0.2443845762504047]], [[0.24604244778121195]], [[0.22986990444730643]]], "count": [141]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [737]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [737]}, "observation.state": {"min": [0.8626513790710655, -2.3381730223882777, 0.6999974567719305, 0.0, 0.0, -1.0, 7.364007359456082e-08, 0.13445270727340708, -0.3620158015523294, 0.09005965685700767, -0.9857736825942993, -0.08905386924743652, -0.7709320783615112, 0.005889511201530695, 0.0011608935371707277, -0.040795062935348764], "max": [0.8628387217141172, -2.3378471658583733, 0.7031287716777074, 0.0, 0.0, 1.0, 0.0001359461311949417, 0.24823795813293126, -0.006025701727405242, 0.6147588863229133, -0.3622529208660126, 0.6262862682342529, -0.16599617898464203, 0.5487205982208252, 0.04045491609666165, -0.01935666343986997], "mean": [0.8626783002320472, -2.337907834646361, 0.7009781299191906, 0.0, 0.0, -0.9430122116689281, 4.056470618093129e-05, 0.15846130023278493, -0.2545877315248529, 0.16694097075241904, -0.7185796225087129, 0.03210436396068278, -0.6546846339264265, 0.057297520614968386, 0.02392715287321295, -0.02896628584737504], "std": [2.480907829030443e-05, 4.929774290015968e-05, 0.0005591938534792015, 0.0, 0.0, 0.33275812333176336, 2.714078321736983e-05, 0.01447805834948203, 0.046245054896422395, 0.1376869567529379, 0.08498949287913175, 0.1312438580245305, 0.11774229498651358, 0.1113834215476592, 0.01213865938220485, 0.00973789595513026], "count": [737]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5, -0.75, -0.6285714285714287, -0.008571428571428572, -0.2714285714285714, -0.13714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.22857142857142856, 0.44285714285714284, 0.16428571428571428, 0.38285714285714284, 0.09428571428571429, 0.08571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00849001744524132, -0.06303547199069587, -0.05199651095173482, 0.040387672029463056, -0.010296569102539252, -0.010998255475867427, 0.29172320217096337], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.07293658383918042, 0.18203529782476702, 0.14071184813743226, 0.09520863977727738, 0.050184419881142556, 0.032077613735568264, 0.9565027827011758], "count": [737]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021709633991122246], "std": [0.1457337588071823], "count": [737]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013568521031207597], "std": [0.036810474806650034], "count": [737]}, "timestamp": {"min": [0.0], "max": [36.8], "mean": [18.4], "std": [10.637668917577761], "count": [737]}, "frame_index": {"min": [0], "max": [736], "mean": [368.0], "std": [212.7533783515552], "count": [737]}, "episode_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [737]}, "index": {"min": [49829], "max": [50565], "mean": [50197.0], "std": [212.7533783515552], "count": [737]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [737]}}} +{"episode_index": 74, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40184360740673747]], [[0.37981133069319895]], [[0.36362904890795267]]], "std": [[[0.21895421958538047]], [[0.19531926980702827]], [[0.1827949212807504]]], "count": [148]}, "observation.images.robot0_agentview_left": {"min": [[[0.0784313725490196]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46475713635855526]], [[0.4426158094380858]], [[0.42045639919489225]]], "std": [[[0.25827455590701354]], [[0.24454797647818174]], [[0.23424736770078444]]], "count": [148]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46430204075104226]], [[0.4400189103054255]], [[0.41635782740137595]]], "std": [[[0.25475568353437533]], [[0.23805226934716928]], [[0.22526063260850748]]], "count": [148]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [786]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [786]}, "observation.state": {"min": [1.817791273605729, -0.869860774360933, 0.6999969697840128, 0.0, 0.0, 0.7070638537406921, 0.7069600820541382, -0.0147845506850941, -0.003452006685818798, 0.09721122358318068, -0.9868744611740112, -0.03609982132911682, -0.16060853004455566, 0.0006821622373536229, 0.020557025973696318, -0.040040760304324935], "max": [1.818142833836438, -0.8696535592382211, 0.7035673267111379, 0.0, 0.0, 0.7072534561157227, 0.7071496844291687, 0.2372723249552967, 0.32152756751034595, 0.6306460585766523, 0.9860045313835144, 0.6975188255310059, 0.5372531414031982, 0.6040653586387634, 0.0398480159873123, 0.0008707570473525608], "mean": [1.8179129408727517, -0.869694469826625, 0.7006129241565265, 0.0, 0.0, 0.7071126152692557, 0.7071009112981743, 0.15039924498494048, 0.15547164775552297, 0.40281779297130244, 0.7117890859681535, 0.28786131796491055, 0.3291216255485557, 0.2910039326978513, 0.03869986676889386, -0.035569147604787084], "std": [3.4478309547214756e-05, 2.8051375768503586e-05, 0.0011178624382415978, 0.0, 0.0, 2.2681940764563322e-05, 2.267837361404611e-05, 0.060999606259381146, 0.1342301325805578, 0.22789602358722508, 0.29228120367622207, 0.2531031828978061, 0.12352235162720378, 0.22965306085284953, 0.0025589165651076235, 0.00918501894466898], "count": [786]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.18571428571428572, -0.4714285714285715, -0.7, -0.9400000000000001, -0.4657142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.41428571428571426, 0.8500000000000001, 0.5071428571428571, 0.35714285714285715, 0.10571428571428572, 0.2142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.006152308251544892, 0.0471192293711378, -0.04765539803707739, 0.00740458015267175, -0.011359505634314801, -0.0034387495456197873, -0.8422391857506362], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.12599602761972956, 0.11174275516677404, 0.12114634407969045, 0.09979997154719057, 0.05799102815833232, 0.09604709631882892, 0.5391040289091759], "count": [786]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020356234163045883], "std": [0.14121563732624054], "count": [786]}, "next.done": {"min": [false], "max": [true], "mean": [0.001272264631043257], "std": [0.03564612144051374], "count": [786]}, "timestamp": {"min": [0.0], "max": [39.25], "mean": [19.625], "std": [11.34492360779334], "count": [786]}, "frame_index": {"min": [0], "max": [785], "mean": [392.5], "std": [226.8984721558668], "count": [786]}, "episode_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [786]}, "index": {"min": [50566], "max": [51351], "mean": [50958.5], "std": [226.8984721558668], "count": [786]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [786]}}} +{"episode_index": 75, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.047058823529411764]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4221562956315969]], [[0.42688462124075943]], [[0.42304471579931113]]], "std": [[[0.21211983614225055]], [[0.19125565905780617]], [[0.1946023175596253]]], "count": [155]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.06666666666666667]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38095838977444557]], [[0.4131041631149688]], [[0.41681470992820013]]], "std": [[[0.277778201634299]], [[0.24517496984223375]], [[0.2413718934828602]]], "count": [155]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.06274509803921569]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38037731269580666]], [[0.4114708102164127]], [[0.4148981608536182]]], "std": [[[0.27736004018733584]], [[0.24418605733951854]], [[0.24073526086829064]]], "count": [155]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [833]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [833]}, "observation.state": {"min": [3.237647025410294, -1.9700898214427665, 0.6999985352309026, 0.0, 0.0, -0.7071126699447632, 0.7071008682250977, 0.11814974491223706, -0.4254199777665142, 0.15013493818704093, -0.9928743839263916, -0.0738377571105957, -0.7399302124977112, 0.00015456600522156805, 0.012537307903409347, -0.04103747710780327], "max": [3.2379405920175084, -1.9699365772851003, 0.7005140367462896, 0.0, 0.0, -0.7067998051643372, 0.7074137330055237, 0.24957445209197715, -0.002047468622846438, 0.571727640174795, 0.9946427345275879, 0.2569841146469116, 0.7363975644111633, 0.2662440538406372, 0.040008128462761625, -0.02055602396611834], "mean": [3.2377416238054817, -1.970014254763803, 0.7003077849856101, 0.0, 0.0, -0.7070263778032805, 0.7071872432263387, 0.20216277357965792, -0.3725292713604023, 0.196524919433187, 0.4582419761804258, 0.19266597011617395, 0.4942310875883194, 0.20034806927548884, 0.027053032631493605, -0.03304850173440255], "std": [3.361596994659489e-05, 1.1945652761645033e-05, 0.00019142631990777862, 0.0, 0.0, 3.802038435381356e-05, 3.799356490567026e-05, 0.0336488991212604, 0.06117476234649331, 0.10044557753924581, 0.5124340305078399, 0.10135080848521522, 0.43497524213033956, 0.08016430874000885, 0.008251894615045679, 0.0050843164923508825], "count": [833]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.45714285714285713, -0.8642857142857142, -0.5857142857142857, -0.23142857142857146, -0.3142857142857143, -0.18, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.42142857142857143, 0.4, -0.0, 0.3142857142857143, 0.09428571428571429, 0.09142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.013745498199279713, -0.056602641056422584, -0.03804664723032069, 0.008945292402675354, -0.011339392900017151, -0.01125021437146287, 0.44057623049219685], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.09028576804616543, 0.17526998470616695, 0.10975442469642775, 0.0706270749677348, 0.05029615002129089, 0.04099513700812012, 0.897715202681385], "count": [833]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019207682460546494], "std": [0.13725431263446808], "count": [833]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012004801920768306], "std": [0.03462714310169497], "count": [833]}, "timestamp": {"min": [0.0], "max": [41.6], "mean": [20.8], "std": [12.023310692151309], "count": [833]}, "frame_index": {"min": [0], "max": [832], "mean": [416.0], "std": [240.4662138430262], "count": [833]}, "episode_index": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [833]}, "index": {"min": [51352], "max": [52184], "mean": [51768.0], "std": [240.4662138430262], "count": [833]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [833]}}} +{"episode_index": 76, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39659448123410546]], [[0.39161254666854406]], [[0.38710136655402294]]], "std": [[[0.18955755416531625]], [[0.18140238315822607]], [[0.17334804368868645]]], "count": [133]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4973497573242907]], [[0.4765020807742299]], [[0.458569712514426]]], "std": [[[0.2659551867578797]], [[0.2563139341273401]], [[0.2470485553997135]]], "count": [133]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4347750533704436]], [[0.4188952178707626]], [[0.4048842990115454]]], "std": [[[0.27345420275483545]], [[0.26017849619595096]], [[0.2476737915689193]]], "count": [133]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [683]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [683]}, "observation.state": {"min": [2.096449203323347, -1.0203245892244712, 0.699976099799181, 0.0, 0.0, 0.7067893147468567, 0.7071048617362976, -0.04695792769854934, -0.44186727078993204, 0.1052137797392042, -0.9905998110771179, -0.3314676880836487, -0.680083692073822, 0.0006018884596414864, 0.01409712913946622, -0.040041702880849885], "max": [2.508742805709182, -0.8409958170355174, 0.7002306252245593, 0.0, 0.0, 0.7071086764335632, 0.7074241042137146, 0.24032587021459595, -0.008266345221847438, 0.615980143243514, 0.8056179881095886, 0.5209600925445557, 0.688693106174469, 0.41453301906585693, 0.0401961293616774, -0.014013378439599676], "mean": [2.1115959034160463, -0.855088752386369, 0.7000652730455239, 0.0, 0.0, 0.7070855416281157, 0.7071279714083079, 0.12835053806455626, -0.3625297032180138, 0.20840463058059053, 0.24272878670936796, 0.3801847084113131, 0.4018012223271639, 0.3061939453847446, 0.0362214371679913, -0.03690032898677134], "std": [0.06677318747536842, 0.0428575974941349, 6.070327674683166e-05, 0.0, 0.0, 5.533839228624577e-05, 5.5328265266880554e-05, 0.060539648614858874, 0.1462275431251365, 0.17908647175189935, 0.5909027486800149, 0.23122355708782552, 0.3375738306042563, 0.1573432306062091, 0.007224850664629877, 0.007262834048917635], "count": [683]}, "action": {"min": [-0.5142857142857143, 0.0, 0.0, 0.0, -1.0, -0.9053571428571429, -0.9857142857142858, -0.6589285714285714, -0.31714285714285717, -0.46071428571428574, -0.06214285714285714, -1.0], "max": [0.5839285714285714, 0.5625000000000001, 0.0, 0.0, 1.0, 0.4125, 0.21964285714285717, 0.20357142857142857, 0.2314285714285714, 0.045, 0.21857142857142856, 1.0], "mean": [0.013820330474796071, 0.02837011085546957, 0.0, 0.0, -0.7920937042459737, -0.011059401798786875, -0.04812800669316041, -0.045680819912152365, 0.012929303492993094, -0.01809663250366033, 0.0035390085756117923, -0.698389458272328], "std": [0.11112408241253995, 0.10928744017676337, 0.0, 0.0, 0.6103995115446145, 0.14595867911460703, 0.15843616811170871, 0.1503676707293925, 0.0919287979761171, 0.07004204489890033, 0.0358528330529268, 0.7157179364624613], "count": [683]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.023426061496138573], "std": [0.1512523740530014], "count": [683]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014641288433382138], "std": [0.03823591466237363], "count": [683]}, "timestamp": {"min": [0.0], "max": [34.1], "mean": [17.05], "std": [9.858245279967425], "count": [683]}, "frame_index": {"min": [0], "max": [682], "mean": [341.0], "std": [197.1649055993485], "count": [683]}, "episode_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [683]}, "index": {"min": [52185], "max": [52867], "mean": [52526.0], "std": [197.1649055993485], "count": [683]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [683]}}} +{"episode_index": 77, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5008455448417002]], [[0.4680887263993952]], [[0.45123884061408964]]], "std": [[[0.1740772651516968]], [[0.19035395315055506]], [[0.20543808352718165]]], "count": [139]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5014606963900387]], [[0.4083295945102833]], [[0.36782073910035573]]], "std": [[[0.18112402892246063]], [[0.22668783163197695]], [[0.24982681663615877]]], "count": [139]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5083330517915631]], [[0.4268298501708743]], [[0.39017980411167386]]], "std": [[[0.19037154393738853]], [[0.2274545200980155]], [[0.24921250225590444]]], "count": [139]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [723]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [723]}, "observation.state": {"min": [3.2423127058125965, -1.1255606249315087, 0.6999986169167349, 0.0, 0.0, 0.6950889229774475, 0.7071017026901245, 0.05599058525586942, -0.454011956758007, 0.08326437105670703, -0.9999456405639648, -0.09248793125152588, -0.7435895800590515, 0.00018606800585985184, 0.0017253324760040682, -0.04000504284910755], "max": [3.396866995963773, -1.0196680805459797, 0.7012970437705075, 0.0, 0.0, 0.7071118354797363, 0.7189237475395203, 0.3197525145668658, 0.016117931357704673, 0.5889657305909404, 0.8024047017097473, 0.6893186569213867, 0.6237306594848633, 0.7382007241249084, 0.040005858348090596, -0.003428790045432594], "mean": [3.2772169704475393, -1.1024081189388286, 0.700155514935624, 0.0, 0.0, 0.6975169368964178, 0.7165392985152671, 0.19877242186185057, -0.3091721129587332, 0.29809387582668934, -0.758893189351506, 0.05416003326121537, -0.3658945441108685, 0.11127992435281177, 0.03202869350707043, -0.032339676764877], "std": [0.062260696595401774, 0.042874945631307795, 0.000363572544906174, 0.0, 0.0, 0.004595589181254918, 0.004519348883546076, 0.0937666382825742, 0.1542749794839799, 0.18934655971438963, 0.2977927937190153, 0.18152656547336607, 0.3384792835392772, 0.19668528297277652, 0.013867673706069093, 0.013256763426496666], "count": [723]}, "action": {"min": [-0.46428571428571436, 0.0, -0.07714285714285714, 0.0, -1.0, -0.44285714285714284, -0.7714285714285714, -0.42142857142857143, -0.06285714285714286, -0.3457142857142857, -0.08285714285714285, -1.0], "max": [0.08571428571428573, 0.45, 0.0, 0.0, 1.0, 0.24285714285714285, 0.08571428571428573, -0.0, 0.2857142857142857, 0.16857142857142857, 0.07714285714285714, 1.0], "mean": [-0.011242837383916222, 0.017783046828689985, -0.0012685240071132187, 0.0, -0.7565698478561549, 0.006480932622011446, -0.05013831258644537, -0.0716162813673187, 0.04389646314957516, -0.006943291839557403, 0.001118356056115392, -0.5020746887966805], "std": [0.06001405963131256, 0.07427478536213467, 0.008573721176504588, 0.0, 0.6539128881700784, 0.09368929001181296, 0.1365991827506835, 0.08585269266155914, 0.09039072891972343, 0.07193781894525567, 0.0153932381469633, 0.8648242635759683], "count": [723]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02213001437485218], "std": [0.1471063494682312], "count": [723]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013831258644536654], "std": [0.037164671763608305], "count": [723]}, "timestamp": {"min": [0.0], "max": [36.1], "mean": [18.05], "std": [10.435596133746586], "count": [723]}, "frame_index": {"min": [0], "max": [722], "mean": [361.0], "std": [208.71192267493169], "count": [723]}, "episode_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [723]}, "index": {"min": [52868], "max": [53590], "mean": [53229.0], "std": [208.71192267493169], "count": [723]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [723]}}} +{"episode_index": 78, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2487925115497699]], [[0.23489365469186077]], [[0.22899596608894754]]], "std": [[[0.24018283077451252]], [[0.2274051639338196]], [[0.22573137891841616]]], "count": [137]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5850105278000942]], [[0.5161999927530033]], [[0.4559451076867363]]], "std": [[[0.16007143280475963]], [[0.17500804377350995]], [[0.1838792094046675]]], "count": [137]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6000359571933814]], [[0.5282225064356405]], [[0.46681130915492053]]], "std": [[[0.14852108695171526]], [[0.17347899103880268]], [[0.1884330558397519]]], "count": [137]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [708]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [708]}, "observation.state": {"min": [0.8094721638449676, -2.239081216825351, 0.6999991967516191, 0.0, 0.0, 1.0, 0.00010680255945771933, 0.19320598630391805, -0.17569464720262973, 0.2303326790001632, -0.9982611536979675, -0.3916968107223511, -0.1392286717891693, 0.013877667486667633, 0.012399644830474298, -0.03990165125535151], "max": [0.8095169547779844, -2.2390270039694204, 0.7008743931218913, 0.0, 0.0, 1.0, 0.0001807261141948402, 0.28566383211764523, 0.0031880445850722694, 0.6031634197471281, -0.9180740714073181, 0.0823640525341034, 0.11613546311855316, 0.06302130222320557, 0.04000420413874109, -0.020498158670832777], "mean": [0.8094821723306311, -2.239048537994453, 0.700328219430512, 0.0, 0.0, 1.0, 0.00014884172142149503, 0.2759739437698628, -0.15536754431376731, 0.25159265867510233, -0.9291378702484282, -0.350442953107847, -0.01528046382305023, 0.05464924021760833, 0.03728974491676904, -0.03848730124155211], "std": [2.8373767834634497e-06, 5.29629047554278e-06, 0.0001665079611720548, 0.0, 0.0, 0.0, 7.687494153875912e-06, 0.02177545159028999, 0.022447568920415883, 0.06384155831436626, 0.022393282383921076, 0.0969788727432277, 0.02657025731076416, 0.0077577724414913205, 0.007286408473569956, 0.003986396489145531], "count": [708]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.43928571428571433, -0.8089285714285713, -0.7125, -0.09214285714285715, -0.24000000000000002, -0.2442857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.23035714285714287, 0.17678571428571432, -0.0, 0.1157142857142857, 0.18, 0.2442857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.003707627118644068, -0.01800847457627118, -0.041563256658595636, 0.0015950363196125905, 0.00611682808716707, -0.005015133171912836, -0.7937853107344632], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.05731787701222993, 0.099473839604229, 0.12609147615050303, 0.015310418121937178, 0.04141818685626693, 0.06253430214117323, 0.6081980602256074], "count": [708]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02259887009859085], "std": [0.1486208587884903], "count": [708]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014124293785310734], "std": [0.03755575084832862], "count": [708]}, "timestamp": {"min": [0.0], "max": [35.35], "mean": [17.675], "std": [10.21908957132027], "count": [708]}, "frame_index": {"min": [0], "max": [707], "mean": [353.5], "std": [204.38179142640536], "count": [708]}, "episode_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [708]}, "index": {"min": [53591], "max": [54298], "mean": [53944.5], "std": [204.38179142640536], "count": [708]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [708]}}} +{"episode_index": 79, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5318870025400615]], [[0.5081810435939832]], [[0.502306609092771]]], "std": [[[0.13027688603106347]], [[0.1430363345205435]], [[0.1472932932930346]]], "count": [115]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43845792206148765]], [[0.39593350799898763]], [[0.38623730437529974]]], "std": [[[0.19808846217014597]], [[0.19799934388724927]], [[0.19712112108108593]]], "count": [115]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4964686630001865]], [[0.42892574430629926]], [[0.40740667448832457]]], "std": [[[0.2183602687210127]], [[0.22980491499252406]], [[0.23119179909292745]]], "count": [115]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [562]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [562]}, "observation.state": {"min": [3.1453364180014987, -0.8963177083240126, 0.6999962887287694, 0.0, 0.0, 0.7069007754325867, 0.7070103287696838, 0.08448488073609073, -0.29205033906827493, 0.06851840287359012, -0.9913211464881897, -0.19696420431137085, -0.6467628479003906, 0.00013410327665042132, 0.020576774288916373, -0.04091002743236747], "max": [3.1454337316874783, -0.8960286207510844, 0.7059531301346653, 0.0, 0.0, 0.7072032690048218, 0.7073126435279846, 0.24990700524122045, -0.01717697860404721, 0.5930557027754939, 0.7890825867652893, 0.1800287365913391, 0.6380251049995422, 0.1764000654220581, 0.040332790769771705, -0.02048978657909926], "mean": [3.145398355724683, -0.8960819971305608, 0.7036485772544712, 0.0, 0.0, 0.7070963966040424, 0.7071171231117113, 0.1923896649841666, -0.26350503176481477, 0.14765927479273447, 0.32026189226272694, 0.006182070834780927, 0.2915396480506213, 0.03654001881403155, 0.035965092868335144, -0.03637258816656678], "std": [1.4248553301827559e-05, 4.5510399233202e-05, 0.0026039428686934546, 0.0, 0.0, 4.1521080545258605e-05, 4.152256796048277e-05, 0.040616632181972846, 0.04664545779937299, 0.12143687198584854, 0.7285603834812333, 0.05578798833897007, 0.525693357321903, 0.028240668397465092, 0.003903805871169746, 0.003709589767130006], "count": [562]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6285714285714287, -0.7928571428571428, -0.7071428571428572, -0.0, -0.2885714285714286, -0.15428571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4, 0.18571428571428572, 0.18571428571428572, 0.23428571428571432, -0.0, 0.10571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.005439755973563797, -0.04327656329435691, -0.07897813929842407, 0.015068632435180477, -0.019450940518556177, -0.0012811387900355869, -0.021352313167259787], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.12470462225570716, 0.12261637651471245, 0.1758904433616011, 0.04733861172700678, 0.06139933161010061, 0.03665849042991523, 0.9997720133722539], "count": [562]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02846975065767765], "std": [0.1663106232881546], "count": [562]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017793594306049821], "std": [0.04214490847803207], "count": [562]}, "timestamp": {"min": [0.0], "max": [28.05], "mean": [14.025], "std": [8.111758440683499], "count": [562]}, "frame_index": {"min": [0], "max": [561], "mean": [280.5], "std": [162.23516881367], "count": [562]}, "episode_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [562]}, "index": {"min": [54299], "max": [54860], "mean": [54579.5], "std": [162.23516881367], "count": [562]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [562]}}} +{"episode_index": 80, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10588235294117647]], [[0.09019607843137255]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41035024877538023]], [[0.40964663146863856]], [[0.405983085972315]]], "std": [[[0.11405887084202429]], [[0.10683893647638197]], [[0.10222903238840615]]], "count": [110]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.0392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5103342730136267]], [[0.5396670972854696]], [[0.46576885094192155]]], "std": [[[0.17399163678542293]], [[0.1509750663004592]], [[0.1529225745279385]]], "count": [110]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.0392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5009345962062026]], [[0.5312237782741825]], [[0.46448796399774395]]], "std": [[[0.19343005346678097]], [[0.1778799413271124]], [[0.18012352386245434]]], "count": [110]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [531]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [531]}, "observation.state": {"min": [0.7831832145975665, -3.150031723916588, 0.699998418248336, 0.0, 0.0, -1.0, 8.142474428041169e-08, 0.2096479372626432, -0.14751860405928152, 0.23089058595676926, -0.9971634745597839, -0.3478263020515442, -0.14830827713012695, 0.02026006579399109, 0.020570147589465782, -0.039943395400103436], "max": [0.7832036939480059, -3.149932852511904, 0.7001710212169155, 0.0, 0.0, 1.0, 0.00015665525279473513, 0.27181157995738425, -0.01011592712721443, 0.5979015488868351, -0.9370279908180237, 0.008746564388275146, 0.07060519605875015, 0.05694994330406189, 0.04000423410732813, -0.016954622153705558], "mean": [0.7831951140726613, -3.1499555035145272, 0.7000478431424806, 0.0, 0.0, 0.943502824858757, 0.0001325801823447581, 0.25550477942148925, -0.13439920260752278, 0.29686172561556196, -0.9510999480209782, -0.2907968275740097, -0.009350108864707649, 0.03371678201197568, 0.029618807427141826, -0.027895091124620127], "std": [2.6666731892878157e-06, 1.6595182306159758e-05, 5.604845865581055e-05, 0.0, 0.0, 0.33136448132463814, 3.123383958831516e-05, 0.019398152516195154, 0.02665544841907952, 0.11093119595474865, 0.018380278121776016, 0.090497235004382, 0.03174843200778163, 0.009289809123332804, 0.008826749312150226, 0.010274205874667769], "count": [531]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.23571428571428574, -0.32857142857142857, -0.55, -0.04, -0.022857142857142857, -0.22, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.19285714285714284, 0.014285714285714285, -0.0, -0.0, 0.14857142857142858, 0.15142857142857147, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.004022060801721815, -0.02102502017756258, -0.051923594296475674, -0.000634920634920635, 0.008119451170298629, -0.003023944040893202, 0.1374764595103578], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.05039205657379449, 0.06025643176587671, 0.10838021479907173, 0.0038251852760838602, 0.022949340507867608, 0.05816138155137748, 0.9905050343539361], "count": [531]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.030131826177239418], "std": [0.1709499955177307], "count": [531]}, "next.done": {"min": [false], "max": [true], "mean": [0.0018832391713747645], "std": [0.043355421594054006], "count": [531]}, "timestamp": {"min": [0.0], "max": [26.5], "mean": [13.25], "std": [7.664311232372199], "count": [531]}, "frame_index": {"min": [0], "max": [530], "mean": [265.0], "std": [153.286224647444], "count": [531]}, "episode_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [531]}, "index": {"min": [54861], "max": [55391], "mean": [55126.0], "std": [153.286224647444], "count": [531]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [531]}}} +{"episode_index": 81, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4406147186250803]], [[0.4322146255963323]], [[0.4282997041590073]]], "std": [[[0.23507687069460878]], [[0.2339980622211393]], [[0.23469259726369723]]], "count": [105]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5177014809830183]], [[0.4683944078119529]], [[0.43643131373643207]]], "std": [[[0.2684890518637888]], [[0.28251780959252776]], [[0.3024943357061171]]], "count": [105]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5037703792454482]], [[0.4624359136558269]], [[0.4365433596941381]]], "std": [[[0.2691986511937577]], [[0.28072775028742036]], [[0.297001311481427]]], "count": [105]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [501]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [501]}, "observation.state": {"min": [5.384902880796923, -2.1001667270495066, 0.6999979714021317, 0.0, 0.0, -0.0006807552417740226, 0.9999997615814209, 0.1592300751946505, 0.00037022417941789953, 0.05310374822959385, -0.9837594628334045, -0.043126821517944336, -0.18000802397727966, 8.332019933732226e-05, 0.01599486622399973, -0.040032409929701786], "max": [5.390482370376595, -2.094013210676471, 0.7158311949649053, 0.0, 0.0, 0.0006392946233972907, 1.0, 0.25088925803851403, 0.21379208058806354, 0.6272619971941793, 0.9814679026603699, 0.46271181106567383, 0.6985424757003784, 0.3860883414745331, 0.052503589527959575, 8.880168904176414e-05], "mean": [5.389623805595298, -2.0944307785834733, 0.7023686453456515, 0.0, 0.0, -4.667017966092756e-05, 0.999999997620573, 0.2088282503731695, 0.11459818434321357, 0.304000717227101, 0.8380027148062121, 0.0959885689372312, 0.3907178000485647, 0.15512873182802459, 0.039013854195093116, -0.036416967025659275], "std": [0.0004905169922372003, 0.00042552614595066753, 0.0035708548757856255, 0.0, 0.0, 0.00011580583565308854, 1.829530215952558e-08, 0.020316373417276736, 0.08222000736021065, 0.24004826282363953, 0.17876919249721185, 0.12302709796160491, 0.22598316591681883, 0.1168325232556076, 0.0037455074377322306, 0.008787741707907252], "count": [501]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9571428571428572, -0.9214285714285714, -0.29714285714285715, -0.5971428571428572, -0.7028571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5214285714285715, 0.4, 0.6857142857142858, 0.6885714285714286, 0.24, 0.19142857142857142, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0393356144853151, -0.10896777872825776, -0.10836897633304826, 0.03920729968634161, -0.005121186199030515, -0.01554605075563159, -0.8522954091816367], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.16870074057379755, 0.2672153793557432, 0.30058926836708577, 0.15198521655490152, 0.08763055284342099, 0.128957157529663, 0.5230607378573797], "count": [501]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.031936127692461014], "std": [0.17583006620407104], "count": [501]}, "next.done": {"min": [false], "max": [true], "mean": [0.001996007984031936], "std": [0.04463209535927724], "count": [501]}, "timestamp": {"min": [0.0], "max": [25.0], "mean": [12.5], "std": [7.2312977166388785], "count": [501]}, "frame_index": {"min": [0], "max": [500], "mean": [250.0], "std": [144.62595433277758], "count": [501]}, "episode_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [501]}, "index": {"min": [55392], "max": [55892], "mean": [55642.0], "std": [144.62595433277758], "count": [501]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [501]}}} +{"episode_index": 82, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3314778404624325]], [[0.3122860044707533]], [[0.30684886676668305]]], "std": [[[0.28869196290502946]], [[0.2708517406356466]], [[0.26220816974979155]]], "count": [129]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.06666666666666667]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6816700460048662]], [[0.6447027584179716]], [[0.6151171400003801]]], "std": [[[0.28172442781840173]], [[0.2603079917056569]], [[0.24724019029680322]]], "count": [129]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.06666666666666667]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7094316214952702]], [[0.6726852971309042]], [[0.6430621340673806]]], "std": [[[0.2572257886179687]], [[0.23895293618652919]], [[0.2294118090377179]]], "count": [129]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [654]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [654]}, "observation.state": {"min": [2.9243445261493832, -0.78412899932931, 0.6999993335570557, 0.0, 0.0, 0.7070569396018982, 0.706723690032959, 0.1729603902119653, -0.18453255178583472, 0.22129220631670443, -0.9950866103172302, -0.05838398635387421, -0.18083560466766357, 0.0013838207814842463, 0.014389809849308875, -0.0399841272797305], "max": [2.924922383399133, -0.7839859489096549, 0.7069227610206773, 0.0, 0.0, 0.7074897289276123, 0.7071565985679626, 0.2757185021954187, 0.010047035279025174, 0.6089698633281424, -0.29050666093826294, 0.9553263783454895, 0.16762930154800415, 0.09875917434692383, 0.04331460486750021, -0.0022524392265110592], "mean": [2.924841133858301, -0.7840147964121471, 0.7002583163649847, 0.0, 0.0, 0.7071191033274391, 0.7070944311057391, 0.2356216187233557, -0.05435157332536099, 0.5158821668463962, -0.9490241059742937, 0.056695599792473905, -0.11350582017056325, 0.05640004120520758, 0.038355242964249164, -0.036990028542626535], "std": [5.7153359049512825e-05, 1.7972847118457917e-05, 0.000945349649710152, 0.0, 0.0, 4.366742423761978e-05, 4.36677710559118e-05, 0.01787468870178213, 0.06398493433200131, 0.144097708103515, 0.12118145749646021, 0.22815012715532995, 0.11461692047269541, 0.014137021701721186, 0.005521685175841172, 0.008132266312051014], "count": [654]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5857142857142857, -0.32285714285714284, -0.2714285714285714, -0.6114285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3357142857142857, 0.22142857142857142, -0.0, 0.4257142857142857, 0.26, 0.002857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0009501965923984308, -0.03399956312800349, -0.06766055045871554, 0.0018741808650065532, 0.014587155963302754, -0.04853647881170816, -0.7553516819571865], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.08230790805230136, 0.10512120303737409, 0.1407132169780531, 0.028530681241718522, 0.051654244944884596, 0.1326682800163901, 0.6553196445738895], "count": [654]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.024464832618832588], "std": [0.1544872224330902], "count": [654]}, "next.done": {"min": [false], "max": [true], "mean": [0.0015290519877675841], "std": [0.039073187581592166], "count": [654]}, "timestamp": {"min": [0.0], "max": [32.65], "mean": [16.325000000000003], "std": [9.439665866261722], "count": [654]}, "frame_index": {"min": [0], "max": [653], "mean": [326.5], "std": [188.79331732523443], "count": [654]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [654]}, "index": {"min": [55893], "max": [56546], "mean": [56219.5], "std": [188.79331732523443], "count": [654]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [654]}}} +{"episode_index": 83, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.027450980392156862]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36452085601702333]], [[0.33861085741098335]], [[0.32572121068628856]]], "std": [[[0.24319423864432815]], [[0.23327230394855983]], [[0.22507957416746227]]], "count": [109]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4600338706139888]], [[0.4057642270215318]], [[0.3663141032735485]]], "std": [[[0.2647553884952708]], [[0.2735144152819499]], [[0.28108750114951797]]], "count": [109]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4268864957778912]], [[0.3828636629201028]], [[0.35193995177091764]]], "std": [[[0.2727307181687179]], [[0.2738242001865249]], [[0.2765111401787592]]], "count": [109]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [524]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [524]}, "observation.state": {"min": [5.987097122408391, -0.9003398447258978, 0.6999995759077334, 0.0, 0.0, 0.7005353569984436, 0.7071589827537537, 0.1258687141157513, -0.31598019852900094, 0.10263019833800002, -0.9845869541168213, -0.2863907217979431, -0.7913570404052734, 0.0004245406307745725, -0.0007037372208824393, -0.04092618396348365], "max": [6.209550779965197, -0.8991695485991126, 0.7038649292278253, 0.0, 0.0, 0.7070545554161072, 0.713617742061615, 0.2367905271289651, -0.006242915563567486, 0.627440523561579, 0.6943778991699219, 0.19139468669891357, 0.732061505317688, 0.13192200660705566, 0.040752673967665846, -0.020502277901078593], "mean": [6.095958547801962, -0.899366861573254, 0.7008571493038331, 0.0, 0.0, 0.7039730767257341, 0.7102132619337271, 0.22368319099676295, -0.11825745741792293, 0.4368643574382269, -0.6190401705849262, -0.006801335013094749, -0.11172778844719625, 0.03984798368870571, 0.03694348774042085, -0.03924047560905828], "std": [0.1099096383705938, 0.00024087875685597227, 0.0012627657643363287, 0.0, 0.0, 0.0030948154074264722, 0.00306681040976693, 0.02101439631595719, 0.1329664023297594, 0.23905310085796627, 0.6316361747763246, 0.11583170136050572, 0.4348797464085764, 0.03421135750413398, 0.008013344571096545, 0.002910069167429615], "count": [524]}, "action": {"min": [-0.23571428571428574, 0.0, -0.04857142857142857, 0.0, -1.0, -1.0, -0.9142857142857143, -0.9285714285714287, -0.14285714285714285, -0.35428571428571426, -0.32285714285714284, -1.0], "max": [0.12142857142857143, 0.6714285714285714, 0.0, 0.0, 1.0, 0.6357142857142857, 0.22142857142857142, 0.19285714285714284, 0.31142857142857144, 0.09428571428571429, 0.2285714285714286, 1.0], "mean": [6.815703380588864e-05, 0.02613140676117776, -0.0009378407851690293, 0.0, -0.8053435114503816, -0.011845692475463469, -0.07397764449291166, -0.10587513631406761, 0.01593238822246456, -0.016902944383860415, -0.010065430752453655, -0.8358778625954199], "std": [0.022403643119000366, 0.10134237521817692, 0.004836542987699203, 0.0, 0.5928084248429422, 0.15472256712400234, 0.1820367860120475, 0.24842793114254313, 0.06300022707408512, 0.06513354710484803, 0.07538825353258863, 0.5489154751169915], "count": [524]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.030534351244568825], "std": [0.1720523238182068], "count": [524]}, "next.done": {"min": [false], "max": [true], "mean": [0.0019083969465648854], "std": [0.04364349857263081], "count": [524]}, "timestamp": {"min": [0.0], "max": [26.15], "mean": [13.075000000000001], "std": [7.563274753702922], "count": [524]}, "frame_index": {"min": [0], "max": [523], "mean": [261.5], "std": [151.26549507405844], "count": [524]}, "episode_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [524]}, "index": {"min": [56547], "max": [57070], "mean": [56808.5], "std": [151.26549507405844], "count": [524]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [524]}}} +{"episode_index": 84, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4564722833919548]], [[0.4519219189199353]], [[0.4465861640639996]]], "std": [[[0.33914394292140326]], [[0.33610974120875303]], [[0.33211180048188255]]], "count": [166]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5739242647433714]], [[0.5651176501300469]], [[0.5563596116716406]]], "std": [[[0.20853441528373592]], [[0.20921119143947065]], [[0.20781292547084443]]], "count": [166]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.590322702949897]], [[0.5813134377035947]], [[0.5723426269127522]]], "std": [[[0.2107629666922956]], [[0.2120410774973775]], [[0.21123071904799703]]], "count": [166]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [914]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [914]}, "observation.state": {"min": [0.8133227613117686, -2.243841012466305, 0.6999987754316966, 0.0, 0.0, -1.0, 3.713352953127469e-06, 0.18412445759226526, -0.0958954499476441, 0.22459537885228442, -0.9908819198608398, -0.8164706230163574, -0.14278054237365723, 0.00030483939917758107, 0.0013642598817608426, -0.04043159905082497], "max": [0.8133762879327787, -2.243682673748511, 0.7065005452251081, 0.0, 0.0, 1.0, 0.00022699432156514376, 0.3256580469617233, -0.005062255691357986, 0.6004035174900276, 0.9995023608207703, 0.9384593367576599, 0.032048631459474564, 0.08515125513076782, 0.03996367051839062, -0.016723319254771045], "mean": [0.813335319999117, -2.2437195131256087, 0.7008845106062755, 0.0, 0.0, 0.9978118161925602, 0.0001487115280073264, 0.29495224798116554, -0.07280711835429221, 0.2572370450935811, 0.32229918414315195, 0.787496119183315, -0.003220376951742384, 0.03749883174807082, 0.035775877487079104, -0.038252559883039494], "std": [7.585709433193289e-06, 1.844691626992683e-05, 0.0009502420880583017, 0.0, 0.0, 0.06611792091789115, 2.4970001833619346e-05, 0.028503136761249288, 0.012586133643942893, 0.07965022359148177, 0.3510156405411606, 0.38781098865312824, 0.028595876869737726, 0.01138001471807838, 0.010465332127486104, 0.005510559629596651], "count": [914]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.3375, -0.24107142857142855, -0.35357142857142865, -0.21642857142857144, -0.08785714285714287, -0.3192857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5732142857142857, 0.07500000000000001, -0.0, 0.11142857142857143, -0.0, 0.5914285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.009870271959987499, -0.0069982807127227245, -0.05772702407002185, -0.0016786495779931225, -0.0020279774929665524, -0.006001875586120638, -0.6958424507658644], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.08632448396316954, 0.030672356780184373, 0.10465355458325466, 0.024310616990110317, 0.009631355307054182, 0.1339224429851318, 0.7181944609311296], "count": [914]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017505470663309097], "std": [0.13114506006240845], "count": [914]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010940919037199124], "std": [0.033058960458945574], "count": [914]}, "timestamp": {"min": [0.0], "max": [45.65], "mean": [22.825], "std": [13.192445755052397], "count": [914]}, "frame_index": {"min": [0], "max": [913], "mean": [456.5], "std": [263.8489151010479], "count": [914]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [914]}, "index": {"min": [57071], "max": [57984], "mean": [57527.5], "std": [263.8489151010479], "count": [914]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [914]}}} +{"episode_index": 85, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4735691135037663]], [[0.47649289522994226]], [[0.4766232139547854]]], "std": [[[0.17715958799076592]], [[0.16591767758694173]], [[0.15852939268566266]]], "count": [174]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4220667586499623]], [[0.4148046748445247]], [[0.40469499940079073]]], "std": [[[0.29427851340561223]], [[0.2781130178506701]], [[0.2634439142818265]]], "count": [174]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4467341624430393]], [[0.44406599965158927]], [[0.43555009320482413]]], "std": [[[0.2803414859856743]], [[0.2592494515585453]], [[0.24153389299286246]]], "count": [174]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [977]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [977]}, "observation.state": {"min": [0.8293658820172263, -2.4961907713303355, 0.6998769910593532, 0.0, 0.0, -1.0, 6.420252418593009e-08, 0.05565524674141187, 0.0032526768748106782, 0.06432752362057426, -0.9932106733322144, -0.08399134874343872, -0.6464036703109741, 8.522083589923568e-06, -0.001733134621742983, -0.040510809161106914], "max": [0.9794004948495383, -2.153510720698276, 0.7023418890438711, 0.0, 0.0, 1.0, 0.01666110008955002, 0.3016469321163773, 0.5896487123149403, 0.586406218604553, 0.8970409631729126, 0.7461922764778137, 0.7144688963890076, 0.638569712638855, 0.04148712511276084, -3.9851528805028786e-05], "mean": [0.9740083447711799, -2.1706361352502235, 0.7000898816732309, 0.0, 0.0, -0.8730811837263702, 0.0038084589895225674, 0.2559229701213139, 0.4781450350018173, 0.18695192230027002, 0.10337500660055858, 0.26166548806422807, 0.24931237022244698, 0.24988632759362459, 0.03442202140135677, -0.03360897688806848], "std": [0.023518861905758488, 0.05103399225380595, 0.0002681207626549999, 0.0, 0.0, 0.48755353372067095, 0.0025213536406880543, 0.06123682735045672, 0.17867284792074095, 0.17137138362839757, 0.727595412283554, 0.17457330491789189, 0.45486250850672294, 0.17168030364335826, 0.010008037188057057, 0.01162774858730424], "count": [977]}, "action": {"min": [-0.4857142857142857, -0.6714285714285714, -0.08571428571428572, 0.0, -1.0, -0.42142857142857143, -0.15714285714285717, -0.6642857142857144, -0.18857142857142858, -0.2142857142857143, -0.3314285714285714, -1.0], "max": [0.0, 0.0, 0.08571428571428572, 0.0, 1.0, 0.4285714285714286, 0.95, -0.0, 0.38857142857142857, 0.12285714285714287, 0.19142857142857142, 1.0], "mean": [-0.012553004825266854, -0.018701564556221666, 0.00018716186576984964, 0.0, -0.8239508700102354, -0.014000584880830544, 0.06924257932446265, -0.09989033484427547, 0.058757128235122066, -0.011852610030706258, -0.020710630209094905, -0.14636642784032752], "std": [0.06224125883852068, 0.08759112627940785, 0.011045566234759888, 0.0, 0.5666612425509401, 0.11832924034075912, 0.18612851191227378, 0.1317467813083141, 0.11533833576478277, 0.052764051396007094, 0.07534137826929087, 0.9892304427186189], "count": [977]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016376662999391556], "std": [0.12691913545131683], "count": [977]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010235414534288639], "std": [0.03197645721967924], "count": [977]}, "timestamp": {"min": [0.0], "max": [48.8], "mean": [24.400000000000002], "std": [14.101772938180504], "count": [977]}, "frame_index": {"min": [0], "max": [976], "mean": [488.0], "std": [282.03545876361005], "count": [977]}, "episode_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [977]}, "index": {"min": [57985], "max": [58961], "mean": [58473.0], "std": [282.03545876361005], "count": [977]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [977]}}} +{"episode_index": 86, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38319880625085456]], [[0.3344385641935945]], [[0.30484948845200205]]], "std": [[[0.1813031485778629]], [[0.1603235745066739]], [[0.16917999960881336]]], "count": [121]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.050980392156862744]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4810281113430005]], [[0.44678327417937735]], [[0.42870692733890753]]], "std": [[[0.2373784968187878]], [[0.25444647813096327]], [[0.2693700819320112]]], "count": [121]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.493714090537994]], [[0.45389099912345165]], [[0.4313148949795731]]], "std": [[[0.23384806201606467]], [[0.24756570901184055]], [[0.26380985124311984]]], "count": [121]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [605]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [605]}, "observation.state": {"min": [4.683007256402966, -3.674917370717225, 0.6999708786614851, 0.0, 0.0, 9.727620636112988e-05, 1.0, 0.08361480932319765, -0.008845321881734591, 0.14700533369654856, -0.9914103150367737, -0.09095388650894165, -0.12002155929803848, 0.000691582856234163, 0.0005982229513862591, -0.040029456202613174], "max": [4.683117730011774, -3.6748006849629564, 0.7005767941569857, 0.0, 0.0, 0.00022984019597060978, 1.0, 0.25135194404396444, 0.4047000935064555, 0.5843308779227974, 0.9884133338928223, 0.8257737755775452, 0.741538941860199, 0.6045800447463989, 0.03962511507124915, -0.01303906670429714], "mean": [4.683047637741672, -3.6748900253914383, 0.7002639986086896, 0.0, 0.0, 0.00015230103841336245, 1.0, 0.1655954764119261, 0.37402219363612493, 0.21952911909874342, 0.34976629506457935, 0.639941715036542, 0.2628682647731679, 0.49540105592218914, 0.03574352180815993, -0.03760963254867458], "std": [1.3571103243581679e-05, 2.0180564538528223e-05, 0.0002623458148476468, 0.0, 0.0, 1.8015807643632073e-05, 0.0, 0.03420488252143101, 0.07349490231615462, 0.1197310308495282, 0.2537492637202931, 0.18085831872568625, 0.1501976608892623, 0.1842781521296385, 0.008811436436064017, 0.005865991395602558], "count": [605]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.36428571428571427, -0.3267857142857143, -0.40714285714285714, -0.16071428571428573, -0.315, -0.03642857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.24107142857142855, 0.7232142857142858, 0.09642857142857143, 0.29357142857142854, 0.010714285714285714, 0.4392857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.002913223140495876, 0.026006493506493488, -0.05552833530106259, 0.02457733175914993, -0.013381345926800478, 0.029468713105076677, -0.6495867768595042], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.08215956413775577, 0.17480404300000624, 0.10178647651047089, 0.10182706924618862, 0.04686980560186181, 0.09206192637267926, 0.760287458353273], "count": [605]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.026446281000971794], "std": [0.16045834124088287], "count": [605]}, "next.done": {"min": [false], "max": [true], "mean": [0.001652892561983471], "std": [0.04062216769403144], "count": [605]}, "timestamp": {"min": [0.0], "max": [30.2], "mean": [15.1], "std": [8.732410892760372], "count": [605]}, "frame_index": {"min": [0], "max": [604], "mean": [302.0], "std": [174.64821785520743], "count": [605]}, "episode_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [605]}, "index": {"min": [58962], "max": [59566], "mean": [59264.0], "std": [174.64821785520743], "count": [605]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [605]}}} +{"episode_index": 87, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4438876055811239]], [[0.4369914894437046]], [[0.42390651984055766]]], "std": [[[0.24800504090307388]], [[0.24118388792305687]], [[0.22633669986714586]]], "count": [137]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5285565479060722]], [[0.4591052869810675]], [[0.3931993632182144]]], "std": [[[0.26631018805909046]], [[0.2893592645501636]], [[0.2992479461525338]]], "count": [137]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5397396757552531]], [[0.4912262216221029]], [[0.43625376641161706]]], "std": [[[0.2930716420100725]], [[0.304125767387997]], [[0.30050060499972736]]], "count": [137]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [712]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [712]}, "observation.state": {"min": [5.298213484280771, -2.1871138756923334, 0.6999966405992373, 0.0, 0.0, -0.014882470481097698, 0.9998892545700073, 0.14142122941684399, -0.37824586507111313, 0.10148232364316279, -0.9915794730186462, -0.24189305305480957, -0.6616746187210083, 0.0003358516551088542, 0.013435280644881297, -0.04069903153689746], "max": [5.400904308730325, -1.7247588309354722, 0.7002998759014318, 0.0, 0.0, -8.094567601801828e-05, 1.0, 0.31299149888736544, -0.011521344232983788, 0.5904733490906734, 0.8050837516784668, 0.13054382801055908, 0.6804929971694946, 0.19593468308448792, 0.04002107954165246, -0.02052285343051677], "mean": [5.321837516764673, -1.743925360806265, 0.7001252719865774, 0.0, 0.0, -0.01399256899801483, 0.9998984234721473, 0.27539451753899413, -0.30785424911962145, 0.21072275925140269, 0.2693949489111311, 0.06652809493243694, 0.39637433378590964, 0.10017121429721075, 0.027600018422774472, -0.03631950020607313], "std": [0.01755600615059983, 0.08232806491377591, 0.00010118232003774166, 0.0, 0.0, 0.0027133210090421406, 2.3131486337260346e-05, 0.05465131812325325, 0.12547228489476955, 0.17657283997215475, 0.7409067221017961, 0.09238925461114414, 0.4437397920012383, 0.0383397226057154, 0.009974843301547926, 0.0034641552814448666], "count": [712]}, "action": {"min": [-0.6, 0.0, -0.09142857142857143, 0.0, -1.0, -0.5214285714285715, -0.9, -0.6857142857142858, -0.10571428571428572, -0.23428571428571432, -0.23142857142857146, -1.0], "max": [0.3214285714285714, 0.7285714285714285, 0.0, 0.0, 1.0, 0.3428571428571429, 0.31428571428571433, 0.08571428571428573, 0.21142857142857144, 0.04857142857142857, 0.1742857142857143, 1.0], "mean": [-0.0029193418940609917, 0.025030096308186194, -0.0011235955056179776, 0.0, -0.7415730337078652, 0.008166131621187804, -0.05067215088282502, -0.0471408507223114, 0.011324237560192615, -0.014638844301765668, -0.013575441412520074, 0.17415730337078653], "std": [0.07766701220761948, 0.11537030104488376, 0.008238510333552218, 0.0, 0.6708721455518323, 0.0820011460113652, 0.16260716379493392, 0.12998347352525666, 0.050950498945858305, 0.04688351296639844, 0.05671418247152364, 0.9847178447060961], "count": [712]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02247191034257412], "std": [0.14821243286132812], "count": [712]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014044943820224719], "std": [0.037450257376329725], "count": [712]}, "timestamp": {"min": [0.0], "max": [35.55], "mean": [17.775], "std": [10.27682465550522], "count": [712]}, "frame_index": {"min": [0], "max": [711], "mean": [355.5], "std": [205.5364931101044], "count": [712]}, "episode_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [712]}, "index": {"min": [59567], "max": [60278], "mean": [59922.5], "std": [205.5364931101044], "count": [712]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [712]}}} +{"episode_index": 88, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.0196078431372549]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2684493301023569]], [[0.2705041030494575]], [[0.273401741532222]]], "std": [[[0.12188142024817697]], [[0.11860810285459027]], [[0.11516094836149854]]], "count": [113]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.054901960784313725]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36431235121952543]], [[0.31503811673573606]], [[0.2859693943906033]]], "std": [[[0.23544408313595996]], [[0.21245273164225753]], [[0.2156995450534622]]], "count": [113]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.06274509803921569]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38728246892385965]], [[0.33432936819812276]], [[0.30116208533373595]]], "std": [[[0.23549085186078128]], [[0.21413289610716255]], [[0.21923087662212082]]], "count": [113]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [552]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [552]}, "observation.state": {"min": [3.4887578630670157, -3.687467758829629, 0.6999972572878895, 0.0, 0.0, 0.7068023085594177, 0.7067201137542725, 0.24459272260973153, -0.17153113574307133, 0.22370743432344176, -0.9994701743125916, -0.9359584450721741, -0.13475921750068665, 3.513420597300865e-05, 0.0005681241658132617, -0.04304449083503245], "max": [3.4896046704413974, -3.6872654966949905, 0.7073706748324662, 0.0, 0.0, 0.7074931859970093, 0.7074111700057983, 0.38008179990765, -0.023984250759118364, 0.5919759624147397, 0.9655627012252808, 0.9713243842124939, 0.14102593064308167, 0.07217127829790115, 0.04263736692986339, 0.0015855153205082844], "mean": [3.489161794325972, -3.687377422245094, 0.7009568851246206, 0.0, 0.0, 0.7071528266305509, 0.7070606805492139, 0.3533250376785124, -0.11756384163267067, 0.26593496777677955, -0.5786817089479038, 0.024891611856772848, 0.005266792316552196, 0.025434744589782222, 0.023098626581191925, -0.024391043037926892], "std": [0.00010590368731631583, 2.081451650701233e-05, 0.0017153572393552201, 0.0, 0.0, 9.534493767970461e-05, 9.536127688152274e-05, 0.03760482637342272, 0.024644610238920537, 0.08518689842549369, 0.7134309955141485, 0.38887954662312685, 0.058614393571171965, 0.013655921150972498, 0.011359507743060292, 0.012250699499871414], "count": [552]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.3357142857142857, -0.31428571428571433, -0.6428571428571428, -0.07714285714285714, -0.025714285714285714, -1.0, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3857142857142857, 0.8571428571428572, 0.807142857142857, 0.2485714285714286, 0.1742857142857143, 0.26, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.018568840579710144, 0.005383022774327119, -0.06303053830227746, 0.01815734989648033, 0.014818840579710136, -0.156371635610766, 0.532608695652174], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.07693964776890753, 0.14249582047919676, 0.2112246763526976, 0.04967424284480828, 0.03579365524294376, 0.27824838679846187, 0.8463616114378688], "count": [552]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.028985507786273956], "std": [0.1677657514810562], "count": [552]}, "next.done": {"min": [false], "max": [true], "mean": [0.0018115942028985507], "std": [0.04252425577646921], "count": [552]}, "timestamp": {"min": [0.0], "max": [27.55], "mean": [13.775], "std": [7.9674206407511], "count": [552]}, "frame_index": {"min": [0], "max": [551], "mean": [275.5], "std": [159.348412815022], "count": [552]}, "episode_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [552]}, "index": {"min": [60279], "max": [60830], "mean": [60554.5], "std": [159.348412815022], "count": [552]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [552]}}} +{"episode_index": 89, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47978308669659275]], [[0.4676219463615524]], [[0.4628573283561472]]], "std": [[[0.2947034342764888]], [[0.2929401220678748]], [[0.2949715287718478]]], "count": [140]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43721992941463694]], [[0.43354520781701356]], [[0.4430019889425497]]], "std": [[[0.29903756369817097]], [[0.30046387986822215]], [[0.2946788080933841]]], "count": [140]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41780832456273526]], [[0.4145406570220862]], [[0.42398016622420454]]], "std": [[[0.2958397436224859]], [[0.2968764171516874]], [[0.2911970388131803]]], "count": [140]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [733]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [733]}, "observation.state": {"min": [0.8102095153568055, -2.282956425447034, 0.6999887652526202, 0.0, 0.0, -1.0, 8.193923122234992e-07, 0.07388598224249676, 0.00018881670348758206, 0.22794654542278958, -0.9941924810409546, -0.926256537437439, -0.24184195697307587, 0.0012175022857263684, 0.0009419869103925104, -0.04062483775072279], "max": [0.8103500254534494, -2.2827673070990833, 0.7033473245298236, 0.0, 0.0, 1.0, 0.000187856683623977, 0.30085340617427025, 0.2693747568694831, 0.6133742704747017, 0.972874104976654, 0.9695923924446106, 0.24877820909023285, 0.12267576158046722, 0.04000779380136628, -0.007278835271128082], "mean": [0.8102230614760786, -2.2827998390257735, 0.7000732303774738, 0.0, 0.0, 0.8826739427012278, 0.00014235039175470104, 0.16279644363104975, 0.18417005144778653, 0.461701805090018, 0.29238667797505613, 0.24266365937898787, 0.06631918042530668, 0.053885131700175316, 0.03751342397372543, -0.03771747720812526], "std": [1.2775874044185909e-05, 2.917257999760299e-05, 0.0003496982697894843, 0.0, 0.0, 0.46998586242170054, 3.6115674940073404e-05, 0.08472833470925284, 0.08191505006012294, 0.154556620672744, 0.7721954704649392, 0.46931240778836303, 0.1751768029778042, 0.033100386661581764, 0.007209255301959259, 0.006987804719223018], "count": [733]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5714285714285715, -0.45, -0.5571428571428572, -0.20285714285714287, -0.17142857142857143, -0.7114285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.39285714285714285, 1.0, -0.0, 0.1657142857142857, 0.16857142857142857, 0.40571428571428575, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00495030208536348, -0.0015883843305398322, -0.062288053011109026, -0.004786591307737287, 0.0052426427596959655, -0.012726564022607651, -0.7708049113233287], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.11907709018180147, 0.17908710439053668, 0.11789151507703315, 0.04281654974284008, 0.03374401965696452, 0.17916778903566166, 0.6370712587143096], "count": [733]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021828103810548782], "std": [0.14612199366092682], "count": [733]}, "next.done": {"min": [false], "max": [true], "mean": [0.001364256480218281], "std": [0.0369106391772679], "count": [733]}, "timestamp": {"min": [0.0], "max": [36.6], "mean": [18.3], "std": [10.579933837222235], "count": [733]}, "frame_index": {"min": [0], "max": [732], "mean": [366.0], "std": [211.5986767444447], "count": [733]}, "episode_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [733]}, "index": {"min": [60831], "max": [61563], "mean": [61197.0], "std": [211.5986767444447], "count": [733]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [733]}}} +{"episode_index": 90, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.459093284357607]], [[0.4729200141258489]], [[0.4546547005846609]]], "std": [[[0.23741171443495254]], [[0.23822932368848218]], [[0.23597179939017895]]], "count": [120]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44388068105660233]], [[0.4495735482608571]], [[0.40005154777975643]]], "std": [[[0.24602056398853553]], [[0.2394229699907307]], [[0.21741671255444975]]], "count": [120]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43165598302105673]], [[0.438902598362343]], [[0.39278921089920343]]], "std": [[[0.2521249508612156]], [[0.24725278923953184]], [[0.22650832427572692]]], "count": [120]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [596]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [596]}, "observation.state": {"min": [6.151677554674692, -0.8800443444833065, 0.6999794254535552, 0.0, 0.0, 0.7069845795631409, 0.7070919275283813, -0.003920695030774635, -0.32144700211075605, 0.09854573919539789, -0.9918841123580933, -0.2845093607902527, -0.697310209274292, 3.240222213207744e-05, 0.017607153617130084, -0.04011903292452797], "max": [6.1517388713802745, -0.8799201262347645, 0.7010870066035694, 0.0, 0.0, 0.7071215510368347, 0.7072290182113647, 0.25586476597575103, -0.0038902982989199586, 0.5858555329005161, 0.7566053867340088, 0.293732225894928, 0.7174229621887207, 0.2954849898815155, 0.03985373671595698, -0.015635361890523013], "mean": [6.151714881437026, -0.8799678015602664, 0.7004403025841365, 0.0, 0.0, 0.7070560273308082, 0.7071574882372914, 0.17544187111718232, -0.292254646203025, 0.20028139144662857, 0.3041853949727628, 0.1754511264246582, 0.3992391421815893, 0.17761453907577188, 0.03086504505391144, -0.031832356046991], "std": [1.0644511760931538e-05, 1.6368086498884017e-05, 0.00046742384680116794, 0.0, 0.0, 2.011630528181106e-05, 2.0127374995725534e-05, 0.06327466131687423, 0.05984732589460706, 0.15754040064863808, 0.6369215385149211, 0.1699422080287601, 0.49150186133995366, 0.09811141903877205, 0.009523333857039077, 0.009423419302611133], "count": [596]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6142857142857143, -0.7785714285714286, -0.6714285714285714, -0.09714285714285714, -0.29428571428571426, -0.14857142857142858, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3357142857142857, 0.15714285714285717, 0.15, 0.18857142857142858, 0.07714285714285714, 0.1742857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.014860977948226233, -0.05865292425695117, -0.057466442953020135, 0.021601150527325034, -0.01692713326941514, 0.002406519654841805, -0.15436241610738255], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.14217301861695383, 0.13701043838337734, 0.13250345219781753, 0.06376650082845353, 0.0549145595710558, 0.034594561030288094, 0.9880142936686153], "count": [596]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02684563770890236], "std": [0.16163213551044464], "count": [596]}, "next.done": {"min": [false], "max": [true], "mean": [0.0016778523489932886], "std": [0.04092721784446465], "count": [596]}, "timestamp": {"min": [0.0], "max": [29.75], "mean": [14.875], "std": [8.602506902060584], "count": [596]}, "frame_index": {"min": [0], "max": [595], "mean": [297.5], "std": [172.0501380412117], "count": [596]}, "episode_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [596]}, "index": {"min": [61564], "max": [62159], "mean": [61861.5], "std": [172.0501380412117], "count": [596]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [596]}}} +{"episode_index": 91, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4948978067831012]], [[0.4770330827788445]], [[0.45206219111221024]]], "std": [[[0.232321697899807]], [[0.2088124381873627]], [[0.18352366317077695]]], "count": [118]}, "observation.images.robot0_agentview_left": {"min": [[[0.08235294117647059]], [[0.08235294117647059]], [[0.08235294117647059]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5170621375619237]], [[0.4973063886343898]], [[0.4684254208606278]]], "std": [[[0.2654264359660315]], [[0.23783177271060885]], [[0.2122223927036496]]], "count": [118]}, "observation.images.robot0_agentview_right": {"min": [[[0.0784313725490196]], [[0.054901960784313725]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5302819888113979]], [[0.5107937484137757]], [[0.48240134130486145]]], "std": [[[0.26296071619625816]], [[0.23577846736607982]], [[0.21139163729207258]]], "count": [118]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [580]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [580]}, "observation.state": {"min": [0.8938953057036223, -1.4224085847775914, 0.6999974031766875, 0.0, 0.0, -1.0, 0.0, 0.14699747507338057, -0.28664290354754285, 0.13319400448054086, -0.9910141825675964, -0.14043349027633667, -0.7654785513877869, 0.0015431285137310624, 0.010794850709070714, -0.03993677010368424], "max": [0.8939605561519944, -1.4223093187032547, 0.7009805872066889, 0.0, 0.0, 1.0, 0.00011660205927910283, 0.2431306657565614, 0.0022444209179275365, 0.5814039407181731, -0.6416378021240234, 0.26433873176574707, -0.12638257443904877, 0.16560578346252441, 0.04000343384059575, -0.02050374926963496], "mean": [0.8939037271786858, -1.4223486450460134, 0.7003664724763506, 0.0, 0.0, -0.6724137931034483, 1.049453997268914e-05, 0.17912845039836817, -0.24658380455221515, 0.18795039280942183, -0.7007300471437389, 0.00635929076836027, -0.6916197694581131, 0.04465468295143339, 0.02741556719670983, -0.0297222348685064], "std": [9.400201195628749e-06, 1.3762334951071861e-05, 0.0002550348745347292, 0.0, 0.0, 0.7401754459884688, 2.483722501537612e-05, 0.016914398947194792, 0.03836660839842484, 0.10969209530013467, 0.07786512332389917, 0.0658161260334274, 0.12978994595813853, 0.03694384918749504, 0.008596743768269926, 0.007924472202424027], "count": [580]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.3785714285714286, -0.9857142857142858, -0.44285714285714284, -0.0, -0.27714285714285714, -0.15428571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.14285714285714288, 0.2, -0.0, 0.2285714285714286, 0.18857142857142858, 0.1142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00623152709359607, -0.03800492610837438, -0.058916256157635544, 0.021694581280788175, -0.0136256157635468, -0.011211822660098522, 0.28620689655172415], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.06177254951058346, 0.15746450280930271, 0.11549401596217138, 0.05042395524634441, 0.062085845699016436, 0.038342994807327106, 0.9581678414381433], "count": [580]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.027586206793785095], "std": [0.16378401219844818], "count": [580]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017241379310344827], "std": [0.04148692901902057], "count": [580]}, "timestamp": {"min": [0.0], "max": [28.95], "mean": [14.475], "std": [8.371566460346594], "count": [580]}, "frame_index": {"min": [0], "max": [579], "mean": [289.5], "std": [167.43132920693188], "count": [580]}, "episode_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [580]}, "index": {"min": [62160], "max": [62739], "mean": [62449.5], "std": [167.43132920693188], "count": [580]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [580]}}} +{"episode_index": 92, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45955099005192146]], [[0.4299602307259286]], [[0.4106486805314256]]], "std": [[[0.250969174793156]], [[0.23325626547505904]], [[0.23559363086497018]]], "count": [123]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5321267238515389]], [[0.5195396823478661]], [[0.5076888505378333]]], "std": [[[0.28749882708870195]], [[0.28200236172128884]], [[0.2793009160296587]]], "count": [123]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5296781316435206]], [[0.5173157633424622]], [[0.5060735244300972]]], "std": [[[0.28344099478495993]], [[0.27777459560405576]], [[0.27414037693141113]]], "count": [123]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [616]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [616]}, "observation.state": {"min": [2.1884410044611977, -0.8834880553758971, 0.6999972612641331, 0.0, 0.0, 0.7070344686508179, 0.7070006728172302, 0.11733163046367723, 0.014455947432471916, 0.10703062669339514, -0.9937190413475037, -0.11476843059062958, -0.12078692018985748, 0.0015911904629319906, 0.013836099015745722, -0.04004139265058329], "max": [2.1886628851270737, -0.8833733643880477, 0.7021292227286938, 0.0, 0.0, 0.7072128653526306, 0.7071791887283325, 0.25017486220812046, 0.40392941701719653, 0.5859100669651931, 0.9926837682723999, 0.5765011310577393, 0.7850974202156067, 0.5193581581115723, 0.040641184941775946, -0.016682991817735637], "mean": [2.1885615444231425, -0.8834068966512417, 0.7002228548229994, 0.0, 0.0, 0.7071129773537834, 0.7071005713630032, 0.20527815120668047, 0.19652602770061695, 0.3991070692487827, -0.04956929037323246, 0.1908470109806626, 0.1461136851508122, 0.13806666851961416, 0.03768223740403727, -0.03808996956961674], "std": [1.798602589933517e-05, 1.1750734793515387e-05, 0.000523358569281681, 0.0, 0.0, 2.0941065107443455e-05, 2.0937736786249873e-05, 0.04684948794804396, 0.16583872068701894, 0.19716384507973633, 0.882132245777783, 0.23887154717417994, 0.2514245534515949, 0.14925637220211957, 0.006270974906620234, 0.005472927764074788], "count": [616]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4285714285714286, -0.6214285714285714, -0.5428571428571429, -0.982857142857143, -0.26, -0.14285714285714285, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.30714285714285716, 1.0, 0.17857142857142858, 0.5171428571428571, 0.2, 0.16285714285714287, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.005948515769944324, 0.035714285714285705, -0.07417671614100192, 0.012643784786641929, -0.02940166975881263, 0.006730055658627082, -0.801948051948052], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.07609293858996985, 0.18977472102188556, 0.11923625859182761, 0.11631515384384242, 0.06913200299179226, 0.047892939459414564, 0.5973937746384074], "count": [616]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.025974025949835777], "std": [0.15905778110027313], "count": [616]}, "next.done": {"min": [false], "max": [true], "mean": [0.0016233766233766235], "std": [0.04025843106375729], "count": [616]}, "timestamp": {"min": [0.0], "max": [30.75], "mean": [15.375], "std": [8.891182429800887], "count": [616]}, "frame_index": {"min": [0], "max": [615], "mean": [307.5], "std": [177.82364859601773], "count": [616]}, "episode_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [616]}, "index": {"min": [62740], "max": [63355], "mean": [63047.5], "std": [177.82364859601773], "count": [616]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [616]}}} +{"episode_index": 93, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5164580385224158]], [[0.5058084076526118]], [[0.49597866581935507]]], "std": [[[0.1962239637644966]], [[0.18479052694498638]], [[0.17661015929330776]]], "count": [112]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5300802006441004]], [[0.5002790226655848]], [[0.4621339739203787]]], "std": [[[0.2714552916758278]], [[0.2560500772045699]], [[0.24627001045806632]]], "count": [112]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5337907166040244]], [[0.5058088826198204]], [[0.47130591982886905]]], "std": [[[0.2804360784169205]], [[0.26612247123212146]], [[0.2559365626866579]]], "count": [112]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [544]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [544]}, "observation.state": {"min": [0.8857798987701282, -2.5426255469107235, 0.6999969707024409, 0.0, 0.0, -1.0, 8.469339718431002e-08, -0.006790905800015623, -0.4343814665740817, 0.11477697133464615, -0.9930217862129211, -0.04685026407241821, -0.5403712391853333, 0.002875088481232524, 0.014100176234776617, -0.042328331741652854], "max": [0.8866401691083705, -2.3562644295801656, 0.7015318062901806, 0.0, 0.0, 1.0, 0.0004147226572968066, 0.2515733719838317, 0.014525387576787008, 0.5929233763107077, 0.8338990211486816, 0.3965372145175934, 0.637025773525238, 0.32540184259414673, 0.040030661601975645, -0.020519909198676828], "mean": [0.8865208271776064, -2.5352725666650393, 0.7000383823070377, 0.0, 0.0, 0.9963235294117647, 0.00018039924168011158, 0.16468841529663591, -0.3463334031749158, 0.2194959999395325, 0.319283165037632, 0.19746150496854065, 0.4320244582178181, 0.20063194606978763, 0.03811676385491312, -0.03951018500209263], "std": [7.857106257069917e-05, 0.03172257357318896, 0.00017144282772279236, 0.0, 0.0, 0.08567044263037449, 3.5898582629253105e-05, 0.0687534752309537, 0.13603581879596188, 0.1651359384247553, 0.6990667986625377, 0.09885778187768139, 0.3542839119114314, 0.09046860559126187, 0.004974584579436919, 0.00220887973636461], "count": [544]}, "action": {"min": [-0.16071428571428573, -0.07500000000000001, -0.004285714285714286, 0.0, -1.0, -0.4714285714285715, -0.7821428571428571, -0.6642857142857143, -0.3835714285714286, -0.46499999999999997, -0.35571428571428576, -1.0], "max": [0.005357142857142857, 0.4928571428571429, 0.0, 0.0, 1.0, 0.35357142857142865, 0.15000000000000002, -0.0, 0.5142857142857143, 0.11142857142857143, 0.1842857142857143, 1.0], "mean": [-0.0013491334033613447, 0.020837710084033612, -1.5756302521008403e-05, 0.0, -0.8492647058823529, -0.0073266806722689015, -0.0818047531512605, -0.07119879201680669, 0.002064075630252099, -0.016122636554621844, -0.006759453781512598, -0.8602941176470589], "std": [0.012518388395417322, 0.08710851399864873, 0.00022449275497019196, 0.0, 0.5279672900308826, 0.13283623682942183, 0.17258321393848008, 0.13173547955437276, 0.12487731592875224, 0.058110853136847745, 0.06719186304341836, 0.5097980297547925], "count": [544]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.029411764815449715], "std": [0.16895772516727448], "count": [544]}, "next.done": {"min": [false], "max": [true], "mean": [0.001838235294117647], "std": [0.04283522131518767], "count": [544]}, "timestamp": {"min": [0.0], "max": [27.15], "mean": [13.575000000000001], "std": [7.8519503946471785], "count": [544]}, "frame_index": {"min": [0], "max": [543], "mean": [271.5], "std": [157.0390078929436], "count": [544]}, "episode_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [544]}, "index": {"min": [63356], "max": [63899], "mean": [63627.5], "std": [157.0390078929436], "count": [544]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [544]}}} +{"episode_index": 94, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40773022758066046]], [[0.36146264499873226]], [[0.3543906223588574]]], "std": [[[0.21951788197015903]], [[0.2003099355028618]], [[0.19842391937176482]]], "count": [145]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5521314508258853]], [[0.4174599990689972]], [[0.40057430986942194]]], "std": [[[0.2178358858045651]], [[0.24286784537480294]], [[0.24003448985296813]]], "count": [145]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5154803149034398]], [[0.38367699345194706]], [[0.37146323925583163]]], "std": [[[0.22887887036383767]], [[0.23555874363749196]], [[0.23269728251358326]]], "count": [145]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [767]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [767]}, "observation.state": {"min": [4.198279556995662, -0.9373138086484849, 0.6999960376695913, 0.0, 0.0, 0.7070668339729309, 0.7066808342933655, -0.0018066197842265819, 0.026742181472251048, 0.0914253497855061, -0.9887756705284119, -0.07483083009719849, -0.6050461530685425, 0.0006219271454028785, -0.000608526103578789, -0.04117349992792114], "max": [4.198815841695182, -0.9366907444644552, 0.7053555065214483, 0.0, 0.0, 0.707532525062561, 0.7071466445922852, 0.25813889581482374, 0.3100836646508003, 0.6034777567642328, 0.9843419790267944, 0.6744494438171387, 0.7348915338516235, 0.4854458272457123, 0.04126547219377858, 0.00040833379768262333], "mean": [4.198738084541577, -0.9367194119058455, 0.7004571622660608, 0.0, 0.0, 0.70712017375767, 0.7070933475488168, 0.1759845400763129, 0.13999243482689752, 0.38961907609503815, -0.06945385029138766, 0.03050985901265598, 0.15428285990420346, 0.06808270041686951, 0.03706111285422237, -0.03702630552243761], "std": [6.13638482611439e-05, 4.718934215420507e-05, 0.0013299794591575534, 0.0, 0.0, 6.599607680041582e-05, 6.601327257805678e-05, 0.07227697267898055, 0.0997772239329723, 0.2042606472398773, 0.8775990734393265, 0.16449564596545319, 0.3993576117382975, 0.09529640213495601, 0.009059826747370174, 0.009249492404339766], "count": [767]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9285714285714287, -0.5285714285714286, -0.7785714285714286, -0.18857142857142858, -0.5314285714285715, -0.72, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.39285714285714285, 0.7142857142857143, 0.5714285714285715, 0.5028571428571429, 0.21142857142857144, 0.14285714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.008223132799403989, -0.0009871484447755519, -0.08509964611659529, 0.034818401937045995, -0.02977835723598436, -0.032601974296889547, -0.7522816166883963], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.16804224631482642, 0.14539269462013016, 0.1812676541062237, 0.10861270739846482, 0.0976191109673665, 0.14082131558074962, 0.6588416875036773], "count": [767]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020860495045781136], "std": [0.14291724562644958], "count": [767]}, "next.done": {"min": [false], "max": [true], "mean": [0.001303780964797914], "std": [0.0360843611554056], "count": [767]}, "timestamp": {"min": [0.0], "max": [38.3], "mean": [19.15], "std": [11.070682002478437], "count": [767]}, "frame_index": {"min": [0], "max": [766], "mean": [383.0], "std": [221.41364004956876], "count": [767]}, "episode_index": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [767]}, "index": {"min": [63900], "max": [64666], "mean": [64283.0], "std": [221.41364004956876], "count": [767]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [767]}}} +{"episode_index": 95, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4033520855109814]], [[0.3987699577842907]], [[0.39364589450146376]]], "std": [[[0.16289489494547776]], [[0.16347478671165028]], [[0.16544162298383208]]], "count": [153]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34802476256440334]], [[0.3301879323538673]], [[0.3191526603380961]]], "std": [[[0.20574674682220867]], [[0.1991872359554446]], [[0.19595021584317499]]], "count": [153]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33619448827899723]], [[0.3227401449850518]], [[0.3141023511934262]]], "std": [[[0.20958806895389817]], [[0.20456512360270573]], [[0.2022161335373856]]], "count": [153]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [820]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [820]}, "observation.state": {"min": [5.202414733228288, -1.0758929211271706, 0.6999267862016264, 0.0, 0.0, 0.7062313556671143, 0.707160234451294, 0.15194429640457274, -0.38362402952196817, 0.10092009048414552, -0.9888148903846741, -0.11932331323623657, -0.7126006484031677, 0.0007632385240867734, 0.014203146728476737, -0.04110804199371827], "max": [5.539114168725418, -0.9542385604515398, 0.7056005082934107, 0.0, 0.0, 0.7070533037185669, 0.7079812288284302, 0.2815798246833354, 0.019467878864306343, 0.6016155225765554, 0.7709729075431824, 0.7519670128822327, 0.7285273671150208, 0.408494234085083, 0.04122735148462007, -0.014135550977142693], "mean": [5.214632869730221, -1.0227293261972783, 0.7003202743481182, 0.0, 0.0, 0.7066803365945816, 0.7075329623571256, 0.2554211415982368, -0.3175129098451094, 0.21102360484571334, 0.12043978041265069, 0.13611495053259337, 0.21298382925551113, 0.13968217835048918, 0.03280514515073229, -0.032310824461285775], "std": [0.05510027753783776, 0.011002117063729125, 0.0007905388959815058, 0.0, 0.0, 8.454779871948269e-05, 8.445942659279872e-05, 0.03923597065734396, 0.12592931603187313, 0.17900147942444986, 0.724594393879486, 0.15775384986014693, 0.5860658894290978, 0.09325888792149431, 0.007858947768241004, 0.00804702509731641], "count": [820]}, "action": {"min": [-0.6214285714285714, 0.0, -0.011428571428571429, 0.0, -1.0, -0.4714285714285715, -1.0, -0.5785714285714286, -0.08, -0.44857142857142857, -0.3142857142857143, -1.0], "max": [0.3857142857142857, 0.7285714285714285, 0.0, 0.0, 1.0, 0.44285714285714284, 0.17142857142857146, 0.5214285714285715, 0.9914285714285714, 0.5371428571428571, 0.30857142857142855, 1.0], "mean": [-0.0004878048780487799, 0.020766550522648086, -3.1358885017421605e-05, 0.0, -0.8048780487804879, -0.0033275261324041752, -0.1503658536585366, -0.006785714285714325, 0.10528919860627177, 0.009184668989547042, -0.011006968641114983, 0.18292682926829268], "std": [0.07184641530615293, 0.09473672489799013, 0.0005723095953187549, 0.0, 0.5934402468583606, 0.11067354648420323, 0.27618335025030105, 0.1621300302682491, 0.21684212277567394, 0.11175527128922516, 0.057755009015847444, 0.9831265305818282], "count": [820]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019512195140123367], "std": [0.1383165568113327], "count": [820]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012195121951219512], "std": [0.034900214685985816], "count": [820]}, "timestamp": {"min": [0.0], "max": [40.95], "mean": [20.475], "std": [11.835671717312879], "count": [820]}, "frame_index": {"min": [0], "max": [819], "mean": [409.5], "std": [236.71343434625757], "count": [820]}, "episode_index": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [820]}, "index": {"min": [64667], "max": [65486], "mean": [65076.5], "std": [236.71343434625757], "count": [820]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [820]}}} +{"episode_index": 96, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4376866788366659]], [[0.4294479661782289]], [[0.42440436755204]]], "std": [[[0.26899066137804306]], [[0.2644835824194352]], [[0.2626186590995776]]], "count": [159]}, "observation.images.robot0_agentview_left": {"min": [[[0.09411764705882353]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42005446896568915]], [[0.4196832741302102]], [[0.4186559028169174]]], "std": [[[0.23287755504196636]], [[0.22828911086018985]], [[0.2267338401815312]]], "count": [159]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42837065352010495]], [[0.4278417273269862]], [[0.42696283274359026]]], "std": [[[0.2368737117948941]], [[0.23266117125511063]], [[0.23137573615220344]]], "count": [159]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [863]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [863]}, "observation.state": {"min": [0.7763222620504638, -3.0580925135051644, 0.6999973770216616, 0.0, 0.0, -1.0, 0.0, 0.12209319182171985, -0.063467684562164, 0.22653893423609328, -0.99885094165802, -0.5423473119735718, -0.0983927771449089, 0.00037188833812251687, 0.007328668636806502, -0.03996497176147722], "max": [0.7763977667740056, -3.057890569922267, 0.7036533387969898, 0.0, 0.0, 1.0, 0.0001977229694603011, 0.28372324082100936, 0.005744944456724355, 0.5719354208763748, 0.9410909414291382, 0.991222620010376, 0.052585892379283905, 0.04639510437846184, 0.0400027316504505, -0.015205550230026746], "mean": [0.7763643946608721, -3.05793035553606, 0.7005307832442081, 0.0, 0.0, -0.7960602549246814, 1.3041662733356067e-05, 0.25782016704276656, -0.04904326495445362, 0.2560146792496123, 0.10127611731115388, 0.8730364896115326, -0.02103643278107867, 0.02398426905420079, 0.036697443892735986, -0.03741020478860328], "std": [5.065359038644955e-06, 1.9557953627295975e-05, 0.0005048286036436219, 0.0, 0.0, 0.6052173746095377, 2.6809985513479e-05, 0.02990485568838968, 0.00846010529225565, 0.07683159585090689, 0.35467977042914467, 0.31679791270670066, 0.018123472589514092, 0.006758293566024927, 0.008071405786051504, 0.006465320741448386], "count": [863]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.42321428571428565, -0.29464285714285715, -0.45, -0.09428571428571429, -0.0642857142857143, -0.3064285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.675, 0.0642857142857143, -0.0, 0.09214285714285715, 0.13285714285714284, 0.6171428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.011012249627545111, -0.007008359543122, -0.04841292832312546, -4.717761959940414e-05, 0.002997020360867406, -0.0036301936765435936, -0.7033603707995365], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.11356302610038513, 0.03312219151011922, 0.09555430758607558, 0.010554069867768507, 0.01765974164338445, 0.15938133274220911, 0.710833446588396], "count": [863]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018539976328611374], "std": [0.13489344716072083], "count": [863]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011587485515643105], "std": [0.03402066803222062], "count": [863]}, "timestamp": {"min": [0.0], "max": [43.1], "mean": [21.549999999999997], "std": [12.456323695216017], "count": [863]}, "frame_index": {"min": [0], "max": [862], "mean": [431.0], "std": [249.12647390432033], "count": [863]}, "episode_index": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [863]}, "index": {"min": [65487], "max": [66349], "mean": [65918.0], "std": [249.12647390432033], "count": [863]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [863]}}} +{"episode_index": 97, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.0]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5059908153630105]], [[0.4850015811225613]], [[0.4619649545151312]]], "std": [[[0.2359808048824823]], [[0.21893482250612892]], [[0.20094474863477108]]], "count": [112]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.07450980392156863]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6069610098830791]], [[0.5519715712517917]], [[0.49092013682303975]]], "std": [[[0.18623434982101833]], [[0.1995360148136952]], [[0.2174901443854374]]], "count": [112]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.07450980392156863]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6180582730376086]], [[0.5639381585000943]], [[0.5043191375518713]]], "std": [[[0.18008792878209157]], [[0.19639949393480258]], [[0.21782179699961216]]], "count": [112]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [540]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [540]}, "observation.state": {"min": [3.1942913977154106, -2.372073661804221, 0.6999982558521071, 0.0, 0.0, -0.7071439027786255, 0.7070696353912354, 0.23091864536756912, -0.027810991558632647, 0.22377382467488527, -0.9974810481071472, -0.9049786329269409, -0.13436517119407654, 6.0315494920359924e-05, -0.0020513344297050278, -0.04214163804687304], "max": [3.194856055188765, -2.3719134502054278, 0.7093314799409535, 0.0, 0.0, -0.7066544890403748, 0.7075587511062622, 0.2980040755097071, 0.011785851976621853, 0.5959304367989522, 0.9998321533203125, 0.90450119972229, 0.11829720437526703, 0.054736990481615067, 0.040003934846363685, -0.019401814414342827], "mean": [3.194346644061509, -2.3720526091805754, 0.7005564212904293, 0.0, 0.0, -0.7070897007430041, 0.7071237878666984, 0.24632892707692003, -0.01781405809107657, 0.48432048521411425, -0.6752181244117242, -0.1075252545721553, -0.09159056319061805, 0.03853830865326826, 0.03514885147870562, -0.0385291163274332], "std": [9.034831218919094e-05, 2.855692161655914e-05, 0.001652082601117072, 0.0, 0.0, 7.986444991175148e-05, 7.984124939446254e-05, 0.02494487169361832, 0.014715200305928326, 0.15648130279808317, 0.5598588029073667, 0.45120670571649385, 0.07342421927137704, 0.014976374426383884, 0.01244970223607631, 0.004403154875063562], "count": [540]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6357142857142857, -0.3857142857142857, -0.6, -0.16285714285714287, -0.11714285714285716, -0.7971428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3428571428571429, 0.14285714285714288, -0.0, 0.11714285714285716, 0.1142857142857143, 0.4828571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.004126984126984127, -0.01652116402116402, -0.09664021164021158, -0.004931216931216932, 0.001656084656084656, -0.02278306878306878, -0.737037037037037], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.08975155372369663, 0.08103060486459522, 0.16644785123638572, 0.02197484889438414, 0.021206103004199745, 0.22447370671047254, 0.6758523552046438], "count": [540]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.029629629105329514], "std": [0.16956330835819244], "count": [540]}, "next.done": {"min": [false], "max": [true], "mean": [0.001851851851851852], "std": [0.04299328431942185], "count": [540]}, "timestamp": {"min": [0.0], "max": [26.95], "mean": [13.475000000000001], "std": [7.794215269458926], "count": [540]}, "frame_index": {"min": [0], "max": [539], "mean": [269.5], "std": [155.8843053891785], "count": [540]}, "episode_index": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [540]}, "index": {"min": [66350], "max": [66889], "mean": [66619.5], "std": [155.8843053891785], "count": [540]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [540]}}} +{"episode_index": 98, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24364714763441522]], [[0.23750199342213565]], [[0.24091585163209114]]], "std": [[[0.2569366927297596]], [[0.2522918067957589]], [[0.24885459196545642]]], "count": [134]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6987289509090863]], [[0.6541914987047757]], [[0.6196943113948296]]], "std": [[[0.23135364292810207]], [[0.2197972008386243]], [[0.21362856549322246]]], "count": [134]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7179043817562006]], [[0.6742769767709876]], [[0.6396117797887287]]], "std": [[[0.23066189124572614]], [[0.2128227568834746]], [[0.20533387488238458]]], "count": [134]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [687]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [687]}, "observation.state": {"min": [0.7953906959269067, -1.9732173846311225, 0.6999975261411684, 0.0, 0.0, -1.0, 0.0, 0.1830570304979504, -0.2561491272122878, 0.22924206464513597, -0.9984601736068726, -0.5150949358940125, -0.17009267210960388, 0.008295643143355846, 0.002390507307937129, -0.03994274798411857], "max": [0.7954251602180943, -1.9731577970329264, 0.7023230965259387, 0.0, 0.0, 1.0, 3.692628524731845e-05, 0.28290211821256117, -0.018553510552926422, 0.6049114469080676, -0.8526392579078674, 0.018271099776029587, 0.04073721915483475, 0.07042789459228516, 0.04000371863051463, -0.02051735182040478], "mean": [0.7954004272483549, -1.9731807234389078, 0.7002118549376534, 0.0, 0.0, 0.6855895196506551, 3.313954963703231e-06, 0.2680936783122514, -0.23399742272037782, 0.26165897801108223, -0.8736802755137892, -0.4718560461697794, 0.004033675244290875, 0.03584166444848892, 0.0366557613024954, -0.03914424867994749], "std": [4.82464314343403e-06, 7.905070021168725e-06, 0.00034950471999370034, 0.0, 0.0, 0.727988331324883, 7.36418995159572e-06, 0.0200350734512412, 0.030467079114729515, 0.07740305083814004, 0.03204081870293265, 0.10013535072329857, 0.040323594295786164, 0.007352860899747146, 0.00970161545885253, 0.0027192061064235215], "count": [687]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.43392857142857144, -0.9267857142857143, -0.6375000000000001, -0.135, -0.12214285714285715, -0.2507142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.2839285714285715, 0.2625, -0.0, 0.019285714285714288, 0.09857142857142857, 0.32785714285714296, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0021444167186525265, -0.024508733624454146, -0.050054585152838456, -0.0037305053025577053, 0.002960074859638178, -0.0028446662507797967, -0.8020378457059679], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0675775628812149, 0.13514619441056167, 0.10343937106352163, 0.015844442115820187, 0.013754814158446139, 0.08320786885171617, 0.5972732155850701], "count": [687]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.023289665579795837], "std": [0.15082193911075592], "count": [687]}, "next.done": {"min": [false], "max": [true], "mean": [0.001455604075691412], "std": [0.03812460219420319], "count": [687]}, "timestamp": {"min": [0.0], "max": [34.3], "mean": [17.15], "std": [9.915980368408697], "count": [687]}, "frame_index": {"min": [0], "max": [686], "mean": [343.0], "std": [198.31960736817393], "count": [687]}, "episode_index": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [687]}, "index": {"min": [66890], "max": [67576], "mean": [67233.0], "std": [198.31960736817393], "count": [687]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [687]}}} +{"episode_index": 99, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.047058823529411764]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.518229758597392]], [[0.4827931968398572]], [[0.4592039513798779]]], "std": [[[0.17808093193421076]], [[0.13628752185788368]], [[0.1324353809883817]]], "count": [102]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.07450980392156863]], [[0.07058823529411765]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7373712049086064]], [[0.5931232767717419]], [[0.45028647100499203]]], "std": [[[0.16078706680779148]], [[0.1754367722352382]], [[0.24234129553134084]]], "count": [102]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.08235294117647059]], [[0.0784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7289117199326881]], [[0.589915744381105]], [[0.45177553228945144]]], "std": [[[0.16869784713882102]], [[0.1814728608293691]], [[0.2458615786274836]]], "count": [102]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [480]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [480]}, "observation.state": {"min": [4.386890510941826, -1.9112365527716937, 0.6999986141115221, 0.0, 0.0, -5.39152142664534e-06, 0.9999997615814209, 0.2083900165636745, -0.014492033107482039, 0.2261519237679438, -0.9949334263801575, -0.30117976665496826, -0.1818835586309433, 0.0018898728303611279, 0.0010038932794610078, -0.04176305536861232], "max": [4.387020200657896, -1.9106370464843234, 0.7034398382701369, 0.0, 0.0, 0.0006804844015277922, 1.0, 0.2948122723867437, 0.00991051123189779, 0.6114794487796397, 0.999214231967926, 0.3835926353931427, 0.0864219143986702, 0.06949468702077866, 0.040003504090296245, -0.020521977294713032], "mean": [4.386979335750087, -1.911071092537303, 0.7002363254545165, 0.0, 0.0, 0.00016478580714552512, 0.9999999950329462, 0.24946553624074266, -0.00912246065062563, 0.49103725513396984, -0.4197522989163796, 0.0759654040603588, -0.11211815519224426, 0.03906805203199231, 0.03702226436396235, -0.039120122428356024], "std": [1.4592475738622826e-05, 6.128385416230557e-05, 0.0006384676928201671, 0.0, 0.0, 7.493910684977849e-05, 2.6189141127395763e-08, 0.022596938699315165, 0.008306036207095307, 0.16577990802578269, 0.8717637246203511, 0.18498763438181498, 0.09816773190929494, 0.010542676823580292, 0.009091882912007037, 0.003290337125647149], "count": [480]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.3785714285714286, -0.31428571428571433, -0.9357142857142857, -0.18571428571428572, -0.08285714285714285, -0.56, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5, 0.2571428571428572, -0.0, 0.1, 0.1142857142857143, 0.22285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.011636904761904762, -0.00925595238095238, -0.0920238095238096, -0.0016726190476190478, 0.0023630952380952375, -0.01752380952380952, -0.8125], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.09676528056277368, 0.06335301536948257, 0.18883297908715435, 0.031219678600461324, 0.016577301872086312, 0.12540041083883563, 0.582961190818051], "count": [480]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03333333507180214], "std": [0.17950548231601715], "count": [480]}, "next.done": {"min": [false], "max": [true], "mean": [0.0020833333333333333], "std": [0.04559597630883185], "count": [480]}, "timestamp": {"min": [0.0], "max": [23.95], "mean": [11.975], "std": [6.9281881950959345], "count": [480]}, "frame_index": {"min": [0], "max": [479], "mean": [239.5], "std": [138.5637639019187], "count": [480]}, "episode_index": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [480]}, "index": {"min": [67577], "max": [68056], "mean": [67816.5], "std": [138.5637639019187], "count": [480]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [480]}}} +{"episode_index": 100, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.08627450980392157]], [[0.09019607843137255]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3027796183030703]], [[0.2965358926550105]], [[0.29079811154431057]]], "std": [[[0.17688561448555756]], [[0.16700550060670827]], [[0.16075480780363988]]], "count": [131]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.09411764705882353]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6424665497013452]], [[0.6017187307238168]], [[0.5586119244259607]]], "std": [[[0.17282673576697918]], [[0.16269747498030968]], [[0.16709903390821995]]], "count": [131]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.09411764705882353]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6263679795592796]], [[0.5846353444951753]], [[0.5436338838355447]]], "std": [[[0.1958178681327753]], [[0.18156883054542844]], [[0.1812920650511559]]], "count": [131]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [671]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [671]}, "observation.state": {"min": [0.15759345024826787, -4.278832246706531, 0.6999976202146142, 0.0, 0.0, -1.0, 0.0, 0.14172428803982232, -0.002605383247181514, 0.22979285010845674, -0.9977469444274902, -0.540539562702179, -0.17930524051189423, 0.00019334426906425506, 0.015789402793567928, -0.04000225970762409], "max": [0.1577337779394594, -4.278646271252089, 0.7023788291615473, 0.0, 0.0, 1.0, 0.000100835801276844, 0.2954244692501733, 0.28528336280372013, 0.6153394411032514, 0.9510214328765869, 0.6753047108650208, 0.06347184628248215, 0.07968657463788986, 0.04000107997124645, -0.010670553207090438], "mean": [0.1576824433686203, -4.278769552124254, 0.7015836036525366, 0.0, 0.0, 0.5171385991058122, 8.76909495080252e-06, 0.2703721357076731, 0.26415139601307797, 0.27139314900404893, 0.13480192564994142, 0.20692251997981803, 0.012699956904445121, 0.02215913422922302, 0.027363343317142658, -0.02575469154520679], "std": [1.2003239507374865e-05, 1.9346623858685053e-05, 0.0009238495783706988, 0.0, 0.0, 0.8559016703540624, 1.4074381699343707e-05, 0.038898161565026505, 0.04737362867232976, 0.09968648080602292, 0.8694352427037999, 0.42295138955680484, 0.05545944062304167, 0.02186155432426655, 0.006866705590263254, 0.009440741270212227], "count": [671]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7928571428571428, -0.0642857142857143, -0.7428571428571429, -0.14, -0.04857142857142857, -0.28285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.32857142857142857, 1.0, -0.0, 0.2057142857142857, 0.2542857142857143, 0.4514285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0033638492654886137, 0.03829039812646372, -0.0459016393442623, 0.0044794549712582525, 0.012160953800298063, -0.02882265275707899, 0.3651266766020864], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.10990208492411113, 0.13005926015616107, 0.11318332033205233, 0.03427802494847438, 0.035265247892899095, 0.11003925885453554, 0.9309578454653668], "count": [671]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0238450076431036], "std": [0.15256613492965698], "count": [671]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014903129657228018], "std": [0.03857579465140026], "count": [671]}, "timestamp": {"min": [0.0], "max": [33.5], "mean": [16.75], "std": [9.685040010242602], "count": [671]}, "frame_index": {"min": [0], "max": [670], "mean": [335.0], "std": [193.70080020485202], "count": [671]}, "episode_index": {"min": [100], "max": [100], "mean": [100.0], "std": [0.0], "count": [671]}, "index": {"min": [68057], "max": [68727], "mean": [68392.0], "std": [193.70080020485202], "count": [671]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [671]}}} +{"episode_index": 101, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30034409570978526]], [[0.254822806043698]], [[0.24871391537041107]]], "std": [[[0.24892773278903177]], [[0.2274004810029857]], [[0.21429702417868055]]], "count": [115]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4829294934154878]], [[0.4611750292635736]], [[0.4343381811794011]]], "std": [[[0.21383593957948246]], [[0.1983294703096142]], [[0.18652970951702602]]], "count": [115]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5159617990687273]], [[0.4951016446086757]], [[0.46829727159843215]]], "std": [[[0.21694567445673027]], [[0.20486200360739637]], [[0.1991656663166442]]], "count": [115]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [563]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [563]}, "observation.state": {"min": [0.801211030073712, -4.342861677642755, 0.6999993094507418, 0.0, 0.0, -1.0, 1.7493823634140426e-07, 0.18616702549652298, -0.3979566235960261, 0.2278061476609331, -0.9992169141769409, -0.4359187185764313, -0.13767386972904205, 1.4040115274838172e-05, 0.0057495651776033095, -0.04085333615148204], "max": [0.8012588811253107, -4.342715987678881, 0.7017705910836954, 0.0, 0.0, 1.0, 0.0002745051751844585, 0.2905818240654422, -0.003901112311134547, 0.590023904524897, 0.897576093673706, 0.4361705183982849, 0.09868355840444565, 0.0990346223115921, 0.03999195142673911, -0.019353432891915743], "mean": [0.8012231791857399, -4.342735351747591, 0.700604431128528, 0.0, 0.0, 0.9289520426287744, 0.0002268424401296049, 0.2542690892944407, -0.3477777938959397, 0.3084412335095244, -0.5699938432996692, -0.2029891381864014, -0.027713509839174724, 0.02741703481610728, 0.03273043508320844, -0.035834277429920944], "std": [5.927640151225226e-06, 2.8764560058870958e-05, 0.0007455665226839323, 0.0, 0.0, 0.3702000844081942, 5.662454655666138e-05, 0.03485960275962891, 0.08310128770770299, 0.11244093036412972, 0.7190519525661998, 0.33215222782005616, 0.06829791146903313, 0.018901896882134714, 0.010616641011595342, 0.006593378120188794], "count": [563]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.2142857142857143, -0.6285714285714287, -0.4785714285714286, -0.09428571428571429, -0.08857142857142856, -0.12285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.27142857142857146, 0.15, 0.03571428571428572, 0.045714285714285714, 0.04857142857142857, 0.18285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0021948743973610792, -0.05096422227860949, -0.05534128393808681, -0.0019182948490230895, 0.0028419182948490242, -0.0031362598325298096, -0.38898756660746003], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0674291650213309, 0.14230155241204487, 0.08904760675185021, 0.01508795858423745, 0.013727740172515452, 0.05609255862580381, 0.9212430043288276], "count": [563]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02841918356716633], "std": [0.16616719961166382], "count": [563]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017761989342806395], "std": [0.04210752963101136], "count": [563]}, "timestamp": {"min": [0.0], "max": [28.1], "mean": [14.049999999999999], "std": [8.126192220222212], "count": [563]}, "frame_index": {"min": [0], "max": [562], "mean": [281.0], "std": [162.52384440444425], "count": [563]}, "episode_index": {"min": [101], "max": [101], "mean": [101.0], "std": [0.0], "count": [563]}, "index": {"min": [68728], "max": [69290], "mean": [69009.0], "std": [162.52384440444425], "count": [563]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [563]}}} +{"episode_index": 102, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5049885391104333]], [[0.4895689169749165]], [[0.4817651185716832]]], "std": [[[0.20655037713100058]], [[0.20250371504275602]], [[0.203792795305436]]], "count": [153]}, "observation.images.robot0_agentview_left": {"min": [[[0.0784313725490196]], [[0.0784313725490196]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4887801504129021]], [[0.43443991096298096]], [[0.413604703866777]]], "std": [[[0.24421637956781908]], [[0.266155967235226]], [[0.2778256283430492]]], "count": [153]}, "observation.images.robot0_agentview_right": {"min": [[[0.09019607843137255]], [[0.06274509803921569]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4944046245390645]], [[0.43913114558240324]], [[0.4184575326409414]]], "std": [[[0.241861629664599]], [[0.2645730291052671]], [[0.2763238116158087]]], "count": [153]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [821]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [821]}, "observation.state": {"min": [3.209576678039057, -1.9386872096023582, 0.6999973061616642, 0.0, 0.0, -0.707288384437561, 0.7069251537322998, -0.0048661510963556864, -0.4252868644800696, 0.07091287720460315, -0.9932181239128113, -0.12030923366546631, -0.3558647930622101, 8.72113014338538e-06, -0.0031300455879665853, -0.0400339017983365], "max": [3.210794641557187, -1.936071739504715, 0.7050811420180797, 0.0, 0.0, -0.7069227695465088, 0.7072907090187073, 0.24575223959350523, 0.013940256379702198, 0.5681463768404884, 0.9252216219902039, 0.304332971572876, 0.7409477829933167, 0.3494916558265686, 0.04000634115155311, -0.01124734891915523], "mean": [3.209620296107675, -1.938628654322153, 0.7002398871016082, 0.0, 0.0, -0.7070797042927992, 0.7071338269074564, 0.19842311264246687, -0.1569934929281803, 0.4129385266170277, -0.4325671580038175, 0.03462042764791182, 0.15944464749743964, 0.10810451255287956, 0.037437515278071425, -0.038706133732883764], "std": [0.0001036690014581104, 0.0002603652248473935, 0.0006676338572915276, 0.0, 0.0, 4.543833523693655e-05, 4.5481393079518825e-05, 0.07064564006949654, 0.17290791685409931, 0.20354594268926604, 0.7696424747353481, 0.15131996390689276, 0.3817620151305832, 0.11656926138811897, 0.008657311535743175, 0.0048867009418726], "count": [821]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4714285714285715, -1.0, -0.8, -0.1657142857142857, -0.38857142857142857, -0.2714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7857142857142857, 0.20714285714285713, 0.23571428571428574, 0.35428571428571426, 0.08571428571428572, 0.14, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.012519575430659475, -0.06852270749956495, -0.06558204280494176, 0.0001809639812075805, -0.014734644162171563, -0.006904471898381763, -0.8757612667478685], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1489188973848465, 0.16947624620858145, 0.1359661191780409, 0.0688675170687287, 0.05776920782133298, 0.05022324911516825, 0.48274444964615465], "count": [821]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01948842965066433], "std": [0.1382339596748352], "count": [821]}, "next.done": {"min": [false], "max": [true], "mean": [0.001218026796589525], "std": [0.03487897944768904], "count": [821]}, "timestamp": {"min": [0.0], "max": [41.0], "mean": [20.5], "std": [11.850105484762572], "count": [821]}, "frame_index": {"min": [0], "max": [820], "mean": [410.0], "std": [237.00210969525145], "count": [821]}, "episode_index": {"min": [102], "max": [102], "mean": [102.0], "std": [0.0], "count": [821]}, "index": {"min": [69291], "max": [70111], "mean": [69701.0], "std": [237.00210969525145], "count": [821]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [821]}}} +{"episode_index": 103, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4010362346199811]], [[0.40455950660060364]], [[0.4004004279897342]]], "std": [[[0.17992466298092763]], [[0.18336062026239977]], [[0.17643048000551986]]], "count": [131]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5396968134112244]], [[0.48828209778663373]], [[0.4366316595649919]]], "std": [[[0.18919887768639596]], [[0.24045497505855945]], [[0.25240520528241894]]], "count": [131]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5211902186178623]], [[0.5031709216237336]], [[0.46219830626482167]]], "std": [[[0.2089038268907543]], [[0.24492185883489725]], [[0.2467354295850742]]], "count": [131]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [669]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [669]}, "observation.state": {"min": [3.5388218642755938, -0.8840074991659391, 0.6999973174950671, 0.0, 0.0, 0.7045245170593262, 0.7071051001548767, 0.0845439616759126, -0.5020572484587627, 0.12604719323366242, -0.9944218993186951, -0.1810166835784912, -0.6909521222114563, 0.0035757399164140224, 0.016576159710645022, -0.04011175193933756], "max": [3.7354973290459483, -0.8836016749456248, 0.7002287400318773, 0.0, 0.0, 0.7071084380149841, 0.7096797227859497, 0.24948704531214516, -0.006452861172689062, 0.5794556650100954, 0.9534066915512085, 0.6840805411338806, 0.6922692060470581, 0.3533085882663727, 0.03991732105302298, -0.02050715495491749], "mean": [3.5431341998385713, -0.8836446593519136, 0.700018021263548, 0.0, 0.0, 0.704808304840852, 0.7093977301822828, 0.200901380142009, -0.41716663936893006, 0.18680766479864416, 0.3975988851890792, 0.4159434576962917, 0.4315269075122471, 0.27702936331250094, 0.03761432168648282, -0.03882791114656434], "std": [0.02447577497641458, 6.266215557997301e-05, 5.6991021121912105e-05, 0.0, 0.0, 0.00019901462515073298, 0.00019828774139306012, 0.02939409690223165, 0.12674387331918482, 0.13809582708924076, 0.5250088720881095, 0.19061021144670598, 0.2808346165907902, 0.12292590598408569, 0.004359659492186992, 0.0034402107698238253], "count": [669]}, "action": {"min": [-0.02142857142857143, -0.2625, -0.047142857142857146, 0.0, -1.0, -0.5892857142857143, -1.0, -0.7607142857142858, -0.24214285714285713, -0.4007142857142857, -0.23357142857142857, -1.0], "max": [0.09642857142857143, 0.5892857142857143, 0.0, 0.0, 1.0, 0.31607142857142856, 0.6160714285714286, 0.010714285714285714, 0.35571428571428576, 0.0642857142857143, 0.4092857142857143, 1.0], "mean": [0.00042440743113388854, 0.0138613068545804, -0.0002690582959641256, 0.0, -0.8953662182361734, -0.008736386931454199, -0.058965940636344236, -0.05084881486226777, 0.016745675848814874, -0.013603459320948114, 0.005803971812940417, -0.7817638266068759], "std": [0.005697850809487606, 0.08002095340846889, 0.002828313368828997, 0.0, 0.4453305909562572, 0.09505792496095224, 0.21430750862352807, 0.13477028975435262, 0.09347648685662427, 0.05542103938901411, 0.08221100540935365, 0.6235746301838899], "count": [669]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.023916292935609818], "std": [0.1527884304523468], "count": [669]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014947683109118087], "std": [0.03863332730439488], "count": [669]}, "timestamp": {"min": [0.0], "max": [33.4], "mean": [16.700000000000003], "std": [9.656172464629382], "count": [669]}, "frame_index": {"min": [0], "max": [668], "mean": [334.0], "std": [193.12344929258762], "count": [669]}, "episode_index": {"min": [103], "max": [103], "mean": [103.0], "std": [0.0], "count": [669]}, "index": {"min": [70112], "max": [70780], "mean": [70446.0], "std": [193.12344929258762], "count": [669]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [669]}}} +{"episode_index": 104, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4357633795328503]], [[0.41773053775387825]], [[0.4084130745536114]]], "std": [[[0.20423537272469747]], [[0.18924100305905747]], [[0.1882339225338894]]], "count": [123]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43765965465835727]], [[0.409242404942001]], [[0.39425742758834986]]], "std": [[[0.2956048827149325]], [[0.2926947236677162]], [[0.29600367238716363]]], "count": [123]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43511939830953344]], [[0.40636044366496915]], [[0.39125080738040263]]], "std": [[[0.29234322300417226]], [[0.2883689714272982]], [[0.29116880948494045]]], "count": [123]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [612]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [612]}, "observation.state": {"min": [6.265472951688435, -0.8832608842978367, 0.6999075362597843, 0.0, 0.0, 0.7069991827011108, 0.7068647742271423, 0.02155302380766866, 0.002291856863904762, 0.11097566966602956, -0.986737072467804, -0.12488973140716553, -0.673088788986206, 0.0005051184562034905, 0.0006530417017428448, -0.040009388264115237], "max": [6.266037417289191, -0.8826298504088949, 0.7005210295496398, 0.0, 0.0, 0.7073487639427185, 0.7072144150733948, 0.2505782061873404, 0.3144657014632539, 0.6033298233467425, 0.984512984752655, 0.7648398876190186, 0.660804033279419, 0.570932149887085, 0.040767516562748296, 2.9752006136273387e-05], "mean": [6.265993832440399, -0.8831605261328663, 0.7000609898845708, 0.0, 0.0, 0.7070440537984075, 0.7071695340419907, 0.18270065313936823, 0.15809740743979542, 0.3570084407812227, 0.1885361607898684, 0.08920058800406705, 0.04611872993653117, 0.07181547987329989, 0.035307244532382445, -0.0362924530317271], "std": [4.990165476474986e-05, 3.143225366573789e-05, 0.00015146486941992134, 0.0, 0.0, 2.7478956769565776e-05, 2.7503534398716333e-05, 0.06286469351229805, 0.1361968724531157, 0.2079020486487675, 0.8427357011975715, 0.18349120334279947, 0.4337749859409235, 0.1310716795394549, 0.011239458571964109, 0.009941735298519577], "count": [612]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4285714285714286, -0.5571428571428572, -0.8714285714285716, -0.10571428571428572, -0.4514285714285714, -0.4, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.39285714285714285, 0.7857142857142857, 0.07857142857142858, 0.6485714285714286, 0.11142857142857143, 0.14285714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.003256302521008421, -0.011566293183940245, -0.08573762838468721, 0.07524743230625582, -0.014967320261437904, -0.02741830065359479, -0.6666666666666666], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.13911107609349793, 0.17953806822179674, 0.17120180142567393, 0.15961549520937485, 0.06693435352792618, 0.08447306340246147, 0.7453559924999299], "count": [612]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.026143791154026985], "std": [0.15956281125545502], "count": [612]}, "next.done": {"min": [false], "max": [true], "mean": [0.0016339869281045752], "std": [0.0403895656676741], "count": [612]}, "timestamp": {"min": [0.0], "max": [30.55], "mean": [15.274999999999999], "std": [8.833447326308493], "count": [612]}, "frame_index": {"min": [0], "max": [611], "mean": [305.5], "std": [176.66894652616986], "count": [612]}, "episode_index": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [612]}, "index": {"min": [70781], "max": [71392], "mean": [71086.5], "std": [176.66894652616986], "count": [612]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [612]}}} +{"episode_index": 105, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3937466141445185]], [[0.38414757173824937]], [[0.37926365098142933]]], "std": [[[0.15093463827539202]], [[0.15105019957588417]], [[0.15359160062531368]]], "count": [144]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3279544639171858]], [[0.31260795510152845]], [[0.30744474282191986]]], "std": [[[0.2156177836150444]], [[0.21693200205255161]], [[0.2201873757255192]]], "count": [144]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3265823788113064]], [[0.30887498585486983]], [[0.30279728301470055]]], "std": [[[0.19846845888099507]], [[0.20150159613017027]], [[0.2055625558841421]]], "count": [144]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [758]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [758]}, "observation.state": {"min": [2.2485285247112645, -0.8116099199185098, 0.6999237543845582, 0.0, 0.0, 0.7070044875144958, 0.7060632705688477, 0.0673734728415829, -0.012501898402518474, 0.13214610624279322, -0.9901617169380188, -0.046973079442977905, -0.6313539147377014, 0.00021745299454778433, 0.008669547740874278, -0.041222936645544446], "max": [2.249165945473007, -0.810635205944852, 0.7006937637770875, 0.0, 0.0, 0.708148717880249, 0.7072091698646545, 0.23996854608950635, 0.4425735838968756, 0.6003740852383919, 0.9840795993804932, 0.3440585136413574, 0.6612457633018494, 0.49418485164642334, 0.04086213652702915, -0.0054050827308837835], "mean": [2.2489188422863964, -0.8111200007069849, 0.7002157926360427, 0.0, 0.0, 0.7075422531224806, 0.7066708244874799, 0.1382696345587748, 0.38468764713298936, 0.2059049995569662, 0.3770770969994779, 0.13770537538390046, 0.367164620210596, 0.17121827077231275, 0.03262376594006788, -0.031894935206116706], "std": [0.0002418072055724653, 0.00037870182322955067, 0.0002616478145724271, 0.0, 0.0, 0.00040085536007900734, 0.0004012530387793115, 0.029288145428777508, 0.07121543888121104, 0.11843645552218737, 0.6672812633623756, 0.10270388347901428, 0.45459904901498266, 0.11068818197818402, 0.010247822595210569, 0.0104347242882681], "count": [758]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.27142857142857146, -0.4357142857142858, -0.4785714285714286, -0.14285714285714285, -0.24571428571428575, -0.36857142857142855, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.18571428571428572, 0.8714285714285716, 0.3, 0.28, 0.09714285714285714, 0.04857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04151903505465507, 0.05289295137580098, -0.054249905767056156, 0.04133810780248774, -0.005439125518281191, -0.027659253675084823, 0.11873350923482849], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.08912571356176573, 0.17026094790694632, 0.1092870818712071, 0.08992297963233951, 0.0490853248966408, 0.07026038624926234, 0.9929261572668869], "count": [758]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021108180284500122], "std": [0.14374500513076782], "count": [758]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013192612137203166], "std": [0.036297668844848564], "count": [758]}, "timestamp": {"min": [0.0], "max": [37.85], "mean": [18.925], "std": [10.940778080191555], "count": [758]}, "frame_index": {"min": [0], "max": [757], "mean": [378.5], "std": [218.8155616038311], "count": [758]}, "episode_index": {"min": [105], "max": [105], "mean": [105.0], "std": [0.0], "count": [758]}, "index": {"min": [71393], "max": [72150], "mean": [71771.5], "std": [218.8155616038311], "count": [758]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [758]}}} +{"episode_index": 106, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.0]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3318069267247849]], [[0.3286582556221419]], [[0.3265322446666245]]], "std": [[[0.13832604214337177]], [[0.1318699933374927]], [[0.1282254044126742]]], "count": [149]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6519610843088678]], [[0.5696870631396042]], [[0.44175120224559256]]], "std": [[[0.24488001865575684]], [[0.17987564714305856]], [[0.15615107416372137]]], "count": [149]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.03529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6805189186655419]], [[0.5998450233930349]], [[0.4700014909798729]]], "std": [[[0.22181824775603226]], [[0.16566276213493125]], [[0.16284290290069225]]], "count": [149]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [795]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [795]}, "observation.state": {"min": [0.7918512875973549, -2.9904777389598935, 0.6999991711332829, 0.0, 0.0, -1.0, 0.0, 0.20623356328327946, -0.15264250831034465, 0.22515721466453809, -0.991800844669342, -0.30753421783447266, -0.14234697818756104, 3.9297217881539837e-05, 0.009338152722768969, -0.04157344868460744], "max": [0.7919515714523999, -2.9902266102159727, 0.7030555604099517, 0.0, 0.0, 1.0, 0.0001525596744613722, 0.27772899062456824, 0.008620384503257306, 0.5909707628586748, 0.9997379183769226, 0.30802682042121887, 0.045805424451828, 0.057093437761068344, 0.0400026323796287, -0.02051342388989692], "mean": [0.791867193937504, -2.99030041886633, 0.7021514019946845, 0.0, 0.0, -0.7484276729559748, 5.306033940793113e-06, 0.26020868656631013, -0.13446261113018396, 0.24663725185814794, -0.7355435480861544, -0.21986845463936058, 2.008103583805638e-06, 0.005102138757309767, 0.022426492756950616, -0.026576188001432004], "std": [9.869607268939514e-06, 1.4251804570116583e-05, 0.0010915405902738, 0.0, 0.0, 0.6632164189415927, 1.4013930453339757e-05, 0.016818900735749806, 0.016741260291579803, 0.06501384639909935, 0.6151295364308966, 0.1778175691613873, 0.022326903951568916, 0.010275915991093641, 0.008690762613574248, 0.007265875783959771], "count": [795]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.3214285714285714, -0.7142857142857143, -0.5928571428571429, -0.05714285714285715, -0.06857142857142857, -0.15714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3857142857142857, 0.13571428571428573, 0.014285714285714285, 0.025714285714285714, 0.1742857142857143, 0.16857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.002416891284815813, -0.015606469002695432, -0.03999101527403415, -0.0006181491464510333, 0.002400718778077269, -0.0011105121293800548, 0.5622641509433962], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.06247986705597639, 0.08829225154688923, 0.11383249045790389, 0.005275894738777581, 0.021016331047700735, 0.04050647117804402, 0.8269576921245125], "count": [795]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02012578584253788], "std": [0.14043055474758148], "count": [795]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012578616352201257], "std": [0.03544403221032798], "count": [795]}, "timestamp": {"min": [0.0], "max": [39.7], "mean": [19.85], "std": [11.4748275223058], "count": [795]}, "frame_index": {"min": [0], "max": [794], "mean": [397.0], "std": [229.496550446116], "count": [795]}, "episode_index": {"min": [106], "max": [106], "mean": [106.0], "std": [0.0], "count": [795]}, "index": {"min": [72151], "max": [72945], "mean": [72548.0], "std": [229.496550446116], "count": [795]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [795]}}} +{"episode_index": 107, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4417319778418124]], [[0.4284396314595702]], [[0.41372390730897773]]], "std": [[[0.21188610479000178]], [[0.1959647779426491]], [[0.1892499235493166]]], "count": [148]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49666075754494154]], [[0.44955969498659104]], [[0.4014847739764983]]], "std": [[[0.28397892786905]], [[0.2682275071855267]], [[0.2613870019430092]]], "count": [148]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5190407773711786]], [[0.4656422512456735]], [[0.4101548656307963]]], "std": [[[0.27669740665883336]], [[0.2623392054723874]], [[0.25702834309312306]]], "count": [148]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [784]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [784]}, "observation.state": {"min": [2.5711488678027643, -1.5610504760671882, 0.6999659448167753, 0.0, 0.0, -1.0, 9.141162138348591e-08, 0.16666568484373379, -0.00916586973724054, 0.14228453192448465, -0.9931772351264954, -0.15577709674835205, -0.6581102013587952, 4.95978856633883e-05, 0.012577780231737635, -0.040393650654875754], "max": [2.758148726361498, -1.4792430717633387, 0.7006538266038207, 0.0, 0.0, 1.0, 0.0003582530189305544, 0.3578209055013626, 0.4250229384985751, 0.5910474985199836, 0.99311363697052, 0.5767033100128174, 0.7429326176643372, 0.5874234437942505, 0.04080442626686955, -0.013182230344708534], "mean": [2.7509474337073474, -1.4821287769155742, 0.7003142381031209, 0.0, 0.0, 0.9183673469387755, 0.00021396382629348896, 0.3161042769748596, 0.3714848360024, 0.21010280010472765, 0.37482984071331366, 0.18937854781480773, 0.39137369749725476, 0.18859995056661727, 0.03297243100583605, -0.02867108339095001], "std": [0.02595827964452436, 0.014070757349958286, 0.00026721650794347425, 0.0, 0.0, 0.3957289679523538, 6.235962966215193e-05, 0.05956347923415641, 0.11072415406075048, 0.13167595436409615, 0.6325548832946175, 0.1240115576623436, 0.4546627405609892, 0.1125712895234604, 0.007476453021124414, 0.009481219063283851], "count": [784]}, "action": {"min": [-0.7428571428571429, -0.3857142857142857, 0.0, 0.0, -1.0, -0.6428571428571428, -0.15714285714285717, -0.6642857142857144, -0.18, -0.3171428571428571, -0.26, -1.0], "max": [0.28571428571428575, 0.0, 0.0, 0.0, 1.0, 0.2642857142857143, 1.0, -0.0, 0.30857142857142855, 0.09142857142857143, 0.1, 1.0], "mean": [-0.007088192419825072, -0.010112973760932942, 0.0, 0.0, -0.8903061224489796, -0.001311953352769666, 0.05807215743440232, -0.05186771137026241, 0.03690962099125364, -0.009591836734693873, -0.025331632653061223, 0.3520408163265306], "std": [0.07603493992119112, 0.055193166735162336, 0.0, 0.0, 0.455362502112177, 0.096230478630563, 0.17440935489012382, 0.1178034036539814, 0.09755106179606955, 0.05746864128689542, 0.06961285049156528, 0.9359846492545554], "count": [784]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020408162847161293], "std": [0.14139190316200256], "count": [784]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012755102040816326], "std": [0.03569150147865618], "count": [784]}, "timestamp": {"min": [0.0], "max": [39.15], "mean": [19.575], "std": [11.316056070910925], "count": [784]}, "frame_index": {"min": [0], "max": [783], "mean": [391.5], "std": [226.3211214182185], "count": [784]}, "episode_index": {"min": [107], "max": [107], "mean": [107.0], "std": [0.0], "count": [784]}, "index": {"min": [72946], "max": [73729], "mean": [73337.5], "std": [226.3211214182185], "count": [784]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [784]}}} +{"episode_index": 108, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36078370864915404]], [[0.33671250082513987]], [[0.3211487796653535]]], "std": [[[0.19411119493844753]], [[0.1713320821641967]], [[0.16842358673129104]]], "count": [152]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38490097943474266]], [[0.36725491266870647]], [[0.349046607947571]]], "std": [[[0.23112190440285688]], [[0.23116256991194045]], [[0.23387751552575736]]], "count": [152]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39012668479706847]], [[0.3738419000332323]], [[0.35582424041779537]]], "std": [[[0.23263680760606778]], [[0.23341048411221735]], [[0.23649939816570567]]], "count": [152]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [818]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [818]}, "observation.state": {"min": [4.653968699297341, -3.654681797055849, 0.6998950534550792, 0.0, 0.0, 6.006498006172478e-05, 1.0, 0.05044008755303775, -0.020646855547425957, 0.1194136612412865, -0.9961032867431641, -0.04657697677612305, -0.7028011679649353, 0.0008070729672908783, 0.0018952693775314083, -0.04470755462091898], "max": [4.654543235266006, -3.6537842836720125, 0.7017168744410645, 0.0, 0.0, 0.00032291910611093044, 1.0, 0.2411581710813282, 0.39259558834406993, 0.5818578140219669, 0.9944522976875305, 0.6280751824378967, 0.6791457533836365, 0.6769831776618958, 0.04000202908719151, -0.020547427802260772], "mean": [4.654044656691822, -3.654607973147556, 0.7003284255715843, 0.0, 0.0, 0.00015856763133796246, 1.0, 0.18240294345504118, 0.16909205900676658, 0.3759683079825932, -0.21429668286756082, 0.21859024447778327, 0.16097730479241876, 0.27140923970600095, 0.0376506669820495, -0.03924486038898609], "std": [4.031830677506104e-05, 7.123479548410841e-05, 0.000528695152928736, 0.0, 0.0, 2.5963210725284165e-05, 0.0, 0.04431189884179187, 0.18996110125267715, 0.2084975925871731, 0.7665699630311754, 0.25337724128318645, 0.27532911549687505, 0.28121682219700306, 0.006309949832763254, 0.0028445976524276253], "count": [818]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9571428571428572, -0.4, -0.6071428571428572, -0.3171428571428571, -0.40571428571428575, -0.5, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4928571428571429, 0.8642857142857142, 0.41428571428571426, 0.5057142857142857, 0.09142857142857143, 0.18857142857142858, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.016067062521830253, 0.029427174292699972, -0.05402549772965425, 0.011728955640936073, -0.02530911631156131, -0.012542787286063567, -0.8215158924205379], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.14691731234008717, 0.15503223683931813, 0.13461445499266494, 0.12126674340925093, 0.07458037894599934, 0.10958461553827531, 0.5701856175847364], "count": [818]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01955990307033062], "std": [0.13848216831684113], "count": [818]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012224938875305623], "std": [0.03494280177984462], "count": [818]}, "timestamp": {"min": [0.0], "max": [40.85], "mean": [20.425], "std": [11.806804182334863], "count": [818]}, "frame_index": {"min": [0], "max": [817], "mean": [408.5], "std": [236.13608364669724], "count": [818]}, "episode_index": {"min": [108], "max": [108], "mean": [108.0], "std": [0.0], "count": [818]}, "index": {"min": [73730], "max": [74547], "mean": [74138.5], "std": [236.13608364669724], "count": [818]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [818]}}} diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/info.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..b078b34c339dd2ad89d52654031b8ddcac4d3d24 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/info.json @@ -0,0 +1,179 @@ +{ + "codebase_version": "v2.1", + "robot_type": "PandaOmron", + "total_episodes": 109, + "total_frames": 74548, + "total_tasks": 1, + "total_videos": 327, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:109" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "observation.images.robot0_eye_in_hand": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_left": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_right": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "annotation.human.task_description": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "annotation.human.task_name": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "observation.state": { + "dtype": "float64", + "shape": [ + 16 + ] + }, + "action": { + "dtype": "float64", + "shape": [ + 12 + ] + }, + "next.reward": { + "dtype": "float32", + "shape": [ + 1 + ] + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + } + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/modality.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..c5cf7a673c0f30723a873f2ae19bba98a2a97496 --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/modality.json @@ -0,0 +1,72 @@ +{ + "state": { + "base_position": { + "original_key": "observation.state", + "start": 0, + "end": 3 + }, + "base_rotation": { + "original_key": "observation.state", + "start": 3, + "end": 7 + }, + "end_effector_position_relative": { + "original_key": "observation.state", + "start": 7, + "end": 10 + }, + "end_effector_rotation_relative": { + "original_key": "observation.state", + "start": 10, + "end": 14 + }, + "gripper_qpos": { + "original_key": "observation.state", + "start": 14, + "end": 16 + } + }, + "action": { + "base_motion": { + "original_key": "action", + "start": 0, + "end": 4 + }, + "control_mode": { + "original_key": "action", + "start": 4, + "end": 5 + }, + "end_effector_position": { + "original_key": "action", + "start": 5, + "end": 8 + }, + "end_effector_rotation": { + "original_key": "action", + "start": 8, + "end": 11 + }, + "gripper_close": { + "original_key": "action", + "start": 11, + "end": 12 + } + }, + "video": { + "robot0_eye_in_hand": { + "original_key": "observation.images.robot0_eye_in_hand" + }, + "robot0_agentview_left": { + "original_key": "observation.images.robot0_agentview_left" + }, + "robot0_agentview_right": { + "original_key": "observation.images.robot0_agentview_right" + } + }, + "annotation": { + "human.task_description": { + "original_key": "annotation.human.task_description" + } + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/stats.json b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..c440d9ffdd7bfcba33730340383218d390d7701e --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/stats.json @@ -0,0 +1,378 @@ +{ + "annotation.human.task_description": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "annotation.human.task_name": { + "mean": [ + 1.0 + ], + "std": [ + 0.0 + ], + "min": [ + 1.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 1.0 + ] + }, + "observation.state": { + "mean": [ + 2.6803295612335205, + -2.0286970138549805, + 0.7001588940620422, + 0.0, + 0.0, + 0.3368833661079407, + 0.5497570037841797, + 0.21238721907138824, + -0.03210281580686569, + 0.2902149260044098, + -0.12269815802574158, + 0.1435295194387436, + 0.04938720911741257, + 0.1490437090396881, + 0.03363233432173729, + -0.0350152961909771 + ], + "std": [ + 1.5080119371414185, + 1.2935806512832642, + 0.001317748916335404, + 0.0, + 0.0, + 0.6729548573493958, + 0.362259179353714, + 0.07060441374778748, + 0.28356823325157166, + 0.18965019285678864, + 0.7796587347984314, + 0.345639705657959, + 0.41770294308662415, + 0.19458748400211334, + 0.010068819858133793, + 0.008726728148758411 + ], + "min": [ + 0.14658160507678986, + -4.859792232513428, + 0.6997166275978088, + 0.0, + 0.0, + -1.0, + 0.0, + -0.17783209681510925, + -0.6113819479942322, + 0.053103748708963394, + -0.9999723434448242, + -0.9797244071960449, + -0.9207435250282288, + 3.5190876133128768e-06, + -0.006673987489193678, + -0.06101611629128456 + ], + "max": [ + 6.266037464141846, + -0.7556948661804199, + 0.734749972820282, + 0.0, + 0.0, + 1.0, + 1.0, + 0.38008180260658264, + 0.5896487236022949, + 0.6306460499763489, + 0.9998321533203125, + 0.991222620010376, + 0.94431072473526, + 0.8055412769317627, + 0.052503589540719986, + 0.003888528561219573 + ], + "q01": [ + 0.15768159925937653, + -4.825267791748047, + 0.69994056224823, + 0.0, + 0.0, + -1.0, + 1.6302470839946182e-07, + -0.0191936194896698, + -0.5216334462165833, + 0.0819733664393425, + -0.9992246031761169, + -0.893779456615448, + -0.7494129538536072, + 0.0008670861134305596, + 0.001160173793323338, + -0.04100823029875755 + ], + "q99": [ + 6.209550380706787, + -0.7840103507041931, + 0.7059451937675476, + 0.0, + 0.0, + 1.0, + 1.0, + 0.3520922362804413, + 0.4728132486343384, + 0.6177206635475159, + 0.9894932508468628, + 0.9823131561279297, + 0.7609351873397827, + 0.6767588257789612, + 0.04053793102502823, + -0.0037754809018224478 + ] + }, + "action": { + "mean": [ + -0.00029051266028545797, + 0.001264907536096871, + -0.00011536187957972288, + 0.0, + -0.9419434666633606, + -0.006592858582735062, + -0.01882711797952652, + -0.06585631519556046, + 0.027487853541970253, + -0.008213742636144161, + -0.0185322854667902, + -0.3681386411190033 + ], + "std": [ + 0.03377114236354828, + 0.0528295673429966, + 0.0044451081193983555, + 0.0, + 0.3357895016670227, + 0.1266855150461197, + 0.16896213591098785, + 0.1544722467660904, + 0.1183747723698616, + 0.06331658363342285, + 0.11899897456169128, + 0.9294697046279907 + ], + "min": [ + -0.8928571343421936, + -0.7571428418159485, + -0.16571427881717682, + 0.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.9828571677207947, + -0.9399999976158142, + -1.0, + -1.0 + ], + "max": [ + 0.5839285850524902, + 0.8357142806053162, + 0.14000000059604645, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.7714285850524902, + 0.9599999785423279, + 1.0 + ], + "q01": [ + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -0.5214285850524902, + -0.7214285731315613, + -0.6214285492897034, + -0.1907142847776413, + -0.26571428775787354, + -0.6085714101791382, + -1.0 + ], + "q99": [ + 0.0, + 0.014285714365541935, + 0.0, + 0.0, + 1.0, + 0.33571428060531616, + 0.5642856955528259, + 0.12857143580913544, + 0.5889508724212646, + 0.1542857140302658, + 0.2685714364051819, + 1.0 + ] + }, + "next.reward": { + "mean": [ + 0.023555293679237366 + ], + "std": [ + 0.15165895223617554 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 1.0 + ] + }, + "next.done": { + "mean": [ + 0.0014621452428400517 + ], + "std": [ + 0.03821004182100296 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "timestamp": { + "mean": [ + 17.83031463623047 + ], + "std": [ + 11.220073699951172 + ], + "min": [ + 0.0 + ], + "max": [ + 57.79999923706055 + ], + "q01": [ + 0.30000001192092896 + ], + "q99": [ + 45.67656326293945 + ] + }, + "frame_index": { + "mean": [ + 356.6062927246094 + ], + "std": [ + 224.40147399902344 + ], + "min": [ + 0.0 + ], + "max": [ + 1156.0 + ], + "q01": [ + 6.0 + ], + "q99": [ + 913.53125 + ] + }, + "episode_index": { + "mean": [ + 54.233917236328125 + ], + "std": [ + 31.333568572998047 + ], + "min": [ + 0.0 + ], + "max": [ + 108.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 108.0 + ] + }, + "index": { + "mean": [ + 37273.5 + ], + "std": [ + 21520.154296875 + ], + "min": [ + 0.0 + ], + "max": [ + 74547.0 + ], + "q01": [ + 745.469970703125 + ], + "q99": [ + 73801.53125 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + } +} \ No newline at end of file diff --git a/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/tasks.jsonl b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a15338c27b94c6ed446195635b9fc4049107b2ee --- /dev/null +++ b/pretrain/composite/TurnOffSimmeredSauceHeat/20250728/lerobot/meta/tasks.jsonl @@ -0,0 +1,2 @@ +{"task_index": 0, "task": "Wait until the marinara sauce is simmered to a deep red color and then turn off the stove."} +{"task_index": 1, "task": "TurnOffSimmeredSauceHeat"}